JP2019105995A - Automatic operation forklift - Google Patents

Abstract

To provide an automatic operation forklift that does not require a lot of time without the need of a measure to provide RFID tags to all objects potentially becoming obstacles or so and can properly detect various obstacles existing in a traveling direction.SOLUTION: An automatic operation forklift 1 capable of unmanned autonomous travel has: an upper-obstacle detection device 23R, 23L capable of detecting whether or not there is an obstacle interfering with the automatic operation forklift 1 above a floor level and within an area (23R3, 23L3) up to a prescribed height in accordance with a height of a top end of the automatic operation forklift 1 and within an area (23R3, 23L3) up to a prescribed distance in a direction of travel, within a vehicle width W1 in a direction of forward and backward travel of the automatic operation forklift 1; a notification device 40; and a control unit that in the case of detecting an obstacle by using the upper-obstacle detection device, makes a notification by using the notification device.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an autonomous forklift that can travel autonomously.

  2. Description of the Related Art In recent years, automatically operated forklifts capable of autonomous traveling for transporting parts, products and the like unmannedly are used in manufacturing factories of various products. The autonomous forklift moves automatically along a pre-programmed travel path along a guiding line such as magnetic tape previously affixed to the floor surface. Then, the automatically operated forklift automatically performs operations such as acquiring the package at the programmed position, moving (conveying) along the traveling path, and unloading the package at the programmed destination position. In such a manufacturing plant, a plurality of guide wires are arranged in parallel or in a cross, and one or more autonomous forklifts are operated in their own traveling paths according to a program of a control device mounted on their own. Move along the guiding line. Then, at an intersection where the guide lines intersect, the autonomous forklift moves while turning leftward or rightward according to the program of the control device mounted on itself.

  A worker may be temporarily present on the floor surface of a travel route on which the forklift for automatic operation travels, or various objects may be temporarily placed. In order to detect such obstacles (workers, objects), for example, the automatically operated forklift is parallel to the floor surface in the traveling direction at a height of 100 [mm] to 250 [mm] from the floor surface. An obstacle detection device may be provided which has a planar detection area extending. However, in the case of an autonomous forklift having such a detection area, an obstacle protruding to the side of the traveling route without contacting the floor surface at a height of, for example, about 500 [mm] from the side of the traveling route. It can not be detected.

  In Patent Document 1, an operator is allowed to possess an ID card in which an RFID tag is embedded, and the RFID tag is attached to an obstacle such as various devices in a premises or a dangerous place, and the RFID tag is installed at various positions of a work vehicle. A work vehicle management system is disclosed which is provided with an antenna in communication therewith. A management apparatus is mounted on the work vehicle, and the management apparatus calculates the weighting of the degree of danger based on the detected distance to the RFID tag.

  In Patent Document 2, as shown in FIG. 17, two-dimensional sensors 111 and 112 (corresponding to obstacle detection devices) for detecting the distance to the obstacle in the two-dimensional measurement surfaces S1 and S2 are used. A mobile vehicle 101 is disclosed that detects an obstacle ahead. The two-dimensional sensors 111 and 112 are provided at the front upper end position of the mobile vehicle and at the front lower end position of the mobile vehicle. The two-dimensional sensor 111 provided at the front upper end position has a side surface of the moving vehicle 101 such that the measurement surface S1 set to be slightly wider than the vehicle width intersects with the floor surface position of the front predetermined distance d of the moving vehicle 101. It is attached downward so as to have a predetermined inclination angle θ1 when viewed from the side. The two-dimensional sensor 112 provided at the front lower end position is attached upward so that the measurement surface S2 set to be slightly wider than the vehicle width has a predetermined inclination angle θ2 when viewed from the side of the moving vehicle 101 It is done. That is, the measurement surface S1 of the two-dimensional sensor 111 provided at the front upper end position is an inclined surface directed downward from the upper end of the moving vehicle 101, and the measurement surface S2 of the two-dimensional sensor 112 provided at the front lower end position. Is an inclined surface directed upward from the lower end of the mobile vehicle 101, and the respective measurement surfaces S1 and S2 intersect with each other. The distance to the obstacle ahead of the mobile vehicle 101 is detected by these measurement surfaces S1 and S2.

JP, 2006-188353, A JP 2007-193495 A

  In the work vehicle management system described in Patent Document 1, it is necessary to bring or attach an RFID tag to all the workers and objects that can become obstacles, which is very time-consuming and forgotten to possess or attach. An operator or an object is not preferable because it is not detected as an obstacle.

  In the mobile vehicle described in Patent Document 2, as shown in FIG. 17, the measurement surfaces S1 and S2 for detecting an obstacle are inclined surfaces facing each other in the forward direction, and in the region S3 are recessed in the moving direction Become. Therefore, for example, if there is an obstacle in the area S3 that protrudes to the side of the traveling route at a predetermined height from the side of the traveling route without contacting the floor, detection of the obstacle is delayed, so You may not be able to avoid or stop obstacles.

  The present invention has been made in view of such a point, and it is unnecessary to take measures such as giving an RFID tag to all possible obstacles, and there is no effort, and various existing in the traveling direction It is an object of the present invention to provide an autonomous forklift that can appropriately detect an obstacle.

  In order to solve the above-mentioned problems, a first invention of the present invention is an autonomous forklift capable of autonomous traveling without a person, which is more than a floor surface within a vehicle width in a forward or reverse traveling direction of the autonomous forklift. There is an obstacle that interferes with the automatic operation forklift within the detection region up to a predetermined height according to the height of the upper end of the automatic forklift, and within the detection region to a predetermined distance in the traveling direction An upper obstacle detection device capable of detecting whether or not an obstacle is detected, and a control device for notifying using the notification device when an obstacle is detected using the upper obstacle detection device; Yes, it is an automated forklift.

  A second invention of the present invention is the automatic driving forklift according to the first invention, wherein the upper obstacle detection device has a planar detection area including the traveling direction and the vertical direction. It is an autonomous forklift that can detect an object present in the detection area as an obstacle.

  A third invention of the present invention is the automatic driving forklift according to the second invention, wherein a plurality of detection areas are set as the detection area, and the control device is configured to operate the automatic forklift. It is an automatic operation forklift which switches the detection area according to.

  A fourth invention of the present invention is the automatic driving forklift according to the third invention, wherein the control device switches the detection area according to the traveling speed of the automatic driving forklift. .

  A fifth aspect of the present invention is the automatic driving forklift according to the third aspect, including a lifting device that is controlled by the control device and lifts and lowers a fork along a mast provided on the automatic driving forklift. And a head guard covering at least a part of the autonomously operating forklift at an upper portion of the autonomously operating forklift, and a height of a load carried in or out of the autonomously operating forklift using the fork is previously determined. The control device has a package detection device that detects the presence or absence of a package, and an elevation position detection device that detects the height of the fork, and the control device uses the package detection device. According to the height of the load, the height of the load, the height of the fork detected using the elevation position detection device, and the height of the fork The height of the mast, the height of the head guard, depending on the uppermost height determined based on, switching the detection area, it is automatically operated forklift.

