JP7070265B2 - Follow-up trolley - Google Patents

Description

The present invention relates to a tracking trolley that moves following an object.

Conventionally, in the assembly process of an automobile body, a follow-up carriage that moves following the body has been used. When the worker assembles the parts to the body, the assembling work is performed as follows, for example, using the follow-up trolley. First, the operator moves the follow-up trolley to the parts shelf, and the parts taken out from the parts shelf are placed on the follow-up trolley in the stopped state. After that, this following trolley is connected to the body and moves at a constant speed in the traveling direction together with the body. At this time, the operator can take out the parts temporarily placed on the follow-up carriage and assemble them on the body. After the assembly of the parts is completed, the following trolley is disconnected from the body and moves in the backward direction to prepare for the next parts to be taken out.

According to the above-mentioned assembly work, the worker needs to move according to the movement of the follow-up trolley before and after assembling the parts, and the distance between the worker and the follow-up trolley changes at any time. Therefore, there is a problem that unnecessary movement of the worker is likely to occur.

Therefore, in order to deal with such a problem, the following trolley disclosed in Patent Document 1 below can be used. The follow-up trolley includes a sensor for detecting the direction of the object and the distance between the object and a setting means for setting a target range for the object. According to this follow-up trolley, it is possible to follow the operator without losing sight of the object, which helps prevent unnecessary movement of the operator.

Japanese Unexamined Patent Publication No. 2014-92863

However, in the case of the above-mentioned follow-up trolley, in order to detect an object such as an operator, the entire detectable area of the sensor is scanned with a laser beam or the like, and the orientation of the object and the distance between the object and the object are scanned. Is required. Therefore, there is a problem that the process for detecting the object becomes complicated.
Further, such a problem occurs not only in the following trolley that follows the object such as a worker in the assembly process of the automobile body, but also in the following trolley that follows the object in other processes and fields. obtain.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a following trolley that can simplify the process of detecting an object to be followed.

One aspect of the present invention is
It is provided with a traveling carriage unit, an area sensor provided on the traveling carriage unit, and a control unit for controlling the traveling carriage unit.
The area sensor has a plurality of detectable areas, and it is possible to output an on / off signal indicating whether or not an object is detected in each of the plurality of detectable areas. A second detectable area surrounding the object and an object different from the object on the opposite side of the first detectable area as an obstacle can be detected. Detectable area and is included,
The following control unit is configured to output a drive signal for following the object to the traveling vehicle unit based on the on / off signal output from the area sensor.
It is in.

In the follow-up trolley of the above aspect, the control unit can determine whether or not the object is detected by the on / off signal in each of the plurality of detectable areas of the area sensor. For example, an on / off signal in a detectable area where an object is not detected is output as an off signal, and when an object is detected in this detectable area, the output of the on / off signal is switched from an off signal to an on signal.

Then, the control unit outputs a drive signal for following the object to the traveling carriage unit according to the output status of the on / off signal of each detectable area. In this case, since it is not necessary to perform a process of scanning the entire detectable area of the area sensor with a laser beam or the like, it is possible to prevent the process for detecting an object from becoming complicated.

As described above, according to the above aspect, it is possible to provide a following trolley that can simplify the process of detecting an object to be followed.

The plan view which shows the outline of the assembly equipment of the automobile body which concerns on Embodiment 1. The plan view which shows the structure of the follow-up carriage of Embodiment 1. FIG. The system configuration diagram of the follow-up carriage of Embodiment 1. The figure which shows the processing flow at the time of making the setting for each of the detectable area of the area sensor and the operation command. The plan view which shows the state when the worker is detected at the time of the rear follow-up operation of the follow-up trolley of Embodiment 1. FIG . The figure which shows the operation command at the time of the rear follow-up operation of the follow-up trolley of Embodiment 1. FIG . The plan view which shows the state when the worker is detected at the time of the right follow-up operation of the follow-up trolley of Embodiment 1. FIG . The figure which shows the operation command at the time of the right follow-up operation of the follow-up trolley of Embodiment 1. FIG . FIG. 8 is a diagram showing a state when the area setting of the area sensor is changed. The plan view which shows the state when the follow-up trolley of Embodiment 2 is self-propelled . The figure which shows the operation command in the self-propelled mode of the follow-up trolley of Embodiment 2.

A preferred embodiment of the above embodiment will be described.

