WO2022149285A1 - 搬送システム、及び搬送制御方法 - Google Patents
搬送システム、及び搬送制御方法 Download PDFInfo
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- WO2022149285A1 WO2022149285A1 PCT/JP2021/000573 JP2021000573W WO2022149285A1 WO 2022149285 A1 WO2022149285 A1 WO 2022149285A1 JP 2021000573 W JP2021000573 W JP 2021000573W WO 2022149285 A1 WO2022149285 A1 WO 2022149285A1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/242—Means based on the reflection of waves generated by the vehicle
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
- G05D1/2446—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means the passive navigation aids having encoded information, e.g. QR codes or ground control points
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- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/20—Specific applications of the controlled vehicles for transportation
- G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D2107/70—Industrial sites, e.g. warehouses or factories
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
- G05D2111/10—Optical signals
- G05D2111/17—Coherent light, e.g. laser signals
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D2111/30—Radio signals
- G05D2111/36—Radio signals generated or reflected by cables or wires carrying current, e.g. boundary wires or leaky feeder cables
Definitions
- This disclosure relates to a transport system and a transport control method.
- Patent Document 1 when an obstacle exists on the track where the transport vehicle is scheduled to travel, it is possible to prevent the transport vehicle from colliding with the obstacle, but there is an obstacle or the like on the track. In some cases, the movement target position of the carrier cannot be changed flexibly, and the work efficiency cannot be improved. Alternatively, in the prior art as in Patent Document 2, there is a problem that the carrier vehicle advances to an unintended branch destination at a branch point or cannot travel in a portion where the guidance line is interrupted.
- the present disclosure has been made in view of the above problems, and the purpose of the present disclosure is to provide a transfer system and a transfer control method capable of improving work efficiency by performing operation determination according to the situation at the site. It is to provide, or to provide a transport system, and a transport control method capable of improving the accuracy of travel control at a branch point of an induction line.
- a transport system having a transport vehicle traveling along a guide line laid on a traveling path, wherein the transport vehicle includes a guide line detection unit for detecting the guide line and the transport vehicle.
- a transport system including an object position detection unit that detects information about the positions of surrounding objects, and a stop position determination unit that determines a stop position of the transport vehicle according to a detection result by the object position detection unit.
- a transport system having a guide line provided with a plurality of cords laid on a traveling road surface and a transport vehicle traveling along the guide line, and the guide line is the transport.
- the transport vehicle has a main line, which is the guidance line on which the vehicle is traveling, and a branch line, which is the guidance line laid at a predetermined distance or more from the main line, and the transport vehicle detects the guidance line.
- the traveling is provided with a guidance line detection unit and a travel control unit that maintains a state in which the guidance line is located within the detection range of the guidance line detection unit and executes guidance line follow-up control for traveling the carrier vehicle.
- the control unit When the control unit acquires the trigger information from the code, the control unit stops the guidance line follow-up control, executes a predetermined predetermined travel control, and performs the guidance when the predetermined travel control is executed.
- the line detection unit detects the guidance line of the branch line, a transport system is provided that stops the predetermined traveling control and executes the guidance line follow-up control.
- a transport control method for a transport vehicle traveling along a guide line laid on a travel path, in which a guide line detection step for detecting the guide line and an object around the transport vehicle.
- a transport control method comprising: an object position detection step for detecting information about the position of the object, and a stop position determination step for determining the stop position of the transport vehicle according to the information regarding the position of the object detected in the object position detection step.
- the present invention is a method of transport control of a transport vehicle traveling along a guide line provided with a plurality of cords laid on a traveling road surface, wherein the guide line is the method in which the transport vehicle is traveling.
- a guide line detection step for detecting a guide line having a main line which is a guide line and a branch line which is the guide line laid at a predetermined interval or more apart from the main line, and a guide line detection unit.
- the guidance line tracking unit stops the guidance line follow-up control, executes a predetermined predetermined travel control, and detects the guidance line of the branch line while the predetermined travel control is being executed. Provides a transport control method that stops the predetermined travel control and executes the guidance line follow-up control.
- a transfer system and a transfer control method capable of improving work efficiency by performing an operation determination according to a situation at a site, or to provide an accuracy of traveling control at a branch point of an induction line. It is possible to provide a transfer system and a transfer control method capable of improving the above. ..
- FIG. 1 It is a figure which shows the example of the operation area of the transfer system which concerns on one Embodiment of this invention. It is a figure which shows the structural example of the guided traveling area 110 which concerns on the same embodiment. It is a figure which shows the structural example of the guided traveling area 130 which concerns on the same embodiment. It is a perspective view which shows the hardware composition example of the transport vehicle which concerns on the same embodiment. It is a top view which shows the hardware composition example of the transport vehicle which concerns on the same embodiment. It is a bottom view which shows the hardware composition example of the transport vehicle which concerns on the same embodiment. It is a figure which shows an example of the hardware composition when the transport vehicle and the tow truck which concerns on the same embodiment are combined.
- FIG. 1 It is a figure which shows another example of the hardware composition when the transport vehicle and the tow truck which concerns on the same embodiment are combined. It is a figure which shows the whole block diagram of the transport system which concerns on the same embodiment. It is a figure which shows an example of the functional block diagram of the transport vehicle which concerns on the same embodiment. It is a figure which shows an example of a series of operation scenarios by a transport vehicle which concerns on the same embodiment. It is a figure which shows the operation example of the transport vehicle which concerns on the same embodiment at the branch point of a guidance line. It is a flowchart which shows an example of the control flow at the branch point of a guide line of the transport vehicle which concerns on the same embodiment.
