JP2019133404A - Unmanned transportation device - Google Patents

Abstract

To provide an unmanned transportation device capable of improving safety while suppressing an increase in cost by allowing for detection of an obstacle using a detection unit of a self-propelled carrier in a state in which a detection region of a detection unit provided in the self-propelled carrier is restricted by a carrier truck.SOLUTION: An unmanned transportation device comprises a carrier truck 30, and a self-propelled carrier 10 attachably and detachably connected to the carrier trunk 30. The self-propelled carrier 10 comprises a detection part 20 which forms a detection region AR1 detecting an obstacle. The carrier truck 30 comprises a detection restriction part which forms a detection restriction region in which obstacle detection is restricted in a part of the detection region AR1 in a state in which the carrier truck is connected to the self-propelled carrier 10, and a movable part 40 which changes from a non-detection posture P1, which is a posture not detected by the detection unit 20, to a detection posture, which is a posture detected by the detection unit 20 as an obstacle when abutting on an obstacle existing in the detection restriction region.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned conveyance device including a conveyance carriage and a conveyance self-propelled carriage that is detachably connected to the conveyance carriage.

  2. Description of the Related Art Conventionally, an unmanned conveyance device including a conveyance cart and an automatic guided vehicle (AGV) is used in an automobile manufacturing factory or the like (see, for example, Patent Document 1). Car parts and the like are loaded on the transport cart. The transporting self-propelled vehicle is detachably connected to the transporting cart, and travels along a predetermined route to transport the transporting cart to a predetermined point.

  The transporting self-propelled vehicle is provided with a detection unit for detecting an obstacle in consideration of safety during traveling. The detection unit forms a detection region using a sonar, a laser scanner, or the like, and detects an obstacle in the detection region that may affect the traveling of the transporting self-propelled vehicle.

Japanese Patent Laid-Open No. 5-265551

  However, in a state where the transporting self-propelled vehicle and the transport cart are connected, the detection area by the detection unit may be blocked by the leg portion of the transport cart and may be restricted. In a state where a part of the detection area is restricted, there is a possibility that the detection of the obstacle is affected.

  In order not to affect the detection of obstacles, for example, by increasing the size of the transporting vehicle and positioning the detection unit outside the transport cart, the detection area is affected by the leg of the transport cart, etc. It can be considered not to. However, when the transporting self-propelled vehicle is increased in size, a space for traveling the transporting self-propelled vehicle becomes large, and the handling performance of the unmanned transport device is deteriorated.

  Further, it is conceivable that a lifting device is provided in the transporting self-propelled vehicle, and the transporting cart is lifted above the detection unit so that the detection region is not affected by the legs of the transporting cart. However, providing the lifting device increases the cost of the transporting self-propelled vehicle, and lifting the transport cart may cause the transport cart to become unstable.

  It is conceivable that a sensor is added not only to the detection unit of the transporting self-propelled vehicle but also to the transporting cart so that the sensor detects an obstacle. However, adding a sensor to the transport cart increases costs, and requires connection between the transport cart sensor and the transport self-propelled vehicle controller, making it difficult to attach and detach the transport self-propelled vehicle and transport cart. .

  FIG. 3 of Patent Document 1 discloses an unmanned conveyance device in which a guard bar that rotates when it comes into contact with an obstacle is provided in a conveyance carriage and the rotation of the guard bar is detected by a photoelectric sensor provided in the conveyance self-propelled vehicle. However, the photoelectric sensor detects the rotation of the guard bar in a state where the transporting self-propelled vehicle and the transporting cart are connected, and is not used for detecting an obstacle when the transporting self-propelled vehicle travels alone. For this reason, if the detection part in case a conveyance self-propelled vehicle drive | works independently is provided in addition to a guard bar and a photoelectric sensor, cost will rise.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to connect a transporting self-propelled vehicle and a transporting cart, and a detection area of a detection unit provided in the transporting self-propelled vehicle is a transport cart. To provide an unmanned conveyance device capable of improving safety while suppressing an increase in cost by enabling an obstacle to be detected using a detection unit of a conveyance self-propelled vehicle in a state limited by It is.

  An unmanned conveyance device of the present invention includes a conveyance carriage and a conveyance self-propelled vehicle that is detachably connected to the conveyance carriage, and the conveyance self-propelled vehicle forms a detection region for detecting an obstacle. And the transport carriage is connected to the transport self-propelled vehicle, and a detection restriction unit that forms a detection restriction region that is a region where obstacle detection is restricted in a part of the detection region; A movable body that changes its posture from a non-detection posture that is a posture that is not detected by the detection unit to a detection posture that is a posture that is detected as an obstacle by the detection unit by contacting an obstacle present in the detection restriction region And a portion.

