JP6250944B2 - Automated guided vehicle and automated guided vehicle system - Google Patents

Description

  The present invention relates to an automated guided vehicle and an automated guided vehicle system, and more particularly to a technique in which an automated guided vehicle travels on a conveyance path across different floors.

  In recent years, with the automation of physical distribution in factories and distribution centers, automatic guided vehicles (AGVs) have been widely used for transporting packages. When an automated guided vehicle is used, depending on the usage environment, the transport route may straddle the floor, for example, from the first floor to the third floor.

  In the case of such a conveyance route, the automatic conveyance vehicle moves to a different floor using a cargo elevator. When a cargo elevator is used, a control device that controls, for example, the operation of the cargo elevator is mounted on the automatic transport vehicle.

  This control device is a device that controls the cargo elevator when the automated guided vehicle uses the cargo elevator, and calls the cargo elevator, sets the destination floor, and closes the cargo elevator door. Is output to the elevator control device that controls the cargo elevator.

  When an automated guided vehicle uses an elevator, a rule that people and automated guided vehicles should not enter a cargo elevator at the same time is widely used for safety reasons. This is because the automated guided vehicle may come into contact with a person in a narrow space in the elevator.

  In addition, while using the cargo elevator, the automated guided vehicle is informed of this by, for example, a rotating light, a light, or a buzzer, so that a person cannot get into the elevator.

  As a movement technique in this type of automatic transport vehicle, for example, a technique that quickly responds to changes in the external environment and enables movement while avoiding obstacles is known (for example, see Patent Document 1).

JP 2009-288931 A

  However, the present inventors have found that there are the following problems in the operation technology of the automatic guided vehicle as described above.

The cargo elevator when shared by the automatic carrier and humans, there is a possibility that the following situations: occurs. Assume that in a situation where a cargo elevator is in use, waiting for a person and an automated guided vehicle to be out of use on the same floor.

  In order to use the cargo elevator, the cargo elevator is called by pressing “call” of the cargo elevator at the moment when the cargo elevator is not in use. In this case, the automated guided vehicle calls the cargo elevator by the control device described above.

  On the other hand, in the case of a person, it is necessary to determine that the cargo elevator is not in use and press the “call” button. As a result, the automated guided vehicle always calls the cargo elevator.

  Accordingly, there is a problem that a person cannot get on the freight elevator, a wasteful waiting time is generated, and work efficiency is lowered. In particular, the above problem becomes significant when an automated guided vehicle arrives after a person.

  The objective of this invention is providing the technique which can reduce the waiting time of the person in a cargo elevator, and can improve work efficiency.

  The above and other objects and novel features of the present invention will be apparent from the description of this specification and the accompanying drawings.

  Of the inventions disclosed in the present application, the outline of typical ones will be briefly described as follows.

  That is, the outline of a typical thing is applied to an automatic conveyance vehicle and an automatic conveyance vehicle system, and has the following characteristics.

  The automatic transport vehicle includes a moving mechanism that moves the vehicle, a control unit that controls the moving mechanism to guide the vehicle, and an object detection sensor that detects an object. Then, the control unit detects whether or not there is an object on the elevator landing by the object detection sensor when the vehicle gets into the elevator on a route on which the vehicle moves to a different floor using the elevator. When the determination is made, a call signal for calling a car in which the vehicle gets into the elevator is output.

  Moreover, an automatic conveyance vehicle system has the elevator which mounts a cargo, and the automatic conveyance vehicle which drive | works the conveyance path | route which moves to a different floor using this elevator. The elevator includes an elevator communication device that receives a call signal that calls a car on which a cargo or an automated guided vehicle is placed, and an elevator control device that controls the raising and lowering of the car.

  The automatic transport vehicle includes a moving mechanism that moves the vehicle, a control unit that controls the moving mechanism to guide the vehicle, and an object detection sensor that detects an object.

  The control unit detects whether or not there is an object on the elevator landing by the object detection sensor when the vehicle gets into the elevator on the route where the vehicle moves to a different floor using the elevator, and determines that there is no object. At the same time, a call signal for calling the elevator car is transmitted to the elevator communication device.

