JP2022030712A - Carrier pallet vehicle and guiding method of carrier pallet vehicle - Google Patents

Abstract

To enable a carrier pallet vehicle to appropriately enter under a pallet when the carrier pallet vehicle is under unmanned operation.SOLUTION: A guiding method includes: a first detection step for detecting a distance and an angle to a point C on a surface of a left leg part by using an approach sensor 6 included in a carrier pallet vehicle; a second detection step for detecting a distance to a point D that is different from the point C on the surface of the left leg part by using a side surface sensor 8 included in the carrier pallet vehicle;, a relative angle calculation step for calculating a relative angle θS between the carrier pallet vehicle and a pallet 10 based on the distance detected by the first detection step, the angle when the point C is detected by the approach sensor, and the distance detected by the second detection step; and a position adjustment step for positioning the carrier pallet vehicle such that the distance detected by the second detection step is in a predetermined range and the relative angle θS calculated by the relative angle calculation step becomes a predetermined angle.SELECTED DRAWING: Figure 5

Description

The present invention relates to, for example, a carrier pallet vehicle for transporting a pallet on which cargo is placed and a method for guiding a carrier pallet vehicle.

Carrier pallet vehicles used to carry cargo at steel mills and container ships are self-propelled, and after entering under the pallet on which the cargo is placed, the carrier pallet vehicle's loading platform is raised to load the cargo. Transport the entire pallet.

In recent years, it has been considered to rationalize logistics by unmanned operation of carrier pallet vehicles. In order to make the carrier pallet vehicle unmanned, it is necessary to automatically allow the carrier pallet vehicle to enter under the pallet on which the cargo is placed. Therefore, in order to prevent the carrier pallet vehicle from colliding with the leg members of the pallet, the carrier pallet vehicle is placed in front of the pallet, and the longitudinal center line of the carrier pallet vehicle carrier is aligned with the longitudinal center line of the pallet and below the pallet. Let it enter.

As an automatic guided vehicle for unmanned operation, between the approach sensor for detecting the pallet at the front and rear of the center line of the vehicle body frame and the inner slope of the pillars of both legs of the pallet at both ends of the loading platform. Some are provided with a plurality of side sensors for detecting a distance (see, for example, Patent Document 1). In Patent Document 1, when an automatic guided vehicle travels independently and comes to a predetermined position in front of the pallet, the approach sensor detects the pallet.

Specifically, the laser beam is scanned from the right side to the left side of the automatic guided vehicle at regular intervals, the distance from the center of the approach sensor to the pillars of both legs of the pallet is measured, and the longitudinal center line of the automatic guided vehicle is set. After guiding the vehicle so that it coincides with the longitudinal center line of the pallet, the automatic guided vehicle is made to enter under the pallet. When the automatic guided vehicle enters the pallet to some extent and the side sensor detects the inner slope of the pillar of the pallet, the operation of the approach sensor is stopped and the guidance is switched to the detection signal of the side sensor. It should be noted that the reason why the approach sensors are provided in both the front part and the rear part of the vehicle body frame is that the automatic guided vehicle of Patent Document 1 can be operated in either the front part or the rear part in the forward direction.

Japanese Patent No. 4427360

In the guidance method of Patent Document 1, after the automatic guided vehicle has entered the pallet to some extent, the traveling of the automatic guided vehicle is controlled so that the distances detected by the left and right side sensors are substantially equal. However, as shown in FIG. 11, if the midpoint of the left and right side sensor is on the center line of the pallet, the distance detected by the left and right side sensors is long even when the automatic guided vehicle is tilted with respect to the pallet. It becomes the same (D1 = D2).

In Patent Document 1, when the guidance is switched to the guidance by the detection signal of the side sensor, in the two side sensors arranged on the left and right sides of the automatic guided vehicle, the longitudinal center line of the automatic guided vehicle is the longitudinal direction of the pallet in the pallet. It is impossible to guide them to coincide with the center line. Therefore, it is necessary to attach at least four side sensors to the automatic guided vehicle, which causes a problem of increased cost.

Therefore, the present invention provides a carrier pallet vehicle and a method for guiding a carrier pallet vehicle, which enables proper guidance of a carrier pallet vehicle in a pallet while suppressing an increase in cost.

That is, the carrier pallet vehicle according to the present invention is a carrier pallet vehicle that enters the lower part of the pallet described above, which has a pedestal on which cargo is placed and a pair of left and right legs that support the pedestal. Using the first sensor of the carrier pallet car, the distance to the first predetermined point on the surface of either the left or right leg and the angle when the first sensor detects the first predetermined point are detected. A second detection means for detecting a distance to a second predetermined point different from the first predetermined point on the surface of the one leg by using the first detection means to be used and the second sensor of the carrier pallet car. , The carrier pallet car and the pallet based on the distance detected by the first detection means, the angle when the first sensor detects the first predetermined point, and the distance detected by the second detection means. The relative angle θ _S calculated by the relative angle calculation means and the relative angle calculation means for calculating the relative angle θ S are within a predetermined range, and the relative angle θ _S calculated by the relative angle calculation means is a predetermined angle. It is characterized by having a position adjusting means for adjusting the position of the carrier pallet car.