In the following trolley, the control unit sets an area setting unit for setting the plurality of detectable areas of the area sensor and an operation command setting for setting an operation command for each of the plurality of detectable areas. When the object is detected in each of the plurality of detectable areas, the drive signal corresponding to the operation command set by the operation command setting unit is sent to the traveling carriage unit. It is preferably configured to output.

According to this follow-up trolley, a plurality of detectable areas of the area sensor are set by the area setting unit of the control unit. In addition, the operation command setting unit of the control unit sets the operation command for each of the plurality of detectable areas. Then, when an object is detected in each of the plurality of detectable areas, the control unit outputs a drive signal corresponding to the operation command set by the operation command setting unit to the traveling carriage unit. At this time, since the operation command is set in advance for each of the plurality of detectable areas, it is possible to simplify the process of outputting the drive signal to the traveling carriage unit.

In the follow-up trolley, the control unit has a determination unit for determining whether or not the change implementation condition is satisfied, and when the determination unit determines that the change implementation condition is satisfied, the area setting unit is used. Executes at least one of the first setting change process for changing the settings for the plurality of detectable areas and the second setting change process for changing the settings for the operation command by the operation command setting unit. It is preferable that it is configured to do so.

According to this follow-up trolley, the settings for a plurality of detectable areas and the settings for operation commands can be appropriately changed based on the determination of the determination unit.

In the following trolley, the determination unit of the control unit changes the following traveling position with respect to the object, or when the object is not detected in any of the plurality of detectable areas of the area sensor. In addition, it is preferable that the configuration is such that it is determined that the above-mentioned change implementation conditions are satisfied.

According to this follow-up trolley, when the follow-up traveling position with respect to the object changes or when the object is not detected in any of the plurality of detectable areas of the area sensor, the settings for the plurality of detectable areas are changed. Or you can change the settings for operation commands.

In the follow-up trolley, the area sensor is preferably configured to include a detectable area arranged so as to surround the object in the plurality of detectable areas.

According to this follow-up trolley, by setting a detectable area arranged so as to surround the object in a plurality of detectable areas of the area sensor, it becomes easy to detect a positional deviation from the object. , It is possible to improve the followability to an object.

In the following trolley, when the detectable area surrounding the object is set as the first detectable area, the area sensor includes the first detectable area and the first detectable area in the plurality of detectable areas. It is preferable that one is configured to include, on the opposite side of the detectable area from the object, a second detectable area in which an object different from the object can be detected as an obstacle.

According to this follow-up trolley, the control unit sends a drive signal for following the object while avoiding obstacles based on the on / off signals of the first detectable area and the second detectable area. Output to the unit. This makes it possible to provide a follow-up trolley capable of avoiding obstacles while following an object.

In the follow-up carriage, it is preferable that the area sensor is configured so that the shapes of the plurality of detectable areas in a plan view are all square.

According to this follow-up trolley, the process for setting a plurality of detectable areas in the area sensor becomes simple.

Hereinafter, the follow-up trolley of the present embodiment will be described with reference to the drawings.

In the drawings used in the description of the present specification, unless otherwise specified, the front-rear direction along the traveling direction X1 of the automobile body is indicated by an arrow X, and the left-right direction orthogonal to the front-rear direction X is indicated by an arrow Y. do.

(Embodiment 1)
As shown in FIG. 1, the follow-up carriage 1 of the first embodiment is used for transporting parts in the assembly equipment 2 of the automobile body B. Although the details will be described later, the follow-up carriage 1 is configured to follow the worker W as an object when the worker assembles the parts to the automobile body B.

The follow-up carriage 1 follows the worker W, moves to any position of the plurality of parts shelves P, and then stops. After that, the following trolley 1 follows the worker W who moves in accordance with the movement of the automobile body B in the traveling direction X1 with the parts taken out by the worker W from the parts shelf P placed on the parts shelf P. At this time, the worker W takes out the parts temporarily placed on the follow-up carriage 1 and assembles them on the automobile body B. After that, the follow-up carriage 1 follows the worker W and moves to the next parts shelf P.

As shown in FIG. 2, the follow-up trolley 1 includes a traveling trolley unit 10, two area sensors 20, and a control unit 30 for controlling the traveling trolley unit 10.