  And when an elevator communication apparatus receives a call signal, an elevator control apparatus raises / lowers a car to the floor on which an automatic conveyance vehicle gets.

  Among the inventions disclosed in the present application, effects obtained by typical ones will be briefly described as follows.

  Work efficiency can be improved.

It is explanatory drawing which shows an example of a structure in the automatic conveyance vehicle by this Embodiment. It is a block diagram which shows an example of a structure in the control apparatus provided in the automatic conveyance vehicle of FIG. It is explanatory drawing which shows the problem by sharing with the operator of the cargo elevator which this inventor examined, and an automatic conveyance vehicle. It is explanatory drawing which shows an example of the object detection range by the object detection sensor provided in the automatic conveyance vehicle of FIG. It is explanatory drawing which shows an example of a structure of the cargo elevator which the automatic conveyance vehicle of FIG. 1 utilizes. It is a flowchart which shows an example of the operation | movement in the cargo elevator of FIG. It is a flowchart which shows an example of operation | movement of the automatic conveyance vehicle which has the conveyance path | route which gets on and off the cargo elevator. It is explanatory drawing which shows an example of the conveyance path | route which an automatic conveyance vehicle drive | works in the flowchart of FIG.

  In the following embodiments, when it is necessary for the sake of convenience, the description will be divided into a plurality of sections or embodiments. However, unless otherwise specified, they are not irrelevant to each other. There are some or all of the modifications, details, supplementary explanations, and the like.

  Further, in the following embodiments, when referring to the number of elements (including the number, numerical value, quantity, range, etc.), especially when clearly indicated and when clearly limited to a specific number in principle, etc. Except, it is not limited to the specific number, and may be more or less than the specific number.

  Further, in the following embodiments, the constituent elements (including element steps and the like) are not necessarily indispensable unless otherwise specified and apparently essential in principle. Needless to say.

  Similarly, in the following embodiments, when referring to the shape, positional relationship, etc. of components, etc., the shape of the component is substantially the case unless it is clearly specified and the case where it is clearly not apparent in principle. And the like are included. The same applies to the above numerical values and ranges.

  In all the drawings for explaining the embodiments, the same members are denoted by the same reference symbols in principle, and the repeated explanation thereof is omitted. In order to make the drawings easy to understand, even a plan view may be hatched.

<Summary of invention>
The first outline of the present invention is an automatic conveyance vehicle (automatic conveyance vehicle 10). This automatic conveyance vehicle has a moving mechanism (moving mechanism 11), a control unit (control device 14), and an object detection sensor (object detection sensor 15). The moving mechanism moves the vehicle (vehicle 35). The control unit controls the moving mechanism and guides the vehicle. The object detection sensor detects an object.

  Then, the control unit detects whether or not there is an object at the elevator landing by using an object detection sensor when the vehicle gets into the elevator on a route in which the vehicle moves to a different floor using the elevator. When it is determined, a call signal for calling a car in which the vehicle enters the elevator is output.

  The second outline of the present invention is an automatic guided vehicle system. The automatic carrier system includes an elevator and an automatic carrier (automatic carrier 10). The elevator carries cargo. The automated guided vehicle travels on a transport route that moves to a different floor using an elevator.

  The elevator also has an elevator communication device (communication device 45) and an elevator control device (elevator control device 46). The elevator communication device receives a call signal that calls a cargo or a car on which an automated guided vehicle is placed. The elevator control device controls the raising and lowering of the car.

  The automatic transport vehicle includes a moving mechanism (moving mechanism 11), a control unit (control device 14), and an object detection sensor (object detection sensor 15). The moving mechanism moves the vehicle (vehicle 35). The control unit controls the moving mechanism and guides the vehicle. The object detection sensor detects an object.

  Then, the control unit detects whether or not there is an object at the elevator platform by the object detection sensor when the vehicle gets into the elevator on a route in which the vehicle moves to a different floor using the elevator. If it is determined that there is no object, a call signal for calling the elevator car is transmitted to the elevator communication device.

  When the elevator communication device receives the call signal, the elevator control device raises and lowers the car to the floor on which the automated guided vehicle gets.

  Hereinafter, the embodiment will be described in detail based on the above-described outline.