  A sixth invention of the present invention is the automatic driving forklift according to any one of the third to fifth inventions, wherein the automatic driving forklift is controlled by the control device to advance or reverse the automatic forklift. It has a drive device for traveling, the detection area has a deceleration area and a stop area, the deceleration area is set on the side far from the automatic operation forklift, and the stop area is the automatic operation forklift It is set on the near side, and when the controller detects an obstacle in the deceleration area, the control device controls the drive device to reduce the traveling speed of the automatically operated forklift, and detects the obstacle in the stop area. In the case of the autonomously operating forklift, the drive device is controlled to stop the traveling of the autonomously operating forklift.

  A seventh invention of the present invention is the automatic driving forklift according to any one of the first to fifth inventions, wherein the automatic driving forklift is controlled by the control device to advance or reverse the automatic forklift. An autonomously operating forklift having a drive unit for traveling, wherein the control unit controls the drive unit to stop traveling of the autonomously operating forklift when the obstacle is detected using the upper obstacle detecting unit. It is.

  An eighth invention of the present invention is the automatic driving forklift according to any one of the first to seventh inventions, wherein the upper obstacle detecting device is provided at the upper portion of the automatic forklift. A pair of self-operated forklifts provided at the left and right ends corresponding to the width of the driving forklift.

  A ninth invention of the present invention is the automatically operated forklift according to the sixth invention or the seventh invention, which is a communication device capable of wirelessly transmitting predetermined information to a reception facility provided in advance. And the control device detects an obstacle using the communication device and stops traveling when the obstacle is detected using the upper obstacle detection device and the traveling is stopped. The automatic transmission forklift according to claim 1, wherein the automatic transmission forklift transmits abnormality information including the information to the reception facility.

  In the first invention, within the vehicle width in the traveling direction, it is within the detection area up to the predetermined height according to the height of the upper end of the automatically operated forklift within the vehicle width in the traveling direction and to the predetermined distance in the traveling direction There is an upper obstacle detection device capable of detecting whether or not there is an obstacle that interferes with the automatically operated forklift within the detection area. Thereby, for example, even if there is an obstacle projecting toward the traveling path at a predetermined height from the side of the traveling path without contacting the floor surface, the obstacle may be a predetermined distance in the traveling direction It can be detected properly inside. The information obstacle detection device can appropriately detect various obstacles present in the traveling direction. In addition, it is not necessary and time-consuming to take measures such as holding an RFID tag on all possible obstacles.

  According to the second aspect of the invention, by setting the detection area of the upper obstacle detection device as a flat detection area including the traveling direction and the vertical direction, an appropriate detection area can be obtained.

  According to the third invention, by switching the detection area according to the driving state, it is possible to more appropriately detect an obstacle according to the driving state.

  According to the fourth aspect of the invention, by switching the detection region according to the traveling speed (corresponding to the operating state) of the automatically operating forklift, the obstacle is appropriately detected even if the traveling speed of the automatically operated forklift changes. Can.

  According to the fifth invention, the height of the fork (corresponding to the operating state), the height of the mast according to the height of the fork (corresponding to the operating state), the height of the head guard, the height of the luggage Detecting an obstacle appropriately even if the height of the automatically operated forklift changes by switching the detection area according to the presence or absence (corresponding to the operating condition) and the height of the top end based on the height of the load Can.

  According to the sixth aspect, when detecting an obstacle in the traveling direction, the obstacle is first detected in the deceleration area on the far side, so that the speed of the automatically operated forklift can be first reduced to a safe speed. After that, since the obstacle is detected in the near stop area, it is possible to safely stop the automatically operated forklift that has been decelerated to a safe speed.

  According to the seventh invention, when the obstacle is detected by the upper obstacle detection device, the automatically operated forklift is stopped, so that the collision with the obstacle can be appropriately avoided.

  According to the eighth invention, the upper obstacle detection device can be disposed at an appropriate position.

  According to the ninth aspect of the invention, the worker can easily recognize that there is an automatically operated forklift which is in the traveling stop state and is waiting for restoration by confirming the abnormality information in the reception facility. It is.

It is a perspective view showing the example of the appearance of the self-driving forklift of the present invention. FIG. 2 is a schematic plan view of the automatically driven forklift shown in FIG. 1, illustrating the arrangement of the wheels of the automatically operated forklift, and the arrangement of various detection devices and actuators connected to a control device for controlling traveling. is there. It is a perspective view explaining the appearance of an obstacle detection device, and the example of the maximum detection field. It is a figure explaining an example which sets up a desired detection field in the maximum detection field to an obstacle detection device. It is a figure explaining the example of each detection field in an automatic operation forklift. It is a figure explaining the example of the height of the detection field of the upper obstacle detection device according to the operation state (fork height, mast height, and existence of luggage) of a forklift for automatic operation. It is a figure explaining the example of the height of the detection field of the upper obstacle detection device according to the operation state (fork height, mast height, and existence of luggage) of a forklift for automatic operation. It is a figure explaining the example of the height of the detection field of the upper obstacle detection device according to the operation state (fork height, mast height, and existence of luggage) of a forklift for automatic operation. It is a figure explaining the example of the length of the advancing direction in the detection field of the upper obstacle detection device according to the driving state (traveling speed) of an automatic operation forklift. It is a figure explaining the example of the length of the advancing direction in the detection field of the upper obstacle detection device according to the driving state (traveling speed) of an automatic operation forklift. It is an example of the top view of a manufacturing factory etc. where a guide line was stretched, and is a figure explaining an example which an automatically-operated forklift runs according to a run route, going straight along a guide line and turning right and left. It is a flowchart explaining the example of the processing procedure of a control device. It is a flowchart explaining the detail of a process of SUB100 in the flowchart shown in FIG. An example in which an obstacle protrudes from the side of the traveling route to the side of the traveling route without touching the floor surface, and an example of a state before the detection region of the upper obstacle detection device reaches the obstacle is described. It is a figure to do. FIG. 15 is a diagram for explaining an example of a state in which the deceleration region in the detection region of the upper obstacle detection device has reached the obstacle with respect to FIG. 14; FIG. 16 is a diagram for explaining an example of a state in which the stop area in the detection area of the upper obstacle detection device has reached the obstacle with respect to FIG. 15; In the conventional mobile vehicle, it is a figure explaining the example of the attachment state of a two-dimensional sensor which detects the obstacle of the front, and a measurement side.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawing in which the X axis, the Y axis, and the Z axis are described, the X axis, the Y axis, and the Z axis are orthogonal to each other. Further, the Z-axis direction indicates a vertically upward direction, the X-axis direction indicates a forward direction of the autonomous forklift, and the Y-axis direction indicates a left direction of the autonomous forklift.

● [Appearance of the automatically operated forklift 1 (Fig. 1)]
There are various appearances of the automatically operated forklift 1 according to the application, the work site, etc., but in the description of the present embodiment, as shown in FIG. 1, the example of the automatically operated forklift having the appearance of reach type forklift Explain as. The autonomous driving forklift 1 has a vehicle body 3, a reach leg 10, a mast 70, a fork 60, a head guard 9, a right driven wheel 8R, a left driven wheel 8L, a drive steering wheel 8D, a caster wheel 8C and the like.

