JP2021195215A - Fork lift - Google Patents

Abstract

To provide a fork lift for efficiently conveying a to-be-conveyed object.SOLUTION: A conveyance device 20 includes: a fork 20d that places a to-be-conveyed object; a body portion 20a supporting the fork 20d so as to be lifted/lowered; a side-surface sensor 251 that is disposed on a side-surface of the body portion 20a and detects the to-be-conveyed object by emitting sensor light toward a projecting side of the fork 20d; and a control unit that controls traveling of the body portion 20a. By using the side-surface sensor 251, the control unit detects a width of the to-be-conveyed object placed on the fork 20d and controls traveling in accordance with the width.SELECTED DRAWING: Figure 3

Description

The present invention relates to a forklift for transporting an object to be transported at a construction site or the like.

A transport device such as a forklift may be used to transport materials and equipment. In order to improve work efficiency, a transfer device that performs automatic operation is also being studied (for example, Patent Documents 1 and 2). The unmanned forklift described in Patent Document 1 is a travel path detecting means for detecting a guide line so as to travel along a guide line provided on a floor surface, a control device for loading, unloading, and traveling, and a load. It is equipped with a non-contact obstacle detection device that can change the detection width according to the width. Then, when an obstacle is detected at a predetermined position corresponding to the load width, the traveling is stopped. Further, in the technique described in Patent Document 2, is there an obstacle that interferes with the autonomous driving forklift within the area up to a predetermined distance in the traveling direction within the vehicle width in the forward or backward traveling direction of the autonomous driving forklift? It is equipped with an upper obstacle detection device that can detect whether or not it is. Then, when an obstacle is detected, a notification device is used to notify the person.

Japanese Unexamined Patent Publication No. 2003-73093 Japanese Unexamined Patent Publication No. 2019-105995

However, at construction sites, materials and equipment of various sizes are transported. In addition, the situation at the construction site changes as the construction progresses, making it difficult to carry out efficient transportation according to the situation.

The forklift that solves the above problems is arranged on the fork on which the object to be conveyed is placed, the main body portion that supports the fork so as to be able to move up and down, and the side surface of the main body portion, and emits sensor light toward the protruding side of the fork. A sensor unit for detecting the object to be transported by ejecting the object and a control unit for controlling the traveling of the main body portion are provided, and the control unit uses the sensor unit to mount the transport target on the fork. The width of the object is detected, and the traveling is controlled according to the width.

According to the present invention, the object to be transported can be efficiently transported.

Explanatory drawing of the transport device in embodiment. Explanatory drawing of the configuration example of the information processing apparatus in embodiment. It is a perspective view of the transport device in an embodiment, in which (a) is a perspective view of a front side and (b) is a perspective view of a rear side. Explanatory drawing of the processing procedure in an embodiment. Explanatory drawing of the processing procedure in an embodiment. Explanatory drawing of the side sensor of the transport device in embodiment. Explanatory drawing of load width detection in embodiment. Explanatory drawing of the safety area in an embodiment. Explanatory drawing of management screen in embodiment. Explanatory drawing of the surveillance camera image in another embodiment.

Hereinafter, an embodiment in which the forklift is embodied will be described with reference to FIGS. 1 to 9. The forklift is a transport device equipped with a device for holding cargo such as a fork, traveling with power, and raising and lowering the fork. In this embodiment, it is assumed that an object to be transported having a load width of 120 cm and 180 cm is transported.
In this embodiment, as shown in FIG. 1, a management terminal 10 and a transport device 20 as a forklift are used. The transport device 20 wirelessly transmits and receives data to and from the management terminal 10.

(Configuration example of information processing device)
FIG. 2 is a hardware configuration example of the information processing device H10 that functions as the management terminal 10 and the transfer device 20.

The information processing device H10 includes a communication device H11, an input device H12, a display device H13, a storage unit H14, and a processor H15. Note that this hardware configuration is an example, and may have other hardware.

The communication device H11 is an interface that establishes a communication path with another device and executes data transmission / reception, such as a network interface card or a wireless interface.