  With this configuration, in a state where the transporting self-propelled vehicle and the transport cart are connected, a part of the transport cart (for example, a leg) serves as a detection limiting unit to limit a part of the detection region and detect Even in the case where the restriction region is formed, the movable unit changes its posture from the non-detection posture to the detection posture by contacting an obstacle existing in the detection restriction region. Thereby, the detection part can detect a movable part as an obstruction. For this reason, an obstacle can be detected using the detection part of a conveyance self-propelled vehicle, and safety can be improved, suppressing a cost rise.

It is a side view showing a schematic structure of an automatic guided device concerning an embodiment. It is a top view which shows schematic structure of an unmanned conveying apparatus. It is a top view which shows the case where an obstruction exists in a detection restriction area. It is a side view of the unmanned conveyance apparatus which shows operation | movement of a movable part. It is a flowchart figure which shows operation | movement of an unmanned conveying apparatus.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, the present invention is applied to an unmanned conveyance device that conveys components and the like in an automobile manufacturing factory.

  FIG. 1 is a side view showing a schematic configuration of the automatic transfer device 100 according to the present embodiment. As shown in FIG. 1, the automatic transport device 100 includes a transport self-propelled vehicle 10 and a transport cart 30. In the following drawings, the traveling direction of the self-propelled vehicle 10 is the X1 direction, and the opposite direction to the X1 direction is the X2 direction. One direction orthogonal to the horizontal direction with respect to the X1 direction and the X2 direction is defined as a Y1 direction, and a direction opposite to the Y1 direction is defined as a Y2 direction.

  First, the conveyance self-propelled vehicle 10 will be described. The transporting self-propelled vehicle 10 is detachably connected to the transporting cart 30 and transports the transporting cart 30 to a predetermined point by traveling on a predetermined route. As shown in FIG. 1, the transporting self-propelled vehicle 10 includes a vehicle body 11, a control unit 13, a driving unit 15, a reading unit 17, a connecting unit 19, and a detecting unit 20.

  The vehicle body 11 is a part forming the main body of the transporting self-propelled vehicle 10. In the present embodiment, the vehicle body 11 is substantially rectangular in plan view (see FIG. 2), and has a size that is accommodated below the transport carriage 30.

  The control unit 13 controls travel and stop along the travel route of the transporting self-propelled vehicle 10. Specifically, the driving of the driving unit 15 is controlled based on input signals input from the reading unit 17 and the detection unit 20.

  The drive part 15 is arrange | positioned at the four corners of the vehicle body 11, and has the drive wheel 151 and the motor 152, respectively. The drive wheel 151 is in contact with the floor surface F. The drive wheels 151 are connected to a motor 152 and are driven and rotated by the motor 152 to cause the transporting self-propelled vehicle 10 to travel, change direction, and stop. The driving of each motor 152 is individually controlled by the control unit 13. Electric power for driving the motor 152 is supplied from a battery (not shown) mounted on the vehicle body 11.

  The reading unit 17 is provided at the lower part of the vehicle body 11 and reads information recorded on a guide line (not shown) provided on the floor surface F. For example, when the transporting self-propelled vehicle 10 is a magnetic induction type, the guide wire is a magnetic tape, and a magnetic sensor is used as the reading unit 17. Information read by the reading unit 17 is input to the control unit 13. The control unit 13 controls the driving of each motor 152 of the driving unit 15 based on the information recorded on the guide line, thereby causing the transporting self-propelled vehicle 10 to self-travel along a predetermined traveling route.

  The connection part 19 connects the conveyance self-propelled vehicle 10 and the conveyance cart 30 so that attachment or detachment is possible. The connecting part 19 has a connecting pin 191 and an engaging part 193. The connecting pin 191 is provided on the upper part of the vehicle body 11 and is configured to be able to appear and retract in the vertical direction. The engaging portion 193 is provided below the stacking portion 31 of the transport carriage 30. The transporting self-propelled vehicle 10 and the transporting cart 30 are connected by projecting the connecting pin 191 upward and engaging the engaging portion 193 with the transporting self-propelled vehicle 10 positioned below the transporting cart 30. Moreover, the connection of the conveyance self-propelled vehicle 10 and the conveyance cart 30 is cancelled | released by moving the connection pin 191 below and releasing the engagement with the engaging part 193. In the present embodiment, the connecting pin 191 and the engaging portion 193 are provided at two locations on the transporting self-propelled vehicle 10 and the transporting cart 30 (see FIG. 2).