The traveling carriage portion 10 includes a bottomed box-shaped pedestal 11 and a table 12 on which parts can be mounted on the pedestal 11. The pedestal 11 is provided with four wheels 13 for traveling on the floor surface, four motors 14 for driving these four wheels 13, a speaker 15, an area sensor 20, and a control unit 30. There is.

In the traveling carriage unit 10, the right front wheel 13A is driven by the motor 14A, the left front wheel 13B is driven by the motor 14B, the right rear wheel 13C is driven by the motor 14C, and the left rear wheel 13D is driven by the motor 14D. It is configured. As a result, the traveling carriage unit 10 is capable of following traveling in various directions including four directions (forward direction D1, backward direction D2, rightward direction D3, leftward direction D4).

Although not particularly shown, all four wheels 13 are composed of known special drive wheels, so-called "Mecanum wheels". In the case of this configuration, each wheel 13 operates in the same manner as a conventional wheel by the driving force from the corresponding motor 14, and the barrel-shaped member attached at an angle of 45 degrees on the circumference of the wheel rotates freely. It is possible. In this case, by controlling each motor 14, the follow-up carriage 1 can be moved in all directions without changing the direction or the like. Therefore, by using the Mecanum wheel for each wheel 13, it is effective to shorten the traveling path of the following carriage 1 and save space.

The speaker 15 is attached to the pedestal 11 and is configured to output a warning sound by the output signal S3.

Both of the two area sensors 20 are range sensors that can detect the worker W by outputting laser light, infrared light, or the like within a preset area. One of the two area sensors 20A is attached to the right side of the pedestal 11, and the other area sensor 20B is attached to the left side of the pedestal 11.

The area sensor 20A can detect the worker W within a substantially semicircular measuring range on the right side extending from the right side of the traveling carriage portion 10 to the front and the rear. The area sensor 20B can detect the worker W within a substantially semicircular measuring range on the left side extending from the left side of the traveling carriage portion 10 to the front and the rear.

As shown in FIG. 3, the area sensor 20A has three detectable areas A1, A2, and A3. That is, three detectable areas A1, A2, and A3 are included in the measurement range of the area sensor 20A. The area sensor 20A is capable of outputting an on / off signal S1 indicating whether or not the operator W is detected for each of the three detectable areas A1, A2, and A3.

Similarly, the area sensor 20B has a plurality of detectable areas B1, B2, and B3. That is, three detectable areas B1, B2, and B3 are included in the measurement range of the area sensor 20B. The area sensor 20B is capable of outputting an on / off signal S1 indicating whether or not the operator W is detected for each of the three detectable areas B1, B2, and B3.

In each of the area sensor 20A and the area sensor 20B, when the worker W is not detected in each detectable area, the on / off signal S1 in any of the detectable areas is output as an off signal. On the other hand, when the worker W is detected in each detectable area, the output of the on / off signal S1 in the detectable area is switched from the off signal to the on signal.

Based on the on / off signals S1 output from the area sensors 20A and 20B, the control unit 30 transmits the drive signal S2 for following the object W to the four motors 14 (motors 14A, 14B, 14C) of the traveling carriage unit 10. , 14D) has a function to output. To achieve this function, the control unit 30 has a motor control unit 31 for controlling the four motors 14. In this case, the outputs from the area sensors 20A and 20B are the inputs of the control unit 30, and the outputs from the control unit 30 are the inputs of the motor 14 and the speaker 15.

The control unit 30 executes a program stored in the memory, receives data from the input devices of the area sensors 20A and 20B, calculates and processes the data, and outputs the data to the motor 14 and the speaker 15 which are output devices. , Typically PLC (Programmable Logic Controller) is preferred.

Further, the control unit 30 includes a speaker control unit 32 for controlling the speaker 15, an area setting unit 33, an operation command setting unit 34, and a determination unit 35.

The speaker 15 is configured to output a warning sound based on the output signal S3 from the speaker control unit 32.

The area setting unit 33 sets the above-mentioned plurality of detectable areas A1, A2, A3, B1, B2, and B3 of the area sensors 20A and 20B, and makes it possible to change the settings from the already set contents. It is configured.

Typically, as "settings for a plurality of detectable areas A1, A2, A3, B1, B2, B3", the relative arrangement of the detectable areas A1, A2, A3, B1, B2, B3 , Shape, size (area), etc.

