JP2018181260A - Automatic traveling vehicle system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic traveling vehicle system capable of keeping an automatic traveling vehicle clean.SOLUTION: An automatic traveling vehicle system 1 can be installed in correspondence with a facility which processes a processing target. The automatic traveling vehicle system includes: an automatic traveling vehicle 100 which travels a route set in correspondence with the facility; and a purification unit 200 which is provided on part of the route 10 and which purifies the automatic traveling vehicle.SELECTED DRAWING: Figure 1

Description

  Embodiments of the present invention relate to an autonomous vehicle system.

2. Description of the Related Art Conventionally, in a manufacturing plant or the like, an automatic traveling vehicle that automatically travels at a manufacturing site has been used in order to transport product materials and parts. By using an automatic traveling vehicle, it is possible to manufacture a product with less personnel, and to reduce the manufacturing cost.
However, at production sites for food, medical products, cosmetics, or hygiene products where hygiene is important, the use of autonomous vehicles has not progressed. This is because the dust and dirt on the floor may adhere to the wheels when the automatic traveling vehicle is traveling, or the dust and dirt adhering to the automatic traveling vehicle may scatter, which may reduce the hygiene of the manufacturing site. It is because there is.
For this reason, development of a technology capable of keeping an autonomous vehicle clean is required.

JP 2014-2603 A

  The problem to be solved by the present invention is to provide an automatic traveling vehicle system capable of keeping the automatic traveling vehicle clean.

  The automatic traveling vehicle system according to the embodiment can be installed corresponding to a facility that processes an object to be treated. The automatic traveling vehicle system includes an automatic traveling vehicle traveling on a route set corresponding to the equipment, and a cleaning unit provided on a part of the route to clean the automatic traveling vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which represents roughly the automatic traveling vehicle system which concerns on 1st Embodiment. BRIEF DESCRIPTION OF THE DRAWINGS It is a perspective view which illustrates the automatic traveling vehicle of the automatic traveling vehicle system which concerns on 1st Embodiment. It is a model side view which illustrates the cleaning unit of the automatic traveling vehicle system concerning a 1st embodiment. It is a model side view which illustrates other cleaning units of an automatic travel vehicle system concerning a 1st embodiment. It is a block diagram showing a part of composition of an automatic travel vehicle system concerning a 2nd embodiment. It is a side view showing the automatic traveling vehicle system concerning a 3rd embodiment. It is a block diagram showing a part of composition of an automatic travel vehicle system concerning a 4th embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
The drawings are schematic or conceptual, and the relationship between the thickness and width of each part, the ratio of sizes between parts, and the like are not necessarily the same as the actual ones. In addition, even in the case of representing the same portion, the dimensions and ratios may be different from one another depending on the drawings.
In the specification of the application and the drawings, the same elements as those already described are denoted by the same reference numerals, and the detailed description will be appropriately omitted.

First Embodiment
FIG. 1 is a diagram schematically illustrating an automatic traveling vehicle system according to a first embodiment.
As shown in FIG. 1, the automatic traveling vehicle system 1 includes an automatic traveling vehicle 100 and a cleaning unit 200 as an example of a cleaning unit.

In the present embodiment, as an example, the case where the automatic traveling vehicle system 1 is used at a manufacturing site of food, medical products, cosmetics, or hygiene products where importance is attached to hygiene will be described. At the manufacturing site of these articles, for example, equipment for processing the processing target is disposed, and the automatic traveling vehicle system 1 according to the present embodiment can be installed corresponding to the equipment.
Here, the object to be treated represents a finished product of the above-mentioned articles, or a raw material, a work-in-process, or a semi-finished product used for producing these. Moreover, a process represents the various process regarding manufacture of an article which manufactures or processes a process target, for example, or hold | gruses or conveys a process target.

