JP7363495B2 - Transport vehicle, running monitoring method, and mast monitoring method - Google Patents

Description

The present invention relates to a transport vehicle, and a traveling monitoring method and a mast monitoring method applied to the transport vehicle.

Some guided vehicles include an obstacle sensor that detects obstacles in the traveling direction of the guided vehicle, and the traveling of the guided vehicle is controlled based on the detection results of the obstacle sensor. A related technique is Patent Document 1.

Incidentally, the heights of obstacles (cranes, shutters, etc.), loads loaded on transport vehicles, and masts provided on transport vehicles may change to various heights from time to time.

Therefore, with the above-mentioned transport vehicle, if the height of an obstacle changes to a height that cannot be detected by the obstacle sensor, or if the height of the load or mast changes and the height of the load or mast is unknown, Otherwise, the mast may collide with an obstacle.

Japanese Patent Application Publication No. 7-72249

An object of one aspect of the present invention is to prevent the load or the mast from colliding with an obstacle when the height of the obstacle, the load loaded on the transport vehicle, or the mast provided on the transport vehicle changes. It is an object of the present invention to provide a transport vehicle capable of performing the following, as well as a running monitoring method and a mast monitoring method applied to the transport vehicle.

A conveyance vehicle according to one embodiment of the present invention is a conveyance vehicle on which a load is loaded on a vehicle body or a conveyance vehicle equipped with a mast, and includes an obstacle sensor and a control unit that controls travel of the conveyance vehicle.

The control unit calculates the height of the load or the mast based on the height of the obstacle sensor using the detection result of the obstacle sensor, and calculates a position a first distance away from the obstacle sensor in the traveling direction of the transport vehicle. In the range of angles formed between the passing direction and the direction passing through a position that is a first distance away from the obstacle sensor in the traveling direction of the transport vehicle and further separated by a distance of the height of the load or mast in the direction of the height of the load or mast. When an obstacle is detected by the obstacle sensor, the traveling of the transport vehicle is prohibited or stopped.

As a result, the obstacle sensor detects an obstacle at the same position as the height of the load or mast or an obstacle at a position lower than the height of the load or mast in the traveling direction of the conveyance vehicle, and prohibits or stops the conveyance vehicle from traveling. Therefore, even if the height of the obstacle, load, or mast changes, it is possible to prevent the load or mast from colliding with the obstacle.

The control unit also includes a direction passing a second distance away from the obstacle sensor in the running direction of the guided vehicle, which is longer than the first distance, and a second distance away from the obstacle sensor in the running direction of the guided vehicle, and a direction passing through a position that is a second distance away from the obstacle sensor in the running direction of the guided vehicle. If an obstacle is detected by the obstacle sensor in the range of angle formed by the direction of the mast height and the direction passing through the load or a position a distance away from the mast height, the obstacle will be detected in the direction of travel of the transport vehicle. It may be configured such that a notification to that effect is transmitted to a higher-level control device that controls the traveling of the guided vehicle.

As a result, when the host controller receives a notification that there is an obstacle in the traveling direction of the guided vehicle, it can prohibit or stop the traveling of the guided vehicle, or change the traveling route of the guided vehicle, so it can change the load. This can prevent the mast from colliding with obstacles.

Further, the control unit may be configured to transmit, when the height of the load changes, a notification to the effect that the height of the load has changed to a higher-level control device that controls travel of the transport vehicle.

As a result, if the current position of the transport vehicle is not at the transfer location when receiving the notification that the height of the load has changed, the control device can prohibit or stop the transport vehicle from moving, thereby preventing the load from collapsing. Further fluctuations in the height of the load due to this can be suppressed.

A conveyance vehicle that is one embodiment of the present invention includes a mast, an obstacle sensor, and a control unit that controls raising and lowering of the mast.

The control unit uses the detection results of the obstacle sensor to calculate a first height that is lower than the height of the obstacle located above the carrier based on the height of the obstacle sensor, and also calculates a first height of the obstacle. A second height to the top of the mast based on the height of the obstacle sensor is calculated using the sensor detection results, and when the second height is equal to or higher than the first height, the mast is raised. prohibited or suspended.