The method for guiding the carrier pallet vehicle according to the present invention is a carrier pallet that allows the carrier pallet vehicle to enter the lower portion of the pallet having a pedestal on which cargo is placed and a pair of left and right legs that support the pedestal. It is a method of guiding a car, and the distance to a first predetermined point on the surface of either the left or right leg and the first sensor are the first predetermined point by using the first sensor of the carrier pallet car. The distance to the second predetermined point different from the first predetermined point on the surface of the one leg by using the first detection step for detecting the angle at the time of detecting and the second sensor of the carrier pallet wheel. Based on the second detection step to detect, the distance detected by the first detection step, the angle when the first sensor detects the first predetermined point, and the distance detected by the second detection step. , The relative angle θ _S for calculating the relative angle θ S between the carrier pallet car and the pallet is within a predetermined range and the distance detected by the second detection step is within a predetermined range, and the relative angle θ calculated by the relative angle calculation step. It is characterized by having a position adjusting step for adjusting the position of the carrier pallet car so that _S becomes a predetermined angle.

Thereby, in the method of guiding the carrier pallet vehicle and the carrier pallet vehicle according to the present invention, if the carrier pallet vehicle has two sensors, the first sensor and the second sensor, the carrier pallet vehicle is operated unmanned. However, it is possible to properly guide the carrier pallet car in the pallet. Therefore, the cost of the carrier pallet vehicle can be reduced.

In the carrier pallet vehicle according to the present invention, the first sensor is arranged on the front portion of the carrier pallet vehicle, and the second sensor is arranged on the side surface of the carrier pallet vehicle.

In the method for guiding a carrier pallet vehicle according to the present invention, the first sensor is arranged on the front portion of the carrier pallet vehicle, and the second sensor is arranged on the side surface of the carrier pallet vehicle. And.

As a result, in the carrier pallet vehicle and the carrier pallet vehicle guiding method according to the present invention, since the second sensor is arranged on the side surface of the carrier pallet vehicle, the distance for detecting the pillar portion is shortened, so that the distance is shorter than that of the first sensor. The distance can be detected with high accuracy.

The carrier pallet vehicle according to the present invention is characterized in that the first sensor is arranged at the front end of the carrier pallet vehicle.

In the method for guiding a carrier pallet vehicle according to the present invention, the first sensor is characterized in that it is arranged at the front end of the carrier pallet vehicle.

As a result, in the carrier pallet vehicle and the carrier pallet vehicle guiding method according to the present invention, even when the pillar portion behind the front portion of the carrier pallet vehicle is detected, it can be prevented from being obstructed by the vehicle body, so that the pillar can be easily used. The distance to the part can be detected.

In the carrier pallet vehicle according to the present invention, the first sensor or the second sensor emits detection light and receives reflected light from the leg portion to receive the leg portion and the first sensor or the second sensor. It is characterized by measuring the distance to the sensor.

In the method for guiding a carrier pallet vehicle according to the present invention, the first sensor or the second sensor emits detection light and receives reflected light from the leg to receive the leg and the first sensor or the first sensor. It is characterized by measuring the distance from the second sensor.

Thereby, in the carrier pallet vehicle and the carrier pallet vehicle guiding method according to the present invention, the distance from the pallet leg can be easily measured by the first sensor or the second sensor.

As described above, according to the present invention, it is possible to properly guide the carrier pallet vehicle while suppressing the increase in cost.

It is a top view and the side view of the carrier pallet car which concerns on 1st Embodiment of this invention. It is a top view and a side view of the pallet carried by a carrier pallet wheel. It is a control block diagram of the carrier pallet car of FIG. It is a figure explaining the method of making a carrier pallet car of FIG. 1 enter into a pallet. It is a figure explaining the method of guiding the carrier pallet car of FIG. 1 in a pallet. It is a flowchart which shows the method of guiding in a pallet after making a carrier pallet car of FIG. 1 enter into a pallet. It is a figure explaining the carrier pallet car which concerns on 2nd Embodiment of this invention. It is a figure explaining the method of guiding the carrier pallet car of FIG. 7 in a pallet. It is a figure explaining the method of guiding the carrier pallet car which concerns on 3rd Embodiment of this invention in a pallet. It is a figure which shows the modification of the pallet which the carrier pallet car of this invention enters. It is a figure for demonstrating the problem of the prior art.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First Embodiment)
As shown in FIG. 1, the carrier pallet car 1 has a vehicle body 2 and a loading platform 3 provided so as to be able to move up and down with respect to the vehicle body 2.

The carrier pallet vehicle 1 enters under the loading platform 11 of the pallet 10 with the loading platform 3 lowered, raises the loading platform 3, mounts the pallet 10 on the loading platform 3, and mounts the loading platform 11 in that state. The cargo placed on the pallet 10 is transported together with the pallet 10. After that, when the pallet 10 is transported to a predetermined place, the carrier pallet car 1 lowers the loading platform 3 and installs the pallet 10 in the predetermined place.

The vehicle body 2 has four wheels 5 of a pair of left and right front wheels 5a and a pair of left and right rear wheels 5b (in FIG. 1, the left side of the vehicle body 2 is the front part and the right side is the rear part). Each of the four wheels 5 is provided so that the traveling direction of the vehicle body 2 can be changed by changing the direction with respect to the vehicle body 2.