The autonomous mobile vehicle 100 travels along a route 10 as shown in FIG. 1, for example. For example, in the automatic traveling vehicle 100, an electronic map of a traveling place is created and stored in advance. In addition, the automatic traveling vehicle 100 is connected to the host computer 300 via wireless communication or the like, and an instruction of a destination is transmitted from the host computer 300 to the automatic traveling vehicle 100. When receiving the instruction of the destination, the automatic traveling vehicle 100 refers to the stored electronic map and sets a route to the destination. The autonomous traveling vehicle 100 travels along a route while comparing a set route with a place actually being traveled, using a camera or a laser length meter (not shown).
Alternatively, the automatic traveling vehicle 100 may travel along a track formed by attaching a tape or the like to a floor surface.
The cleaning unit 200 is provided at a part of the route 10 and cleans the automatic traveling vehicle 100 stopped at the part of the route 10.

FIG. 2 is a perspective view illustrating an automatic traveling vehicle of the automatic traveling vehicle system according to the first embodiment.
As shown in FIG. 2, the automatic traveling vehicle 100 includes, for example, a housing 101, a front wheel (following wheel) 102, a rear wheel (driving wheel) 103, a bumper 104, a display 105, an operation button 106, and a connecting pin 107. Have.

  The shape of the housing 101 is, for example, a rectangular parallelepiped having a front surface, a rear surface, a side surface, a top surface, and a bottom surface. A front wheel 102 and a rear wheel 103 are attached to the bottom of the housing 101 facing the floor surface. The front wheel 102 is attached to the front side of the bottom, and the rear wheel 103 is attached to the rear of the bottom.

  The bumper 104 is provided on the front surface of the housing 101. When the automatic traveling vehicle 100 collides with an obstacle while traveling forward, the bumper 104 operates, for example, the automatic traveling vehicle 100 stops. The display 105 is provided on the top surface of the housing 101. The display 105 displays the state of the automatic traveling vehicle 100 such as a route number on which the automatic traveling vehicle 100 travels and a battery voltage.

  The operation button 106 is provided on the top surface of the housing 101 adjacent to the display 105. The operation button 106 includes, for example, a power button 106 a, a start button 106 b, and a stop button 106 c. The power button 106 a is a button for turning on and off the power of the automatic traveling vehicle 100. The start button 106 b is a button for starting the traveling of the automatic traveling vehicle 100. The stop button 106 c is a button for stopping the traveling of the automatic traveling vehicle 100.

  Inside the housing 101, a connector (not shown) is provided. This connector has a connecting pin 107 and a motor (not shown). The connection pin 107 is driven by a motor (not shown), and ascends or descends toward the housing 101 with respect to the housing 101 through the lift ports 107 a formed on the top surface of the housing 101. The automatic traveling vehicle 100 and the transferred object are connected by the connection pin 107 being locked to the transferred object such as a carriage on which the parts and the work are mounted.

  The autonomous traveling vehicle 100 appropriately includes a sensor for detecting an obstacle, a speaker for informing the state of the autonomous traveling vehicle 100, and the like. The operation of each component provided in the automatic traveling vehicle 100 is controlled by the control unit 110 shown in FIG. The control unit 110 may control each component of the automatic traveling vehicle 100 based on a command sent from the host computer 300.

FIG. 3 is a schematic side view illustrating the cleaning unit of the automatic traveling vehicle system according to the first embodiment.
The cleaning unit 200 has a wheel cleaning unit 210, a housing cleaning unit 220, and a control unit 230, as shown in FIG. 3A. The wheel cleaning unit 210 and the housing cleaning unit 220 are housed, for example, inside a pedestal 235 provided on a floor surface on which the automatic traveling vehicle 100 travels. When the automatic traveling vehicle 100 is cleaned, the automatic traveling vehicle 100 stops on the pedestal 235, and the cleaning by the cleaning unit 200 is performed.

  For example, as shown in FIG. 3A, a plurality of wheel cleaning means 210 are provided to clean the respective wheels of the automatic traveling vehicle 100. The wheel cleaning means 210 has a pair of rollers 211, a motor 212, a brush 213, and a water outlet 214, as shown in FIG. 3B, for example.