<Example of configuration of automated guided vehicle>
FIG. 1 is an explanatory diagram showing an example of the configuration of the automatic guided vehicle according to the present embodiment.

  As shown in FIG. 1, the automated guided vehicle 10 includes a moving mechanism 11, a drive wheel 12, a universal caster 13, a control device 14, an object detection sensor 15, an external sensor 16, an elevator communication device 17, and a vehicle 35.

  The vehicle 35 is provided with a moving mechanism 11. The moving mechanism includes, for example, a motor, a drive circuit that drives the motor, a battery, and the like, and generates power. The vehicle 35 is provided with two drive wheels 12 and two universal casters 13.

  The drive wheels 12 indicated by hatching are provided at the rear of the vehicle 35, and the universal casters 13 are provided at the front in the traveling direction of the vehicle 35. The driving mechanism 12 is connected to the moving mechanism 11 via a power transmission mechanism (not shown). The moving mechanism 11 may be a so-called direct drive system that drives the drive wheels 12 without using a power transmission mechanism.

  The automatic transport vehicle 10 moves by rotating the driving wheel 12 by the moving mechanism 11 and also rotating the universal caster 13 which is a driven wheel. The object detection sensor 15 is a sensor that detects whether or not there is a person or an object in the traveling direction of the automated guided vehicle 10. The object detection sensor 15 includes, for example, an infrared sensor, a laser sensor, an ultrasonic sensor, a camera, or a human sensor.

  The external sensor 16 is a sensor that obtains the current position and the target position of the automated guided vehicle 10. Thereby, the automatic conveyance vehicle 10 can perform trackless conveyance, without using induction equipment, such as a magnetic tape. The object detection sensor 15 and the external sensor 16 are mounted in front of the vehicle 35, for example.

  Here, the object detection sensor 15 and the external sensor 16 are not provided separately, but may be configured as one sensor. For example, in the case of a trackless type automatic guided vehicle, there is one that uses a laser range sensor or the like as an external sensor.

  The laser range sensor uses an infrared laser or the like, and scans in the horizontal direction at regular intervals and at regular intervals. By using this laser range sensor as an object detection sensor, it is possible to detect a person or an object, and a single sensor can serve as both an object detection sensor and an external sensor.

  In FIG. 1, the case of a trackless type automatic guided vehicle having the external sensor 16 is described. However, the external sensor 16 is not provided, and the magnetic tape for guidance or a guide tape such as a guide tape such as a white line is used. A traveling automatic guided vehicle may also be used.

When using a magnetic tape, an automatic conveyance vehicle is induced | guided | derived by the magnetism which the magnetic tape stuck on the floor surface emits. In the case of a guide tape such as a white line, the automated guided vehicle is guided to recognize the guide tape stuck on the floor and travel on the guide tape.

  The elevator communication device 17 performs communication with an elevator control device described later. The elevator control device is provided in the cargo elevator and controls the operation of the cargo elevator. The elevator communication device 17 is attached to the upper part of the vehicle 35, for example.

  The communication method in the elevator communication device 17 conforms to the specifications of the elevator control device, and performs communication with the elevator control device by, for example, infrared communication or wireless communication.

  The control device 14 controls the movement mechanism 11 based on the information acquired from the object detection sensor 15 and the external sensor 16, performs automatic conveyance control of the automatic conveyance vehicle 10, and performs communication control by the elevator communication device 17. . The control device 14 is mounted on the vehicle 35.

<Example of control device configuration>
FIG. 2 is a block diagram showing an example of the configuration of the control device 14 provided in the automatic transport vehicle of FIG.

  As shown in FIG. 2, the control device 14 includes an object detection unit 18, an elevator communication control unit 19, a position recognition unit 20, and a movement mechanism control unit 21. An object detection sensor 15 is connected to the object detection unit 18. The object detection unit 18 determines whether there is an object in a specific range in the traveling direction of the automatic guided vehicle 10 based on the information acquired by the object detection sensor 15.

  An external sensor 16 is connected to the position recognition unit 20. The position recognizing unit 20 matches the measurement information acquired by the external sensor 16 with the map information of the environment in which the automated guided vehicle 10 that has integrated the measurement information in the traveling environment measured and collected in advance travels. 10 current positions and a target position are recognized.