The input device H12 is a device that receives input from a user or the like, and is, for example, a mouse, a keyboard, or the like. The display device H13 is a display, a touch panel, or the like that displays various information.

The storage unit H14 is a storage device that stores data and various programs for executing various functions of the management terminal 10 and the transfer device 20. As an example of the storage unit H14, there are a ROM, a RAM, a hard disk, and the like.

The processor H15 uses programs and data stored in the storage unit H14 to control each process (for example, a process in the control unit 21 described later) in the information processing device H10 that functions as a management terminal 10, a transfer device 20, and the like. .. Examples of the processor H15 include a CPU, an MPU, and the like. The processor H15 expands a program stored in a ROM or the like into a RAM and executes various processes corresponding to various processes. For example, when the application program of the management terminal 10 and the transport device 20 is started, the processor H15 operates a process for executing each process described later.

The processor H15 is not limited to the one that performs software processing for all the processing executed by itself. For example, the processor H15 may include a dedicated hardware circuit (for example, an integrated circuit for a specific application: ASIC) that performs hardware processing for at least a part of the processing executed by the processor H15. That is, the processor H15 is [1] one or more processors that operate according to a computer program (software), [2] one or more dedicated hardware circuits that execute at least a part of various processes, or [ 3) It can be configured as a circuitry including a combination thereof. The processor includes a CPU and a memory such as a RAM and a ROM, and the memory stores a program code or a command configured to cause the CPU to execute a process. Memory or computer-readable media includes any available medium accessible by a general purpose or dedicated computer.

(Configuration of management terminal 10)
As shown in FIG. 1, the management terminal 10 is a computer terminal used by an administrator and includes a design information storage unit 12.

The design information storage unit 12 stores a floor map of each floor of the building in which the transfer device 20 is used. In this floor map, for a building consisting of a plurality of floors, the layout of obstacles such as walls and pillars and structures such as temporary elevators is recorded in two-dimensional coordinates for each floor.
This floor map is created using, for example, BIM (Building Information Modeling). This floor map is recorded when the construction site is designed using 3D CAD. The floor map is composed of project information, element model, attribute information, and placement information. The project information includes information on the name of the construction site, longitude / latitude, orientation of the construction site, and the like. The element model is information about a three-dimensional model (BIM object) of each building element (constituent member) used at the construction site. The attribute information is the attribute information of this element model. This attribute information includes information on specifications (element ID, element type, standard, dimension, area, volume, material, etc.). The placement information includes information about the coordinates at which each element model is placed. With this attribute information, it is possible to specify the attribute (passage, elevator, etc.) of each position on the floor map. Further, in the placement information, the planned placement date on which each element model is placed is associated with these coordinates. The floor map is not limited to the map created by using BIM, and a map capable of generating a traveling route can be used.

(Structure of transport device 20)
As shown in FIG. 1, the transport device 20 includes a control unit 21, a design information storage unit 22, a route information storage unit 23, a situation information storage unit 24, a range sensor 25, a traveling mechanism unit 26, and a lift mechanism unit 27. ..

FIG. 3A is a perspective view of the transport device 20 as viewed from the front side, and FIG. 3B is a perspective view of the transport device 20 as viewed from the rear side.
A drive wheel and a steering wheel (not shown) as a traveling mechanism unit 26 are provided on the lower surface of the main body portion 20a of the transport device 20. The traveling mechanism unit 26 can move the transport device 20 back and forth and turn at an arbitrary speed. Specifically, the traveling mechanism unit 26 drives the driving wheels and steering wheels by controlling the rotation speed and the rotation direction of the motor in response to an instruction from the control unit 21. The traveling mechanism unit 26 includes a drive wheel encoder, and calculates a traveling distance according to the rotation speed of the motor.

The transport device 20 includes a pair of masts 20b, a backrest 20c, a fork 20d, and a lift device (not shown) as a lift mechanism unit 27. The pair of masts 20b are arranged apart from each other in front of the main body portion 20a. Along the mast 20b, the backrest 20c is moved up and down by a lift mechanism such as a lift chain. A pair of forks 20d are attached to the backrest 20c so as to project forward in order to place the conveyed object. The materials and equipment to be transported are placed on the fork 20d.