  When cleaning the autonomous mobile vehicle 100, the front wheel 102 and the rear wheel 103 are mounted on the roller 211. In this state, each wheel rotates by driving the motor 212 and rotating the pair of rollers 211 in the same direction. The brush 213 and the water discharge port 214 are provided, for example, between the pair of rollers 211. While the cleaning liquid is discharged from the water discharge port 214 to the rotating wheel, the brush 213 comes in contact with the wheel, whereby dust and dirt adhering to the wheel are dropped. The cleaning liquid discharged from the water discharge port 214 may be city water, pure water, or the like, and may contain an agent for efficiently removing dirt, a sterilizing component for sterilizing the wheel, or the like. In addition, the size and shape of each component of the wheel cleaning means 210 can be suitably changed according to the size and shape of each wheel.

  The housing cleaning means 220 has a motor 221, a roller 222, a belt 223, a brush 224, a water outlet 225, a head 226, a vertical operation actuator 227, and a horizontal operation actuator 228, as shown in FIG. 3C, for example.

  The motor 221, the roller 222, and the water outlet 225 are attached to the head 226. The brush 224 is provided, for example, at a position spaced upward with respect to the roller 222. When the roller 222 is rotated by the motor 221, the driving force is transmitted to the brush 224 through the belt 223, and the brush 224 is rotated. The washing solution is discharged from the water discharge port 225 in accordance with the rotation of the brush 224. The cleaning liquid discharged from the water discharge port 225 is, for example, the same as the cleaning liquid discharged from the water discharge port 214.

  The head 226 is fixed to a vertically movable actuator 227 which is movable in the vertical direction. Further, the vertical motion actuator 227 is fixed to a horizontally movable horizontal motion actuator 228. By driving the vertical movement actuator 227 and the horizontal movement actuator 228, the head 226 can be moved in any direction.

  The housing cleaning means 220 is housed in the pedestal 235, for example, while the automatic traveling vehicle 100 is not cleaned. When cleaning the autonomous mobile vehicle 100, the head 226 is moved by the vertical operation actuator 227 and the horizontal operation actuator 228. The housing 101 is cleaned by discharging the cleaning liquid from the water discharge port 225 while bringing the rotating brush 224 into contact with the bottom surface of the housing 101. In addition to the bottom surface of the housing 101, the housing cleaning means 220 may further clean the front surface, the rear surface, or the side surface. The cleaning liquid discharged at the time of cleaning by the wheel cleaning unit 210 and the housing cleaning unit 220 is drained from, for example, a drainage port (not shown) formed on the upper surface of the pedestal 235.

  Here, the cleaning liquid is used when cleaning the automatic traveling vehicle 100, but the cleaning unit 200 only uses the brush 213 and the brush 224 of the wheel cleaning means 210 and the housing cleaning means 220 without using the cleaning liquid. The automatic traveling vehicle 100 may be cleaned. In this case, in order to prevent the dust and dirt dropped by the brushes 213 and 224 from scattering around the cleaning unit 200, a suction unit or the like for sucking dust and dirt may be provided in the cleaning unit 200.

  The operations of the wheel cleaning unit 210 and the housing cleaning unit 220 are controlled by the control unit 230. The control unit 230 may control the operation of the wheel cleaning unit 210 and the housing cleaning unit 220 based on the command from the host computer 300 illustrated in FIG. 1.