The operation command setting unit 34 sets the operation command C for each of the plurality of detectable areas A1, A2, A3, B1, B2, and B3 of the area sensors 20A and 20B, and the setting has already been set. It is configured to be changeable from the contents.

At this time, the motor control unit 31 of the control unit 30 operates when the worker W is detected in each of the above-mentioned plurality of detectable areas A1, A2, A3, B1, B2, and B3 of the area sensors 20A and 20B. The drive signal S2 corresponding to the operation command C set by the command setting unit 34 is configured to be output to the four motors 14 of the traveling carriage unit 10.

The determination unit 35 has a function of determining whether or not the change implementation condition is satisfied. The control unit 30 is configured to execute both the first setting change process and the second setting change process when the determination unit 35 determines that the change execution condition is satisfied. ..
Instead of this configuration, at least one of the first setting change process and the second setting change process may be executed.

The first setting change process is a process of changing the settings of a plurality of detectable areas A1, A2, A3, B1, B2, and B3 by the area setting unit 33. The second setting change process is a process of changing the setting of the operation command C by the operation command setting unit 34.

As shown in FIG. 4, the determination unit 35 determines whether or not the change implementation condition is satisfied in step S101. If it is determined that the change implementation condition is satisfied (in the case of "Yes" in step S101), the process proceeds to step S102, and the determination in step S101 is repeated until the change implementation condition is satisfied.

Then, in step S102, the above-mentioned first setting change process is executed, and in step S103, the above-mentioned second setting change process is executed. Either one of steps S102 and S103 may be executed in preference to the other, or both may be executed in parallel.

Next, the follow-up travel mode of the follow-up carriage 1 will be described with reference to FIGS. 5 to 9.

In the following description, the operation in which the following trolley 1 follows the worker W in the forward direction D1 is referred to as a "rear follow-up operation", and the following trolley 1 follows the worker W to the right in the forward direction D1. The operation is called "right-following operation".

(Back-following operation)
In the rear follow-up operation of the follow-up carriage 1, the plurality of detectable areas A1, A2, A3, B1, B2, B3 of the area sensors 20A, 20B are set by the area setting unit 33 as shown in FIG.

That is, the detectable area A1 is arranged in a front region that exceeds the reference distance E1 in the front-rear direction X between the following carriage 1 and the operator W. The detectable area A2 is arranged in the diagonally right front area which is substantially the same as the reference interval E1. The detectable area A3 is arranged in the right side area.

Further, the detectable area B1 is arranged in the front region below the reference interval E1. The detectable area B2 is arranged in a diagonally left front region which is substantially the same as the reference interval E1. The detectable area B3 is arranged in the left side area.

The plurality of detectable areas A1, A2, A3, B1, B2, and B3 of the area sensors 20A and 20B are the first detectable areas A1, A2, B1, B2 surrounding the worker W, and these first detectable areas. Areas A1, A2, B1 and B2 are classified into second detectable areas A2 and B3 that can detect an object different from the worker W as an obstacle Wa on the opposite side of the worker W. ..

The area sensors 20A and 20B are configured so that the shapes of the detectable areas A1, A2, A3, B1, B2, and B3 in a plan view are all square (rectangular or square).

According to this configuration, the process for setting a plurality of detectable areas A1, A2, A3, B1, B2, and B3 in the area sensors 20A and 20B becomes simple.

Then, the operation command C for each of the plurality of detectable areas A1, A2, A3, B1, B2, and B3 of the area sensors 20A and 20B is set by the operation command setting unit 34 as shown in FIG.

That is, in the area sensor 20A, the first detectable area A1 is assigned the "forward" operation command C, the first detectable area A2 is assigned the "rightward" operation command C, and the second detectable area A3. The operation command C of "obstacle avoidance" is assigned to.

Further, in the area sensor 20B, the first detectable area B1 is assigned the "backward" operation command C, the first detectable area B2 is assigned the "leftward" operation command C, and the second detectable area B3 is assigned. The operation command C of "obstacle avoidance" is assigned to.

As shown in FIG. 5, when the worker W is detected in the first detectable area A1 of the area sensor 20A, it is determined that the position of the following trolley 1 is too far behind the worker W from the reference position. I can judge. Therefore, the motor control unit 31 outputs the drive signal S2 to the four motors 14 so as to relatively advance the following carriage 1 in order to bring it closer to the reference position.