This makes it possible to prohibit or stop the mast from rising before the mast collides with an obstacle such as the ceiling, thereby making it possible to suppress the mast from colliding with an obstacle such as the ceiling.

A transport vehicle according to one embodiment of the present invention includes a mast, an obstacle sensor provided on the upper surface of the vehicle body, and a control unit that controls elevation of the mast.

The control unit determines a direction that passes through the intersection of a perpendicular line extending downward from the top end of the mast and the top surface of the vehicle body with the obstacle sensor as a reference, and a direction that passes from the obstacle sensor to the top end of the mast at the time of maximum rise. If an obstacle other than the mast is detected by the obstacle sensor within the range of the angle, the mast is prohibited from rising.

This allows the mast to be prohibited from rising just before the mast starts to rise, when there is a possibility that the mast will collide with an obstacle such as the ceiling, thereby preventing the mast from colliding with an obstacle such as the ceiling. can do.

A traveling monitoring method according to one embodiment of the present invention is a traveling monitoring method executed by a control unit of a transport vehicle on which a load is loaded on a vehicle body or a transport vehicle equipped with a mast, and the control unit includes an obstacle sensor. The height of the load or mast is calculated based on the height of the obstacle sensor using the detection results of The obstacle sensor detects an obstacle in the range of angle formed by the distance from the vehicle in the travel direction of the transport vehicle, and further in the direction of the height of the load or mast. When detected, the movement of the transport vehicle is prohibited or stopped.

This allows the obstacle sensor to detect an obstacle at the same height as the load or mast, or an obstacle at a position lower than the height of the load or mast in the traveling direction of the transport vehicle, and prohibit or stop the transport vehicle. Therefore, even if the height of the obstacle, load, or mast changes, it is possible to prevent the load or mast from colliding with the obstacle.

A mast monitoring method according to one embodiment of the present invention is a mast monitoring method that is executed by a control unit in a transport vehicle including a mast, an obstacle sensor, and a control unit that controls raising and lowering of the mast, the method comprising: The control unit uses the detection results of the obstacle sensor to calculate a first height that is lower than the height of the obstacle located above the transport vehicle based on the height of the obstacle sensor, and A second height to the top of the mast based on the height of the obstacle sensor is calculated using the sensor detection results, and when the second height is equal to or higher than the first height, the mast is raised. prohibited or suspended.

This makes it possible to prohibit or stop the mast from rising before the mast collides with an obstacle such as the ceiling, thereby making it possible to suppress the mast from colliding with an obstacle such as the ceiling.

A mast monitoring method, which is one embodiment of the present invention, is carried out by a control unit in a transport vehicle that includes a mast, an obstacle sensor provided on the upper surface of the vehicle body, and a control unit that controls raising and lowering of the mast. A mast monitoring method in which a control unit detects a direction passing through the intersection of a perpendicular line extending downward from the upper end of the mast with the upper surface of the vehicle body of the transport vehicle based on the obstacle sensor, and a mast monitoring method when the mast is at maximum elevation from the obstacle sensor. If an obstacle other than the mast is detected by the obstacle sensor within the angle range formed by the direction passing through the upper end of the mast, the mast is prohibited from rising.

This allows the mast to be prohibited from rising just before the mast starts to rise, when there is a possibility that the mast will collide with an obstacle such as the ceiling, thereby preventing the mast from colliding with an obstacle such as the ceiling. can do.

According to the present invention, when the height of an obstacle, a load loaded on a transport vehicle, or a mast provided on the transport vehicle changes, it is possible to prevent the load or the mast from colliding with the obstacle.

It is a figure showing a conveyance vehicle of a 1st embodiment. It is a flowchart which shows the driving monitoring method of 1st Embodiment. It is a figure which shows the conveyance vehicle of 2nd Embodiment. It is a flowchart which shows the driving|running|working monitoring method of 2nd Embodiment. It is a figure which shows the conveyance vehicle of 3rd Embodiment. It is a flowchart which shows the mast monitoring method of 3rd Embodiment. It is a figure which shows the conveyance vehicle of 4th Embodiment. It is a flowchart which shows the mast monitoring method of 4th embodiment.