  The reach legs 10 are provided in a pair on the left and right, and are provided to project forward from the lower part of the vehicle body 3. Further, on the front side of each of the pair of reach legs 10, a right driven wheel 8R and a left driven wheel 8L are provided. The masts 70 are provided in a pair on the left and right, and can slide in the front-rear direction along the reach leg 10 and can tilt in the front-rear direction. The forks 60 are provided in a pair on the left and right, and can slide up and down along the mast 70 (liftable). At the upper part of the autonomous driving forklift 1, a head guard 9 covering at least a part of the autonomous driving forklift 1 is provided.

  An obstacle detection device 21 F is provided at the front lower end of the forklift 1 with an automatic operation, and an obstacle detection device 21 B is provided at the rear lower end of the vehicle body 3. An obstacle detection device 22R is provided at the lower right end of the vehicle body 3, and an obstacle detection device 22L is provided at the lower left end of the vehicle body 3. The vehicle body 3 is provided with a notification device 40. The head guard 9 is provided with a communication device 30, the head guard 9 is provided with an upper obstacle detection device 23R at the rear right end, and the head guard 9 is provided with an upper obstacle detection device 23L at the rear left end. There is. That is, the upper obstacle detection devices 23R and 23L are provided in a pair at the left and right ends corresponding to the vehicle width of the automatic operation forklift 1 in the upper part of the automatic operation forklift 1. The upper obstacle detection devices 23R and 23L correspond to the width of the automatically operated forklift 1 at the upper portion of the automatically operated forklift 1 by a bracket or the like provided on the vehicle body 3 without being provided on the head guard 9. It may be provided in a pair at the left and right ends.

  The right driven wheel 8R is provided in the vicinity of the front end of the reach leg 10 on the right side, and the direction is fixed in the front-rear direction of the autonomous forklift 1 (X axis direction in the example of FIGS. ing. The left driven wheel 8L is provided in the vicinity of the front end of the reach leg 10 on the left side, and the direction is fixed in the front-rear direction of the autonomous driving forklift 1 (X axis direction in the example of FIGS. ing. In the description of the present embodiment, an example in which the right driven wheel 8R and the left driven wheel 8L are provided in front of the automatic driving forklift 1 in a pair of right and left will be described.

  The drive steering wheel 8D has a steering motor 52 (see FIG. 2) capable of changing an angle (an angle to the central axis 1J in FIG. 2) with respect to the front-rear direction of the forklift 1 automatically driven. It is rotationally driven according to FIG. The drive motor 51 is controlled by the control device 50 and causes the autonomously operating forklift 1 to travel forward or backward. The drive steered wheels 8D may be disposed on either the right side or the left side in the left-right direction. In the description of the present embodiment, an example in which the drive steered wheels 8D are provided on the rear side and on the left side of the autonomous driving forklift 1 will be described.

  The caster wheel 8C is a wheel which is supported by the autonomously operating forklift 1 so as to change the direction freely in the XY plane shown in FIG. 2 and is also supported by the autonomously operating forklift 1 so as to be freely rotatable. . In the description of the present embodiment, an example in which the caster wheel 8C is provided at the rear and the right side of the autonomous driving forklift 1 will be described.

[Arrangement of various detection devices and actuators connected to the control device 50 (FIG. 2)]
Next, with reference to FIG. 2, an arrangement position and the like of various detection devices and actuators connected to the control device 50 of the automatically operating forklift 1 will be described. As shown in FIG. 2, the control forklift 50 includes a control device 50, a front guiding wire detecting device 2A, a rear guiding wire detecting device 2B, a right marker detecting device 2R, a left marker detecting device 2L, and a luggage detecting device 2C. Drive motor 51, steering motor 52, pump motor 61, hydraulic pump 62, communication device 30, notification device 40, obstacle detection devices 21F, 21B, 22R, 22L, upper obstacle detection devices 23R, 23L, elevation position detection device 63 grade is provided. In addition, the automatic driving forklift 1 travels along a guiding line (for example, magnetic tape) provided in advance on a floor surface or the like, and guides a traveling path set in advance from among a plurality of guiding lines laid around. Follow the line and drive forward and backwards, turn left and right at the intersection of the guide line, etc.

  The front side guiding wire detection device 2A is disposed in front of and below the autonomous forklift 1, detects a guiding wire provided to extend in a line shape on a floor surface or the like, and directs a detection signal to the control device 50. Output. For example, when the guide wire is a magnetic tape, the front guide wire detection device 2A is a magnetic sensor, and the width 2Aw in the left-right direction is, for example, about 20 cm. Control device 50 is based on the detection signal from front side guiding wire detection device 2A, how far away from the front side detection device center 2Ac the guiding wire existing below front side guiding wire detection device 2A is far enough Can be detected.

  The rear guide wire detection device 2B is disposed behind and below the automatic operation forklift 1, detects a guide wire provided so as to extend in a line shape on a floor surface or the like, and directs a detection signal to the control device 50. Output. For example, when the guide wire is a magnetic tape, the rear guide wire detection device 2B is a magnetic sensor, and the width 2Bw in the left-right direction is, for example, about 20 cm. Based on the detection signal from rear guiding wire detection device 2B, control device 50 determines how many guiding wires exist below rear guiding wire detection device 2B from either rear detection device center 2Bc to the left or right. It can be detected whether it is at a distant distance.

  The right marker detection device 2R is disposed to the right of and below the rear guide wire detection device 2B (or the front guide wire detection device 2A), and is provided with markers (spots at the intersections of the guide wires) A marker indicating that it is the front, a marker instructing a pause, etc. is detected, and a detection signal is output to the control device 50. For example, when the marker is a magnetic tape or a magnet, the right marker detection device 2R is a magnetic sensor. The control device 50 can detect whether there is a marker below the right marker detection device 2R based on the detection signal from the right marker detection device 2R. The distance 2Rw from the central axis 1J to the right marker detection device 2R is appropriately set in accordance with the position of the marker.

  The left marker detection device 2L is disposed on the left side and the lower side of the rear guide wire detection device 2B (or the front guide wire detection device 2A), and is provided with markers (spots at the intersections of guide wires) A marker indicating that it is the front, a marker instructing a pause, etc. is detected, and a detection signal is output to the control device 50. For example, when the marker is a magnetic tape or a magnet, the left marker detection device 2L is a magnetic sensor. The control device 50 can detect whether or not there is a marker below the left marker detection device 2L based on the detection signal from the left marker detection device 2L. The distance 2Lw from the central axis 1J to the left marker detection device 2L is appropriately set in accordance with the position of the marker.

  The package detection device 2C is an object detection sensor provided on the upper surface of the fork 60, for example, and outputs a detection signal according to the presence or absence of the package on the upper surface of the fork 60 to the control device 50. The control device 50 can detect, based on the detection signal from the package detection device 2C, whether the automatically operated forklift 1 has a package or does not have a package.