When the worker W is detected in the first detectable area A2 of the area sensor 20A, it can be determined that the position of the following trolley 1 is off the left side of the worker W from the reference position. Therefore, the motor control unit 31 outputs the drive signal S2 to the four motors 14 so as to move the follow-up carriage 1 to the right with respect to the operator W in order to bring it closer to the reference position.

When the worker W is detected in the second detectable area A3 of the area sensor 20A, it can be determined that there is an obstacle Wa which is an object different from the worker W on the right side of the following carriage 1. Therefore, the motor control unit 31 follows the object while avoiding the obstacle Wa based on the on / off signals of the first detectable area A1, A2, B1, B2 and the second detectable area A3. The drive signal S1 for this purpose is output to the four motors 14. At this time, a warning sound is output from the speaker 15 as needed.

When the worker W is detected in the first detectable area B1 of the area sensor 20B, it can be determined that the position of the following trolley 1 is closer to the worker W than the reference position. Therefore, the motor control unit 31 outputs the drive signal S2 to the four motors 14 so as to retract the follower trolley 1 with respect to the operator W in order to bring it closer to the reference position.

When the worker W is detected in the first detectable area B2 of the area sensor 20B, it can be determined that the position of the following trolley 1 is off to the right side of the worker W from the reference position. Therefore, the motor control unit 31 outputs the drive signal S2 to the four motors 14 so as to move the follow-up carriage 1 to the left with respect to the operator W in order to bring it closer to the reference position.

When the worker W is detected in the second detectable area B3 of the area sensor 20B, it can be determined that there is an obstacle Wa which is an object different from the worker W on the left side of the following carriage 1. Therefore, the motor control unit 31 follows the object while avoiding the obstacle Wa based on the on / off signals of the first detectable area A1, A2, B1, B2 and the second detectable area B3. The drive signal S1 for this purpose is output to the four motors 14. At this time, a warning sound is output from the speaker 15 as needed.

According to the control as described above, the follow-up trolley 1 moves behind the worker W while maintaining a constant distance corresponding to the reference distance E1 from the worker W in the front-rear direction X during the rear-following operation. It is possible to follow the forward direction D1.

In particular, the first detectable areas A1, A2, B1, B2 arranged so as to surround the worker W are set in the plurality of detectable areas A1, A2, A3, B1, B2, B3 of the area sensor. As a result, it becomes easy to detect the positional deviation with the worker W, the followability to the worker W can be improved, and the second around the first detectable area A1, A2, B1, B2. By arranging the detectable areas A3 and B3, it becomes possible to avoid the obstacle Wa while following the worker W.

Although not particularly described, in the front-following operation in which the following trolley 1 follows the worker W in the forward direction D1, the above-mentioned control of the rear-following operation can be referred to. In this front-following operation, the detectable areas A1, A2, A3, B1 of the area sensors 20A, 20B are maintained so as to maintain a constant distance corresponding to the reference distance E1 between the following trolley 1 and the operator W in the front-rear direction X. , B2, B3, and the operation command C of each of the detectable areas A1, A2, A3, B1, B2, and B3 can be set.

(Right following operation)
When the following traveling position of the following trolley 1 changes from the rear to the right, the following trolley 1 operates to follow the right side of the operator W to the right. At this time, the control unit 30 determines that the step S101 of FIG. 4 has been established by the determination unit 35, and executes the steps S102 and S103.

In the right-following operation of the following trolley 1, the settings for the plurality of detectable areas B1, B2, and B3 of the area sensor 20B by the area setting unit 33 are changed and set as shown in FIG. 7 according to step S102. To.

That is, the detectable area B1 is arranged in the left side region below the reference distance E2 in the left-right direction Y between the following carriage 1 and the operator W. The detectable area B2 is arranged in the left side region exceeding the reference interval E2. The detectable area B3 is substantially the same as the reference interval E2 and is arranged in the left side region in front of the worker W.

Then, the setting for the operation command C for each of the plurality of detectable areas B1, B2, B3 of the area sensor 20B by the operation command setting unit 34 is changed and set as shown in FIG. 8 according to step S103. ..

That is, in the area sensor 20B, the "rightward" operation command C is assigned to the detectable area B1, the "leftward" operation command C is assigned to the detectable area B2, and the "forward" operation command C is assigned to the detectable area A3. Operation command C is assigned.