Embodiments will be described in detail below based on the drawings.
<First embodiment>
FIG. 1 is a diagram showing a transport vehicle according to the first embodiment.

The guided vehicle Ve shown in FIG. 1 is an unmanned guided vehicle or a manned guided vehicle that travels with a load A loaded on the vehicle body, and includes an obstacle sensor 1 and a control unit 2.

The obstacle sensor 1 is composed of a laser obstacle sensor, a stereo camera, or the like. Further, the obstacle sensor 1 is provided on the upper surface of the vehicle body of the carrier vehicle Ve, and detects obstacles (shutters, cranes, etc.) within a range of at least 180 degrees in the upper direction of the vehicle body.

The control unit 2 is composed of a CPU (Central Processing Unit) or a programmable device (FPGA (Field Programmable Gate Array) or PLD (Programmable Logic Device)), and uses the detection results of the obstacle sensor 1 to control the transport vehicle Ve. control the running (speed, etc.) of the vehicle.

In addition, the control unit 2 transmits information indicating the state of the guided vehicle Ve to the higher level control device 3, and based on the information, the speed of the guided vehicle Ve, the traveling route, etc. are controlled by control signals transmitted from the higher level control device 3. control.

Further, the control unit 2 executes the driving monitoring method at each control timing.
FIG. 2 is a flowchart showing the driving monitoring method according to the first embodiment. It is assumed that the flowchart shown in FIG. 2 is executed immediately before or while the guided vehicle Ve starts traveling.

First, the control unit 2 uses the detection results of the obstacle sensor 1 to calculate the height H1 of the load A based on the height of the obstacle sensor 1 (height of the top surface of the vehicle Ve). Step S11). For example, the control unit 2 detects a direction a1 passing through an intersection a (lower end of the load A) between a perpendicular line extending downward from the upper end of the load A and the upper surface of the vehicle body of the transport vehicle Ve (lower end of the load A) with the obstacle sensor 1 as a reference. Obtain the angle θa between the sensor 1 and the direction a2 passing through the upper end of the load A, and calculate the height H1=tan(θa)×(distance La from the obstacle sensor 1 to the intersection a). Find H1.

Next, the control unit 2 determines whether the height H1 has changed (step S12). For example, if the difference between the height H1 calculated at the previous control timing and the height H1 calculated at the current control timing is greater than or equal to the threshold, the control unit 2 determines that the height H1 has changed, and the difference is If it is smaller than the threshold, it is determined that the height H1 is not changing.

Next, when the control unit 2 determines that the height H1 has changed (step S12: Yes), it transmits a notification that the height H1 has changed to the higher-level control device 3 (step S13), and changes the current driving monitoring method. finish. When receiving the notification that the height H1 has changed, the host control device 3 determines whether the current position of the guided vehicle Ve is the transfer location, and if it determines that the current location of the guided vehicle Ve is not the transfer location. , transmits an instruction to the control unit 2 to prohibit or stop the traveling of the guided vehicle Ve.

On the other hand, if the control unit 2 determines that the height H1 is not changing (step S12: No), the control unit 2 passes a position a certain distance Lb (second distance) away from the obstacle sensor 1 in the traveling direction of the guided vehicle Ve. The angle θb formed by the direction b1 and the direction b2 passing through a position that is a certain distance Lb away from the obstacle sensor 1 in the traveling direction of the guided vehicle Ve and further away by a distance H1 in the height H1 direction is calculated (step S14). ). For example, the control unit 2 calculates the angle θb by calculating tan(θb)=height H1/fixed distance Lb.

Next, the control unit 2 selects a direction c1 passing through a position a certain distance Lc (first distance) away from the obstacle sensor 1 in the traveling direction of the guided vehicle Ve, and a direction c1 that passes from the obstacle sensor 1 to a constant distance in the traveling direction of the guided vehicle An angle θc formed by a direction c2 that passes through a position that is a distance Lc away and further in the height H1 direction is calculated (step S15). For example, the control unit 2 calculates the angle θc by calculating tan(θb)=height H1/fixed distance Lc. Note that the constant distance Lc<the constant distance Lb. Further, the fixed distance Lc is set to be longer than the distance that the guided vehicle Ve moves from when the guided vehicle Ve is decelerated until when the guided vehicle Ve is stopped. Furthermore, the order of step S14 and step S15 may be changed.