Further, the main body 20a includes a side sensor 251, a front sensor 252, and a rear sensor 253 as a range sensor 25.
Each sensor (251, 252, 253) detects an object that blocks the laser light as point group data while scanning the laser light (sensor light), and measures the distance to the detected object to obtain two-dimensional arrangement information. It is a two-dimensional scanning type optical distance sensor (range sensor) that acquires.

The side sensor 251 is a scanning device provided so as to project laterally from the upper end portion of the main body portion 20a.
As shown in FIG. 6, the side sensor 251 is a sensor unit that scans the laser beam LS1 (sensor light) in the vertical direction at an angle that expands with respect to the front surface of the transport device 20 (the protruding side of the fork 20d). .. In the present embodiment, the laser beam LS1 emitted from each side sensor 251 on both sides is emitted at a predetermined angle (for example, about 20 degrees) spreading in the horizontal plane with respect to the forward direction. Due to this angle, the distance between the laser beam LS1 windings on both sides becomes the reference width (for example, 120 cm) at the position where the fork 20d is attached to the backrest 20c. Further, each laser beam LS1 is scanned in the vertical direction, for example, at about 50 degrees.
Then, as shown in FIG. 7, the side sensor 251 determines the load width based on whether or not the transported object can be detected by the scanned laser beam LS1. Here, the object to be transported P1 cannot be detected by the laser beam LS1, and the object to be transported P2 can be detected by the laser beam LS1. In the present embodiment, the laser beam LS1 distinguishes between a transport object P1 having a load width W1 (120 cm) smaller than the reference width and a transport target P2 having a load width W2 (180 cm) larger than the reference width, depending on the detection. do.
The scan angle is not limited to 50 degrees. For example, the fork 20d may be moved up and down while emitting the laser beam LS1 in a narrow range to measure the maximum load width in the height direction.

As shown in FIG. 3, the front sensor 252 and the rear sensor 253 scan the laser beam in the horizontal direction with respect to the front side and the rear side of the transport device 20, respectively, to detect obstacles blocking the laser beam.

The control unit 21 shown in FIG. 1 executes information processing such as a transport management stage, a map creation stage, and a route creation stage. Therefore, the transport execution program is stored in the control unit 21. By activating this transfer execution program, the control unit 21 functions as a transfer management unit 211, a map creation unit 212, and a route creation unit 213.
The transport management unit 211 drives the travel mechanism unit 26 according to the travel route based on the transport request acquired from the management terminal 10, and executes a process of moving to the destination (transport source, transport destination). Then, the transport management unit 211 drives the lift mechanism unit 27 to execute the loading process and the unloading process at the transport start position and the transport target position.

Further, the transport management unit 211 holds an area setting table. In this area setting table, information on the coordinates for dividing the first size safety area (first safety area) and the running speed (first speed of normal speed, second speed of low speed) is recorded with respect to the running width. ing. The traveling width is determined by the vehicle width and the load width. A wide safety area and a slow running speed are set for a large running width. It should be noted that the same running speed may be set by changing only the size of the safety area with respect to the running width.

As shown in FIG. 7, a first safety region A01 is set for the first reference width of the conveyed object P1 that does not block the laser beam LS1, and the second reference width of the conveyed object P2 that blocks the laser beam LS1 is set. On the other hand, the first safety area A02 is set. The first safety area is set to a range, for example, 50 cm outside from the circumference of the transport device 20 and the larger traveling width.

Further, as shown in FIG. 8, when an obstacle is detected in the first safety area A01 of the first size, the traveling speed is reduced to the second speed, and the narrow second size is reduced from the first size. A safety area (second safety area A11) is set. For example, the first safety area A01 of the object to be transported P1 is reduced to set the second safety area A11. The second safety area A11 sets a range of, for example, 30 cm from the periphery of the transport device 20. When an obstacle is detected in the second safety area A11, it becomes a stop area for stopping the transport device 20. Also in the first safety area A02 with respect to the second reference width, a narrow second size safety area (second safety area) smaller than the first size of the first safety area A02 is set. The second safety area is set to a range, for example, 30 cm outside from the circumference of the transport device 20 and the larger traveling width.