  The detection unit 20 detects an obstacle B (see FIG. 3) that may affect traveling. The detection unit 20 forms a detection area AR1 for detecting the obstacle B. The detection unit 20 is an end portion 111 of the vehicle body 11 on the X1 direction side, and is provided at the center in the Y1 direction and the Y2 direction. In the present embodiment, a laser scanner is used as the detection unit 20.

  The detection unit 20 includes a light projecting unit (not shown) that emits laser light and a light receiving unit (not shown) that receives the reflected laser light. The detection unit 20 reflects the presence of the obstacle B in the detection area AR1 of the detection unit 20 and the distance to the obstacle B when the laser light emitted from the light projecting unit is reflected by the obstacle B and received by the light receiving unit. Is detected. In the present embodiment, the detection area AR1 in which the detection unit 20 detects the obstacle B is in the horizontal direction with respect to the detection unit 20 and is closer to the X1 direction than the end 111 of the vehicle body 11, and from the detection unit 20. This is an area within a predetermined distance (see FIG. 2).

  A detection signal from the detection unit 20 is input to the control unit 13. The control unit 13 controls the drive of the drive unit 15 based on the detection signal from the detection unit 20. For example, when the obstacle B is detected in the detection area AR1 and the distance to the obstacle B is longer than a predetermined distance, the control unit 13 controls the driving unit 15 to decelerate the transporting self-propelled vehicle 10. When the obstacle B is detected in the detection area AR1 and the distance to the obstacle B is equal to or less than the predetermined distance, the control unit 13 controls the driving unit 15 to stop the transporting self-propelled vehicle 10.

  Next, the conveyance cart 30 will be described. As shown in FIG. 1, the transport carriage 30 is arranged so as to cover the upper side of the transport self-propelled vehicle 10 in a state where it is connected to the transport self-propelled vehicle 10. The transport carriage 30 includes a stacking portion 31, a plurality of leg portions 33, and a movable portion 40.

  The loading unit 31 is a part on which automobile parts and the like are loaded. On the upper part of the stacking unit 31, a component box for storing components and the like, a rack for holding components and the like are mounted. The loading unit 31 has a substantially rectangular shape in plan view, and is larger than the vehicle body 11 of the transporting self-propelled vehicle 10 (see FIG. 2).

  The plurality of leg portions 33 are portions that support the stacking portion 31 above the self-propelled vehicle 10. In the present embodiment, four leg portions 33 are provided. The first leg portion 331 is disposed at the end portion 311 in the X1 direction of the stacking portion 31 and at the end portion in the Y1 direction, and the second leg portion 332 is the end portion 311 of the stacking portion 31 in the X1 direction. And it arrange | positions at the edge part of a Y2 direction (refer FIG. 2). The third leg 333 is disposed at the end 312 of the stacking unit 31 in the X2 direction and the end of the Y1 direction, and the fourth leg 334 is the end 312 of the stacking unit 31 in the X2 direction. Moreover, it is arranged at the end in the Y2 direction (see FIG. 2). Under the respective leg portions 33, driven wheels 34 that can freely rotate are provided, and each driven wheel 34 is in contact with the floor surface F.

  Here, as shown in FIG. 1, in a state where the transporting self-propelled vehicle 10 and the transporting carriage 30 are connected, the first leg portion 331 and the second leg portion 332 are the detection units of the transporting self-propelled vehicle 10 in a side view. It is located on the X1 direction side from 20. For this reason, the detection area AR1 by the detection unit 20 is partially blocked by the first leg 331 and the second leg 332, and is limited (see FIG. 2). The area where the detection area AR1 is limited will be described in detail later.

  The movable unit 40 is a part that assists the detection of the obstacle B by the detection unit 20. In the present embodiment, the movable unit 40 is provided at the end 311 of the stacking unit 31. The movable part 40 has a movable part main body 41, an arm 43, and a rotation support part 45.

  The movable part main body 41 is a part forming the main body of the movable part 40. The movable part 40 is a plate-like member curved so as to protrude upward. Further, the lengths of the movable portion main body 41 in the Y1 direction and the Y2 direction are set to be larger than the lengths of the end portion 311 of the stacking portion 31 in the Y1 direction and the Y2 direction (see FIG. 2). The movable part 40 is formed of, for example, a soft synthetic resin material so as to absorb an impact when it contacts the obstacle B.

  The arm 43 is provided at an end portion in the Y1 direction and an end portion in the Y2 direction of the movable portion main body 41. Each of the arms 43 extends in the X2 direction. An end portion of the arm 43 in the X2 direction is rotatably supported by the rotation support portion 45.