As described above, in the right-following operation of the following trolley 1, the arrangement of the detectable areas B1, B2, and B3 and the contents of the operation command C for each of the detectable areas B1, B2, and B3 are all in the rear-following operation. On the other hand, it has been changed. These changes are executed by an operation in which the operator W switches the switch member (not shown) provided in the control unit 30.

As shown in FIG. 7, when the worker W is detected in the detectable area B1 of the area sensor 20B, it can be determined that the position of the following trolley 1 is too close to the right side of the worker W than the reference position. .. Therefore, the motor control unit 31 outputs the drive signal S2 to the four motors 14 so as to move the follow-up carriage 1 relatively to the right in order to bring it closer to the reference position.

When the worker W is detected in the detectable area B2 of the area sensor 20B, it can be determined that the position of the following trolley 1 is too far to the right of the worker W from the reference position. Therefore, the motor control unit 31 outputs the drive signal S2 to the four motors 14 so as to move the follow-up carriage 1 relatively to the left in order to bring it closer to the reference position.

When the worker W is detected in the detectable area B3 of the area sensor 20B, it can be determined that the position of the following trolley 1 is located behind the worker W from the reference position. Therefore, the motor control unit 31 outputs the drive signal S2 to the four motors 14 so as to relatively advance the following carriage 1 in order to bring it closer to the reference position.

According to the control as described above, during the right-following operation, the following trolley 1 keeps a constant distance from the worker W in the left-right direction Y, which corresponds to the reference distance E2, to the right of the worker W. Can follow the forward direction D1.

By the way, when the three detectable areas B1, B2, and B3 of the area sensor 20B are square in plan view, the process for setting these three detectable areas becomes simple, while the worker W's It is not possible to arrange the detectable area behind, and it is difficult to arrange it so as to surround the three detectable areas B1, B2, and B3 around the worker W (see FIG. 7).

Therefore, in the present embodiment, when the worker W is not detected in any of the plurality of detectable areas B1, B2, and B3 of the area sensor 20B in the right-following operation of the following carriage 1, the control unit 30 determines. 35 determines that step S101 in FIG. 4 has been established, and executes step S102 and step S103.

For example, the determination unit 35 determines that step S101 has been established on the condition that the time during which the worker W is not detected from the reference timing during the follow-up traveling of the follow-up carriage 1 reaches a preset threshold value.

At this time, the settings of the plurality of detectable areas B1, B2, and B3 of the area sensor 20B by the area setting unit 33 are changed and set as shown in FIG. 9 according to step S102. That is, according to this setting, the arrangement of the detectable area B3 of the area sensor 20B is switched from the front to the rear of the worker W.

Further, the setting for the operation command C assigned to the detectable area B3 is changed from "forward" to "backward" according to step S103. In this case, the motor control unit 31 outputs the drive signal S2 to the four motors 14 so as to relatively retract the following carriage 1 in order to bring it closer to the reference position.

According to the control as described above, the area sensor 20B is surrounded by the operator W by switching the detectable area B3 after using the three detectable areas B1, B2, and B3 of the square. It is possible to obtain the same detection effect as when a plurality of detectable areas are arranged in. As a result, the timing at which the worker W can be detected by the area sensor 20B can be accelerated.

Although not particularly described, in the left-following operation in which the following trolley 1 follows the operator W to the left in the forward direction D1, the above-mentioned control of the right-following operation can be referred to. In this left-following operation, the detectable areas A1, A2, and A3 of the area sensor 20A are set so as to maintain a constant distance corresponding to the reference distance E2 between the tracking carriage 1 and the operator W in the left-right direction Y. And the operation command C of each of the detectable areas A1, A2, and A3 can be set.

Next, the operation and effect of the above-mentioned first embodiment will be described.

In the follow-up trolley 1 of the first embodiment, the control unit 30 can determine whether or not the operator W is detected in each of the plurality of detectable areas of the area sensors 20A and 20B by the on / off signal S1. For example, the on / off signal S1 in the detectable area where the worker W is not detected is output as an off signal, and when the worker W is detected in this detectable area, the output of the on / off signal S1 is switched from the off signal to the on signal.

Then, the control unit 30 outputs a drive signal S2 for following the operator W to the traveling carriage unit 10 according to the output status of the on / off signal S1 in each detectable area. In this case, since it is not necessary to perform a process of scanning the entire detectable area of the area sensors 20A and 20B with a laser beam or the like, it is possible to prevent the process for detecting the worker W from becoming complicated.