Further, in the area setting table, adjustment values determined by the area attribute of the current position such as in a passage or an elevator are recorded. With this adjustment value, a wide area such as a passage is adjusted to a wide safety area, and a narrow area such as an elevator is adjusted to a narrow safety area.

The map creation unit 212 creates an environment map using a floor map and an object detected by the range sensor 25. The map creation unit 212 acquires a floor map in which elements whose planned placement date is before the current date are set from the design information storage unit 22. Then, the point cloud data detected by the range sensor 25 is superimposed. Further, the map creating unit 212 holds information on the standby place (home position) of the transport device 20.

The route creation unit 213 specifies a transportable area in the environment map, and creates a travel route for moving the transport device 20. In the present embodiment, a traveling route of the home position → the transport start position → the transport target position → the home position is created. The route creation unit 213 holds information on the standby place (home position) of the transport device 20 and the traveling width of the transport device 20.

The same information as the design information storage unit 12 of the management terminal 10 is recorded in the design information storage unit 22.
The route information storage unit 23 records information regarding the transport start position and the transport target position acquired from the management terminal 10. Further, information on the travel route from the departure point to the destination created by the route creation unit 213 is recorded. Here, the starting point is the position where the traveling starts, and the home position, the transport start position, the stop position, the transport target position, and the like are used. In addition, it is a position where the destination travel ends, and the transport start position, the stop position, the transport target position, the home position, and the like are used.

The environment map created by the map creation unit 212 is recorded in the situation information storage unit 24. In this environment map, the arrangement of detected objects (walls, obstacles, temporary elevators, etc.) measured using the range sensor 25 corresponding to the floor map recorded in the design information storage unit 22 is used as point cloud data. Recorded.

(Transport management processing)
Next, the transport management process will be described with reference to FIG.
First, the control unit 21 of the transfer device 20 executes the transfer information setting process (step S101). Specifically, the person in charge causes the display device H13 of the management terminal 10 to display the floor map recorded in the design information storage unit 12. Then, the input device H12 is used to specify the transfer device 20 to be used for transfer, and the transfer start position and the transfer target position are input on the floor map. In this case, the management terminal 10 transmits a transport request to the designated transport device 20 via the communication device H11. This transport request includes information about the transport start position and the transport target position. Then, the transport management unit 211 of the control unit 21 of the transport device 20 receives the transport request via the communication device H11, and temporarily stores the information regarding the transport start position and the transport target position in the route information storage unit 23.

Next, the control unit 21 of the transport device 20 executes the process of creating the travel route (step S102). Specifically, the map creation unit 212 of the control unit 21 acquires a floor map including the home position (departure place) to the transport start position (destination) from the design information storage unit 22. Then, the route creation unit 213 specifies a transportable area through which the vehicle width of the transport device 20 can pass in the floor map, and specifies the shortest route (traveling route) from the home position to the transport start position in this transportable area. , Record in the route information storage unit 23.

Next, the control unit 21 of the transfer device 20 executes the traveling process to the transfer start position (step S103). Specifically, the transport management unit 211 of the control unit 21 drives the travel mechanism unit 26 to move from the home position to the transport start position according to the travel path. In this case, the traveling control process (FIG. 5) described later is executed.

Next, the control unit 21 of the transport device 20 executes the loading process (step S104). Specifically, the transport management unit 211 of the control unit 21 uses the front sensor 252 to specify the arrangement of the transport target, and inserts the fork 20d into the space below the transport target. Then, the transport management unit 211 drives the lift mechanism unit 27 to raise the fork 20d and lift the transport object.

Next, the control unit 21 of the transport device 20 executes the load width measurement process (step S105). Specifically, the transport management unit 211 of the control unit 21 predicts the load width by using the side sensor 251. Here, when the side sensor 251 does not detect the object to be transported mounted on the fork 20d, the transport management unit 211 determines that the width is less than the reference width, and the traveling width is the first reference width (120 cm). ) Is temporarily stored in the memory. On the other hand, when the side sensor 251 detects the object to be transported mounted on the fork 20d, the transport management unit 211 determines that the width is equal to or larger than the reference width, and stores the second reference width (180 cm) as the traveling width. Temporarily memorize.