- Example 1 In distribution warehouses, manufacturing factories, etc., it is required to stop transported items such as trolleys and pallets in a predetermined position and in a predetermined method in order to cooperate with on-site work. For example, by stopping the dolly at a position linked to the belt conveyor or laying it next to the worker's work position, the carrier can pick up the load on the carrier without moving. Is required to be transported. Highly accurate transport work is required in order to link with the belt conveyor as described above or to lay it sideways at the work position of the worker.
- the conventional autonomous driving method a method of detecting obstacles with an obstacle detection sensor using laser light, etc., and autonomously traveling while avoiding obstacles
- it is difficult to realize highly accurate transport work, and it is also predetermined.
- the guidance method a method of traveling along the guidance line laid on the driving road surface
- it is necessary to lay the guidance line on the driving road surface, which hinders the operation of the site when performing the laying work, and laying. It may be necessary to change field operations so as not to damage the guided guidance line.
- an area that requires highly accurate transport work to stop by a predetermined method or to cooperate with other equipment such as a belt conveyor is defined as a guided travel area, and the transport vehicle can travel by the guidance method.
- the transport vehicle can travel by the guidance method.
- FIG. 1 is a diagram showing an example of an operating area of a transport system according to an embodiment of the present invention.
- the operating area of a transport vehicle is defined by dividing it into a guided traveling area and an autonomous traveling area.
- An example of an operating area of a transport system that can improve the accuracy of transport control and facilitate the introduction of the transport system is shown.
- areas 110 and 130 are defined as a guided travel area
- area 120 is defined as an autonomous travel area.
- FIG. 2 is a diagram showing a configuration example of the guided traveling area 110 according to the present embodiment.
- a guidance line 111 is laid in the guidance travel area 110, and a transport vehicle that has entered the guidance travel area 110 in the autonomous travel mode detects the guidance line and switches to the guidance travel mode.
- Area 112 and work areas 114A, 114B, 114C are defined.
- the track composed of the guidance line 111 is arranged so as to connect the guidance travel mode start area 112 to the work areas 114A, 114B, and 114C.
- the track is provided with a branch point 113, and is provided with post-branch guidance lines 111A, 111B, 111C for guiding to the work areas 114A, 114B, 114C after branching, respectively.
- the work areas 114A, 114B, and 114C are, for example, three stop positions for linking the belt conveyor and the trolley, or three stop positions for the worker to pick up the luggage carried on the trolley.
- the autonomous driving mode is performed in the working areas 114A, 114B, 114C.
- the transport vehicle traveling in the autonomous travel area 120 in the autonomous travel mode enters the guided travel area 110 shown in the upper side of FIG. 2 from the autonomous travel area 120 shown in the lower side of FIG. That is, the vehicle travels from the bottom to the top of FIG. 2 and enters the guided travel mode start area 112.
- the guidance line 111 laid in the guidance travel mode start area 112 has an angle of a predetermined angle or more (for example, 20 degrees or more) with respect to the traveling direction when the carrier enters the guidance travel mode start area 112. It is laid.
- the reason why the guidance line 111 is laid at a predetermined angle in this way is that the guidance line in the guidance travel mode start area 112 is laid even when the approach positions of the transport vehicle in the left-right direction vary. This is to detect and more reliably switch to the guided driving mode.
- FIG. 3 is a diagram showing a configuration example of the guided traveling area 130 according to the present embodiment.
- a guidance line 131 is laid in the guidance travel area 130, and a transport vehicle that has entered the guidance travel area 130 in the autonomous travel mode detects the guidance line 131 and switches to the guidance travel mode.
- a start area 132 and a work area 133 are defined.
- the track composed of the guidance line 131 includes a guidance travel mode start area 132, a work area 133, and an autonomous travel mode start area 134 for switching from the guidance travel mode to the autonomous travel mode via a plurality of branch points. Is arranged to connect.
- a plurality of guidance lines are arranged via a branch point so that a plurality of transport vehicles can be stopped.
- the work area 133 has, for example, a plurality of stop positions for linking the belt conveyor and the trolley, or a worker picks up the luggage carried on the trolley. Multiple stop positions for.
- the transport vehicle 10 traveling in the autonomous traveling area 120 in the autonomous traveling mode enters the guided traveling area 130 shown on the right side of FIG. 3 from the autonomous traveling area 120 shown on the left side of FIG. That is, the transport vehicle 10 travels from the left to the right in FIG. 3 and enters the guided travel mode start area 132.
- the guidance line 131 laid in the guidance travel mode start area 132 has an angle of a predetermined angle or more (for example, 20 degrees or more) with respect to the traveling direction when the transport vehicle 10 enters the guidance travel mode start area 132. It is laid on.
- the reason why the guidance line 131 is laid at a predetermined angle in this way is that the guidance line in the guidance travel mode start area 132 is laid even when the vertical approach positions of the transport vehicle are different in FIG.
- the transport vehicle that has detected the guidance line in the guidance travel mode start area 132 travels along the guidance line 131 and stops at the work area 133. After the work in the work area 133 is completed, the transport vehicle moves along the guidance line 131 to the autonomous driving mode start area 134, switches from the autonomous driving mode start area 134 to the autonomous driving mode, and advances to the guided driving area 130. ..
- the guidance traveling area 130 is switched from the work area 133 to the autonomous driving mode. You may advance, or you may move along the guidance line to the guidance drive mode start area 132 and switch from the guidance drive mode start area 132 to the autonomous drive mode to advance to the guidance drive area 130. good.
- an electromagnetic induction method in which a magnetic field generated by passing a weak AC current through a metal wire installed as an induction line is detected by a pickup coil on the transport vehicle side, and a magnetic tape laid on the floor surface as an induction line. It is possible to apply a magnetic induction method that reads with a magnetic sensor on the transport vehicle side, an image recognition method that takes a picture of a two-dimensional code laid on the floor as an induction line with a camera on the transport vehicle side, and performs image processing.