  The rotation support part 45 supports the movable part main body 41 via the arm 43 so that the posture can be changed. The rotation support unit 45 supports the movable unit main body 41 in a posture in which the movable unit main body 41 is not detected by the detection unit 20, that is, in a state where the movable unit main body 41 is biased so as to be out of the detection area AR <b> 1 of the detection unit 20. . More specifically, in the side view of FIG. 1, the rotation support unit 45 is above the range irradiated with the laser light so that the movable part main body 41 does not reflect the laser light emitted from the detection unit 20. The movable part main body 41 is supported so as to be positioned. A posture in which the movable unit 40 is not detected by the detection unit 20 is defined as a non-detection posture P1.

  In a state where the transporting self-propelled vehicle 10 and the transporting carriage 30 are traveling, when the obstacle B comes into contact with the movable part main body 41, the movable part main body 41 is moved from a posture not detected by the detection unit 20 (non-detection posture P1). The posture is detected as an obstacle by the detection unit 20, that is, the posture in which the movable portion main body 41 enters the detection area AR 1 of the detection unit 20. More specifically, when the obstacle B comes into contact with the movable part main body 41, the rotation support part 45 rotates against the urging force by the force applied to the movable part main body 41, and the movable part main body 41 receives laser light. Enter the area to be irradiated. When the movable part main body 41 reflects the laser beam, the detection unit 20 detects the movable part main body 41 that has entered the detection area AR1 as an obstacle. The posture in which the movable unit 40 is detected as an obstacle by the detection unit 20 is set as a detection posture P2 (see FIG. 4).

  FIG. 2 is a plan view showing a schematic configuration of the automatic transfer device 100. As shown in FIG. 2, in a state where the transporting self-propelled vehicle 10 and the transporting cart 30 are connected, the first leg 331 and the second leg 332 of the transporting cart 30 detect the transporting self-propelled vehicle 10 in plan view. It is located on the X1 direction side from the portion 20. Since the first leg 331 and the second leg 332 are located within the detection area AR1 of the detection unit 20, the laser light from the detection unit 20 is emitted from the first leg 331 and the second leg 332. Is partially blocked by. For this reason, the detection area AR1 by the detection unit 20 is restricted by the first leg 331 and the second leg 332.

  In other words, the first leg portion 331 and the second leg portion 332 are regions in which the detection of the obstacle B is restricted to a part of the detection region AR1 in a state where the transport carriage 30 is connected to the transport self-propelled vehicle 10. The detection restriction area AR2 is formed. That is, when the obstacle B exists in the detection restriction area AR2, the detection unit 20 cannot directly detect the obstacle B. The 1st leg part 331 and the 2nd leg part 332 are equivalent to the detection restriction part in the present invention.

  As shown in FIG. 2, the length of the movable part main body 41 of the movable part 40 in the Y1 direction and the Y2 direction is set to be larger than the length of the end part 311 of the stacking part 31 in the Y1 direction and the Y2 direction. Yes. That is, a part of the movable part main body 41 is located in the detection restriction area AR2. For this reason, in the case where the obstacle B exists in the detection restriction area AR2, when the obstacle B comes into contact with the movable part main body 41 (see FIG. 4), the movable part 40 is in an attitude that is not detected by the detection part 20. The posture changes from the non-detection posture P1 (see FIG. 1) to a detection posture P2 that is a posture detected by the detection unit 20 as an obstacle (see FIG. 4). The detection unit 20 detects the movable unit 40 whose posture has changed to the detection posture P2 as an obstacle. In other words, the detection unit 20 detects the obstacle B located in the detection restriction area AR2 via the movable unit 40.

  FIG. 3 is a plan view showing a case where an obstacle B exists in the detection restriction area AR2. As shown in FIG. 3, when the obstacle B exists in the detection restriction area AR2, the detection unit 20 cannot directly detect the obstacle B. For this reason, although there exists a possibility that the conveyance trolley 30 may contact the obstruction B, the conveyance self-propelled vehicle 10 and the conveyance trolley 30 are continuing driving | running | working.

  FIG. 4 is a side view of the automatic transfer device 100 showing the operation of the movable unit 40. As shown in FIG. 4, the obstacle B present in the detection restriction area AR <b> 2 in FIG. 3 is in contact with the movable portion 40. When the obstacle B comes into contact with the movable part main body 41, the movable part 40 has a posture that is detected by the detection unit 20 as an obstacle from a non-detection posture P1 (see FIG. 1) that is a posture that is not detected by the detection unit 20. The posture changes to the detected posture P2. The detection unit 20 detects the movable unit 40 whose posture has changed to the detection posture P2 as an obstacle. In other words, the detection unit 20 detects the obstacle B located in the detection restriction area AR2 via the movable unit 40. A detection signal from the detection unit 20 is input to the control unit 13, and the control unit 13 controls the drive of the drive unit 15 based on the detection signal from the detection unit 20 to stop the self-propelled vehicle 10. In this way, the automatic guided device 100 is able to detect the failure of the detection limited area AR2 via the movable part 40 by the detection unit 20 provided in the transporting self-propelled vehicle 10 even when the detection limited area AR2 occurs. Object B can be detected.