An approach sensor 6 (first sensor) that scans (emits) laser light in an arc shape to detect the distance is installed on the front part of the vehicle body 2, and a pallet that emits laser light on the left side surface part. A side sensor 8 (second sensor) for detecting the distance (gap) of the leg portion 12 of the 10 from the pillar portion 12a is installed.

The approach sensor 6 is arranged on the left side of the central portion in the width direction of the front portion of the vehicle body 2. The approach sensor 6 includes an optical scanner (for example, LiDAR) including a floodlight that emits laser light, a receiver that receives the reflected light, and a motor that rotates the floodlight and the receiver so as to draw a horizontal arc. Is used.

As the side sensor 8, an optical scanner including a floodlight that emits laser light and a light receiver that receives the reflected light is used. The side sensor 8 emits laser light in a direction perpendicular to the center line of the vehicle body 2.

As shown in FIG. 2, the pallet 10 has a mounting table 11 on which cargo is placed, and legs 12 integrally formed with the mounting table 11 at both ends of the lower surface of the mounting table 11 in the short side direction. There is. The leg portion 12 has five pillar portions 12a arranged on both sides of the mounting table 11.

The approach sensor 6 emits laser light at regular intervals (for example, 0.5 degree intervals) in a range of 180 degrees to the right and left toward the pallet 10 in a state where the carrier pallet wheel 1 has not entered the pallet 10. It emits light and detects the distance to the two pillars 12a at the front of the pallet 10.

Further, the approach sensor 6 emits laser light toward the inner slope of the leg portion 12 of either the left or right pallet 10 after the front portion of the carrier pallet wheel 1 has entered the pallet 10, and the pallet 10 is used. The distance to the pillar portion 12a of the above is detected. In this embodiment, the left pillar portion 12a is used as a reference.

After the front portion of the carrier pallet wheel 1 has entered the pallet 10, the side sensor 8 emits laser light toward the inner slope of the leg portion 12 of the pallet 10 to reach the pillar portion 12a of the pallet 10. Detect the distance. The side sensor 8 emits a laser beam in a direction perpendicular to the center line of the vehicle body 2 and detects the distance to the pillar portion 12a in that direction.

As shown in FIG. 3, the control unit 30 of the carrier pallet vehicle 1 is composed of, for example, a microcomputer or the like, and has a CPU, a ROM in which a program for controlling the operation of the carrier pallet vehicle 1 is stored, and the above program. It is equipped with a RAM for temporarily storing data and the like used when executing the above. The driving operation of the carrier pallet car 1 is controlled by the control unit 30. An external system such as a server may have some or all of the functions of the control unit 30.

The control unit 30 has a first detection unit 31, a second detection unit 32, a relative angle calculation unit 33, and a position adjustment unit 34. The position adjusting unit 34 has a first position adjusting unit 34a and a second position adjusting unit 34b. Further, the approach sensor 6, the side sensor 8, and the four wheels 5 are connected to the control unit 30. In the present embodiment, the wheels 5 are connected to the control unit 30 in order to simplify the explanation. However, when the present invention is actually applied to the carrier pallet vehicle 1, the steering wheel steering wheel and the accelerator are used. , Brake, etc., need to be connected to the components necessary for the traveling control of the carrier pallet vehicle 1.

The first detection unit 31 emits laser light from the approach sensor 6 of the carrier pallet wheel 1 and detects the distance and angle of the leg portion 12 of the pallet 10 to the pillar portion 12a.

The second detection unit 32 emits laser light from the side sensor 8 of the carrier pallet wheel 1 and detects the distance of the leg portion 12 of the pallet 10 to the pillar portion 12a.

The relative angle calculation unit 33 has a relative angle θ _S (carrier pallet vehicle) between the carrier pallet vehicle 1 and the pallet 10 based on the distance and angle detected by the first detection unit 31 and the distance detected by the second detection unit 32. The relative angle θ _S ) between the center line of 1 and the center line of the pallet 10 is calculated. The method of calculating the relative angle θ _S will be described later.

The first position adjusting unit 34a has four wheels 5 so that the center line of the carrier pallet vehicle 1 coincides with the center line of the pallet 10 when the front portion of the carrier pallet vehicle 1 does not enter the pallet 10. To adjust the position of the carrier pallet wheel 1 by controlling. The first position adjusting unit 34a controls each of the four wheels 5 independently.

The control method of the first position adjusting unit 34a will be described with reference to FIG. FIG. 4 shows a state in which the carrier pallet car 1 has moved to the front of the pallet 10. In FIG. 4, the center line L of the carrier pallet car 1 and the center line L ₁ of the pallet 10 do not match, and the carrier pallet car 1 is inclined with respect to the pallet 10. In FIG. 4, a straight line passing through the inner slopes of the five pillars 12a of the legs 12 of the pallet 10 is shown as the inner normals of the pillars 12a (inner normals of the pallet 10). The normal line is parallel to the center line L1 of the pallet ₁₀ .