- FIG. 4 is a perspective view showing a hardware configuration example of the transport vehicle according to the present embodiment.
- the arrow 15 in FIG. 4 indicates the traveling direction of the transport vehicle.
- the transport vehicle has a connecting portion 11 for switching between connected and disconnected states with the bogie, an object position detecting portion 12 for detecting the position of an object around the transport vehicle, a drive wheel 13, and a non-drive wheel 14. It is equipped with.
- FIG. 5 is a top view showing a hardware configuration example of the transport vehicle according to the present embodiment
- FIG. 6 is a bottom view showing a hardware configuration example of the transport vehicle according to the present embodiment.
- a connecting portion 11 and an object position detecting portion 12 are mounted on the upper surface side of the transport vehicle.
- the connecting portion 11 is composed of, for example, an actuator. When connecting to the trolley, the actuator is extended upward to be connected to the connecting receiving portion (not shown) on the trolley side, and when the connection is released, the actuator is retracted and connected. It is configured so that the connection between the unit and the connection receiving unit on the bogie side can be released.
- the connecting portions 11 are arranged at four positions on the plane surrounding the drive wheels 13 of the transport vehicle, and can be connected to the bogie at four locations.
- the object position detection unit 12 is a device that detects the distance from the object position detection unit to the object.
- a laser distance sensor LiDAR (Light detection and ranging)
- Milli-wave radar that detects the distance to the object based on the transmitted signal of the millimeter wave and the received signal reflected by the object, or to the object by shooting the object with a camera and analyzing the captured image.
- a camera-type distance sensor that measures the distance of an object, etc. can be applied.
- the object position detecting unit 12 is arranged in front of the upper surface portion of the transport vehicle in the traveling direction, but instead of this, it may be arranged in the front side surface in the traveling direction. Further, it may be arranged not only in the front but also on the rear side surface in the traveling direction and on the left and right side surfaces.
- the object position detection unit 12 may detect an object at 360 degrees around the transport vehicle, but is configured to detect an object at least in front of the transport vehicle in the traveling direction 15.
- FIG. 6 is a bottom view showing a hardware configuration example of the transport vehicle according to the present embodiment.
- drive wheels 13 are provided at positions on both left and right sides with respect to the traveling direction 15 of the transport vehicle, and non-drive wheels 14 are provided at positions in front of and behind each drive wheel 13.
- the drive wheels 13 are wheels that are connected to the rotation shaft of the motor and are driven.
- the right drive wheel and the left drive wheel are individually controlled, and the rotation speed and rotation direction of each drive wheel are individually controlled. This makes it possible to rotate the transport vehicle to run, or to rotate the transport vehicle on the spot to change its direction.
- the non-driving wheel 14 is a wheel that is composed of wheels that are not driven and that passively rotates when the carrier vehicle is moved by the driving wheel 13.
- the non-driving wheel 14 has, for example, a fork for fixing the wheel and the axle, and the fork is composed of a rotary caster rotatably connected to a bottom member of the transport vehicle. Therefore, the wheel rotation direction of the non-driving wheel 14 passively changes according to the traveling direction and the rotational operation of the transport vehicle.
- FIG. 6 illustrates a hardware configuration of a carrier vehicle having two drive wheels and four non-drive wheels at four corners, but the present invention is not limited to the hardware configuration, and the present invention is not limited to the two drive wheels and non-drive wheels. It is also possible to adopt a configuration of a total of four wheels with two drive wheels, and it is also possible to adopt a configuration in which the front wheels can be steered in the four-wheel configuration.
- a guidance line detection unit 16 for detecting a guidance line is provided on the bottom surface of the transport vehicle.
- the guide line detection unit 16 is preferably provided in front of the drive wheels 13 in the traveling direction of the transport vehicle. This makes it easier to follow the guidance line when traveling at a position where the guidance line is curved, and also to receive information from the guidance line as soon as the transport vehicle and the towed trolley travel, so that it can be performed quickly. Processing such as stop can be executed.
- a sensor corresponding to the type of guidance method as described above is used.
- the induction method a pickup coil is used when the electromagnetic induction method is used, a magnetic sensor is used when the magnetic induction method is used, and a camera is used as a sensor of the induction line detection unit when the image recognition method is used.
- FIG. 7 shows an example of the hardware configuration when the transport vehicle and the tow truck according to the present embodiment are combined. Specifically, the transport vehicle 10 sneaks into the lower side of the truck to be towed. An example of connecting with a dolly in a state is shown. At this time, a mortar-shaped connecting receiving portion is arranged on the bottom surface of the trolley at a position corresponding to the connecting portion 11 on the cone, and by extending the connecting portion 11 upward, it can be connected to the trolley and the connecting portion 11 is shrunk. By doing so, the connection with the dolly can be released.
- FIG. 8 shows another example of the hardware configuration when the transport vehicle and the tow truck according to the present embodiment are combined.
- the transport vehicle is connected to the carriage in a state of being positioned next to the carriage 2000.
- the trolley is provided with a connecting receiving portion 2010 that connects to at least a part of the connecting portion 11 of the transport vehicle, and can be connected to the trolley by extending the connecting portion 11 upward, and can be connected to the trolley by contracting the connecting portion 11. Can be released.
- 7 and 8 show an example in which the connecting portion 11 composed of an actuator or the like is expanded and contracted in the vertical direction on the upper surface of the transport vehicle to connect and disconnect the connection with the carriage.
- the connection method is not limited to this, and other connection methods may be used.
- the transported object connected to the transport vehicle is not limited to the trolley, and may be, for example, a pallet or a cabinet having no wheels.
- the transport vehicle slips under the pallet or cabinet and is connected with the pallet or cabinet lifted.