The automatic traveling vehicle 100 measures, for example, the cumulative traveling time and the cumulative traveling distance after the cleaning is performed immediately before. Then, when the traveling time or the traveling distance exceeds a predetermined value, the automatic traveling vehicle 100 moves to the cleaning unit 200.
For example, when it is detected that the automatic traveling vehicle 100 has moved to the cleaning unit 200 and stopped, the control unit 230 starts cleaning of the automatic traveling vehicle 100. The movement and stop of the automatic traveling vehicle 100 to the cleaning unit 200 can be detected by a sensor (not shown) or the like.
When the cleaning of the automatic traveling vehicle 100 by the cleaning unit 200 is completed, the control unit 230 transmits, to the automatic traveling vehicle 100, information indicating that the cleaning is completed. The transmission of information from the control unit 230 to the automatic traveling vehicle 100 may be performed via the host computer 300. The automatic traveling vehicle 100 resumes traveling along the route 10 when the information is received.

  A charging unit 400 for charging the autonomous mobile vehicle 100 is provided in part of the route 10. This charging unit 400 is juxtaposed to the cleaning unit 200, as shown in FIG. 3A, for example.

The charging unit 400 charges the automatic traveling vehicle 100, for example, in a noncontact manner. For example, a coil (not shown) for non-contact charging is provided on the rear surface of the autonomous mobile vehicle 100 and the charging unit 400. By flowing a current through the coil of the charging unit 400 to form a magnetic field, an induced electromotive force is generated in the coil of the automatic traveling vehicle 100 and charging of the automatic traveling vehicle 100 is performed.
The configuration for non-contact charging of automatic traveling vehicle 100 and charging unit 400 is optional, and can be changed as appropriate. The charging of the automatic traveling vehicle 100 by the charging unit 400 is controlled by, for example, the control unit 230. Alternatively, the automatic traveling vehicle system 1 may include another control unit for controlling the charging unit 400.

  For example, when the remaining amount of the built-in battery falls below a predetermined value, the automatic traveling vehicle 100 moves to the charging unit 400 and stops, and charging by the charging unit 400 is performed. Alternatively, movement and stop of the autonomous traveling vehicle 100 to the charging unit 400 may be performed based on an instruction from the host computer 300. In this case, for example, the host computer 300 predicts the operating time zone and the non-operating time zone of the automatic traveling vehicle 100 from the processing status of the facility, and the automatic traveling vehicle 100 is charged in the non-operating time zone. Send a command to 100.

Here, the effects of the present embodiment will be described.
The automatic traveling vehicle system 1 according to the present embodiment includes the automatic traveling vehicle 100 and the cleaning unit 200 as described above. The cleaning unit 200 is provided on a part of the path along which the automatic traveling vehicle 100 travels, and can clean the automatic traveling vehicle 100. For this reason, according to the present embodiment, the automatic traveling vehicle 100 can be kept clean. Accordingly, the automatic traveling vehicle system 1 according to the present embodiment is suitably used in the manufacturing site of food, medical products, etc. where hygiene is important.

  Further, since the front wheel 102 and the rear wheel 103 of the automatic traveling vehicle 100 abut on the floor during traveling, dust and dirt are particularly likely to be attached to these wheels. For this reason, as shown in FIG. 3, it is desirable that the wheels of the automatic traveling vehicle 100 be cleaned by the cleaning unit 200 in order to keep the automatic traveling vehicle 100 cleaner and improve the hygiene.

  When cleaning the automatic traveling vehicle 100, it is desirable to use a cleaning solution. By discharging the cleaning liquid to the automatic traveling vehicle 100 from the water discharge ports 214 and 225, the dust and dirt adhering to the automatic traveling vehicle 100 can be efficiently washed away, and scattering of the removed dust and contamination can be suppressed. It is. At this time, by further cleaning with the brushes 213 and 224, it is possible to make the automatic traveling vehicle 100 more clean.

  Further, as shown in FIG. 3A, it is desirable that the cleaning unit 200 be provided with a charging unit 400. The automatic traveling vehicle 100 needs to be stopped while cleaning the automatic traveling vehicle 100. At this time, by charging the automatic traveling vehicle 100, the automatic traveling vehicle 100 is separately for cleaning and charging. There is no need to stop the Therefore, the operation time of the automatic traveling vehicle 100 can be extended, and the productivity using the automatic traveling vehicle 100 can be improved.