The first position adjusting unit 34a detects the center line L1 of the pallet 10 based on the distance to the pillar portion 12a at the front end of the pallet 10 detected by the _first detection unit 31. Specifically, the first position adjusting unit 34a extracts the position of the inner method of the pillar portion 12a of the leg portion 12 by calculation, and from the coordinates of the obtained inner normal point and the coordinates of the midpoint thereof, the center line of the pallet 10 is used. _Find L1.

Further, in the carrier pallet car 1, the distance T from the approach sensor 6 to the center line L of the vehicle body 2 is known based on the mounting position of the approach sensor 6. Therefore, in the first position adjusting unit 34a, the relative angle θ ₁ between the center line L of the vehicle body 2 and the center line L ₁ of the pallet 10 is 0, and the distance between the approach sensor 6 and the center line L ₁ of the pallet 10 is short. The vehicle body 2 is controlled so as to be T, and the carrier pallet vehicle 1 is made to enter the pallet 10.

The second position adjusting unit 34b has a distance detected by the side sensor 8 within a predetermined range after the front portion of the carrier pallet vehicle 1 has entered the pallet 10, and is calculated by the relative angle calculating unit 33. The position of the carrier pallet wheel 1 is adjusted by controlling the four wheels 5 so that the relative angle θ _S becomes 0. The second position adjusting unit 34b controls each of the four wheels 5 independently. In the case of a vehicle in which the four wheels 5 cannot be independently controlled, the wheels 5 are controlled to an optimum angle and the position of the carrier pallet vehicle 1 is adjusted.

The state in which the distance detected by the side sensor 8 is within a predetermined range and the relative angle θ _S is 0 means that the vehicle body 2 is on the pallet 10 after the front portion of the carrier pallet vehicle 1 has entered the pallet 10. The carrier pallet wheel 1 is in a state where it can move in the traveling direction in the pallet 10 without contacting the legs 12. Therefore, assuming that the difference between the left-right width of the vehicle body 2 and the distance between the pillars 12a of the legs 12 of the pallet 10 (the distance between the inner normals of the pillars 12a) is D, the predetermined ranges are 0 and D. The range between. Further, if the predetermined range is within the range of 0 to 20 cm, the vehicle body 2 can be smoothly controlled.

The control method of the second position adjusting unit 34b will be described with reference to FIG. FIG. 5 shows a state in which the front portion of the carrier pallet car 1 has entered the pallet 10. In FIG. 5, the center line of the carrier pallet vehicle 1 and the center line of the pallet 10 do not match due to the road surface condition, the measurement error of the approach sensor 6, and the like, and the carrier pallet vehicle 1 is inclined with respect to the pallet 10. ing.

When the front portion of the carrier pallet wheel 1 enters the pallet 10 and the pillar portion 12a of the leg portion 12 of the pallet 10 is arranged in the emission direction of the laser beam of the side sensor 8, the side sensor 8 moves to the pillar of the pallet 10. The portion 12a (point D) can be detected, and the pillar portion 12a (point C) of the pallet 10 in front of the traveling direction is detected by the approach sensor 6. The point C is on the inner normal line of the pallet 10.

Subsequently, the side sensor 8 detects the pillar portion 12a (point D) of the pallet 10 near the side surface of the carrier pallet wheel 1. The point D is on the inner normal line of the pallet 10.

In FIG. 5, assuming that the coordinate point at the center of the approach sensor 6 is a point (0,0), the coordinate axes X and Y of the approach sensor 6 are parallel to the front surface of the vehicle body 2 and the side surface of the vehicle body 2, respectively. The coordinate points of the side sensor 8 are point B (X ₁ , Y ₁ ). X ₁ and Y ₁ are known, respectively.

The coordinate points (c _X , c _Y ) of the point C are calculated from the length of the straight line AC which is the detected value of the approach sensor 6 and the angle θ of the laser optical axis, and the length of the straight line BD which is the detected value of the side sensor 8 is calculated. Then, the coordinate point (d _X , Y ₁ ) of the point D is calculated.

Based on the coordinate points (c _X , c _Y ) of the point C and the coordinate points (d _X , Y ₁ ) of the point D, the slope and intercept of the straight line CD at the coordinate axes X and Y of the approach sensor 6 are calculated.

By calculating the slope and intercept of the straight line CD, the inner normal of the palette 10 can be calculated, and the coordinate point (e _X , 0) of the point E is calculated based on this. The point E is on the inner normal line of the pallet 10.

Therefore, the relative angle θ _S between the vehicle body 2 of the carrier pallet car 1 and the pallet 10 is calculated as follows.

Let A ₁ be the distance between the left end (point At) of the front part of the vehicle body 2 and the inner normal line of the pallet 10, and let A ₂ be the distance between the side sensor 8 of the vehicle body 2 and the inner normal line of the pallet 10. , A ₁ = A ₂ , the side surface of the vehicle body 2 and the inner normal of the pallet 10 are parallel to each other. In that case, the side surface of the vehicle body 2 and the inner normal line of the pallet 10 are parallel, and the relative angle θ _S is 0. The points A, At, and E are on a straight line perpendicular to the center line L of the vehicle body 2, and the points B and D are on a straight line perpendicular to the center line L of the vehicle body 2. ..