- FIG. 9 shows an example of the overall configuration of the transport system.
- the transport system 1000 contains a plurality of transport vehicles (10a, 10b), a trolley 2000 that is a transport object, a controller 3000 that can display the status of the transport vehicle or input a command to the transport vehicle, and information necessary for operating the transport vehicle.
- Operation management device 4000 to manage input / output device 5000 that displays information on the operation management device and inputs information to the operation management device, multiple transport vehicles (10a, 10b), pilot 3000, and operation management device 4000 can communicate. It is equipped with a communication network 6000 to be connected.
- the transport system 1000 can also be connected to the external system 7000 via the communication network 6000.
- the transfer system 1000 When the transfer system 1000 is introduced into a manufacturing factory and the parts necessary for manufacturing are transferred from the storage to the production line, the transfer system 1000 performs inter-system cooperation with the manufacturing management system as an external system 7000. In this case, if information on the operation progress status of the manufacturing work is acquired from the manufacturing management system, the transportation amount and the transportation route by the transport vehicle can be dynamically adjusted according to the work progress status of the manufacturing work.
- the transport system 1000 is introduced for logistics travel, and when the cargo is brought into the warehouse by a truck or the like, the goods are transported from the carry-in entrance to the storage, and when the cargo is shipped from the warehouse, the goods are stored.
- the transport system 1000 performs inter-system cooperation with the distribution management system as an external system 7000. In this case, if the information on the delivery and the information on the shipment are acquired from the distribution management system, the transportation amount and the transportation route by the transport vehicle can be changed.
- each transport vehicle In facilities where a transport system is installed, multiple transport vehicles (10a, 10b) generally operate, so each transport vehicle is communicably connected to other transport vehicles and other components via the communication network 6000.
- the transport vehicle transmits various detection information and other control information detected by the detection unit of its own machine to the pilot 3000, the operation management device 4000, and other transport vehicles.
- the transport vehicle 10 is communicably connected to the trolley 2000 by a short-range communication means, and is configured to be able to receive information on the connection state and trolley identification information from the trolley.
- the pilot 3000 has a function of displaying the status information of the specified transport vehicle and a function of inputting a command to the designated transport vehicle.
- the state information of the transport vehicle displayed on the controller includes information on the amount of charge of the battery mounted on the transport vehicle and used as a power source for the transport vehicle, information on the identification of the trolley connected to the transport vehicle, and the like.
- the commands to be input to the transport vehicle include, for example, command information regarding the destination of the transport vehicle, an operation command for connecting or disconnecting from the bogie, a travel start command for the transport vehicle, a stop command for the transport vehicle, and the like.
- the operation management device 4000 has a status information recording unit 4010 that records status information of a plurality of transport vehicles operated in the facility area, and an operation scenario management unit 4020 that manages operation scenarios of a plurality of transport vehicles.
- the status information of the transport vehicle recorded by the status information recording unit 4010 is, for example, information on the battery charge of a plurality of transport vehicles in operation, identification information of a trolley connected to a plurality of transport vehicles, and information on a plurality of transport vehicles. Position information, operation modes of a plurality of transport vehicles (guided travel mode or autonomous travel mode), and various other detection information detected by the detection unit 230 of the transport vehicle.
- the operation scenario managed by the operation scenario management unit 4020 is, for example, information on the destination of each of a plurality of transport vehicles, multiple operation contents to be executed until the destination is reached, an operation order of multiple operations, and switching conditions of multiple operations. Includes.
- the input / output device 5000 displays the information recorded in the status information recording unit 4010 of the operation management device 4000, and adds a new operation scenario by inputting the operation scenario managed by the operation scenario management unit 4020. , Can be updated.
- the information input to the input / output device 5000 is, for example, an operation for the destination of an arbitrary carrier to be the work area A of the guided travel area 110 or to enter the guided travel area 110 to reach the work area A. It includes contents, operation switching conditions, etc.
- FIG. 10 is a diagram showing a functional configuration diagram of the transport vehicle according to the present embodiment.
- the transport vehicle 10 includes a communication unit 210 that communicates with a trolley 2000 and a communication network 6000 outside the transport vehicle, a recording unit 220, a detection unit 230 equipped with various sensors described later, a connection unit 11 for connecting to the trolley, and wheels.
- the wheel drive unit 280, the input unit 240, the display unit 250, and the control unit 260 for controlling the operation of the wheel drive unit 280, etc. are provided.
- the recording unit 220 has a function of recording information received from the outside by the communication unit 210, detection information detected by the detection unit 230, and control information output by the control unit.
- the detection unit 230 includes an object position detection unit 12, a guidance line detection unit 232, a mileage detection unit 233, a collision detection unit 234, a posture detection unit 235, and a charge amount detection unit 236.
- the object position detection unit 12 is a laser distance sensor (LiDAR (Light detection and ranging)) that measures the distance and direction to an object by irradiating the object with laser light and measuring the time until it hits the object and bounces off.
- LiDAR Light detection and ranging
- Milli-wave radar that detects the distance to the object based on the transmitted signal of the millimeter wave and the received signal reflected by the object and returned, or the object by shooting the object with a camera and analyzing the captured image. It consists of a camera-type distance sensor that measures the distance to the object.
- a sensor corresponding to the type of guidance method is used as described above.
- a pickup coil is used when the electromagnetic induction method is used
- a magnetic sensor is used when the magnetic induction method is used
- a camera is used as a sensor of the induction line detection unit when the image recognition method is used.
- the guide line detection unit detects the guide line when it is located directly above the guide line and outputs a detection signal. Further, in the case of an image recognition method in which a guide line using a two-dimensional code or a barcode is read by a camera, position information is generated based on the detected code information in addition to the guide line detection signal, and further the code is used. By performing the image information of, the relative angle information between the guidance line and the carrier vehicle can be generated.