  The elevator communication control unit 19 instructs the elevator communication device 17 to transmit a signal and acquires a signal received by the elevator communication device. The elevator communication control unit 19 instructs the elevator communication device 17 to transmit a signal when the position recognition unit 20 recognizes that the automatic transport vehicle 10 is at a position where communication with the elevator control device is possible. The movement mechanism control unit 21 controls the movement mechanism 11 based on the current position recognized by the position recognition unit 20 and the target position, and moves the automatic transport vehicle 10 to a target position.

<Operation example of cargo elevator>
Here, a typical operation example of the cargo elevator will be described.

  In a cargo elevator, a boarding / unloading operation panel is provided on each floor. The getting-on / off operation panel is provided with a “call” button, a “close” button, and an “in use” lamp. There is no "up" button or "down" button that can be found in a passenger elevator.

  In a cargo elevator, an operation panel provided in a car is provided only with an “open” button and a button indicating a destination floor, and there is no “close” button or the like seen in a cargo passenger elevator.

  In addition, in a cargo elevator, (1) only one destination floor can be specified, (2) no “call” button operation on any floor is accepted while the “in use” lamp is lit, (3 ) The feature is that the door will not close unless the destination floor button or the “close” button is pressed, or it takes several minutes to automatically close.

  An example of using the cargo elevator having the above-described features will be described. Here, a description will be given from the call of the car to the destination floor until the worker gets off the car.

  First, when the “call” button is pressed on the floor of the landing, the “in use” lamps of all the floors light up, and the car starts to move to the floor where the “call” button is pressed. After that, when the car arrives at the landing floor, the door opens.

  When the operator gets into the car and presses the destination floor button, the door is closed and the car moves to the destination floor designated by the destination floor button. Subsequently, the door opens when the car arrives at the destination floor. When the operator gets out of the car and presses the "Close" button, the door closes and the "in use" lamps on all floors turn off. Thus, the use of the elevator ends.

<Problems due to sharing between workers and automated guided vehicles>
FIG. 3 is an explanatory diagram showing a problem caused by sharing of the cargo elevator operator and the automatic transport vehicle studied by the present inventors.

  FIG. 3 shows a situation in which the cargo elevator is in use and the worker 100 and the automated guided vehicle 101 are waiting to use the elevator at the landing on the second floor. In this situation, in order for the worker 100 to use the cargo elevator, it is necessary to press the “call” button before the automatic guided vehicle 101 at the landing when the “in use” lamp is turned off.

  However, the automatic transport vehicle 101 communicates with an elevator control device 102 that controls the operation of the cargo elevator. Therefore, at the moment when the “in use” lamp is extinguished, it is possible to output a signal to press the “call” button to the elevator control device 102, and the operator 100 calls the “call” before the automatic transport vehicle 101. You cannot press the "" button.

  As a result, the automatic transport vehicle 101 preferentially uses the cargo elevator, and the worker 100 cannot use it.

  Therefore, the automated guided vehicle 10 of FIG. 1 includes an object detection sensor 15 that detects a person or an object, thereby detecting whether there is a person or a thing around the cargo elevator landing. .

  Then, only when it is detected that there is no person or no object, a “call” signal is sent to the cargo elevator to call the car 40 of the cargo elevator. When detected, priority is given to the person's boarding and a "call" signal is not transmitted.

  As described above, the detection by the object detection sensor 15 does not need to distinguish a person from an object, and may be a person or an object. In distribution centers and the like, there are not many things on the freight elevator platform. Therefore, when there is an object at the landing, it is considered that the worker is waiting to use the cargo elevator.

<Example of detection by object detection sensor>
FIG. 4 is an explanatory diagram showing an example of an object detection range by an object detection sensor provided in the automatic transport vehicle of FIG. FIG. 4A shows an example of an object detection range by the object detection sensor 15 as viewed from above.

  As shown in FIG. 4A, the object detection sensor 15 is attached, for example, forward in the traveling direction of the automatic guided vehicle 10, and becomes a detection range ARA indicated by a dotted line in the drawing. The detection range ARA indicates a range that the object detection sensor 15 can detect. As described above, the object detection sensor 15 detects an object in the detection range ARA in the traveling direction of the automatic transport vehicle 10.