  The drive motor 51 rotationally drives the drive steered wheels 8D via a drive gear or the like to move the autonomously operating forklift 1 forward, reverse, stop or the like. The control device 50 can output a control signal to the drive motor 51 to control the drive steered wheel 8D to forward rotation, reverse rotation, stop, and the like. Further, the control device 50 can detect the rotational state of the drive motor 51 based on a detection signal from a rotation detection means such as an encoder (not shown), and can detect the traveling speed of the automatically operated forklift 1.

  The steering motor 52 changes the steering angle of the drive steered wheels 8D via a steering gear or the like, and changes the traveling direction of the automatic driving forklift 1 to the left or right. The control device 50 can output a control signal to the steering motor 52 to control the steering angle of the drive steered wheels 8D (the angle with respect to the central axis 1J of the automatically operated forklift 1). Further, the control device 50 can detect the rotation state of the steering motor 52 based on a detection signal from a rotation detection device such as an encoder (not shown), and can detect the steering angle of the drive steering wheel 8D.

  The pump motor 61 is an electric motor for driving the hydraulic pump 62. The control device 50 can generate a hydraulic pressure by outputting a control signal to the pump motor 61 to drive the hydraulic pump 62 via the pump motor 61. The hydraulic oil supplied to the slide cylinder (not shown) via the control valve slides the mast, and the hydraulic oil supplied to the tilt cylinder (not shown) via the control valve tilts the mast, the control valve The hydraulic oil supplied to the elevating cylinder via the lowers raises and lowers the fork. Therefore, the control valve and the raising and lowering cylinder correspond to the raising and lowering device 64 for raising and lowering the fork along the mast. Further, the mast is provided with an elevation position detection device 63 for detecting the height of the fork.

  The communication device 30 is a device which is controlled by the control device 50 and can transmit predetermined information to a reception facility 90 (see FIG. 11) provided in advance in a factory or the like. For example, the reception facility 90 includes a management device, a control panel, a communication device, and the like of a production line system in a factory, and receives information transmitted from the automatically operated forklift 1 by the management device via the communication device. The received information can be displayed on the control panel. The notification device 40 is a device that is controlled by the control device 50 and notifies, for example, a notification display lamp, an audio output speaker, a notification display monitor, and the like to surrounding workers that an abnormality has occurred in the automatically operated forklift 1. . Each of the obstacle detection devices 21F, 21B, 22R, 22L and the upper obstacle detection devices 23R, 23L has a planar detection area described later, and detects an object present in the detection area as an obstacle, The detection signal is output to the control device 50. The elevation position detection device 63 is, for example, a position sensor that detects the position of the fork along the mast, and outputs a detection signal corresponding to the height of the fork 60 to the control device 50.

  The control device 50 has a CPU and a storage device, takes in detection signals from the above-described detection devices, and outputs control signals to the above-described actuators (such as drive motors) and the notification device 40. Send and receive various information via

● [Detection area of obstacle detection device (Figures 3 and 4)]
The obstacle detection devices 21F, 21B, 22R, 22L and the upper obstacle detection devices 23R, 23L are all the same obstacle sensor, and in FIGS. 3 and 4, the upper obstacle detection device 23R will be described as an example. FIG. 3 shows the appearance of the upper obstacle detection device 23R and an example of the maximum detection area 23RX. FIG. 4 shows a desired state in the maximum detection area 23RX of the upper obstacle detection device 23R using a personal computer or the like. It shows that the detection area to be selected is specified.

  The upper obstacle detection device 23R has a two-dimensional planar detection area using laser light, and can detect an object in the detection area. For example, the maximum detection area 23RX, which is the maximum range of the detection area of the upper obstacle detection device 23R, is a fan having a radius of about 5 [m] and a center angle of about 270 [°]. A plurality of detection regions can be set (stored) in the upper obstacle detection device 23R or the control device 50. The worker creates a plurality of detection areas and stores them in the upper obstacle detection device 23R or the control device 50, and the control device 50 can switch the detection areas. As shown in the example of FIG. 4, the worker can start (detect) a desired detection area in the maximum detection area 23RX by activating a program for detecting the detection area on a personal computer or the like.

  The example of FIG. 4 shows an example in which a detection area 23R3 having a deceleration area 23R1 and a stop area 23R2 is designated (created) in the maximum detection area 23RX of the upper obstacle detection device 23R. The worker can store the created detection area 23R3 in the upper obstacle detection device 23R or the control device 50. For example, the worker may create in advance a plurality of detection areas corresponding to the driving conditions such as the traveling speed, and store the plurality of detection areas thus created in the upper obstacle detection device 23R and the control device 50. it can.

● [Position of obstacle detection device and image of detection area (Fig. 5)]
As shown in FIG. 5, the obstacle detection device 21F provided at the front lower end of the automatic forklift 1 has, for example, a vehicle width W1 (height in the range of 100 mm to 250 mm from the floor surface) Alternatively, it has a flat detection area 21F3 having a width slightly larger than the vehicle width and extending forward (in the X-axis direction) to a predetermined distance. The obstacle detection device 21B provided at the rear lower end of the vehicle body 3 has a width W1 (or a width slightly larger than the width W1), for example, at a height within a range of 100 mm to 250 mm from the floor surface. ) And has a planar detection area 21B3 extending backward (opposite to the X-axis direction) to a predetermined distance. The detection area 21F3 is set to the deceleration area 21F1 on the side far from the automatic driving forklift 1 and to the stop area 21F2 on the side close to the automatic driving forklift 1. The detection area 21B3 is set to the deceleration area 21B1 at the side far from the automatic driving forklift 1, and is set to the stop area 21B2 at the side closer to the automatic driving forklift 1.

  The obstacle detection device 22R provided at the lower right end of the vehicle body 3 has, for example, a vehicle length L1 (or a height within the range of 100 mm to 250 mm from the floor surface) as shown in FIG. It has a planar detection area 22R3 having a length slightly longer than the vehicle body length and extending to the right (a direction opposite to the Y-axis direction) to a predetermined distance. The obstacle detection device 22L provided at the lower left end of the vehicle body 3 has a vehicle length L1 at a height within a range of, for example, 100 mm to 250 mm from the floor surface to the left (Y axis Direction) and has a planar detection area 22L3 extending to a predetermined distance. The detection area 22R3 is set to the deceleration area 22R1 on the side far from the automatic driving forklift 1 and to the stop area 22R2 on the side close to the automatic driving forklift 1. The detection area 22L3 is set to the deceleration area 22L1 at the side far from the automatic driving forklift 1 and is set to the stop area 22L2 at the side close to the automatic driving forklift 1.