- the mileage detection unit 233 detects the rotation speed of the non-driving wheel 14 or the driving wheel 13, and based on the detection information of the rotation speed and the information of the diameter (or circumference length) of the non-driving wheel or the driving wheel, the transport vehicle. Measure the mileage of.
- a means of estimating the mileage by detecting the traveling speed of the carrier vehicle by irradiating the floor surface with millimeter waves and detecting the reflected wave and integrating the traveling speed is applied. It is also possible to do.
- the collision detection unit 234 has a function of detecting that the transport vehicle has collided with an obstacle or a person.
- the acceleration can be detected by a gyro sensor or the like, and it can be determined that a collision has occurred when a sudden change in the acceleration is detected.
- the collision detection unit 234 detects a collision, the transport vehicle is stopped, at least one of the collision occurrence information and the collision occurrence position is recorded in the recording unit, and the information is recorded in the operation management device 4000 and the pilot. Notify 3000 of information.
- the posture detection unit 235 detects the direction (posture) of the own vehicle based on the information on the rotation speed of the magnetic compass or the left and right drive wheels or the steering information of the wheels.
- the charge amount detection unit 236 detects the charge amount of the battery, which is the power source of the transport vehicle. When the charge amount detected by the charge amount detection unit 236 is equal to or less than a predetermined value, it is determined that charging is necessary, the detection information of the charge amount decrease is recorded in the recording unit, and the information is recorded in the operation management device 4000. And notify the pilot 3000 of the information. Further, when it is detected that the charge amount is equal to or less than a predetermined value, it may be automatically moved to the charging spot to charge the battery in addition to the above processing.
- the predetermined value for the charge amount detection unit 236 to determine that charging is required is based on at least one of the distance to the destination set in the transport vehicle and the weight of the transported object connected to the transport vehicle. It may be a preset value.
- the input unit 240 is composed of a physical switch or a touch panel mounted on the transport vehicle, and the user can directly input an operation command or the like to the transport vehicle.
- the display unit 250 is composed of a liquid crystal panel or the like mounted on the transport vehicle, and displays status information of the transport vehicle (various detection information in the detection unit 230, an operation scenario currently being executed, and the like).
- the control unit 260 includes an operation determination unit 261, a mode switching unit 262, a connection control unit 263, a display control unit 264, a stop position determination unit 265, a travel control unit 266, and a vehicle position estimation unit 267. ing.
- the operation determination unit 261 determines the operation of the carrier vehicle based on the operation scenario of the own carrier vehicle acquired from the operation scenario management unit 4020. An example of the operation scenario will be described later with reference to FIG.
- the mode switching unit 262 switches the driving mode of the carrier vehicle between the guided driving mode and the autonomous driving mode based on the conditions predetermined in the operation scenario or the command input by the input unit 240.
- the connection control unit 263 controls the operation of the connection unit 11 based on the conditions predetermined in the operation scenario or the command input by the input unit 240, and connects / disconnects the connection / disconnection with the conveyed object such as a trolley. Control.
- the display control unit 264 controls the input unit 240 and the display unit 250 described above.
- the stop position determination unit 265 determines the stop position of the own machine based on the position information of the object detected by the object position detection unit 12 when the own machine arrives at the position for determining the stop position and the preset position. Is executed.
- the stop position determination when the guidance line is branched into a plurality of branches and a plurality of work areas 114 as destinations can be set will be described.
- the storage unit 220 stores map information including the position information of each work area 114A, 114B, 114C, and the position of the detected object is the position of each work area 114A, 114B, 114C in the map information.
- the object position detection unit 12 can detect the distance and direction to the object with respect to the carrier vehicle, and the guidance line detection unit acquires information on the position and orientation of the carrier vehicle. Based on the information, it is possible to determine whether the position of the detected object matches the position of each work area 114A, 114B, or 114C in the map information.
- the travel control unit 266 controls the travel of the carrier vehicle based on at least one of the determination information by the operation determination unit 261, the mode switching unit 262, and the stop position determination unit 265. Specifically, the right wheel drive unit 281 and the left wheel drive unit 282 of the wheel drive unit 280 are individually controlled. The right wheel drive unit 281 and the left wheel drive unit 282 are composed of, for example, motors. It is possible to rotate the car and change its direction.
- the own vehicle position estimation unit 267 is based on the mileage detected by the mileage detection unit 233, the direction information of the own vehicle detected by the attitude detection unit 235, and the map information of the entire area recorded in the recording unit 220. The position of the own vehicle in the entire traveling area is estimated.
- the position of the own vehicle in the entire traveling area based on the information on the distance and direction to the object measured by the object position detection unit 12 and the map information of the entire area recorded in the recording unit 220.
- the position of the own vehicle in the entire traveling area based on the identification information of the two-dimensional code and the above map information. be.
- FIG. 11 is a diagram showing an example of a series of operation scenarios by the transport vehicle according to the present embodiment. Specifically, FIG. 11 is a series of operations from the start of the work area 133 to the return to the work area 133. It shows the operation scenario.
- the operation scenario information is received from the operation management device 4000 and recorded in the recording unit 220.
- a series of operations by the transport system is composed of a plurality of operation scenarios as shown in FIG.
- the operation scenario is input by the user by the input / output device 5000 and stored in the storage device in the operation management device 4000.
- the completion condition of the operation is defined in advance in each operation scenario, and when the completion condition is satisfied based on the information detected by the detection unit of the transport vehicle or the like, the next operation scenario is executed.
- the operation content of the scenario 1 is to stop the vehicle in the work area 133, and the completion condition is the completion of the work performed in the work area.