Next, the control unit 21 of the transport device 20 executes the process of creating the travel route (step S106). Specifically, the map creation unit 212 of the control unit 21 acquires a floor map including the transfer start position (departure point) to the transfer target position (destination) from the design information storage unit 22. Then, the route creation unit 213 specifies a transportable area through which the traveling width (first reference width or second reference width) recorded in the memory can pass in the floor map, and in this transportable area, the transport start position to The shortest route of the transport target is specified and recorded in the route information storage unit 23. The transportable area may be specified by using an area through which the first safety area and the second safety area corresponding to the traveling width can pass.

Next, the control unit 21 of the transfer device 20 executes the traveling process to the transfer target position (step S107). Specifically, the transport management unit 211 of the control unit 21 drives the traveling mechanism unit 26 to move from the transport start position to the transport target position. Also in this case, the traveling control process (FIG. 5) described later is executed.

Next, the control unit 21 of the transport device 20 executes the unloading process (step S108). Specifically, the transport management unit 211 of the control unit 21 drives the lift mechanism unit 27 to lower the fork 20d and land the object to be transported.

Next, the control unit 21 of the transport device 20 executes the process of creating the travel route (step S109). Specifically, the map creation unit 212 of the control unit 21 acquires a floor map including a transport target position (departure place) to a home position (destination) from the design information storage unit 22. Then, the route creation unit 213 specifies a transportable area through which the vehicle width of the transport device 20 can pass in the floor map, and specifies the shortest route from the transport target position to the home position in this transportable area.

Next, the control unit 21 of the transport device 20 executes the traveling process to the home position (step S110). Specifically, the transport management unit 211 of the control unit 21 drives the traveling mechanism unit 26 to move from the transport target position to the home position. In this case, the traveling control process (FIG. 5) described later is executed.

(Driving control processing)
Next, the traveling control process will be described with reference to FIG.
First, the control unit 21 of the transport device 20 executes a safety zone setting process according to the traveling width (step S201). Specifically, the transport management unit 211 of the control unit 21 uses the area setting table to specify a safety area (first safety area) of the first size corresponding to the traveling width temporarily stored in the memory.

Next, the control unit 21 of the transport device 20 executes the traveling drive process (step S202). Specifically, the transport management unit 211 of the control unit 21 instructs the travel mechanism unit 26 to travel on the created travel route. In this case, the map creation unit 212 operates the range sensor 25 and travels while updating the environment map. In the creation of this environment map, the surrounding shape data is acquired by the range sensor 25, the environment map is created by SLAM (Simultaneous Localization and Mapping) corresponding to the floor map, and the environment map is recorded in the situation information storage unit 24. Further, the transport management unit 211 acquires a counter value from the drive wheel encoder of the traveling mechanism unit 26 and creates odometry information. Then, the transport management unit 211 estimates the current position of the transport device 20 by using the environment map and the odometry information.

Next, the control unit 21 of the transport device 20 executes the adjustment process of the safety area according to the location (step S203). Specifically, the transport management unit 211 of the control unit 21 uses the design information storage unit 12 to specify the area attribute of the current position. Then, the transport management unit 211 adjusts the size of the safety area according to the area attribute by using the area setting table.

Next, the control unit 21 of the transport device 20 executes a determination process as to whether or not an obstacle has been detected in the safety area (step S204). Specifically, the transport management unit 211 of the control unit 21 confirms the presence / absence and distance of an obstacle in the first safety area by using the range sensor 25.
In this case, as shown in FIG. 9, the transport management unit 211 outputs the management screen 300 to the display device H13 of the management terminal 10. The safety area image 301 and the obstacle images 302 and 303 are displayed on the management screen 300. The safety area image 301 is displayed at the estimated current position in a size determined according to the situation. The obstacle image 302 is a structure in the floor map acquired from the design information storage unit 22. Further, the obstacle image 303 is point cloud data detected by the range sensor 25.