  FIG. 4B shows an example of an object detection range in the automatic transport vehicle when it reaches the cargo elevator landing seen from above.

  As shown in the figure, the detection range ARA is an area that sufficiently covers the getting-on / off operation panel 30, the door 44 provided at the landing, and the like, and is an area where an object in the entire landing can be detected. As a result, not only the operator who is operating the entry / exit operation panel 30 but also the case where an operator or a baggage is at the end of the door 44 on the opposite side of the entry / exit operation panel 30 can detect an object. It has become.

  4 shows an example in which the object detection sensor 15 is attached in front of the automatic transport vehicle 10, but the attachment position of the object detection sensor 15 is not limited to this. Furthermore, not only in the front of the automatic transport vehicle 10 but also in the rear or side of the automatic transport vehicle 10 in the range in which the object is detected, or farther than the detection range ARA in FIG. 4 is detected. You may do it. Further, by attaching a plurality of object detection sensors 15, objects in the front, rear, left and right regions may be detected.

<Configuration example of cargo elevator>
Next, the configuration of the cargo elevator will be described.

  FIG. 5 is an explanatory diagram showing an example of a configuration of a cargo elevator used by the automatic guided vehicle in FIG. 1.

  As shown in FIG. 5, the cargo elevator has a car 40 in which the automatic transport vehicle 10 can get. The car 40 is suspended by a wire 41. The wire 41 is connected to the winding device 42. Then, the car 40 is moved up and down inside the hoistway 43 by winding or lowering the wire 41 by the winding device 42. The hoistway 43 is a space for moving the car 40 up and down.

  Moreover, the installed door 44 is installed in each floor where the car 40 stops. A communication device 45 that can exchange signals with the elevator communication device 17 is provided on each floor where the car 40 stops and inside the car 40.

  Further, an elevator control device 46 is provided at the upper part of the hoistway 43. The elevator control device 46 controls the operation of the hoisting device 42, the door 44 of each floor, etc., respectively, acquires signals received by the communication device 45 in each floor and the car 40, and sends signals to the communication device 45. Command transmission.

  Although not shown in the figure, as shown in FIG. 4, on the side of the door 44, an entry / exit operation panel 30 having a “call” button, a “close” button, and an “in use” lamp is provided on each floor. It has been. As described above, the entry / exit operation panel 30 is an operation panel for operating the elevator manually. In addition, although not shown, an operation panel having an “open” button and a destination floor button is provided in the car 40.

<Operation example of cargo elevator>
FIG. 6 is a flowchart showing an example of the operation of the cargo elevator shown in FIG.

  First, when the elevator is activated, it is determined whether or not it is being operated manually (step S101). If it is operated manually, that is, if it is an operation by the getting-on / off operation panel 30 of FIG. 4, it will operate according to the manual operation (step S102).

  If it is determined in step S101 that the operation is not performed manually, the communication device 45 on any floor determines whether a “call” signal is received from the elevator communication device 17 (step S103).

  If the “call” signal has not been received, the process returns to the determination of whether the elevator is being operated manually (step S101). Further, when the communication device 45 on any floor receives the “call” signal, the elevator control device 46 controls the hoisting device 42 so that the car 40 moves to the floor on which the “call” signal is received. (Step S104).

  When the movement of the car 40 is completed, the elevator controller 46 instructs the door 44 on the floor where the car 40 has arrived to open (step S105). When the door 44 is opened, the elevator controller 46 instructs the communication device 45 on the floor to transmit an elevator arrival signal (step S106).

  Thereafter, the elevator control device 46 determines whether or not the communication device 45 in the car 40 has received a destination floor signal (step S107). If the destination floor signal has not been received, the process waits (step S108), and it is determined again whether the destination floor signal has been received in the processing of step S107.

  When the communication device 45 in the car 40 has received the destination floor signal, the elevator control device 46 commands the door 44 that is currently open to be closed (step S109). Thereafter, the elevator control device 46 controls the hoisting device 42 so that the car 40 moves to the floor designated by the destination floor signal (step S110).