The procedure when the carrier pallet vehicle 1 of the present embodiment enters under the pallet 10 will be described with reference to FIG.

(Step S1)
First, the carrier pallet car 1 moves in front of the pallet 10. The carrier pallet vehicle 1 is separately equipped with an autonomous travel control device, and the movement to the front of the pallet 10 is performed by the autonomous travel control device. Further, the driver may drive the carrier pallet vehicle 1 up to the front of the pallet 10 without autonomous driving. When the carrier pallet car 1 moves to the front of the pallet 10, the loading platform is lowered. In that state, after the center line L of the carrier pallet car 1 and the center line L ₁ of the pallet 10 are aligned, the carrier pallet car 1 is made to enter under the pallet 10.

(Step S2)
After the front portion of the carrier pallet wheel 1 has entered the pallet 20, it is determined whether or not the pillar portion 12a (point D) of the pallet 10 is present in the laser beam emitting direction of the side sensor 8. When it is determined that the pillar portion 12a (point D) of the pallet 10 is present in the emission direction of the laser beam of the side sensor 8, the process proceeds to step S3. When it is determined that the pillar portion 12a (point D) of the pallet 10 does not exist in the emission direction of the laser beam of the side sensor 8, the approach to the bottom of the pallet 10 in step S1 and the step S2 are repeated.

(Step S3)
The approach sensor 6 detects the distance from the front portion of the vehicle body 2 to the pillar portion 12a (point C) of the pallet 12 located in front of the vehicle body 2 in the traveling direction. Further, the angle θ of the laser optical axis when the pillar portion 12a (point C) is detected is also detected.

(Step S4)
The distance to the pillar portion 12a (point D) of the pallet 10 located at the position facing the side sensor 8 is detected.

(Step S5)
The coordinate point (c _X ) of the point C is based on the distance to the point C detected in step S3, the angle θ of the laser optical axis when the point C is detected, and the distance to the point D detected in step S4. , C _Y ) and the coordinate points (d _X , Y ₁ ) of the point D are calculated.

(Step S6)
It is determined whether or not the side surface of the vehicle body 2 and the inner normal line of the pallet 10 are parallel to each other. As described above, in FIG. 5, in FIG. 5, the distance A1 between the left end portion (point At (X ₁ , 0)) of the front portion of the vehicle body ₂ and the inner normal line of the pallet 10 and the side sensor 8 and the pallet 10 of the vehicle body 2 When the distance A ₂ to the inner normal line of the vehicle body 2 is equal, the side surface of the vehicle body 2 and the inner normal line of the pallet 10 are parallel to each other, and the relative angle θ _S between the center line L of the vehicle body 2 and the center line L ₁ of the pallet 10 Is 0.

Therefore, in step S6,
ACcos θ-X ₁ = (length of straight line BD)
It is determined whether or not it is. The position (point A) of the approach sensor 6 of the present embodiment is (0,0), and the coordinates of the _point At are (X1,0). Therefore, the length obtained by subtracting X ₁ from the length of the straight line AE is the length of A ₁ .

(Step S7)
If it is determined in step S6 that the side surface of the vehicle body 2 and the inner normal of the pallet 10 are not parallel, the inclination and intercept of the straight line CD are calculated.

(Step S8)
The coordinate point (e _X , 0) of the point E is calculated based on the slope and intercept of the straight line CD calculated in step S7.

よって、アプローチセンサ６の座標を（０，０）とした場合のアプローチセンサ６と側面センサ８の検出結果から、車体２とパレット１０の相対角度θ_Ｓが算出される。 (Step S9)
Based on the coordinate points (e _X , 0) of the point E and the intercept, the relative angle θ _S between the center line L of the vehicle body 2 and the center line L ₁ of the pallet 10 is calculated.

Therefore, the relative angle θ _S between the vehicle body 2 and the pallet 10 is calculated from the detection results of the approach sensor 6 and the side sensor 8 when the coordinates of the approach sensor 6 are set to (0,0).

(Step S10)
The distance (the length of the straight line BD) detected by the side sensor 8 is within a predetermined range, and the relative angle θ _S is 0, that is, the vehicle body 2 travels substantially in the center of the pallet 10. Controls the vehicle body 2.

(Steps S11, S12)
When it is determined in step S6 that the side surface of the vehicle body 2 and the inner normal line of the pallet 10 are parallel, the relative angle θ _S is 0, so that the vehicle body 2 is moved so that the traveling direction of the vehicle body 2 does not change. Controlled to guide the carrier pallet wheel 1 in the pallet 10. After that, the process proceeds to step S2.

In the present embodiment, the pallet 10 has five pillars 12a, the side sensor 8 of the carrier pallet wheel 1 moves in the pallet 10, and the pillars 12a move in the laser beam emission direction of the side sensor 8. Each time it reaches, the processes of steps S2 to S12 are performed.