Next, when the obstacle sensor 1 detects no obstacle within the range of angle θb (step S16: No), the control unit 2 returns to the process of step S11, and the obstacle sensor 1 detects an obstacle within the range of angle θb. If an obstacle is detected (step S16: Yes), the load A is located between a position a certain distance Lb away from the obstacle sensor 1 and a position a certain distance Lc away from the obstacle sensor 1 in the traveling direction of the guided vehicle Ve. A message is sent to the host controller 3 to the effect that there is an obstacle that may collide with the host controller 3 (step S17).

Then, if the obstacle sensor 1 does not detect an obstacle within the range of the angle θc (step S18: No), the control unit 2 determines whether or not the obstacle sensor 1 detects an obstacle within the range of the angle θc. is repeatedly determined, and if an obstacle is detected in the range of angle θc by the obstacle sensor 1 (step S18: Yes), the travel of the guided vehicle Ve is prohibited or stopped (step S19), and the current travel monitoring method end.

Note that the control unit 2 may be configured to decelerate the guided vehicle Ve and then stop the guided vehicle Ve in step S19.

Further, step S12 and step S13 may be omitted.
Further, step S14, step S16, and step S17 may be omitted.

In this way, the control unit 2 of the first embodiment calculates the height H1 of the load A based on the height of the obstacle sensor 1 using the detection result of the obstacle sensor 1, and A direction c1 passing through a position that is a certain distance Lc away from the traveling direction of the guided vehicle Ve, and a position that is a certain distance Lc away from the obstacle sensor 1 in the traveling direction of the guided vehicle Ve, and further a distance H1 in the height H1 direction. When an obstacle is detected by the obstacle sensor 1 within the range of the angle θc formed by the direction c2 passing through the guide vehicle Ve, the traveling of the guided vehicle Ve is prohibited or stopped.

As a result, the obstacle sensor 1 detects an obstacle at the same position as the height H1 of the load A or an obstacle at a position lower than the height H1 of the load A in the traveling direction of the conveyance vehicle Ve, and the obstacle sensor 1 detects an obstacle at a position lower than the height H1 of the load A and prevents the conveyance vehicle Ve from traveling. Since the vehicle can be prohibited or stopped, collisions between the obstacle and the load A can be suppressed even if the height of the obstacle or the load A changes.

In addition, the control unit 2 of the first embodiment has a direction b1 passing through a position a certain distance Lb away from the obstacle sensor 1 in the running direction of the guided vehicle Ve, and a certain distance from the obstacle sensor 1 in the running direction of the guided vehicle Ve. When an obstacle is detected by the obstacle sensor 1 in the range of angle θb formed by the direction b2 passing through a position Lb away from the vehicle and passing through a position further away by a distance of height H1 in the height H1 direction, the obstacle is detected by the obstacle sensor 1 in the traveling direction of the guided vehicle Ve. This configuration transmits to the higher-level control device 3 that there is an obstacle.

As a result, when the host control device 3 receives the fact that there is an obstacle in the traveling direction of the guided vehicle Ve, it can prohibit or stop the traveling of the guided vehicle Ve, or change the traveling route of the guided vehicle Ve. Therefore, collisions between the load A and obstacles can be suppressed.

Further, the control unit 2 of the first embodiment is configured to transmit a notification to the host controller 3 that the height of the load A has changed when the height of the load A has changed.

Thereby, the control device 3 can prohibit or stop the traveling of the guided vehicle Ve if the current position of the guided vehicle Ve when receiving the notification that the height of the load A has changed is not at the transfer location. Further fluctuations in the height of the load A due to the collapse of the load can be suppressed.