  When the movement of the car 40 is completed, the elevator controller 46 instructs the door 44 of the floor to which the car 40 has moved to be opened (step S111). When the door 44 is opened, the elevator control device 46 instructs the communication device 45 in the car 40 to transmit a destination floor arrival signal (step S112).

  Subsequently, the elevator control device 46 determines whether or not the arrival floor communication device 45 has received a disembarkation completion signal from the elevator communication device 17 mounted on the automated guided vehicle 10 (step S113).

  When the getting-off completion signal has not been received, the elevator control device 46 waits for a certain period of time (step S114), and again determines whether or not the getting-off completion signal has been received in the process of step S113.

  When the getting-off completion signal is received, the elevator controller 46 instructs the door 44 that is currently open to be closed (step S115). Thereafter, the elevator control device 46 returns to the process of step S101 for determining whether or not the elevator is controlled manually.

<Travel example of automated guided vehicle>
Next, an operation when the automated guided vehicle 10 in FIG. 1 travels on a transportation route for getting on and off the cargo elevator will be described.

  FIG. 7 is a flowchart showing an example of the operation of the automatic transport vehicle having a transport route for getting on and off the cargo elevator. In FIG. 7, description will be made assuming that the vehicle travels on the transport route shown in FIG. 8, for example. The cargo elevator has the configuration shown in FIG. 5 and performs the operation described in FIG.

  In FIG. 7, the first floor transport start point PT1 proceeds to the cargo elevator boarding start point PT2, and the cargo start elevator PT2 takes the cargo elevator from the boarding start point PT2 to the second floor boarding elevator exit point PT3. An example of getting off and traveling to the transfer completion point PT4 on the same floor is shown.

  First, the automatic transport vehicle 10 starts traveling to depart from the transport start point PT1 and move to the boarding start point PT2 of the landing (step S201). During traveling, the position recognition unit 20 takes in the measurement information acquired by the external sensor 16, and based on the measurement information, determines the current position of its own automatic transport vehicle 10 and the position of the boarding start point PT2 in the automatic transport vehicle 10. recognize.

  The result recognized by the position recognition unit 20 is output to the movement mechanism control unit 21. The movement mechanism control unit 21 controls the movement mechanism 11 so that the automatic guided vehicle 10 can reach the boarding start point PT2 based on the input position information.

  Here, when it is determined that the position recognition unit 20 has arrived at the boarding start point PT2 (step S202), the operation of the moving mechanism 11 is stopped, and the elevator communication control unit 19 is notified that the boarding start point PT2 has been reached. Notice. Here, the boarding start point PT2 is, for example, the position shown in FIG.

  When arriving at the boarding start point PT2, the movement mechanism control unit 21 notifies the elevator communication control unit 19 that it has arrived at the boarding start point PT2. At this time, the object detection unit 18 starts detection by the object detection sensor 15. The object detection unit 18 acquires detection information from the object detection sensor 15, and determines whether there is an object in the detection range ARA shown in FIG. 4B based on the detection information (step S203).

  In the process of step S203, when an object is detected, it is determined that there is an operator at the landing, and in order to give priority to the operator, the apparatus is in a standby state as it is (step S204). By this processing, the worker can get on the freight elevator with priority. Therefore, since the waiting time of the worker is reduced, work efficiency can be improved comprehensively.

  And when fixed time passes, the process of step S203 is performed again. If no object is detected in the process of step S203, the object detection unit 18 notifies the elevator communication control unit 19 that no object has been detected. The elevator communication control unit 19 receives its notification that it has arrived at the boarding start point PT2 from the movement mechanism control unit 21 and the notification that no object has been detected from the object detection unit 18, and then receives its own automatic transport vehicle. It is determined that 10 is at the boarding start point PT2 and there is no object around the boarding point.

  Then, the elevator communication control unit 19 outputs a command to the elevator communication device 17 to transmit a “call” signal (step S205). In response to this command, the elevator communication device 17 wirelessly transmits a “call” signal to the elevator control device 46 that controls the operation of the cargo elevator.

  When the cargo elevator car 40 arrives at the landing, the elevator control device 46 transmits an elevator arrival signal indicating that the car 40 has arrived. The elevator communication control unit 19 determines whether or not the elevator communication device 17 has received an elevator arrival signal (step S206).