As a result, it is possible to provide the following carriage 1 that can simplify the process of detecting the worker W involved in the following traveling.

Further, the follow-up trolley 1 can follow the worker W without losing sight of it. Therefore, the worker W does not need to move according to the movement of the follower trolley 1 before and after assembling the parts, and it is possible to prevent the distance between the worker W and the follower trolley 1 from changing at any time. It helps to prevent unnecessary movement of the worker W.

In addition, it is easy to use because it is not necessary to develop or change the processing software for the area sensors 20A and 20B using a dedicated language and no specialized knowledge is required.

According to the following trolley 1, the area setting unit 33 of the control unit 30 sets a plurality of detectable areas of the area sensors 20A and 20B. Further, the operation command setting unit 34 of the control unit 30 sets the operation command C for each of the plurality of detectable areas. Then, when the worker W is detected in each of the plurality of detectable areas, the control unit 30 outputs the drive signal S2 corresponding to the operation command C set by the operation command setting unit 34 to the traveling carriage unit 10. do. At this time, since the operation command C is set in advance for each of the plurality of detectable areas, it is possible to simplify the process of outputting the drive signal S2 to the traveling carriage unit 10.

According to the follow-up trolley 1, the settings for the plurality of detectable areas and the settings for the operation command C can be appropriately changed based on the determination of the determination unit 35.

According to the above-mentioned follow-up trolley 1, a plurality of detections are possible when the follow-up traveling position with respect to the worker W changes or when the worker W is not detected in any of the plurality of detectable areas of the area sensors 20A and 20B. The setting for the area can be changed, and the setting for the operation command C can be changed.

Hereinafter, other embodiments related to the first embodiment will be described with reference to the drawings. In other embodiments, the same elements as those in the first embodiment are designated by the same reference numerals, and the description of the same elements will be omitted.

(Embodiment 2)
The follow-up trolley 101 of the second embodiment (see FIG. 2) has the same basic structure as the follow-up trolley 1 of the first embodiment. On the other hand, the following trolley 101 is different from the following trolley 1 of the first embodiment in that a self-propelled mode is set in addition to the above-mentioned following traveling mode as the traveling mode.

The traveling mode of the following carriage 101 is set to the self-propelled mode when it moves to the assembly equipment 2 or when it moves to the target parts shelf P in the assembly equipment 2.

(Self-propelled mode)
In the self-propelled mode of the follow-up carriage 1, the detectable areas A1, A2, A3, B1, B2, and B3 of the area sensors 20A and 20B are set by the area setting unit 33 as shown in FIG. This self-propelled mode is a traveling mode in which the vehicle moves to a target position while avoiding obstacles Wa.

That is, the detectable area A1 is arranged in a region extending in a right-angled band shape over the right side and the rear of the following carriage 1. The detectable area A2 is arranged in a region extending in a right-angled band shape to the right and behind the detectable area A1. The detectable area A3 is arranged in a region extending in a right-angled band shape to the right and behind the detectable area A2.

Further, the detectable area B1 is arranged in a region extending in a right-angled band shape over the left side and the front side of the following carriage 1. The detectable area B2 is arranged in a region extending in a right-angled band shape to the left and the front of the detectable area B1. The detectable area B3 is arranged in a region extending in a right-angled band shape to the left and the front of the detectable area B2.

Then, the operation command C for each of the plurality of detectable areas A1, A2, A3, B1, B2, and B3 of the area sensors 20A and 20B is set by the operation command setting unit 34 as shown in FIG.

That is, in the area sensor 20A, the "stop" operation command C is assigned to the detectable area A1, the "deceleration" operation command C is assigned to the detectable area A2, and the "maintenance of operation (warning sound)" is assigned to the detectable area A3. Output) ”operation command C is assigned.

Further, in the area sensor 20B, the "stop" operation command C is assigned to the detectable area B1, the "deceleration" operation command C is assigned to the detectable area B2, and the "maintaining operation (warning sound)" is assigned to the detectable area B3. Output) ”is assigned to the operation command C.