<Second embodiment>
FIG. 3 is a diagram showing a transport vehicle according to the second embodiment. Note that the same components as those shown in FIG. 1 are denoted by the same reference numerals, and the description thereof will be omitted.

The guided vehicle Ve shown in FIG. 3 is a forklift, an automatic guided vehicle, a manned guided vehicle, or the like, and includes a mast M, an obstacle sensor 1, and a control unit 2. Note that the load may be loaded on a fork that moves up and down together with the mast M.

FIG. 4 is a flowchart showing a driving monitoring method according to the second embodiment. Note that the flowchart shown in FIG. 4 is executed immediately before or while the guided vehicle Ve starts traveling.

First, the control unit 2 uses the detection result of the obstacle sensor 1 to calculate the height H2 of the mast M based on the height of the obstacle sensor 1 (step S21). For example, the control unit 2 can move the direction d1 passing through the intersection d of the perpendicular extending downward from the upper end of the mast M with the obstacle sensor 1 as a reference and the upper surface of the vehicle body of the guided vehicle Ve, and the direction d1 from the obstacle sensor 1 to the upper end of the mast M. The height H2 is obtained by obtaining the angle θd formed by the direction d2 passing through the section, and calculating the height H2=tan(θd)×(distance Ld from the obstacle sensor 1 to the intersection d).

Next, the control unit 2 selects a direction e1 that passes through a position a certain distance Le (second distance) away from the obstacle sensor 1 in the traveling direction of the guided vehicle Ve, and a direction e1 that passes through a position that is a certain distance Le (second distance) from the obstacle sensor 1 in the traveling direction of the guided vehicle Ve. The angle θe formed by the distance Le and the direction e2 that passes through a position further away by a distance of height H2 in the height H2 direction is calculated (step S22). For example, the control unit 2 calculates the angle θe by calculating tan(θe)=height H2/fixed distance Le.

Next, the control unit 2 selects a direction f1 that passes through a position a certain distance Lf (first distance) away from the obstacle sensor 1 in the traveling direction of the guided vehicle Ve, and a direction f1 that passes from the obstacle sensor 1 to a constant distance An angle θf formed by a direction f2 that passes through a position that is a distance Lf away and further in the height H2 direction is calculated (step S23). For example, the control unit 2 calculates the angle θf by calculating tan(θf)=height H2/fixed distance Lf. Note that the constant distance Lf<the constant distance Le. Moreover, the fixed distance Lf is set to be longer than the distance that the guided vehicle Ve moves from when the guided vehicle Ve is decelerated until when the guided vehicle Ve is stopped. Further, the order of steps S21 to S23 is not particularly limited.

Next, when the obstacle sensor 1 detects no obstacle within the range of the angle θe (step S24: No), the control unit 2 returns to the process of step S21, and the obstacle sensor 1 detects the obstacle within the range of the angle θe. If an obstacle is detected (step S24: Yes), the mast M is located between a position a certain distance Le away from the obstacle sensor 1 and a position a certain distance Lf away from the obstacle sensor 1 in the traveling direction of the guided vehicle Ve. A message is sent to the host controller 3 to the effect that there is an obstacle that may collide with the host controller 3 (step S25).

Then, if the obstacle sensor 1 does not detect an obstacle within the range of angle θf (step S26: No), the control unit 2 determines whether or not the obstacle sensor 1 detects an obstacle within the range of angle θf. is repeatedly determined, and if an obstacle is detected in the range of angle θf by the obstacle sensor 1 (step S26: Yes), the traveling of the guided vehicle Ve is prohibited or stopped (step S27), and the current traveling monitoring method end.

Note that the control unit 2 may be configured to decelerate the guided vehicle Ve and then stop the guided vehicle Ve in step S27.
Further, step S22, step S24, and step S25 may be omitted.

In this way, the control unit 2 of the second embodiment calculates the height H2 of the mast M based on the height of the obstacle sensor 1 using the detection result of the obstacle sensor 1, and A direction f1 passing through a position a certain distance Lf in the traveling direction of the guided vehicle Ve, and a position a certain distance Lf away from the obstacle sensor 1 in the traveling direction of the guided vehicle Ve, and further a distance H2 in the height H2 direction. When an obstacle is detected by the obstacle sensor 1 within the range of angle θf formed by the direction f2 passing through the guide vehicle Ve, the traveling of the guided vehicle Ve is prohibited or stopped.