- the work performed in the work area is, for example, the transfer of luggage on the trolley by the worker or the replacement of the trolley connected to the transport vehicle.
- the operation content of the scenario 2 to be executed next is to travel along the guidance line 131, and the completion condition is that the movement to the autonomous travel mode start area 134 is completed.
- a means for detecting that the movement to the autonomous driving mode start area 134 is completed a means for receiving the position information by the proximity communication device installed in the autonomous driving mode start area 134 may be used, or the means has the unique ID information.
- a guide line may be configured with a dimensional code and detected by reading the two-dimensional code.
- the operation content of scenario 3 is to drive in the autonomous driving mode and move to the guided driving mode start area 112. Included in the map information based on the map information of the entire area where the carrier vehicle travels (including the guided driving area and the autonomous driving area) recorded in the recording unit 220 and the vehicle position information estimated by the vehicle position estimation unit. It travels so as not to deviate from the autonomous travel area, and when an object is detected by the object position detection unit, it travels to the guided travel mode start area 112 through a route avoiding the object.
- the completion condition is to detect the induction line 111.
- the operation content of scenario 4 is to travel along the guidance line 111, and the completion condition is that the movement to the branch point, which is the destination determination point, is completed.
- the operation content of the scenario 5 is to determine the stop destination and travel to the stop destination, and the completion condition is that the movement to the stop destination is completed.
- the operation content of the scenario 6 is to continue the stop in the work area 114 which is the stop destination, and the completion condition is that the work by the worker is completed.
- the completion of the work can be detected, for example, by the operator pressing the work completion button provided on the control machine 3000 or the input unit 240.
- the operation content of the scenario 7 is to travel along the guidance line, and the completion condition is that the movement to the autonomous travel mode start area 115 is completed.
- the operation content of the scenario 8 is to travel in the autonomous travel mode and move to the guided travel mode start area 132.
- the driving control in the autonomous driving mode is the same as the scenario 3 described above.
- the completion condition is to detect the induction line 131.
- the operation content of the scenario 9 is to travel along the guidance line 131, and the completion condition is to complete the movement to the work area 133.
- the process returns to scenario 1.
- FIG. 12 describes the determination of the stop destination when the candidate positions of the stop destination are at the branch destinations.
- the transport vehicle traveling along the guidance line 111 of the guidance travel area 110 arrives at the stop destination determination point (branch point in this embodiment)
- the transport vehicle executes a process of determining the stop destination.
- the detection of arrival at the destination determination point may be realized by providing a mark that triggers the stop destination determination process on the side of the guidance line.
- the guidance line is configured with a plurality of two-dimensional codes having unique identification information and the two-dimensional code corresponding to the stop destination determination position is detected, it is determined that the vehicle has arrived at the stop destination determination point. good.
- the object position detector detects the position of the object around the carrier.
- the position information of each work area 114A, 114B, 114C which is a candidate position of the stop destination has been read by the recording unit 220, and by comparing the position of the detected object with the position of each work area. , Determine the work area where the object exists and the work area where there is no object.
- a worker is in the central work area 114B, and another trolley is stopped in the work area 114C on the right side.
- the transport vehicle 10 determines that there is an object in the work areas 114B and 114C, and determines that the work area 114A on the left side, which does not detect the object, is the stop destination. After determining the stop destination, proceed the branch toward the stop destination (work area 114A) and stop when the stop destination is reached.
- step 1201 when the transport vehicle traveling in the autonomous traveling area 120 enters the guided traveling area 110, the vehicle first continues traveling in the autonomous traveling mode (S1201).
- step 1202 it is determined whether or not the guidance line 111 has been detected, and if the guidance line 111 is not detected, the vehicle returns to S1201 and continues traveling in the autonomous travel mode (S1202). That is, the vehicle continues traveling in the autonomous traveling mode until the guidance line 111 is detected.
- step 1203 S1203 travels along the guidance line 111.
- the mode is switched from the autonomous driving mode to the guided driving mode, and the guidance line is detected as the operation of the guided driving mode in S1201. It is also possible to drive straight up to.
- step 1204 it is determined whether or not the vehicle has arrived at the destination determination point, and if not, the vehicle returns to S1203 and continues traveling along the guidance line (S1204).
- the destination determination point can be set to any place, but as shown in FIG. 12, when each work area to be the destination is arranged at the destination where the guidance line branches, the guidance line branches. It is desirable to define the point before the point as the destination determination point.
- the detection of arrival at the destination determination point may be realized by providing a mark that triggers the stop destination determination process on the side of the guidance line and detecting the mark, or before branching. It may be realized by detecting that the vehicle has moved a predetermined distance along the guidance line from the predetermined point by the mileage detection.
- the guidance line when configured by a plurality of two-dimensional codes having unique identification information, it may be realized by detecting the two-dimensional code that triggers the stop destination determination process. Alternatively, the guidance line may be branched to detect a plurality of two-dimensional codes at the same time.
- the object position detection unit determines whether or not there is an object at the position of the destination candidate.
- the object position detector is a laser distance sensor (LiDAR (Light detection and ranging), etc.), a millimeter wave radar that detects the distance to an object based on the transmitted signal of millimeter waves and the received signal reflected by the object and returned.
- LiDAR Light detection and ranging
- millimeter wave radar that detects the distance to an object based on the transmitted signal of millimeter waves and the received signal reflected by the object and returned.
- it is possible to detect the distance to the object by using any of the camera-type distance sensors that measure the distance to the object by photographing the object with a camera and analyzing the captured image.
- step 1206 it is determined whether or not there is an object at the destination first candidate position (for example, work area 114C) (S1206). Then, if there is an object, the transition to step 1207 (S1207) is performed, and if there is no object, the transition is made to step 1210 (S1210), which proceeds to the destination first candidate position and stops.