  The upper obstacle detection device 23R provided at the upper right end of the vehicle body 3 (head guard 9) includes, as shown in FIG. 5, a traveling direction (opposite to the X-axis direction) and a vertical direction when moving backward. A flat detection area 23R3 which is above the floor and within a range up to a predetermined height H1 according to the height of the upper end of the automatic operation forklift 1, and a predetermined distance in the direction of travel in the reverse direction It has a detection area 23R3 which is an area up to. The upper obstacle detection device 23L provided at the upper left end of the vehicle body 3 (head guard 9) is a planar detection area 23L3 including the traveling direction (opposite to the X-axis direction) and the vertical direction when moving backward. A detection area which is an area above the floor surface and up to a predetermined height H1 corresponding to the height of the upper end of the automatic forklift 1 and up to a predetermined distance in the traveling direction in the reverse direction. It has 23 L3. The detection areas 23R3 and 23L3 are within the vehicle width W1 (or a width slightly wider than the vehicle width) in the traveling direction of the reverse. The detection area 23R3 is set to the deceleration area 23R1 at the side far from the automatic driving forklift 1, and is set to the stop area 23R2 at the side closer to the automatic driving forklift 1. The detection area 23L3 is set to the deceleration area 23L1 at the side far from the automatic driving forklift 1, and is set to the stop area 23L2 at the side closer to the automatic driving forklift 1.

● [Detection area according to the operating condition of the forklift truck 1 (Figures 6 to 10)]
Next, switching of the detection area in accordance with the operation state of the automatically operated forklift 1 will be described. 6 to 10, only the detection area 23L3 of the upper obstacle detection device 23L and the detection area 21B3 of the obstacle detection device 21B in the traveling direction (in this case, the backward direction) are described, and other obstacle detection devices The description of the detection regions 21F, 22R, 22L and the upper obstacle detection device 23R is omitted. Specific examples of the "operating state" include an operating state in which the height of the automatically operating forklift 1 changes and an operating state in which the traveling speed of the automatic operating forklift 1 changes. First, an operating state in which the height of the automatically operating forklift 1 changes will be described.

  The size of the load carried in and out of the automatically operated forklift is known in advance, and the control device 50 stores in advance a load height Hc (see FIGS. 6 to 8). A head guard height Hh (see FIG. 6) which is the height of the head guard 9 is also known in advance and stored in the control device 50. Furthermore, as shown in FIG. 7, a mast height Hm that changes in accordance with the fork height Hf is also known in advance and stored in the control device 50. Therefore, the control device 50 is based on the presence or absence of the load a, the size of the load a (load height Hc), the fork height Hf, and the mast height Hm and the head guard height Hh which change according to the fork height Hf. Thus, the highest top end height Hmax can be determined. For example, in the example shown in FIG. 6, the top end height Hmax = head guard height Hh, and in the example shown in FIG. 7, the top end height Hmax = mast height Hm, and in the example shown in FIG. The upper end height Hmax = height Hfc (fork height Hf + load height Hc). Note that each of the fork height Hf, the mast height Hm that changes according to the fork height Hf, and the presence or absence of the luggage a corresponds to one of the “operation states of the automatically operated forklift 1”.

  As the detection areas for the upper obstacle detection devices 23R and 23L (see FIG. 5), a plurality of detection areas are stored in the upper obstacle detection devices 23R and 23L and the control device 50 according to the top end height Hmax. ing. For example, as a detection area of the upper obstacle detection device 23L, a detection area height H11 (a predetermined height which is slightly higher than the head guard height Hh corresponding to the uppermost end height Hmax = head guard height Hh shown in FIG. And the upper obstacle detection device 23L and the control device 50. Similarly, a detection area 23L3 having a detection area height H12 (corresponding to a predetermined height) slightly higher than the mast height Hm is made to correspond to the uppermost end height Hmax = mast height Hm shown in FIG. It is stored in the obstacle detection device 23L and the control device 50. Similarly, in correspondence with the top end height Hmax = fork height Hf + load height Hc shown in FIG. 8, a detection area height H13 (corresponding to a predetermined height) slightly higher than the fork height Hf + load height Hc A detection area 23L3 having the above is stored in the upper obstacle detection device 23L and the control device 50. In addition, as the detection area of the upper obstacle detection device 23R, a detection area similar to the above is stored in the upper obstacle detection device 23R or the control device 50. The heights H21 to H23 from the floor surface in the detection area 23L3 shown in FIGS. 6 to 8 are set to, for example, about 100 [mm] to 250 [mm]. In the detection area 21B3 of the obstacle detection device 21B, the length in the traveling direction (in this case, the backward direction) is equal to that of the detection area 23L3, and the boundary position between the deceleration area 21B1 and the stop area 21B2 in the traveling direction is This is equivalent to the boundary position between the deceleration area 23L1 and the stop area 23L2 in the traveling direction.

  Next, an operating state in which the traveling speed of the automatically operating forklift 1 changes will be described. As the detection areas for the upper obstacle detection devices 23R and 23L (see FIG. 5), a plurality of detection areas are stored in the upper obstacle detection devices 23R and 23L or the control device 50 in accordance with the traveling speed at the time of reverse travel. It is done. For example, as shown in FIG. 9 and FIG. 10, as a detection area of the upper obstacle detection device 23L in the case of traveling speed (high) (when faster than a predetermined speed), detection area length L11 in the traveling direction (predetermined distance Of the upper obstacle detection device 23L or the control device 50. In addition, as a detection area of the upper obstacle detection device 23L in the case of a traveling speed (small) (when it is slower than a predetermined speed), a relatively short detection having a detection area length L12 (corresponding to a predetermined distance) in the traveling direction The area 23L3 is stored in the upper obstacle detection device 23L or the control device 50. In addition, as the detection area of the upper obstacle detection device 23R, a detection area similar to the above is stored in the upper obstacle detection device 23R or the control device 50. In the detection area 21B3 of the obstacle detection device 21B, the length in the traveling direction (in this case, the backward direction) is equal to that of the detection area 23L3, and the boundary position between the deceleration area 21B1 and the stop area 21B2 in the traveling direction is This is equivalent to the boundary position between the deceleration area 23L1 and the stop area 23L2 in the traveling direction.

  That is, as the detection areas of the upper obstacle detection devices 23R and 23L, a plurality of detection areas corresponding to the top end height Hmax shown in the examples of FIGS. , Upper obstacle detection devices 23R, 23L or the control device 50 are stored. Further, a plurality of detection areas for each of the obstacle detection devices 21F, 21B, 22R, 22L shown in FIG. 5 are prepared according to the traveling direction and the traveling speed, and the obstacle detection devices 21F, 21B, 22R, 22L or It is stored in the device 50.

● [Example of guide line and example of travel route (Fig. 11)]
FIG. 11 shows an example of a plan view of a manufacturing plant or the like in which a guiding wire is laid around a floor surface. In FIG. 11, the XX axis, the YY axis, and the ZZ axis are orthogonal to each other, the ZZ axis direction indicates a vertically upward direction, and the XX axis direction and the YY axis direction indicate a horizontal direction. On the floor surface, guide wires X1 and X2 are provided along the XX axis direction in FIG. 11, and guide wires Y1 and Y2 are provided in the YY axis direction in FIG. Further, in FIG. 11, the position where the induction line X1 and the induction line Y1 intersect is the intersection X1Y1, the position where the induction line X1 and the induction line Y2 intersect is the intersection X1Y2, the position where the induction line X2 and the induction line Y1 intersect. The intersection point X2Y1, the position where the induction line X2 intersects with the induction line Y2 is indicated by an intersection point X2Y2.