When it is determined that no obstacle is detected in the safe area (when "NO" in step S204), the control unit 21 of the transport device 20 executes the normal traveling process (step S205). Specifically, the transport management unit 211 of the control unit 21 instructs the traveling mechanism unit 26 to travel at the normal speed (first speed) recorded in the area setting table.

On the other hand, when it is determined that an obstacle has been detected in the safe area (when "YES" in step S204), the control unit 21 of the transport device 20 executes the reduction process of the safe area (step S206). Specifically, the transport management unit 211 of the control unit 21 sets a second size safety area (second safety area) in which the first size is reduced.
Next, the control unit 21 of the transfer device 20 executes a determination process as to whether or not the stop is necessary (step S207). Specifically, the transport management unit 211 of the control unit 21 specifies the position of the obstacle according to the distance to the obstacle. Then, the transport management unit 211 confirms whether or not the position of the specified obstacle is within the second safety area. If it is within the second safety area, it is determined that stopping is necessary.

When the position of the obstacle is outside the second safety region and it is determined that the stop is unnecessary (when "NO" in step S207), the control unit 21 of the transport device 20 executes the low-speed running process (step S208). Specifically, the transport management unit 211 of the control unit 21 instructs the traveling mechanism unit 26 to travel at the second low speed recorded in the area setting table.
Next, the control unit 21 of the transport device 20 executes a determination process as to whether or not an obstacle has been avoided (step S209). Specifically, the transport management unit 211 of the control unit 21 specifies the position of the obstacle according to the distance to the obstacle. Then, the transport management unit 211 confirms whether or not the position of the specified obstacle is within the first safety area. When the position of the specified obstacle moves out of the first safe area, it is determined that the obstacle is avoided. On the other hand, if the position of the specified obstacle has not moved out of the first safe area, it is determined that the obstacle has not been avoided yet.

When it is determined that the obstacle is not avoided (in the case of "NO" in step S209), the control unit 21 of the transport device 20 repeats the process after the determination process (step S207) as to whether or not the stop is necessary.
On the other hand, when it is determined that the obstacle has been avoided (when "YES" in step S209), the control unit 21 of the transport device 20 executes the expansion process of the safety area (step S210). Specifically, the transport management unit 211 of the control unit 21 returns the safety area of the second size to the first size.

Then, the control unit 21 of the transport device 20 executes a determination process as to whether or not it has arrived (step S211). Specifically, the transport management unit 211 of the control unit 21 compares the coordinates of the current position with the coordinates of the destination. Then, when the current position is within a predetermined range of the destination, it is determined that the vehicle has arrived at the destination.
When it is determined that the vehicle has arrived (when "YES" in step S211), the control unit 21 of the transport device 20 ends the travel control process.

On the other hand, when it is determined that the destination has not arrived yet (in the case of "NO" in step S211), the control unit 21 of the transport device 20 repeats the traveling drive processing (step S202) and subsequent processing.

Further, when the position of the obstacle is within the second safety region and it is determined that the stop is necessary (when “YES” in step S207), the control unit 21 of the transport device 20 executes the stop process (step S212). .. Specifically, the transport management unit 211 of the control unit 21 instructs the traveling mechanism unit 26 to stop traveling. Then, it waits for the elapse of a predetermined waiting time.

Next, the control unit 21 of the transport device 20 executes a determination process as to whether or not to avoid an obstacle (step S213). Specifically, the transport management unit 211 of the control unit 21 uses the range sensor 25 to confirm whether or not the detected object has moved out of the second safety area.

If it is determined that the obstacle remains in the second safety area even after the waiting time has elapsed and the obstacle cannot be avoided (when "NO" in step S213), the control unit 21 of the transport device 20 determines. The process of creating a travel route is executed (step S214). Specifically, the transport management unit 211 of the control unit 21 retreats to a position where the obstacle leaves the safety area. Then, the transport management unit 211 acquires a floor map including the current position (departure place) to the destination from the design information storage unit 22. Next, the route creation unit 213 specifies a transportable area through which the traveling width can pass in consideration of obstacles on the floor map, and specifies the shortest route from the current position to the destination in this transportable area. Then, the control unit 21 of the transport device 20 repeats the processing after the traveling drive processing (step S202).
On the other hand, when it is determined that the detected object has moved out of the second safe area and avoided the obstacle (when “YES” in step S213), the control unit 21 of the transport device 20 places the obstacle in the safe area. The processing after the determination processing (step S204) regarding whether or not the detection has been detected is repeated.