  When the elevator communication device 17 does not receive the elevator arrival signal, the elevator communication device 17 is in a standby state until the elevator arrival signal is received (step S207), and after a predetermined time has elapsed, the processing of step S206 is executed.

  In the process of step S206, when the elevator communication device 17 receives the elevator arrival signal, the elevator communication control unit 19 ends the transmission of the “call” signal to the elevator communication device 17 (step S208).

  When the car 40 arrives, the elevator communication control unit 19 notifies the moving mechanism control unit 21 that the elevator arrival signal received by the elevator communication device 17 has been received. In response to this, the movement mechanism control unit 21 is based on the position of the automatic guided vehicle 10 obtained by the position recognition unit 20 processing the measurement result of the external sensor 16 and the position where the car 40 is to be boarded. A command is sent to the moving mechanism 11 to move the automatic transport vehicle 10 to a position in the car 40 where it should get in (step S209).

  When the automatic guided vehicle 10 arrives at the position to be boarded in the car 40 (step S210), the moving mechanism control unit 21 notifies the elevator communication control unit 19 that it has arrived at the position to be boarded in the car 40. . Receiving this notification, the elevator communication control unit 19 sends a command to the elevator communication device 17 to transmit a destination floor signal (step S211).

  While the elevator is moving according to the destination floor signal (step S212), the elevator communication control unit 19 determines whether the elevator communication device 17 has received the destination floor arrival signal (step S213).

  When the elevator communication device 17 has not received the destination floor arrival signal, it is determined that the elevator is moving up and down, and it is determined again whether the elevator communication device 17 has received the destination floor arrival signal.

  When the elevator communication device 17 has received the destination floor arrival signal, the elevator communication control unit 19 sends a command to the elevator communication device 17 to end the transmission of the destination floor signal (step S214). . Then, the elevator communication control unit 19 notifies the movement mechanism control unit 21 that the destination floor arrival signal has been received.

  When it is notified that the destination floor arrival signal has been received, the movement mechanism control unit 21 receives the position and elevator in its own automatic transport vehicle 10 obtained by the position recognition unit 20 processing the measurement result of the external sensor 16. A command is sent to the moving mechanism 11 based on the position of the unloading completion point PT3, and the automatic transport vehicle 10 is moved to the elevator unloading completion point (step S215).

  When the automated guided vehicle 10 arrives at the elevator unloading completion point PT3 (step S216), the movement mechanism control unit 21 notifies the elevator communication control unit 19 that it has arrived at the elevator unloading completion point PT3. Receiving this notification, the elevator communication control unit 19 sends a command to the elevator communication device 17 so as to issue a disembarkation completion signal (step S217).

  The elevator communication control unit 19 waits as it is (step S218), and when a certain time elapses, the elevator communication control unit 19 sends a command to the elevator communication device 17 to end the transmission completion signal (step S218). S219).

  Thereafter, the elevator communication control unit 19 notifies the moving mechanism control unit 21 that transmission of the getting-off completion signal has been completed. The movement mechanism control unit 21 notified that the transmission completion signal has been transmitted, the position in the automatic guided vehicle 10 obtained by the position recognition unit 20 processing the measurement result of the external sensor 16 and the conveyance completion. A command is sent to the moving mechanism 11 based on the position of the point, and the automatic guided vehicle 10 is moved to the transfer completion point PT4 (step S220). Then, when the automatic transport vehicle 10 reaches the transport completion point PT4, the transport is completed (step S221).

Thereby, according to this Embodiment, since an operator can be preferentially boarded in a cargo elevator, waiting time of an operator can be reduced and work efficiency can be improved.

  In the present embodiment, the object detection sensor 15 for detecting an object at the landing of the cargo elevator is provided in the automatic conveyance vehicle 10. However, the object detection sensor 15 is not necessarily provided in the automatic conveyance vehicle 10. There is no. For example, the object detection sensor 15 may be installed on the ceiling of each floor in front of the cargo elevator to detect whether or not there is an object at the boarding start point PT2 in FIG.

  As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the embodiment, and various modifications can be made without departing from the scope of the invention. Needless to say.