The travel route K1 is pre-programmed in the control device of the automatically operated forklift 1. In the example of the travel route K1 shown by a dotted line in FIG. 11, the autonomous driving forklift 1 travels, for example, as follows. The automated forklift 1 in the present embodiment is normally programmed to move backward for safety, and to move forward only when carrying in / out a load.
(1) Start holding the package a from the left end of the guiding line X2, and reverse the right direction along the guiding line X2 based on the programmed traveling path.
(2) The left marker ML1 is detected, and based on the programmed travel path, the vehicle turns 90 ° left at the next intersection point X2Y1 and reverses upward in FIG. 11 along the guiding line Y1.
(3) The stop marker MS1 is detected, the direction of 180 ° is changed and stopped in front of the equipment SE1 based on the programmed travel path, and the held load a is lowered to the processing receiving unit (imported ).
(4) Reverse the downward direction in FIG. 11 along the guiding line Y1 based on the programmed traveling route.
(5) The left marker ML2 is detected and turned 90 ° left at the next intersection point X1Y1 based on the programmed traveling route, and reverses rightward in FIG. 11 along the guiding line X1.
(6) The left marker ML3 is detected and turned 90 ° left at the next intersection point X1Y2 based on the programmed travel route, and reverses upward in FIG. 11 along the guiding line Y2.
(7) The stop marker MS2 is detected, the direction of 180 ° is changed and stopped in front of the equipment SE1 based on the programmed travel route, and the package b of the processing and dispensing unit is held (unloaded).
(8) Based on the programmed travel route, move backward along the guiding line Y2 in FIG.
(9) The left marker ML4 is detected and turned 90 ° left at the next intersection point X1Y2 based on the programmed travel route, and reverses rightward in FIG. 11 along the guiding line X1.

  It is preferable that the automatically operated forklift 1 traveling along the traveling path K1 described above safely stop when an obstacle is detected in the forward or reverse traveling direction. In the following, using the obstacle detection devices 21F, 21B, 22R, 22L, and the upper obstacle detection devices 23R, 23L shown in FIG. 5, a control device for appropriately detecting an obstacle in the traveling direction and safely stopping the obstacle. An example of the 50 processing procedures will be described.

[Processing procedure of control device 50 (FIG. 12, FIG. 13)]
Next, the processing procedure of the control device 50 will be described using FIGS. 12 and 13. The control device 50 activates the process shown in FIG. 12 at predetermined time intervals (for example, several [ms] to several 10 [ms] intervals), and advances the process to step S10 when activated. Although the process shown in FIGS. 12 and 13 includes the operation of the automatic operation (steps S36C, 36B, SUB 130A, etc.) according to the guide wire, the marker, etc., the description of the details of the automatic operation will be omitted.

  In step S10, the control device 50 detects and stores the traveling direction and traveling speed of the automatically operated forklift from the rotational direction and rotational speed of the drive motor, and detects the presence or absence of the luggage based on the detection signal of the luggage detection device. The fork height is detected and stored based on the detection signal from the elevation position detection device. Then, the control device 50 obtains and stores the top end height Hmax described above, and advances the process to step S12.

  In step S12, the control device 50 selects the detection region of each obstacle detection device based on the traveling direction and traveling speed of the automatically operated forklift 1 and the top end height Hmax (see FIGS. 6 to 8). The process proceeds to step S14. The obstacle detection devices refer to the obstacle detection devices 21F, 21B, 22R, 22L and the upper obstacle detection devices 23R, 23L shown in FIG.

  In step S14, the control device 50 operates each obstacle detection device using each selected detection area, and advances the process to step S16. The obstacle detection devices refer to the obstacle detection devices 21F, 21B, 22R, 22L and the upper obstacle detection devices 23R, 23L shown in FIG.

  In step S16, the control device 50 acquires detection signals from each obstacle detection device, and advances the process to step S20.

  In step S20, the control device 50 determines whether any obstacle detection device (at least one obstacle detection device) has detected an obstacle in the stop area, and one of the obstacle detection devices is detected. If an obstacle is detected in the stop area (Yes), the process proceeds to step S24C. If no obstacle is detected in the stop area of all obstacle detection devices (No), the process proceeds to step S22. . In addition, as described above, in order to be safe, the automatically driven forklift normally travels in the reverse direction, and is advanced only when carrying in / out the load. Therefore, when the traveling direction is forward, it is a case where carrying in / out of the package is performed, and in this case, in the obstacle detection device 21F (an obstacle detection device disposed at the front lower end, see FIG. 5) Ignore detected obstacles. Alternatively, as the stop area 21F2 for cargo handling (see FIG. 5), prepare a stop area for cargo handling with a distance or a narrower range shorter than the distance to approach an obstacle such as a shelf at the time of cargo handling. The stop area 21F2 (see FIG. 5) at the time of loading may be switched to the loading stop area by storing in the device 21F (see FIG. 5) or the control device 50.

  When the process proceeds to step S22, the control device 50 determines whether or not an obstacle is detected in the deceleration area with any obstacle detection device (at least one obstacle detection device), and any one of If an obstacle is detected in the deceleration area of the obstacle detection device (Yes), the process proceeds to step S24B, and if an obstacle is not detected in the deceleration area of all obstacle detection devices (No), the step The process proceeds to S24A. In addition, as described above, in order to be safe, the automatically driven forklift normally travels in the reverse direction, and is advanced only when carrying in / out the load. Therefore, when the traveling direction is forward, it is a case where carrying in / out of the package is performed, and in this case, in the obstacle detection device 21F (an obstacle detection device disposed at the front lower end, see FIG. 5) Ignore detected obstacles.

  When the process proceeds to step S24A, the control device 50 stores "no restriction" in the operation restriction (for example, the RAM), and proceeds the process to step S30.

  When the process proceeds to step S24B, control device 50 stores "deceleration" in the operation restriction, and proceeds the process to step S30.

  When the process proceeds to step S24C, the control device 50 stores "stop" in the operation restriction and proceeds the process to step S30.

  When the process proceeds to step S30, control device 50 calculates a target traveling speed according to the position of itself along traveling path K1 (see FIG. 11), and proceeds the process to step S32.

  In step S32, control device 50 determines whether or not "stop" is stored in the operation restriction, and if "stop" is stored (Yes), the process proceeds to step S36C, and "stop" is If not stored (No), the process proceeds to step S34.

  If the process proceeds to step S34, the control device 50 determines whether "deceleration" is stored in the operation restriction, and if "deceleration" is stored (Yes), the process proceeds to step S36B. If the "deceleration" is not stored (No), the process proceeds to step S36A.

  When the process proceeds to step S36A, control device 50 executes the process of "SUB 100" shown in FIG. 13 and proceeds the process to step S40. The details of the processing of the SUB 100 will be described later.

  When the process proceeds to step S36B, control device 50 causes the traveling speed of the automatically operated forklift to be a slowing speed or the like which is a speed lower than the target traveling speed and which can be safely stopped. While gradually reducing the traveling speed, automatic operation is performed according to the guide wire, marker, etc., and the process proceeds to step S38B. That is, when an obstacle is detected in the deceleration region, the control device 50 controls the drive motor (drive device) so as to reduce the traveling speed of the automatically operated forklift to a creeping speed or the like.