According to this embodiment, the following effects can be obtained.
(1) In the present embodiment, the transport device 20 includes a side sensor 251. This makes it possible to measure the width of the object to be transported placed on the fork 20d. Then, the control unit 21 of the transport device 20 executes the load width measurement process using the side sensor 251 (step S105). Further, the control unit 21 of the transport device 20 executes a safety zone setting process according to the traveling width (step S201). This makes it possible to set the safety area and the transport speed according to the load width. In particular, it can be applied when transporting materials and equipment of various sizes at construction sites and the like.

Further, even when the size of the object to be transported is determined, the left and right protruding states may differ depending on the mounting state, but an accurate traveling width can be determined according to the loading situation. .. Further, by scanning the laser beam in the vertical direction, the traveling width can be determined with the maximum load width even when the protruding state is different between the upper and lower sides.

(2) In the present embodiment, the control unit 21 of the transport device 20 executes the adjustment process of the safety area according to the location (step S203). As a result, the safety area can be changed according to the traveling area. For example, the size of the safety area can be adjusted in consideration of the size of the traveling area and the influence of contact.

(3) In the present embodiment, when it is determined that no obstacle is detected in the safety area (when "NO" in step S204), the control unit 21 of the transport device 20 executes the normal traveling process (step S205). ). As a result, materials and equipment can be efficiently transported.

(4) In the present embodiment, when it is determined that an obstacle is detected in the safety area (when "YES" in step S204), the control unit 21 of the transport device 20 executes the reduction process of the safety area (step). S206). Then, when it is determined that the stop is unnecessary (in the case of "NO" in step S207), the control unit 21 of the transport device 20 executes the low-speed traveling process (step S208). As a result, when there is an obstacle in the vicinity, the vehicle can be driven while avoiding contact. Then, in a narrow area, it can be run at a low speed so that it can be stopped immediately.
Then, when it is determined that the obstacle has been avoided (when "YES" in step S209), the control unit 21 of the transport device 20 executes the expansion process of the safety area (step S210). As a result, it is possible to drive quickly while ensuring a wide safety area.

(5) In the present embodiment, when it is determined that the stop is necessary (when “YES” in step S207), the control unit 21 of the transfer device 20 executes the stop process (step S212). This makes it possible to avoid a collision.

(6) In the present embodiment, when it is determined that the obstacle is avoided (when “YES” in step S213), the control unit 21 of the transport device 20 determines whether or not the obstacle is detected in the safety area. The processing after the processing (step S204) is repeated. As a result, the traveling can be restarted using the original traveling route.
When it is determined that the obstacle cannot be avoided (in the case of "NO" in step S213), the control unit 21 of the transport device 20 executes the traveling route creation process (step S214). As a result, it is possible to recreate a traveling route that avoids obstacles.

(7) In the present embodiment, the control unit 21 of the transport device 20 executes a traveling route creation process (steps S102, S106, S109, S214). As a result, the transport device 20 can be independently self-propelled.

This embodiment can be modified and implemented as follows. The present embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.
In the above embodiment, as the range sensor 25 of the transport device 20, a two-dimensional scanning type optical distance sensor that acquires two-dimensional arrangement information by measuring the distance to the detected object while scanning the laser beam is used. Use. The range sensor 25 is not limited to the two-dimensional scanning type optical distance sensor, and a sensor that acquires three-dimensional arrangement information by two-axis scanning may be used.

-In the above embodiment, the control unit 21 of the transport device 20 executes the load width measurement process (step S105). Specifically, the transport management unit 211 of the control unit 21 predicts the load width by using the side sensor 251. The method for measuring the load width is not limited to the case where a two-dimensional scanning type laser beam is used. For example, a three-dimensional camera may be used to measure the size of the object to be transported.