  FIG. 5 is a flowchart illustrating the traveling operation of the automatic transfer device 100 when the movable unit 40 contacts the obstacle B. When the flow of the traveling operation as shown in FIG. 5 starts, first, in step S1, the automatic transfer device 100 travels in the X1 direction.

  In step S <b> 2, when the obstacle B exists in the detection restriction area AR <b> 2 of the automatic transport device 100, the detection unit 20 cannot directly detect the obstacle B, and the automatic transport device 100 continues traveling. For this reason, the obstacle B contacts the movable part 40.

  In step S3, when the obstacle B comes into contact with the movable part 40 (see FIG. 4), the movable part 40 is obstructed by the detection unit 20 from the non-detection posture P1 (see FIG. 1), which is a posture not detected by the detection unit 20. The posture changes to a detected posture P2, which is a posture detected as an object (see FIG. 4).

  In step S4, the detection unit 20 detects the movable unit 40 whose posture has changed to the detection posture P2 as an obstacle. In other words, the detection unit 20 detects the obstacle B located in the detection restriction area AR2 via the movable unit 40. A detection signal from the detection unit 20 is input to the control unit 13, and the control unit 13 controls the drive of the drive unit 15 based on the detection signal from the detection unit 20 to stop the self-propelled vehicle 10. In this way, the automatic guided device 100 is able to detect the failure of the detection limited area AR2 via the movable part 40 by the detection unit 20 provided in the transporting self-propelled vehicle 10 even when the detection limited area AR2 occurs. Object B can be detected.

  According to the automatic guided device 100 according to the embodiment described above, the first leg 331 and the second leg 332 that are part of the transport cart 30 in a state where the transport self-propelled vehicle 10 and the transport cart 30 are connected. Even when the detection restriction area AR1 is limited and a detection restriction area AR2 is formed, the movable portion 40 contacts the obstacle B existing in the detection restriction area AR2. Thus, since the posture changes from the non-detection posture P1 to the detection posture P2, the detection unit 20 can detect the movable unit 40 as an obstacle. For this reason, the obstacle B can be detected by using the detection unit 20 of the transporting self-propelled vehicle 10, and safety can be improved while suppressing an increase in cost.

-Other embodiments-
In addition, embodiment disclosed this time is an illustration in all the points, Comprising: It does not become a basis of limited interpretation. Therefore, the technical scope of the present invention is not interpreted only by the above-described embodiments, but is defined based on the description of the scope of claims. Further, the technical scope of the present invention includes all modifications within the meaning and scope equivalent to the scope of the claims.

  For example, the movable unit 40 is assumed to change its posture from the non-detection posture P1 to the detection posture P2 when the movable portion main body 41 rotates downward, but is not limited thereto.

  The movable unit 40 is provided at the end portion 311 of the stacking unit 31 in the X1 direction. However, the movable unit 40 may be provided at a plurality of locations according to the position of the detection unit 20 of the transporting self-propelled vehicle 10.

  In this embodiment, a laser scanner is used as the detection unit 20, but the present invention is not limited to this. For example, a sonar or a camera may be used as the detection unit.

  INDUSTRIAL APPLICABILITY The present invention can be applied to an unmanned conveyance device that includes a conveyance carriage and a conveyance self-propelled carriage that is detachably connected to the conveyance carriage.

100 automatic guided vehicle 10 self-propelled vehicle 20 detection unit 30 conveyance carriage 40 movable part AR1 detection area AR2 detection restriction area P1 non-detection posture P2 detection posture B obstacle

Claims (1)

A transport carriage;
A transporting self-propelled vehicle detachably coupled to the transport cart;
With
The transporting vehicle is
It has a detection part that forms a detection area for detecting obstacles,
The transport carriage is
In a state where it is connected to the transporting self-propelled vehicle, a detection restriction unit that forms a detection restriction region that is a region where the detection of an obstacle is restricted in a part of the detection region;
A movable part that changes its posture from a non-detection posture that is a posture that is not detected by the detection unit to a detection posture that is a posture that is detected by the detection unit as an obstacle by contacting an obstacle that exists in the detection restriction region When,
An unmanned conveyance device characterized by comprising:

Images