- step 1207 it is determined whether or not there is an object at the destination second candidate position (for example, work area 114B) (S1207). Then, if there is an object, the transition to step 1208 (S1208) is performed, and if there is no object, the transition is made to step 1211 (S1211) in which the vehicle advances to the target second candidate position and stops.
- step 1208 it is determined whether or not there is an object at the destination third candidate position (for example, work area 114A) (S1208). Then, when there is an object, the transition to step 1209 (S1209) is performed, and when there is no object, the transition is made to step 1212 (S1212), which proceeds to the destination third candidate position and stops.
- step 1210 S1210
- step 1211 S1211
- step 1212 S1212
- information on the work area which is the destination position determined as the stop destination before arriving at the stop area, is displayed on the transport vehicle display unit 250. It may be transmitted to the pilot 3000 and the operation management device 4000, and output by voice or display by each device.
- step 1209 when it is determined that there are objects at the positions of all the stop destination candidates, the operation management device 4000 is notified and the vehicle waits for a predetermined time on the spot (S1209). After waiting for a predetermined time, the process returns to step 1205 (S1205) to determine the presence or absence of an object again.
- the priority order (first candidate to third candidate) of the stop destination is set in the order of work areas 114C, 114B, 114A, but the priority order can be set arbitrarily. Is.
- FIG. 14 shows an example in which a magnetic tape is laid on the floor surface as an induction line.
- the route of the transport vehicle composed of the guidance line 111 is divided into three routes starting from the branch point 113, and the route after each branch constitutes the route to the work areas 114A, 114B, 114C. ..
- a plurality of magnetic sensors 17 are arranged in the left-right direction of the transport vehicle traveling on the guidance line 111 to form the guidance line detection unit 16.
- seven magnetic sensors 17 are arranged side by side in the left-right direction, and the three magnetic sensors 17A in the center indicated by the diagonal lines are the sensors that detect the magnetic tape, and the two on the left side.
- the two magnetic sensors 17B on the right side indicate sensors that have not detected magnetic tape.
- the travel control unit detects the magnetic tape by the magnetic sensor arranged in the center of the induction line detection unit 16 according to the detection result of the magnetic sensor. It controls the rotation speed of the right wheel drive unit 281 and the left wheel drive unit 282.
- the rotation speed of the right drive wheel is made relatively higher than that of the left drive wheel, and conversely, the magnetism is increased.
- the rotation speed of the left drive wheel is made relatively higher than that of the right drive wheel, so that the carrier vehicle can move to the induction line. Control so that the vehicle can run stably on the top.
- a guidance mark 116 for giving an instruction of control information to the transport vehicle is laid on the side of the guidance line and on the front side of the branch point.
- the transport vehicle further has a mark detection unit 18 for detecting the guidance mark 116, and the mark detection unit 18 receives trigger information for determining the stop destination from the guidance mark 116.
- the work area 114A on the upper left of FIG. 14 is determined to be the stop destination, for example, in order to proceed to the route on the left side of the branch point, for example, the two magnetisms on the right side of the induction line detection unit 16.
- the carrier can be advanced to the left route by stopping the detection of the sensor 17B, lowering the detection sensitivity, or lowering the weighting considered for control.
- FIGS. 15 to 17 show an example in which a plurality of two-dimensional codes are laid on the floor surface along the path direction as guidance lines. It is also possible to use a barcode instead of a two-dimensional code.
- the route of the transport vehicle composed of the guidance line 111 is divided into three routes starting from the branch point 113, and the route after each branch constitutes the route to the work areas 114A, 114B, 114C. ..
- the two-dimensional code 1000 has a plurality of points printed on the two-dimensional plane, and the two-dimensional codes constituting the guidance lines are unique codes.
- the guidance line detection unit 16 of the guided vehicle traveling on the guidance line 111 includes a camera, and travels while recognizing the two-dimensional code by the camera. Further, the guidance line detection unit 16 acquires code information having at least one of the identification information and the position information peculiar to each two-dimensional code from the detected two-dimensional code, and also obtains information on the relative angle between the two-dimensional code and the carrier vehicle. To get.
- a bar code may be used instead of the two-dimensional code, and both the two-dimensional code and the bar code may be used.
- the travel control unit has left and right drive wheels so that the two-dimensional code is within the shooting range of the camera and the two-dimensional code can be continuously detected based on the above-mentioned identification information, position information, and relative angle information of the two-dimensional code.
- the running of the carrier vehicle is controlled by controlling the rotation speeds of the two.
- the transport vehicle When the guidance line 1010 is detected by the guidance line detection unit, the transport vehicle is temporarily stopped and the stop destination determination process is executed by using the identification information or the position information of the guidance line 1010 as a trigger for determining the stop destination. ..
- the induction lines shown in FIGS. 15 to 17 are laid at positions separated from each other so that the branching induction lines do not overlap each other at the branch point. Ru.
- the shortest distance D1 between the main line of the induction line before branching and the branch line after branching is, for example, about 7 to 15 cm.
- the guidance line detection unit 16 of the transport vehicle traveling on the guidance line 111 is configured such that the distance D2 from the center to the end in the left-right direction of the vehicle body in the shooting range on the floor surface is shorter than the distance D1. For example, it is about 6 cm. Since the distance D2 is shorter than the distance D1 as described above, the guide line detection unit 16 of the carrier detects the two-dimensional code of the main line without detecting the two-dimensional code of the branch line of the guide line. Can be done. If the two-dimensional codes of the main line and the branch line are detected at the same time, there is a problem that it is not possible to determine which two-dimensional code the control should be based on.
- the control unit of the transport vehicle performs branch control for moving to the determined stop destination after the stop destination determination is completed.