-In the above embodiment, the control unit 21 of the transport device 20 executes the process of creating a travel route (steps S102, S106, S109). Instead of this, the management terminal 10 may be provided with a map creation unit and a route creation unit, and obstacle information (point cloud data) may be acquired from the transport device 20 to create a travel route. Then, the management terminal 10 may provide the created travel route to the transport device 20.

-In the above embodiment, when it is determined that the stop is necessary (when "YES" in step S207), the control unit 21 of the transport device 20 executes the stop process (step S212). The second safe area is not limited to stopping, and the vehicle may be driven at a lower speed than the low speed in the first safe area.

In the above embodiment, the transport device 20 assumes a forklift equipped with a mast 20b, a backrest 20c, and a fork 20d as the lift mechanism unit 27. The transport device 20 is not limited to a forklift, but can be applied to a trolley or the like for jacking up an object to be transported.

-In the above embodiment, the transport device 20 detects an obstacle by using the range sensor 25. The method of detecting an obstacle is not limited to the case of using the range sensor 25. For example, an image acquired from a surveillance camera may be used. In this case, the transport device 20 wirelessly acquires images from surveillance cameras arranged in various places. Then, the control unit 21 detects an obstacle (for example, a person or the like) located at each place based on the image acquired from the surveillance camera by image recognition.

As shown in FIG. 10, each photographed image 500 is acquired from surveillance cameras installed at different places, and a person image 501 existing in each photographed image 500 is extracted. Then, the control unit 21 specifies the location position of the human image included in the captured image in the environment map based on the installation location and the field of view of each captured image 500. Then, in addition to the point cloud datar, the transport device 20 determines whether or not the vehicle can travel according to the location of a person.

Next, the technical idea that can be grasped from the above embodiment and another example will be added below.
(A) A transport system including a width detection sensor that detects the width of an object to be transported mounted on the mounting portion of the transport device and a control unit that controls the traveling of the transport device, and a method and program using this transport system. There,
The control unit
In the travel route from the departure point to the destination, a safety area of the first size is set with respect to the width of the object to be transported described above.
If no obstacle is detected in the safety area of the first size, the vehicle travels at the first speed corresponding to the first size.
When an obstacle is detected in the safety area of the first size, the safety area is changed to a second size narrower than the first size, and when no obstacle is detected in the safety area of the second size, the first size is used. It is characterized by traveling at a second speed lower than the first speed.
(B) The forklift according to claim 1, wherein the control unit identifies a location of the transport device and sets a first safety area according to the location, or the forklift according to (a). Transport systems, methods and programs.
(C) The forklift of claim 1, wherein the control unit acquires information on a transport start position and a transport target position on a map, and creates a travel route from a departure point to a destination, or (a). ), The transport system, method and program according to (b).
(D) The forklift according to claim 1, or the transport according to (a) to (c), wherein when the control unit detects an obstacle in the second safety area, the transport device is stopped. Systems, methods and programs.
(E) When the control unit detects an obstacle in the second safety area, stops the transport device, and detects an obstacle even after a lapse of a predetermined time, the traveling route from the current position to the destination is determined. The forklift, transfer system, method and program according to (e), characterized in that it is recreated.

10 ... management terminal, 12 ... design information storage unit, 20 ... transfer device, 20a ... main body unit, 20d ... fork, 21 ... control unit, 211 ... transfer management unit, 212 ... map creation unit, 213 ... route creation unit, 22 ... Design information storage unit, 23 ... Path information storage unit, 24 ... Situation information storage unit, 25 ... Range sensor, 251 ... Side sensor, 252 ... Front sensor, 253 ... Rear sensor, 26 ... Travel mechanism unit, 27 ... Lift Mechanism part, LS1 ... Laser light.

Claims (1)

A fork on which the object to be transported is placed and
A main body that supports the fork so that it can be raised and lowered,
A sensor unit that is arranged on the side surface of the main body unit and emits sensor light toward the protruding side of the fork to detect the object to be transported.
A forklift equipped with a control unit that controls the running of the main body unit.
The control unit
A forklift characterized by detecting the width of an object to be conveyed mounted on the fork by using the sensor unit and controlling traveling according to the width.

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