As shown in FIG. 10, when an obstacle Wa is detected in the detectable area A1 of the area sensor 20A or the detectable area B1 of the area sensor 20B, the position of the following trolley 1 is too close to the obstacle Wa. I can judge. Therefore, the motor control unit 31 outputs the drive signal S2 to the four motors 14 so as to stop the follow-up carriage 1.

When an obstacle Wa is detected in the detectable area A2 of the area sensor 20A or the detectable area B2 of the area sensor 20B, it can be determined that the position of the following carriage 1 is close to the obstacle Wa but not enough to stop. Therefore, the motor control unit 31 outputs the drive signal S2 to the four motors 14 so as to decelerate the follow-up carriage 1.

When an obstacle Wa is detected in the detectable area A3 of the area sensor 20A or the detectable area B3 of the area sensor 20B, it is sufficient to output a warning sound even though the position of the following trolley 1 is approaching the obstacle Wa. I can judge. Therefore, the motor control unit 31 outputs the drive signal S2 to the four motors 14 so as to maintain the traveling condition of the follow-up carriage 1, and the speaker control unit 32 outputs the output signal S3 for the warning sound output to the speaker 15. Is output.

According to the above-described second embodiment, it is possible to realize a follow-up carriage 101 capable of selectively executing two follow-up running modes and a self-propelled running mode.
Other than that, it has the same effect as that of the first embodiment.

The present invention is not limited to the above-mentioned typical embodiments, and various applications and modifications can be considered as long as the object of the present invention is not deviated. For example, the following embodiments to which the above-described embodiments are applied can also be implemented.

In the above-described embodiment, the case where the number of area sensors 20 is two and the number of detectable areas of each area sensor 20 is three is illustrated, but the number of area sensors 20 and the number of detectable areas are the same. It is not limited to this, and can be changed as needed. Further, as the shape of the detectable area in a plan view, for example, one or a combination of one or a plurality of rectangles, triangles, polygons, circles, ellipses, and the like can be adopted.

In the above-described embodiment, the following carriages 1 and 101 that follow the worker W in the assembly process 2 of the body B of the automobile are exemplified, but in other processes and fields, the objects other than the worker W and the worker W may be used. It goes without saying that the essential structure of the following trolleys 1, 101 can be applied to the following trolleys that follow the traveling.

1,101 Follow-up trolley 10 Traveling trolley unit 20, 20A, 20B Area sensor 30 Control unit 33 Area setting unit 34 Operation command setting unit 35 Judgment unit A1, A2, A3, B1, B2, B3 Detectable area A1, A2, B1 , B2 1st detectable area A3, B3 2nd detectable area C Operation command S1 On / off signal S2 Drive signal W Worker (object)
Wa Obstacle (another object)

Claims (5)

It is provided with a traveling carriage unit, an area sensor provided on the traveling carriage unit, and a control unit for controlling the traveling carriage unit.
The area sensor has a plurality of detectable areas, and it is possible to output an on / off signal indicating whether or not an object is detected in each of the plurality of detectable areas. A second detectable area surrounding the object and an object different from the object on the opposite side of the first detectable area as an obstacle can be detected. Detectable area and is included,
The control unit is configured to output a drive signal for following the object to the traveling vehicle unit based on the on / off signal output from the area sensor. The control unit includes an area setting unit for setting the plurality of detectable areas of the area sensor, and an operation command setting unit for setting operation commands for each of the plurality of detectable areas. death,
When the control unit detects an object by outputting an on / off signal in each of the plurality of detectable areas preset by the area setting unit, the control unit operates on the detectable area where the object is detected. The following carriage according to claim 1 , which is configured to output a drive signal for following traveling according to the operation command preset in the command setting unit to the traveling carriage unit. The control unit has a determination unit for determining whether or not the change implementation condition is satisfied, and when the determination unit determines that the change implementation condition is satisfied, the area setting unit can detect the plurality of units. It is configured to execute at least one of the first setting change process for changing the setting for the area and the second setting change process for changing the setting for the operation command by the operation command setting unit. The follow-up trolley according to claim 2 . The determination unit of the control unit performs the change implementation condition when the follow-up traveling position with respect to the object changes, or when the object is not detected in any of the plurality of detectable areas of the area sensor. The follow-up trolley according to claim 3 , which is configured to determine that is satisfied. The follow-up trolley according to any one of claims 1 to 4 , wherein the area sensor is configured such that the shapes of the plurality of detectable areas in a plan view are all square.

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