  When charging while cleaning the autonomous mobile vehicle 100, if the terminal or the like is subjected to the cleaning liquid, there is a possibility that the electric leakage may occur or the terminal may be corroded. Therefore, as shown in FIG. 3A, it is desirable that the charging unit 400 can charge the autonomous vehicle 100 in a non-contact manner.

  When the cleaning solution contains a drug or a sterilizing component, if the case 101 is made of metal, the case 101 may be corroded. For this reason, when using the washing | cleaning liquid containing a chemical | medical agent or a sterilizing component, it is desirable for the surface of the housing | casing 101 to be covered with the materials which can not be corroded, such as resin.

  FIG. 4 is a schematic side view illustrating another cleaning unit of the automatic traveling vehicle system according to the first embodiment. The cleaning unit 200 a illustrated in FIG. 4 includes a storage tank 240, a pump 241, a water outlet 242, and a water outlet 243.

  The storage tank 240 is connected to a water supply source (not shown) such as a water pipe, and stores the cleaning liquid for cleaning the automatic traveling vehicle 100. When a liquid containing a drug or a sterilizing component is used as the cleaning liquid, the storage tank 240 may be connected to a device that generates the liquid.

  The pump 241 pumps the cleaning fluid stored in the storage tank 240 toward the water outlet 242. On the upper surface of the pedestal 235, as shown in FIG. 4B, a plurality of water discharge ports 242 are formed. The cleaning fluid sent from the pump 241 is discharged from the plurality of water discharge ports 242 toward the automatic traveling vehicle 100.

  The number and arrangement of the spouts 242 can be changed according to the range over which the cleaning liquid is applied to the automatic vehicle 100. For example, the water discharge port 242 is provided so that the cleaning liquid is applied to the bottom surface of the housing 101, the front wheel 102, and the rear wheel 103 when the automatic traveling vehicle 100 is cleaned. The drain port 243 is provided around the water outlet 242, and the cleaning liquid discharged from the water outlet 242 is drained from the drain port 243.

  The cleaning liquid is discharged from the plurality of water discharge ports 242 to the wheels and the housing 101 of the automatic traveling vehicle 100, thereby washing away the dust and dirt on the wheels and the housing 101 as in the cleaning unit shown in FIG. It is possible to keep the traveling vehicle 100 clean.

Second Embodiment
FIG. 5 is a block diagram showing a part of the configuration of the automatic traveling vehicle system according to the second embodiment.
In the automatic traveling vehicle system 2 shown in FIG. 5, the control unit 110 of the automatic traveling vehicle 100 includes a charging time prediction unit 111. The host computer 300 also has a cleaning time storage unit 301 and a cleaning content determination unit 302.

  The charging time prediction unit 111 detects the remaining amount of the battery included in the automatic traveling vehicle 100, and predicts the time required to charge the battery from the detected value. The control unit 110 transmits, for example, the charge prediction time predicted by the charge time prediction unit 111 to the host computer 300.

  The cleaning time storage unit 301 stores the cleaning content of the automatic traveling vehicle 100 and the time required to execute the cleaning content. For example, when the automatic traveling vehicle system 2 includes the cleaning unit 200 illustrated in FIG. 3, the cleaning time storage unit 301 stores the time required to clean each of the housing 101, the front wheel 102, and the rear wheel 103. It is done.

  The cleaning content determination unit 302 determines the cleaning content to be executed by the cleaning unit 200 based on the estimated charging time by the charging time prediction unit 111. For example, cleaning the housing 101 takes more time than cleaning the front wheel 102 and the rear wheel 103. If the estimated charging time is longer than the cleaning time of the front wheel 102 and the rear wheel 103 and shorter than the cleaning time of the housing 101, the cleaning content determination unit 302 cleans the front wheel 102 and the rear wheel 103, and the housing 101 is cleaned. Decide not to do any cleaning. Alternatively, if the estimated charging time is shorter than the time of any cleaning content, the cleaning content determination unit 302 may determine that cleaning is not performed in the charging at that time.