  At step S38B, control device 50 causes notification device 40 to output a notification signal indicating that it is in the "deceleration" state, and the process proceeds to step S40. For example, when the notification device 40 has a lamp, a speaker, or the like, it blinks the lamp in a long cycle or outputs a voice as "decelerate".

  When the process proceeds to step S36C, the control device 50 performs the automatic operation according to the guiding wire, the marker, and the like while decelerating so that the automatically operated forklift stops traveling, and proceeds the process to step S38C. That is, when an obstacle is detected in the stop area, the control device 50 controls the drive motor (drive device) so as to stop the traveling of the automatically operated forklift.

  At step S38C, control device 50 causes notification device 40 to output a notification signal indicating that the state is the "stop" state, and the process proceeds to step S40. For example, when the notification device 40 has a lamp, a speaker, or the like, it blinks the lamp in a cycle shorter than that in the "deceleration" state, or outputs a voice "stop".

  When the process proceeds to step S40, the control device 50 determines whether “stop” is stored in the operation restriction and whether the traveling speed of the automatically operated forklift is zero (the traveling stop state), If the condition is satisfied (Yes), the process proceeds to step S42. If the condition is not satisfied (No), the process proceeds to step S48.

  When the process proceeds to step S42, the control device 50 resets the recovery timer (RAM) and proceeds the process to step S43. At step S43, control device 50 counts the transmission timer (RAM) and advances the process to step S44.

  At step S44, control device 50 determines whether or not the transmission timer exceeds the transmission waiting time. If it exceeds the transmission waiting time (Yes), the process proceeds to step S46 to set the transmission waiting time to If it does not exceed (No), the process ends. In step S44, the control device 50 can transmit abnormality information to the receiving equipment, for example, every several seconds, in accordance with the set transmission waiting time.

  When the process proceeds to step S46, the control device 50 identifies the identification information (such as the bogie number) of the automatically operated forklift on which the control device 50 is mounted, the position information on the stop position on the traveling route K1 (see FIG. 11), the obstacle Detection information indicating that the vehicle has stopped traveling and the like are created, and the created anomaly information is wirelessly transmitted via the communication device 30 (see FIG. 2) to the receiving facility 90 (FIG. 11). (See reference) and the process proceeds to step S48.

  When the process proceeds to step S48, the control device 50 resets the transmission timer and ends the process.

[Details of processing of SUB 100 (FIG. 13)]
Next, with reference to FIG. 13, the details of the process of “SUB 100” in step S36A in the flowchart of FIG. 12 will be described.

  When the process proceeds to SUB 100, control device 50 proceeds to step SUB 110 shown in FIG. At SUB 110, the control device 50 counts the recovery timer and advances the process to step SUB 115.

  At step SUB115, the control device 50 determines whether or not the recovery timer is less than the first recovery standby time, and if it is less than the first recovery standby time (Yes), the process proceeds to step SUB130C. If 1 return waiting time or more (No), the process proceeds to step SUB120.

  When the process proceeds to step SUB120, the control device 50 determines whether the return timer is less than the second return standby time longer than the first return standby time, and is less than the second return standby time (Yes) proceeds the process to step SUB130B, and if it is not less than the second return waiting time (No), the process proceeds to step SUB130A.

  If the process proceeds to step SUB130C, the elapsed time from the operation restriction becoming “no restriction” after stopping the traveling is a period less than the first return waiting time, and the control device 50 maintains the traveling stop Then, the process proceeds to step SUB135C.

  At step SUB135C, the control device 50 causes the notification device 40 to output a notification signal indicating the "stop" state, and returns (returns the process to step S40 of FIG. 12). For example, when the notification device 40 has a lamp, a speaker, or the like, it blinks the lamp in a cycle shorter than that in the "deceleration" state, and outputs an audio as "an obstacle is lost".

  If the process proceeds to step SUB130B, the elapsed time since the driving restriction is “no restriction” after stopping the traveling is a period equal to or more than the first return standby time and less than the second return standby time, and the control device 50 keeps the traveling stop and advances the process to step SUB135B.

  At step SUB135B, control device 50 causes notification device 40 to output a notification signal indicating that the vehicle is in the “stop” state, outputs a voice for giving a notice of the start of traveling, and returns (return to step S40 in FIG. 12) ). For example, when the notification device 40 has a lamp, a speaker, etc., the lamp blinks in a cycle shorter than that in the "deceleration" state, and outputs an audio message such as "Start running. .

  If the process proceeds to step SUB130A, the elapsed time from the operation restriction becoming “no restriction” after stopping the traveling is a period longer than the second return standby time, and the control device 50 proceeds to the target speed. Driving is started, and automatic operation is performed according to the guide line, marker, etc., and the process proceeds to step SUB135A.

  In step SUB135A, the control device 50 cancels the notification output from the notification device 40 and returns (the process proceeds to step S40 in FIG. 12). For example, when the notification device 40 has a lamp, a speaker, and the like, the output from these is stopped.

  As described above, in the processing of the SUB 100, the control device 50 does not immediately restart traveling when resuming traveling when the obstacle disappears from the state where traveling is stopped after detecting the obstacle. During the first return waiting time after the obstacle disappears, a notification that the obstacle disappears (step SUB 135C) maintains the stop state. Then, between the first return standby time and the second return standby time, the travel resumption notice for notifying resumption of travel is notified (step SUB135B), but the stopped state is maintained. Thus, traveling can be safely resumed for surrounding workers.

  According to the processing procedure described above, for example, when there is an obstacle projecting to the side of the traveling route at a predetermined height without contacting the floor surface from the side of the traveling route, the automatically operating forklift 1 is shown in FIG. The vehicle travels autonomously as shown in FIG. 14 to 16, only the detection area 23L3 of the upper obstacle detection device 23L and the detection area 21B3 of the obstacle detection device 21B in the traveling direction (in this case, the backward direction) are described, and other obstacle detection devices The description of the detection regions 21F, 22R, 22L and the upper obstacle detection device 23R is omitted. As shown in FIG. 14, when the traveling speed is high (for example, a target speed equal to or higher than a predetermined speed), the control device detects an obstacle using the detection area 23L3 in which the length L21 in the traveling direction is long. When an obstacle is detected in the deceleration area 23L1 (when the obstacle reaches the deceleration area 23L1), as shown in FIG. 15, the control device decelerates the traveling speed toward the creeping speed, and the traveling speed is small. If it becomes (less than the predetermined speed), the obstacle is detected using the detection area 23L3 having a short length L22 in the traveling direction. Then, when an obstacle is detected in the stop area 23L2 (when the obstacle reaches the stop area 23L2), as shown in FIG. 16, the control device safely stops the automatically operating forklift 1 from the creeping speed. As described above, the automatically operated forklift 1 described in the present embodiment does not require any treatment such as providing an RFID tag to all possible obstacles, hassle-free operation, and exists in the traveling direction It is possible to properly detect various obstacles and realize safer automated forklifts.