As described above, the carrier pallet vehicle 1 of the present embodiment is on the lower part of the mounting table 11 of the pallet 10 having the mounting table 11 on which the cargo is placed and the pair of left and right legs 12 supporting the mounting table 11. The approach sensor 6 (first sensor) of the carrier pallet car 1 that is approaching, and the distance and approach to the point C (first predetermined point) on the surface of the left leg portion 12 Using the first detection unit 31 that detects the angle when the sensor 6 (first sensor) detects the point C (first predetermined point), and the side sensor 8 (second sensor) that the carrier pallet car 1 has, The second detection unit 32 that detects the distance to the point D (second predetermined point) different from the point C (first predetermined point) on the surface of the left leg portion 12, and the distance detected by the first detection unit 31. Relative angle θ between the carrier pallet car 1 and the pallet 10 based on the angle when the approach sensor 6 (first sensor) detects the point C (first predetermined point) and the distance detected by the second detection unit 32. The carrier pallet car 1 so that the distance detected by the relative angle calculation unit 33 for calculating _S and the second detection unit 32 is within a predetermined range and the relative angle θ _S calculated by the relative angle calculation unit 33 is 0. It has a position adjusting unit 34 (second position adjusting unit 34b) for adjusting the position of the sensor.

The method of guiding the carrier pallet vehicle of the present embodiment is to move the carrier pallet vehicle to the lower part of the mounting table 11 of the pallet 10 having the mounting table 11 on which the cargo is placed and the pair of left and right leg members 12 supporting the mounting table 11. It is a method of guiding a carrier pallet car to enter 1, and using the approach sensor 6 (first sensor) of the carrier pallet car 1, to a point C (first predetermined point) on the surface of the left leg portion 12. The first detection step for detecting the distance and the angle when the approach sensor 6 (first sensor) detects the point C (first predetermined point), and the side sensor 8 (second sensor) of the carrier pallet car 1. The second detection step for detecting the distance to the point D (second predetermined point) different from the point C (first predetermined point) on the surface of the left leg portion 12 and the distance detected by the first detection step. And the relative angle θ between the carrier pallet car 1 and the pallet 10 based on the angle when the approach sensor 6 (first sensor) detects the point C (first predetermined point) and the distance detected by the second detection step. The position of the carrier pallet car 1 is adjusted so that the distance detected by the relative angle calculation step for calculating _S and the distance detected by the second detection step are within a predetermined range and the relative angle θ _S calculated by the relative angle calculation step becomes 0. It has a position adjustment step to be performed.

As a result, in the method of guiding the carrier pallet vehicle 1 and the carrier pallet vehicle of the present embodiment, if the carrier pallet vehicle 1 has two sensors, the approach sensor 6 and the side sensor 8, the carrier pallet vehicle 1 is operated unmanned. Even when the carrier pallet car 1 is used, it is possible to properly guide the carrier pallet car 1 in the pallet 10. Therefore, the cost of the carrier pallet car 1 can be reduced.

In the carrier pallet vehicle 1 of the present embodiment, the approach sensor 6 (first sensor) is arranged at the front portion of the carrier pallet vehicle 1, and the side sensor 8 (second sensor) is located on the side surface of the carrier pallet vehicle 1. Be placed.

In the method of guiding the carrier pallet vehicle of the present embodiment, the approach sensor 6 (first sensor) is arranged at the front portion of the carrier pallet vehicle 1, and the side sensor 8 (second sensor) is the carrier pallet vehicle 1. Placed on the side.

As a result, in the method of guiding the carrier pallet vehicle 1 and the carrier pallet vehicle of the present embodiment, since the side sensor 8 is arranged on the side surface of the carrier pallet vehicle 1, the distance for detecting the pillar portion 12a is shortened, so that the approach sensor It is possible to detect the distance with higher accuracy than 6.

In the carrier pallet vehicle 1 of the present embodiment, the approach sensor 6 and the side sensor 8 emit the detection light and receive the reflected light from the leg 12, so that the leg 12 and the approach sensor 6 or the side sensor 8 are connected to each other. Measure the distance.

In the method of guiding the carrier pallet vehicle of the present embodiment, the approach sensor 6 and the side sensor 8 emit the detection light and receive the reflected light from the leg 12, thereby causing the leg 12 and the approach sensor 6 or the side sensor 8 to receive the light. Measure the distance to.

Thereby, in the method of guiding the carrier pallet car 1 and the carrier pallet car of the present embodiment, the distance of the pallet 2 from the leg portion 12 can be easily measured by the approach sensor 6 and the side sensor 8.

(Second Embodiment)
The difference between the carrier pallet vehicle 101 of the present embodiment and the carrier pallet vehicle 1 of the first embodiment is that the carrier pallet vehicle 1 of the first embodiment is an approach arranged on the left side of the central portion of the front portion of the vehicle body 2. Whereas the carrier pallet car 101 of the present embodiment has a sensor 6, it has an approach sensor 6 arranged at the left end portion of the front portion of the vehicle body 2. In the description of the carrier pallet car 101, detailed description of the same contents as that of the carrier pallet car 1 will be omitted.

In the carrier pallet vehicle 101 of the present embodiment, the approach sensor 6 is arranged at the left end portion of the front portion of the vehicle body 2 as shown in FIG. 7. Therefore, as in the first embodiment, instead of detecting the pillar portion (point C) of the pallet in front of the front portion of the vehicle body 2 in the traveling direction by the approach sensor 6, the approach sensor 6 is shown in FIG. It is also possible to calculate the relative angle θ _S between the carrier pallet wheel 101 and the pallet 10 by detecting the pillar portion (point F) of the pallet located behind the front portion of the vehicle body 2 in the traveling direction.