  The host computer 300 transmits the content determined by the cleaning content determination unit 302 to the control unit 230. The control unit 230 executes the cleaning content based on the determined content on the automatic traveling vehicle 100.

  As described above, while the automatic traveling vehicle 100 is being charged and cleaned, the automatic traveling vehicle 100 must be stopped. However, while charging is essential for driving the automatic traveling vehicle 100, cleaning is not essential for driving the automatic traveling vehicle 100. Therefore, in order to improve the driving efficiency of the automatic traveling vehicle 100, cleaning may be performed only while the automatic traveling vehicle 100 is stopped for charging, and the automatic traveling vehicle 100 may not be stopped only for cleaning. desirable.

  In this regard, if cleaning is performed at the end of charging, it may be considered to forcibly end the cleaning, but the efficiency of the cleaning operation is reduced. In addition, since the cleaning is interrupted on the way, the dust and dirt are not sufficiently dropped, and the automatic traveling vehicle 100 travels with the dust and dirt lumps adhering to the casing 101, which in turn lowers the hygiene of the manufacturing site. There is also a possibility of

  To solve these problems, according to the present embodiment, the cleaning content of the automatic traveling vehicle 100 is determined based on the estimated charging time, so the efficiency of the cleaning operation by the cleaning unit 200 is improved, and the automatic traveling vehicle 100 is improved. It is possible to keep it cleaner.

Here, the case where the control unit 110 has a function as the charge time prediction unit 111 and the host computer 300 has a function as the cleaning time storage unit 301 and the cleaning content determination unit 302 has been described. Is not limited to this. The functions of the charging time predicting unit 111, the cleaning time storage unit 301, and the cleaning content determining unit 302 may be appropriately realized by any of the control unit 110, the control unit 230, and the host computer 300.
Alternatively, the functions of the charging time prediction unit 111, the cleaning time storage unit 301, and the cleaning content determination unit 302 may be realized by at least one of the control unit 110 and the control unit 230. In this case, the information may be directly transmitted from the control unit 110 to the control unit 230 without passing through the host computer 300.

Third Embodiment
FIG. 6 is a side view showing an automatic traveling vehicle system according to a third embodiment.
The automatic traveling vehicle system 3 according to the third embodiment differs from the automatic traveling vehicle system 1 according to the first embodiment in that the sterilization unit 500 as another example of the cleaning unit is provided instead of the cleaning unit 200. .

  The sterilization unit 500 includes a storage unit 510 and an ultraviolet light irradiation unit 520. The storage unit 510 is provided on the pedestal 235, and is configured to be able to store the automatic traveling vehicle 100. A plate member 511 that constitutes a part of the wall surface of the storage unit 510 is configured to be rotatable by a rotary actuator 512.

  As shown in FIG. 6, the automatic traveling vehicle 100 is taken in and out of the storage unit 510 with the plate member 511 open. The ultraviolet light irradiation unit 520 irradiates the automatic traveling vehicle 100 with ultraviolet light when the automatic traveling vehicle 100 is stored in the storage unit 510 and the plate member 511 is closed. For example, as shown in FIG. 6, the ultraviolet light irradiation unit 520 irradiates the upper surface and the bottom surface of the autonomous vehicle 100 with ultraviolet light. The ultraviolet light irradiator 520 may further irradiate ultraviolet light to the side surface of the automatic traveling vehicle 100 or may irradiate ultraviolet light only to the bottom surface of the automatic traveling vehicle 100.