As a result, the obstacle sensor 1 detects an obstacle at the same position as the height H2 of the mast M or an obstacle at a position lower than the height H2 of the mast M in the traveling direction of the guided vehicle Ve, and prevents the guided vehicle Ve from traveling. Since the mast M can be prohibited or stopped, collisions between the obstacle and the mast M can be suppressed even if the height of the obstacle or the mast M changes.

In addition, the control unit 2 of the first embodiment has a direction e1 passing through a position a certain distance Le away from the obstacle sensor 1 in the running direction of the guided vehicle Ve, and a certain distance Le from the obstacle sensor 1 in the running direction of the guided vehicle Ve. When an obstacle is detected by the obstacle sensor 1 within the range of angle θe formed by the direction e2 passing through a position a distance away from Le and further in the height H2 direction, the obstacle is detected by the obstacle sensor 1 in the traveling direction of the guided vehicle Ve. This configuration transmits to the higher-level control device 3 that there is an obstacle.

As a result, when the host control device 3 receives the fact that there is an obstacle in the traveling direction of the guided vehicle Ve, it can prohibit or stop the traveling of the guided vehicle Ve, or change the traveling route of the guided vehicle Ve. Therefore, collisions between obstacles and the mast M can be suppressed.

<Third embodiment>
FIG. 5 is a diagram showing a transport vehicle according to the third embodiment. Note that the same components as those shown in FIG. 3 are denoted by the same reference numerals, and the description thereof will be omitted.

The guided vehicle Ve shown in FIG. 5 is a forklift, an automatic guided vehicle, a manned guided vehicle, or the like, and includes a mast M, an obstacle sensor 1, and a control unit 2. Note that the load may be loaded on a fork that moves up and down together with the mast M.

The control unit 2 controls the vertical movement of the mast M using the detection result of the obstacle sensor 1.
Further, the control unit 2 executes the mast monitoring method at each control timing.

FIG. 6 is a flowchart showing a mast monitoring method according to the third embodiment. It is assumed that the flowchart shown in FIG. 6 is executed immediately before or while the mast M starts to rise.

First, the control unit 2 uses the detection result of the obstacle sensor 1 to calculate the height H3 of the guided vehicle Ve to an obstacle (ceiling, etc.) located above the height of the obstacle sensor 1 as a reference. (Step S31). For example, the control unit 2 controls a direction g1 passing through an intersection point g between a perpendicular line extending downward from the upper end of the mast M and the upper surface of the vehicle body of the guided vehicle Ve with the obstacle sensor 1 as a reference, and Obtain the angle θg formed by the direction g2 passing through the obstacle above, and calculate the height H3 = tan (θg) x (distance Lg from the obstacle sensor 1 to the intersection g). demand.

Next, the control unit 2 calculates a height H4 (first height) that is lower than the height H3 (step S32). For example, the control unit 2 obtains the result of subtracting the predetermined distance x1 from the height H3 as the height H4.

Next, the control unit 2 calculates a height H5 that is lower than the height H4 (step S33). For example, the control unit 2 obtains the height H5 by subtracting the predetermined distance x2 from the height H4.

Next, the control unit 2 uses the detection result of the obstacle sensor 1 to calculate a height H6 (second height) to the upper end of the mast M based on the height of the obstacle sensor 1. (Step S34). For example, the control unit 2 obtains the angle θh formed by the direction g1 passing from the obstacle sensor 1 through the intersection g and the direction h passing from the obstacle sensor 1 to the upper end of the mast M, and calculates the height H6=tan(θh )×(distance Lg) to find the height H6.