  Further, in the abnormality information transmitted from the automatically driven forklift which has detected the obstacle and stopped to travel, identification information (such as a bogie number) of the automatically operated forklift and position information on the stop position on the traveling route K1 (see FIG. 11) And stop information indicating that the vehicle is stopped. The automatically operated forklift that has detected an obstacle and stopped traveling should be restored promptly (restarting traveling). The operator can confirm which automatically operated forklift is stopped where by using the receiving equipment 90 shown in FIG. 11 to confirm the abnormality information from the automatically operated forklift whose traveling is stopped. Therefore, it is possible to quickly restore the forklift for automatic operation.

  The automated forklift 1 of the present invention is not limited to the configuration, structure, appearance, shape, processing procedure, etc. described in the present embodiment, and various changes, additions, and deletions can be made without departing from the scope of the present invention. It is.

  Although the upper obstacle detection devices 23R and 23L are disposed rearwardly in the description of the present embodiment, they are directed forward using a bracket or the like so that the detection area is not blocked by forks or luggage. It may be arranged at an appropriate position. Although the upper obstacle detection devices 23R and 23L are provided as a pair at the left and right ends in the description of the present embodiment, for example, in the case of a traveling route along which an autonomous forklift moves along a wall, the opposite to the wall An upper obstacle detection device may be provided only on the side.

  In the description of the present embodiment, an example in which the detection area of the upper obstacle detection device is divided into the deceleration area and the stop area has been described, but an obstacle is detected in the detection area without dividing the deceleration area and the stop area. Alternatively, the automatically operating forklift 1 may be stopped (the vehicle may be gradually decelerated and stopped). Moreover, although the example which switches the detection area | region of an upper obstacle detection apparatus according to the driving | running state of the automatic-operation forklift 1 was demonstrated in description of this Embodiment, you may make it not switch a detection area.

  Although the autonomous driving forklift 1 described in the present embodiment is capable of autonomously traveling autonomously, the driver's seat of the vehicle body 3 is provided with an occupant detection device (for example, a weight detection sensor provided on the floor surface of the driver's seat) When a passenger is detected, the autonomous traveling may be stopped to be an unmanned and manned self-driven forklift which stops according to the operation of the passenger.

  Moreover, the automatic driving forklift 1 of the present invention is not limited to the use of transportation of products or parts in a manufacturing plant, and can be applied to various automatic driving forklifts 1 used in various applications.

  Further, the numerical values used in the description of the present embodiment are an example, and the present invention is not limited to these numerical values.

1 Automatic Operation Forklift 1J Center Axis 2A Front Guide Line Detector 2Ac Front Detection Center 2B Rear Guide Line Detection 2Bc Rear Side Detection Center 2C Package Detection Unit 2L Left Marker Detection Unit 2R Right Marker Detection Unit 3 Car Body 8C Castor Wheel 8D Drive steering wheel 8L Left driven wheel 8R Right driven wheel 9 Head guard 10 Reach leg 21F, 21B, 22R, 22L Obstacle detection device 21F1, 21B1, 22R1, 22L1 Deceleration area 21F2, 21B2, 22R2, 22L2 Stop area 21F3, 21B3, 22R3, 22L3 detection area 23R, 23L upper obstacle detection device 23R1, 23L1 deceleration area 23R2, 23L2 stop area 23R3, 23L3 detection area 23RX maximum detection area 30 communication device 40 notification device 50 control device 51 drive motor Drive)
52 Steering motor 60 Fork 61 Pump motor 62 Hydraulic pump 63 Lifting position detection device 64 Lifting device 70 Mast 90 Reception facility a, b Luggage H11, H12, H13 Detection area height (predetermined height)
Hc Luggage height Hf Fork height Hh Head guard height Hm Mast height Hmax Top end height K1 Travel path L11, L12 Detection area length (predetermined distance)
ML1 to ML4 Left marker MS1, MS2 Stop marker SE1 Equipment X1, X2 Leading wire Y1, Y2 Leading wire X1Y1, X1Y2, X2Y1, X2Y2 Intersection

Claims (9)

It is an unmanned autonomous forklift that can travel autonomously,
Within the vehicle width in the forward or reverse traveling direction of the automatically operated forklift, in a detection area above the floor and up to a predetermined height corresponding to the height of the upper end of the automatically operated forklift, in the traveling direction An upper obstacle detection device capable of detecting whether or not there is an obstacle that interferes with the automated driving forklift within the detection area up to a predetermined distance;
A notification device;
A control device for notifying using the notification device when an obstacle is detected using the upper obstacle detection device;
have,
Automatic operation forklift. An automated forklift according to claim 1, wherein
The upper obstacle detection device
The planar detection area includes the traveling direction and the vertical direction, and an object present in the detection area can be detected as an obstacle.
Automatic operation forklift. It is an automatic operation forklift according to claim 2,
A plurality of detection areas are set as the detection area,
The controller is
The detection area is switched according to the operation state of the automatically driven forklift.
Automatic operation forklift. The automated forklift according to claim 3, wherein
The controller is
Switching the detection area according to the traveling speed of the automatically operated forklift,
Automatic operation forklift. The automated forklift according to claim 3, wherein
It has a lifting device controlled by the control device and configured to lift and lower a fork along a mast provided on the autonomous forklift.
The upper part of the autonomously operating forklift has a head guard which covers at least a part of the autonomously operating forklift.
The height of the load carried in or out of the automatically operated forklift using the fork is a predetermined height,
The controller is
It has a package detection device that detects the presence or absence of a package, and an elevation position detection device that detects the height of the fork,
The presence or absence of a load detected using the load detection device, the height of the load, the height of the fork detected using the elevation position detection device, the height of the mast according to the height of the fork, and The detection area is switched according to the height of the head guard and the top end height obtained based on the height of the head guard,
Automatic operation forklift. The automatically operated forklift according to any one of claims 3 to 5, wherein
It has a drive which is controlled by the control unit and causes the autonomous forklift to travel forward or backward.
The detection area is
A deceleration area and a stop area are provided, wherein the deceleration area is set on the side far from the automated forklift and the stop area is set on the side closer to the automated forklift.
The controller is
When the obstacle is detected in the deceleration area, the drive device is controlled to reduce the traveling speed of the automatically operated forklift.
When the obstacle is detected in the stop area, the drive device is controlled to stop the traveling of the automatically operated forklift.
Automatic operation forklift. It is an automatically operated forklift according to any one of claims 1 to 5,
It has a drive which is controlled by the control unit and causes the autonomous forklift to travel forward or backward.
The controller is
When the obstacle is detected using the upper obstacle detection device, the drive device is controlled to stop the traveling of the automatically operated forklift.
Automatic operation forklift. It is an automatic operation forklift according to any one of claims 1 to 7,
The upper obstacle detection device is provided in a pair at the left and right ends corresponding to the vehicle width of the automatically operated forklift at the upper portion of the automatically operated forklift.
Automatic operation forklift. It is an automatic operation forklift according to claim 6 or 7,
It has a communication device capable of wirelessly transmitting predetermined information to a reception facility provided in advance.
The controller is
When an obstacle is detected using the upper obstacle detection device and traveling is stopped, the communication device is used to detect an obstacle and receive abnormality information including stopping traveling, Send to equipment,
Automatic operation forklift.

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