For example, as in the first embodiment, the control unit 230 measures the cumulative traveling time and the cumulative traveling distance after the sterilization is performed immediately before. Then, when the traveling time or the traveling distance exceeds a predetermined value, the automatic traveling vehicle 100 moves to the sterilization unit 500. The sterilization unit 500 starts sterilization of the automatic traveling vehicle 100 when it is detected that the automatic traveling vehicle 100 moves to the sterilization unit 500 and stops.
When the sterilization of the automatic traveling vehicle 100 by the sterilization unit 500 is completed, the control unit 230 transmits, to the automatic traveling vehicle 100, information indicating that the sterilization is completed. The automatic traveling vehicle 100 resumes traveling along the route 10 when the information is received.

  According to the sterilization unit 500 shown in FIG. 6, the automatic traveling vehicle 100 can be sterilized by irradiating the automatic traveling vehicle 100 with ultraviolet light. For this reason, as with the cleaning units 200 and 200a shown in FIGS. 3 and 4, it is possible to keep the automatic traveling vehicle 100 clean. Further, in the automatic traveling vehicle system 3 according to the present embodiment, since the cleaning liquid and the brush are not used, the cleaning liquid does not splash and the dirt dropped from the automatic traveling vehicle 100 does not scatter. In addition, the wet automatic traveling vehicle 100 does not travel on the manufacturing site. For this reason, according to the sterilization unit 500 shown in FIG. 6, it becomes possible to keep the sterilization unit 500 and its surroundings more clean.

  In the sterilization unit 500, for example, as in the first embodiment, the charging unit 400 is provided. Charging the vehicle 100 while sterilizing the vehicle 100 eliminates the need to stop the vehicle 100 separately for sterilization and charging. Therefore, the operation time of the automatic traveling vehicle 100 can be extended, and the productivity using the automatic traveling vehicle 100 can be improved.

  In addition, although the case where the ultraviolet light is irradiated and the automatic traveling vehicle 100 is disinfected was demonstrated here, the sterilization unit 500 of the automatic traveling vehicle system 3 which concerns on this embodiment is not limited to this. For example, the sterilization unit 500 may spray the disinfecting solution on the automatic traveling vehicle 100 stored in the storage unit 510. That is, as long as the automatic traveling vehicle 100 can be sterilized, the specific configuration of the sterilization unit 500 can be changed as appropriate.

Fourth Embodiment
FIG. 7 is a block diagram showing the configuration of part of an automatic traveling vehicle system according to a fourth embodiment.
In the automatic traveling vehicle system 4 illustrated in FIG. 7, the control unit 110 of the automatic traveling vehicle 100 includes the charging time prediction unit 111 as in the automatic traveling vehicle system 2 illustrated in FIG. 5. The host computer 300 also has a sterilization time storage unit 303 and a sterilization content determination unit 304.

  The sterilization time storage unit 303 stores the contents of sterilization performed on the automatic traveling vehicle 100 and the time required to execute the contents of sterilization. The sterilization content determination unit 304 determines the sterilization content to be executed by the sterilization unit 500 based on the estimated charging time by the charging time prediction unit 111.

  The host computer 300 transmits the determination content by the sterilization content determination unit 304 to the control unit 230. The control unit 230 executes the sterilization content based on the determined content on the automatic traveling vehicle 100.

Here, the case where the control unit 110 has the function as the charge time prediction unit 111 and the host computer 300 has the functions as the sterilization time storage unit 303 and the sterilization content determination unit 304 has been described. It is not limited to. The functions of charging time prediction unit 111, sterilization time storage unit 303, and sterilization content determination unit 304 may be realized as appropriate by any of control unit 110, control unit 230, and host computer 300.
Alternatively, the functions of charging time prediction unit 111, sterilization time storage unit 303, and sterilization content determination unit 304 may be realized by at least one of control unit 110 and control unit 230. In this case, the information may be directly transmitted from the control unit 110 to the control unit 230 without passing through the host computer 300.

  According to the present embodiment, as in the second embodiment, the processing efficiency of the sterilization process by the sterilization unit 500 can be improved, and the automatic traveling vehicle 100 can be kept more clean.