Next, when the height H6 is lower than the height H5 (step S35: No), the control unit 2 returns to the process of step S31, and when the height H6 becomes greater than or equal to the height H5 (step S35: Yes), the control unit 2 A message is sent to the host controller 3 to the effect that there is a risk that the mast M will collide with an obstacle in the upward direction of the mast M (step S36). As a result, when the host controller 3 receives a notification that the mast M is likely to collide with an obstacle, it can prohibit or stop the mast M from rising, thereby suppressing the collision between the mast M and the obstacle. be able to.

Then, the control unit 2 calculates the height H6 again (step S37), and if the height H6 is lower than the height H4 (step S38: No), repeats steps S37 and S38 to calculate the height H6. When the height becomes equal to or higher than the height H4 (step S38: Yes), the mast M is prohibited or stopped from rising (step S39), and the current mast monitoring method is ended.
Note that steps S33 to S36 may be omitted.

In this way, the control unit 2 of the third embodiment uses the detection results of the obstacle sensor 1 to determine the height H3 of the obstacle located above the guided vehicle Ve based on the height of the obstacle sensor 1. In addition to calculating the lower height H4, the height H6 to the upper end of the mast M based on the height of the obstacle sensor 1 is calculated using the detection result of the obstacle sensor 1, and the height H6 is When the height reaches H4 or higher, the mast M is prohibited or stopped from rising.

As a result, it is possible to prohibit or stop the mast M from rising before the mast M collides with an obstacle such as the ceiling, so it is possible to suppress the mast M from colliding with an obstacle such as the ceiling.

<Fourth embodiment>
FIG. 7 is a diagram showing a transport vehicle according to the fourth embodiment. Note that the same components as those shown in FIG. 5 are denoted by the same reference numerals, and the description thereof will be omitted.

The guided vehicle Ve shown in FIG. 7 is a forklift, an automatic guided vehicle, a manned guided vehicle, or the like, and includes a mast M, an obstacle sensor 1, and a control unit 2. Note that the load may be loaded on a fork that moves up and down together with the mast M.

The control unit 2 controls the vertical movement of the mast M using the detection result of the obstacle sensor 1.
FIG. 8 is a flowchart showing a mast monitoring method according to the fourth embodiment. It is assumed that the flowchart shown in FIG. 8 is executed immediately before the mast M starts rising.

First, the control unit 2 uses the detection result of the obstacle sensor 1 to determine a direction g1 passing through the intersection g of a perpendicular extending downward from the upper end of the mast M and the upper surface of the vehicle body of the guided vehicle Ve with the obstacle sensor 1 as a reference. An angle θi between the obstacle sensor 1 and the direction i passing through the upper end of the mast M at maximum rise is calculated (step S41). For example, the control unit 2 calculates tan(θi)=(height H7 from the upper end of mast M to intersection g at maximum rise)/(distance Lg from obstacle sensor 1 to intersection g). , find the angle θi.

Next, if the obstacle sensor 1 does not detect any obstacle other than the mast M within the range of angle θi (step S42: No), the control unit 2 ends the current mast monitoring method, and the obstacle sensor 1 When an obstacle other than the mast M is detected within the range of the angle θi (step S42: Yes), the mast M is prohibited from rising (step S43), and the current mast monitoring method is ended.

In this way, the control unit 2 of the fourth embodiment can detect the obstacle in the direction g1 passing through the intersection g of the perpendicular extending downward from the upper end of the mast M and the upper surface of the vehicle body of the guided vehicle Ve with the obstacle sensor 1 as a reference. A configuration that prohibits the mast M from rising when an obstacle other than the mast M is detected by the obstacle sensor 1 within the range of angle θi formed by the sensor 1 and the direction i passing through the upper end of the mast M at the time of maximum rise. It is.

This makes it possible to prohibit the mast M from rising when there is a possibility that the mast M will collide with an obstacle such as the ceiling immediately before the mast M starts to rise, so the mast M will collide with an obstacle such as the ceiling. can be restrained from doing so.

Furthermore, the present invention is not limited to the above-described embodiments, and various improvements and changes can be made without departing from the gist of the present invention.