  In addition, this invention is not limited to above-described embodiment, Various modifications are included. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described.

  Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. . In addition, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

DESCRIPTION OF SYMBOLS 10 Automatic conveyance vehicle 11 Movement mechanism 12 Drive wheel 13 Swivel caster 14 Control apparatus 15 Object detection sensor 16 External sensor 17 Elevator communication apparatus 18 Object detection part 19 Elevator communication control part 20 Position recognition part 21 Movement mechanism control part 30 Entry / exit operation panel 40 Car 41 Wire 42 Winding device 43 Hoistway 44 Door 45 Communication device 46 Elevator control device 100 Worker 101 Automatic transport vehicle 102 Elevator control device

Claims (10)

A moving mechanism for moving the vehicle;
A control unit for controlling the moving mechanism and guiding the vehicle;
An object detection sensor for detecting an object;
Have
The control unit detects whether or not there is an object on the elevator landing by the object detection sensor when the vehicle gets into the elevator in a route in which the vehicle moves to a different floor using the elevator, When it is determined that there is no worker around the vehicle when there is no object, a signal that calls the car on which the vehicle gets into the elevator is output .
Detection of whether or not there is an object at the elevator landing by the control unit is an automatic guided vehicle that is performed until it is determined that there is no object at the elevator landing . In the automatic conveyance vehicle of Claim 1,
The said object detection sensor is an automatic conveyance vehicle which is an infrared sensor, a laser sensor, or an ultrasonic sensor which detects an object. In the automatic conveyance vehicle of Claim 1,
The said object detection sensor is an automatic conveyance vehicle which is a camera or human detection sensor which detects a person. In the automatic conveyance vehicle of Claim 1,
The automatic transport vehicle is a trackless type that travels without a track using measurement information acquired by a laser sensor, and uses the laser sensor as the object detection sensor. In the automatic conveyance vehicle of Claim 1,
The controller is
An object detection unit for determining whether there is an object based on a detection result of the object detection sensor;
An elevator communication control unit that outputs a control signal for calling the car when the object detection unit determines that there is no object;
Based on the control signal output from the elevator communication control unit, an elevator communication unit that wirelessly outputs a call signal;
Having an automated guided vehicle. An elevator carrying cargo,
An automatic transport vehicle that travels on a transport path that moves to a different floor using the elevator,
Have
The elevator is
An elevator communication device for receiving a call signal for calling the cargo or a car on which the automated guided vehicle is placed;
An elevator control device for controlling the raising and lowering of the car;
Have
The automated guided vehicle is
A moving mechanism for moving the vehicle;
A control unit for controlling the moving mechanism and guiding the vehicle;
An object detection sensor for detecting an object;
Have
The control unit detects whether or not there is an object at the elevator landing by the object detection sensor when the vehicle gets into the elevator in a route in which the vehicle moves to a different floor using the elevator, When it is determined that there is no worker around the vehicle when there is no object, a call signal that calls the elevator car is sent to the elevator communication device,
Detection of whether there is an object at the elevator landing by the control unit is performed until it is determined that there is no object at the elevator landing,
The said elevator control apparatus is an automatic conveyance vehicle system which raises / lowers the said car to the floor in which the said automatic conveyance vehicle gets in, when the said elevator communication apparatus receives the said call signal. In the automatic guided vehicle system according to claim 6,
The automatic detection vehicle system, wherein the object detection sensor is an infrared sensor, a laser sensor, or an ultrasonic sensor that detects an object. In the automatic guided vehicle system according to claim 6,
The said object detection sensor is an automatic conveyance vehicle system which is a camera or human detection sensor which detects a person. In the automatic guided vehicle system according to claim 6,
The automatic guided vehicle system is a trackless type that travels without a track using measurement information acquired by a laser sensor, and the object detection sensor is the laser sensor. In the automatic guided vehicle system according to claim 6,
The controller is
Based on the detection result of the object detection sensor, and the object detecting unit that determines an object there Luke,
An elevator communication control unit that outputs a control signal for calling the car when the object detection unit determines that there is no object;
Based on the control signal output from the elevator communication control unit, an elevator communication unit that transmits the call signal to the elevator communication device;
An automated guided vehicle system.

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