  Although the above embodiment described the case where cleaning is performed by cleaning or sterilizing the automatic traveling vehicle 100, the automatic traveling vehicle system according to the embodiment of the present invention is not limited to these specific configurations. That is, as long as the automatic traveling vehicle system according to the embodiment of the present invention includes the automatic traveling vehicle and the cleaning unit for cleaning the automatic traveling vehicle, the specific aspect can be appropriately changed. It is.

  While certain embodiments of the present invention have been illustrated, these embodiments have been presented by way of example only, and are not intended to limit the scope of the invention. These novel embodiments can be implemented in other various forms, and various omissions, replacements, changes, and the like can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and the gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof. In addition, the embodiments described above can be implemented in combination with each other.

  1 to 4 automatic traveling vehicle systems, 10 paths, 11 identification tags, 100 automatic traveling vehicles, 101 automatic traveling vehicles, 101 casings, 102 front wheels, 103 front wheels, 104 rear wheels, 104 bumpers, 105 indicators, 106 operation buttons, 107 connecting pins, 107a elevators, DESCRIPTION OF SYMBOLS 110 control part, 111 charge time prediction part, 200, 200a cleaning unit, 200a cleaning unit, 210 wheel cleaning means, 211 roller, 212 motor, 213 brush, 214 spout, 220 case cleaning means, 221 motor, 222 roller, 223 belts, 224 brushes, 225 spouts, 226 heads, 227 vertical motion actuators, 228 horizontal motion actuators, 230 controls, 235 pedestals, 240 reservoirs, 241 pumps, 242 spouts, 243 drains, 300 host computer, 400 charging unit, 500 sterilization unit, 510 storage unit, 520 ultraviolet light irradiation unit

Claims (10)

It can be installed corresponding to the equipment that processes the processing object,
An automatic traveling vehicle traveling on a route set corresponding to the equipment;
A cleaning unit provided on a part of the path for cleaning the autonomous vehicle;
Automatic traveling car system equipped with It can be installed corresponding to the equipment that processes the processing object,
An automatic traveling vehicle traveling on a route set corresponding to the equipment;
A cleaning unit provided on a part of the path for cleaning the automatic traveling vehicle;
Automatic traveling car system equipped with   The automatic traveling vehicle system according to claim 2, wherein the cleaning unit cleans the wheels of the automatic traveling vehicle.   The automatic traveling vehicle system according to claim 2 or 3, wherein the cleaning unit cleans the automatic traveling vehicle by discharging a cleaning solution.   The automatic traveling vehicle system according to claim 4, wherein the cleaning unit cleans the wheels using a brush while discharging the cleaning liquid to the wheels of the automatic traveling vehicle. It further comprises a charging unit provided on the part of the route for charging the automatic traveling vehicle,
The automatic traveling vehicle system according to any one of claims 1 to 5, wherein the cleaning unit cleans the automatic traveling vehicle while the automatic traveling vehicle is charged by the charging unit. A charging time prediction unit that predicts the charging time of the automatic traveling vehicle;
A cleaning content storage unit that stores cleaning content to be executed by the cleaning unit and a cleaning time required for the cleaning content;
A cleaning content determination unit that determines the cleaning content to be executed by the cleaning unit based on the predicted result of the charging time and the cleaning time;
The automatic traveling vehicle system according to claim 6, further comprising: It can be installed corresponding to the equipment that processes the processing object,
An automatic traveling vehicle traveling on a route set corresponding to the equipment;
A sterilizing unit provided at a part of the path for sterilizing the automatic traveling vehicle;
Automatic traveling car system equipped with The sterilization unit is
A storage unit for storing the automatic traveling vehicle;
An ultraviolet light irradiation unit provided in the storage unit and irradiating the automatic traveling vehicle with ultraviolet light;
The automatic traveling vehicle system according to claim 8, comprising   The automatic traveling vehicle system according to any one of claims 1 to 9, wherein the object to be treated is at least one of a medical product, a food, a cosmetic and a hygiene product.

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