The carrier pallet car 101 and the method of guiding the carrier pallet car of the present embodiment have the same effects as those of the first embodiment.

In the carrier pallet car 101 of the present embodiment, the approach sensor 6 (first sensor) is arranged at the front end of the carrier pallet car 101.

In the method of guiding the carrier pallet vehicle of the present embodiment, the approach sensor 6 (first sensor) is arranged at the front end of the carrier pallet vehicle 101.

Thereby, in the method of guiding the carrier pallet vehicle 101 and the carrier pallet vehicle of the present embodiment, even when the pillar portion 12a behind the front portion of the carrier pallet vehicle 101 is detected, it can be prevented from being obstructed by the vehicle body 2. , The distance to the pillar portion 12a can be easily detected.

(Third Embodiment)
The difference between the carrier pallet vehicle 201 of the present embodiment and the carrier pallet vehicle 1 of the first embodiment is that the carrier pallet vehicle 1 of the first embodiment has one approach sensor 6 and one side sensor 8. On the other hand, the carrier pallet car 201 of the present embodiment does not have the side sensor 8 but has two approach sensors 6. Like the automatic guided vehicle of Patent Document 1 described above, the carrier pallet vehicle 1 of the present embodiment can travel in either the front-rear direction or the front. In the description of the carrier pallet car 201, detailed description of the same contents as that of the carrier pallet car 1 will be omitted.

In the carrier pallet vehicle 201 of the present embodiment, the two approach sensors 6 are arranged at the left end portion of the front portion of the vehicle body 2 and the left end portion of the rear portion of the vehicle body 2, respectively, as shown in FIG. Therefore, as in the first embodiment, the approach sensor 6 arranged at the front portion of the vehicle body 2 detects the pillar portion (point C) of the pallet located in front of the front portion of the vehicle body 2 in the traveling direction, and the vehicle body 2 By detecting the pillar portion (point G) of the pallet located behind the front portion of the vehicle body 2 in the traveling direction by the approach sensor 6 arranged at the rear portion, the relative angle θ _S between the carrier pallet vehicle 201 and the pallet 10 is determined. It is also possible to calculate.

The carrier pallet car 101 and the method of guiding the carrier pallet car of the present embodiment have the same effects as those of the first embodiment.

The specific configuration is not limited to the above-described embodiment.

For example, the carrier pallet vehicle 1 of the first embodiment has a first sensor (approach sensor 6) arranged at the front portion of the vehicle body 2 and a second sensor (side surface sensor) arranged on the side surface of the vehicle body 2. However, the type and arrangement of the first sensor and the second sensor are arbitrary.

The first sensor and the second sensor are not limited to the sensor that emits laser light, and may be, for example, a sensor that emits LED light, or may be a sensor that uses ultrasonic light instead of a sensor that uses light.

For example, the first sensor (approach sensor 6) arranged at the front part of the vehicle body 2 may be arranged at any position on the front part of the vehicle body. That is, the first sensor that detects the distance to the first predetermined point on the surface of either the left or right leg and the distance to the second predetermined point that is different from the first predetermined point on the surface of one of the legs. The effect of the present invention can be obtained if the carrier pallet vehicle has a second sensor for detecting. The second predetermined point may be arranged on the upstream side in the approach direction or may be arranged on the downstream side in the approach direction with respect to the first predetermined point.

In the third embodiment, the two approach sensors 6 are arranged at the left end of the front part of the vehicle body 2 and the left end of the rear part of the vehicle body 2, respectively, but the arrangement of the two approach sensors 6 is optional. be. At least one of the two approach sensors 6 may be located at a position other than the front of the vehicle body 2 or the rear of the vehicle body 2. Further, at least one of the two approach sensors 6 may be arranged at a position other than the left end portion of the vehicle body 2.

In the first to third embodiments, the carrier pallet wheel and the pallet are connected by detecting the position of a point on the surface of the pillar portion 12a of the left leg portion 12 of the pallet 10 by the approach sensor 6 and the side sensor 8. The relative angle θ _S was calculated, but the relative angle between the carrier pallet wheel and the pallet was detected by detecting the position of a point on the surface of the pillar portion 12a of the leg portion 12 on the right side of the pallet 10 by the approach sensor 6 and the side sensor 8. The angle θ _S may be calculated.

In the first to third embodiments, when it is determined that the side surface of the vehicle body 2 and the inner normal line of the pallet 10 are parallel, the relative angle θ _S is 0, so that the traveling direction of the vehicle body 2 does not change. The case of guiding the vehicle body 2 as described above has been described, but when it is determined that the side surface of the vehicle body 2 and the inner normal line of the pallet 10 are parallel, the vehicle body 2 is moved in the width direction with respect to the pallet 10. good. For example, in FIG. 5, when the relative angle θs = 0 and BD = 0.5 cm, there is a possibility of collision with a slight deviation, so even if the relative angle θs ≠ 0 temporarily, the vehicle body 2 is oriented toward the center. It is conceivable to move it.