1 Obstacle sensor 2 Control unit 3 Upper control device Ve Vehicle A Load M Mast

Claims (8)

A transport vehicle on which a load is loaded on the vehicle body or a transport vehicle equipped with a mast,
one obstacle sensor that is provided on the upper surface of the vehicle body and detects obstacles within a range of at least 180 degrees in the upper direction of the vehicle body;
a control unit that controls traveling of the conveyance vehicle;
Equipped with
The control unit calculates the height of the load or the mast based on the height of the obstacle sensor using the detection result of the obstacle sensor, and calculates the height of the load or the mast based on the height of the obstacle sensor, and A direction that passes through a position that is a first distance away from the obstacle sensor, and a direction that passes through a position that is the first distance away from the obstacle sensor in the traveling direction of the conveyance vehicle, and further that is a distance away from the height in the direction of the height. A conveyance vehicle characterized in that when an obstacle is detected by the obstacle sensor within an angular range, traveling of the conveyance vehicle is prohibited or stopped. The transport vehicle according to claim 1,
The height of the load or the mast changes while the transport vehicle is running;
The control unit includes a direction passing a second distance from the obstacle sensor in the traveling direction of the guided vehicle, which is longer than the first distance, and a second distance from the obstacle sensor in the traveling direction of the guided vehicle. When the obstacle is detected by the obstacle sensor in the range of the angle formed by the direction passing through the position further away from the height, the obstacle is detected in the traveling direction of the conveyance vehicle. A conveyance vehicle, characterized in that the conveyance vehicle transmits information to the effect that the conveyance vehicle is present to a higher-level control device that controls traveling of the conveyance vehicle. The transport vehicle according to claim 1 or claim 2,
The conveying vehicle is characterized in that, when the height of the load changes, the control unit transmits a notification to the effect that the height of the load has changed to a host control device that controls travel of the conveying vehicle. The transport vehicle according to claim 1,
The control unit uses the detection result of the obstacle sensor to calculate a first height that is lower than a height to an obstacle located above the carrier based on the height of the obstacle sensor. At the same time, a second height from the obstacle sensor to the upper end of the mast is calculated using the detection result of the obstacle sensor, and the second height is equal to or higher than the first height. The transport vehicle is characterized in that the mast is prohibited or stopped from rising when the mast is reached. The transport vehicle according to claim 1,
The control unit is configured to control a direction passing through an intersection between a perpendicular line extending downward from the upper end of the mast and an upper surface of the vehicle body of the transport vehicle with the obstacle sensor as a reference, and a direction from the obstacle sensor to the upper end of the mast at the time of maximum rise. A conveyance vehicle, wherein when the obstacle sensor detects an obstacle other than the mast within an angular range formed by a direction passing through the mast, the mast is prohibited from rising. A traveling monitoring method executed by a control unit of a transport vehicle on which a load is loaded on a vehicle body or a transport vehicle equipped with a mast, the method comprising:
The control unit includes:
The load or Calculating the height of the mast;
A direction passing through a position a first distance away from the obstacle sensor in the traveling direction of the transport vehicle, and a direction passing the first distance away from the obstacle sensor in the travel direction of the transport vehicle, and further in a direction of the height. A traveling monitoring method, comprising: prohibiting or stopping traveling of the transport vehicle when the obstacle sensor detects an obstacle within an angle range formed by a direction passing a position a distance away from the transport vehicle. The driving monitoring method according to claim 6,
The control unit includes:
Using the detection result of the obstacle sensor, calculate a first height that is lower than the height of the obstacle located above the transport vehicle based on the height of the obstacle sensor, and Calculating a second height to the upper end of the mast based on the height of the obstacle sensor using the detection result of the sensor,
A travel monitoring method characterized in that, when the second height becomes equal to or higher than the first height, raising of the mast is prohibited or stopped. The driving monitoring method according to claim 6,
The control unit is configured to control a direction passing through an intersection between a perpendicular line extending downward from the upper end of the mast and an upper surface of the vehicle body of the transport vehicle with the obstacle sensor as a reference, and a direction from the obstacle sensor to the upper end of the mast at the time of maximum rise. 1. A running monitoring method, comprising: prohibiting the mast from rising if the obstacle sensor detects an obstacle other than the mast within an angular range formed by a direction passing through the mast.

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