In the first to third embodiments, the leg portion 12 of the pallet 10 has a pillar portion 12a made of H steel, and the pillar portion 12a made of H steel is detected by the first sensor and the second sensor. As shown in FIG. 10, the leg portion 12 of the pallet 10 has a steel plate 212 attached to the side surface of the leg portion 12, and the first sensor and the second sensor are adjusted. The steel plate 212 of the leg portion 12 may be detected and the position of the vehicle body 2 may be adjusted. The steel plate 212 may be attached to the inner slope of the leg portion 12. In that case, instead of performing the processes of steps S2 to S12 each time the pillar portion 12a reaches the laser beam emission direction of the side sensor 8, as in the first embodiment, the carrier pallet vehicle 1 and the pallet 10 are moved. At the same time, the steel plate 212 in the laser beam emitting direction of the side sensor 8 may be detected, and the processes of steps S2 to S12 may always be performed.

In the first to third embodiments, the leg portion 12 of the pallet 10 has a pillar portion 12a made of H steel, but the shape of the pillar portion 12a is arbitrary. Further, the shape of the leg portion 12 of the pallet 10 is arbitrary, and may be formed into, for example, a ramen or a truss structure.

The carrier pallet vehicle of the first to third embodiments has four wheels 5 including a front wheel 5a and a rear wheel 5b, but the number and arrangement of the wheels of the carrier pallet vehicle are arbitrary.

In the first to third embodiments, the first sensor and the second sensor for detecting the distance are arranged on the vehicle body 2 of the carrier pallet vehicle, but may be arranged on a portion other than the vehicle body 2, such as a loading platform. ..

1, 101, 201 Carrier pallet car 2 Body 3 Loading platform 5 Wheels 6 Approach sensor (1st sensor)
8 Side sensor (second sensor)
10 Pallet 11 Mounting table 12 Leg 12a Pillar 31 First detection unit (first detection means)
32 Second detection unit (second detection means)
33 Relative angle calculation unit (relative angle calculation means)
34 Position adjustment unit (position adjustment means)
34a 1st position adjusting unit (1st position adjusting means)
34b Second position adjustment unit (second position adjustment means)

Claims (8)

A carrier pallet vehicle that enters the lower part of the pallet described above, which has a pallet on which cargo is placed and a pair of left and right legs that support the pallet.
Using the first sensor of the carrier pallet wheel, the distance to the first predetermined point on the surface of either the left or right leg and the angle when the first sensor detects the first predetermined point are detected. The first detection means to be
A second detection means for detecting a distance to a second predetermined point different from the first predetermined point on the surface of the one leg by using the second sensor of the carrier pallet car.
The carrier pallet car and the pallet are based on the distance detected by the first detection means, the angle when the first sensor detects the first predetermined point, and the distance detected by the second detection means. Relative angle calculation means for calculating the relative angle θ _S , and
A position adjusting means for adjusting the position of the carrier pallet vehicle so that the distance detected by the second detecting means is within a predetermined range and the relative angle θ _S calculated by the relative angle calculating means is a predetermined angle. A carrier pallet car characterized by having. The carrier pallet vehicle according to claim 1, wherein the first sensor is arranged on the front portion of the carrier pallet vehicle, and the second sensor is arranged on the side surface of the carrier pallet vehicle. The carrier pallet vehicle according to claim 2, wherein the first sensor is arranged at an end portion of a front portion of the carrier pallet vehicle. The first sensor or the second sensor emits detection light and receives reflected light from the leg to measure the distance between the leg and the first sensor or the second sensor. The carrier pallet vehicle according to claim 1 to 3, which is characterized. A method of guiding a carrier pallet vehicle to allow a carrier pallet vehicle to enter the lower part of the pallet described above on a pallet having a pallet on which cargo is placed and a pair of left and right legs that support the pallet.
Using the first sensor of the carrier pallet wheel, the distance to the first predetermined point on the surface of either the left or right leg and the angle when the first sensor detects the first predetermined point are detected. The first detection step to be performed and
A second detection step of detecting a distance to a second predetermined point different from the first predetermined point on the surface of the one leg by using the second sensor of the carrier pallet car.
The carrier pallet car and the pallet are based on the distance detected by the first detection step, the angle when the first sensor detects the first predetermined point, and the distance detected by the second detection step. The relative angle calculation step for calculating the relative angle θ _S , and
A position adjusting step for adjusting the position of the carrier pallet vehicle so that the distance detected by the second detection step is within a predetermined range and the relative angle θ _S calculated by the relative angle calculation step is a predetermined angle. A method of guiding a carrier pallet vehicle, characterized in that it has. The carrier pallet vehicle according to claim 4, wherein the first sensor is arranged on the front portion of the carrier pallet vehicle, and the second sensor is arranged on the side surface of the carrier pallet vehicle. Guidance method. The method for guiding a carrier pallet vehicle according to claim 5, wherein the first sensor is arranged at an end portion of a front portion of the carrier pallet vehicle. The first sensor or the second sensor emits detection light and receives reflected light from the leg to measure the distance between the leg and the first sensor or the second sensor. The method for guiding a carrier pallet vehicle according to claim 5 to 7, which is characterized by the above-mentioned method.

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