- the own vehicle is rotated in a predetermined rotation direction recorded in advance in association with the work area 114A in the recording unit 220. That is, in order to proceed to the left branch line connected to the work area 114A, the right drive wheel is rotated in the traveling direction side, the left driving wheel is rotated in the reverse direction side, and the transport vehicle is rotated counterclockwise. As shown in FIG.
- the condition for stopping the rotation operation preset in the recording unit 220 may be to detect a specific two-dimensional code 1020, but the present invention is not limited to this, and the two-dimensional one of the guide lines of the branch line is not limited to this. It may be to detect a code, or to detect an arbitrary two-dimensional code.
- the above-mentioned branch operation scenario predetermined rotation direction, conditions for stopping the rotation operation, and operation after the rotation operation is stopped
- the above-mentioned branch operation scenario is recorded in advance in the recording unit 220 corresponding to the determined stop destination. It is information, and when the user sets a scenario via the input / output device 5000 or the like, the information in the predetermined rotation direction can also be set.
- the distance D3 between the center of rotation of the carrier shown in FIG. 16, that is, the midpoint between the left drive wheel and the right drive wheel and the photographing range of the guidance line detection unit 16 is longer than the distance D1.
- the rotational operation of the carrier makes it possible to reliably detect the two-dimensional code of the branch line after branching.
- the distance D3 is, for example, about 15 to 20 cm.
- the rotation operation of the transport vehicle is performed in a state where the rotation center of the transport vehicle coincides with the position where the extension line of the branch line and the main line intersect.
- the rotation operation of the transport vehicle may be performed in a state where the rotation center of the transport vehicle coincides with the position where the distance between the main line and the branch line is the shortest. In this case, since the photographing range of the guidance line detection unit 16 moves to a position where the two-dimensional code of the branch line can be more easily detected, the branch line can be detected more reliably.
- the work areas 114A, 114B, and 114C which are the stop destinations, are defined on the same route of the transport vehicle, and are defined as the work areas 114A, 114B, and 114C in order from the back side in the traveling direction. There is.
- the object position detection unit 12 determines whether or not there is an object in each work area in front of the route.
- FIG. 19 shows an example in which a dolly preceding the work area 114A on the back side of the course is stopped.
- the transport vehicle 10 determines by the object position detection unit 12 that there is an object in the work area 114A and that there is no object in the work areas 114B and 114C in front of it. Therefore, the work area 114B, which has no object and is the innermost work area in the traveling direction, is determined as the stop destination.
- FIG. 20 shows a control flow for making the above determination. Since S2001 to S2005 in FIG. 20 are the same as S1201 to S1205 in FIG. 13, the description thereof will be omitted.
- the object position detection unit 12 determines the presence or absence of an object at the destination candidate position, and then in step 2006 (S2006), it is determined whether or not there is an object such as a trolley in the work area 114A, and the object is found. If not, the work area 114A is determined to be the stop destination, and the process proceeds to the work area 114A to proceed to the stop step 2010 (S2010). If there is an object, the process proceeds to the determination process of step 2007 (S2007).
- step 2008 it is determined whether there is an object such as a dolly in the work area 114B (S2007), and if there is no object, the work area 114B is determined to be the stop destination, and the vehicle proceeds to the work area 114B and stops in step 2011 (S2011). ). If there is an object, the process proceeds to the determination process of step 2008 (S2008). Next, in the same manner, in step 2008 (S2008), it is determined whether there is an object such as a dolly in the work area 114C, and if there is no object, the work area 114C is determined as a stop destination and the process proceeds to the work area 114C. Transition to step 2012 (S2012) to stop.
- step 2010 (S2010), step 2011 (S2011), and step 2012 (S2012)
- information on the work area of the stop destination is displayed on the display unit 250 of the transport vehicle, the pilot 3000, and the operation management device before arriving at the stop area. It may be output to 4000.
- step 2009 when it is determined that there is an object at the position of all the stop destination candidates, the operation management device 4000 is notified and the vehicle waits for a predetermined time on the spot (S2009). After waiting for a predetermined time, return to S2005 and judge the presence or absence of an object again.
- the work areas 114A, 114B, and 114C which are the stop destinations, are defined on the same route of the transport vehicle, and are defined as the work areas 114A, 114B, and 114C in order from the back side in the traveling direction. There is.
- the object position detection unit 12 determines whether or not there is an object in each work area in front of the route.
- FIG. 21 shows an example in which the worker is at a position corresponding to the work area 114C on the front side of the course.
- the transport vehicle 10 determines from the object position detection unit 12 that the worker is at a position corresponding to the work area on the side of the work area 114C and that there is no object in the work area 114C.
- the work area 114C is determined as the stop destination, and the carrier vehicle is driven to the work area 114C and stopped.
- the worker For the detection of the worker, it is desirable to process the information acquired by the laser distance sensor or the camera and recognize it as the worker, but it is judged that the worker is present simply by detecting the object at the predetermined worker position. You may.
- FIG. 22 shows the control flow of the third embodiment described above. Since S2201 to S2205 in FIG. 20 are the same as S1201 to S1205 in FIG. 13, the description thereof will be omitted.
- the object position detection unit 12 determines whether or not there is a worker on the side corresponding to the destination candidate position, and then in step 2206, it is determined whether or not there is a worker at the corresponding position in the work area 114A. Then (S2206), if there is a worker, the work area 114A is determined to be the stop destination, and the process proceeds to the work area 114A to proceed to the stop step 2210 (S2210). If there is no worker, the process proceeds to the determination process of step 2207 (S2207).
- step 2207 it is determined whether or not there is a worker at the corresponding position of the work area 114B, and if there is a worker, the work area 114B is determined to be the stop destination and the process proceeds to the work area 114B. Transition to step 2211 (S2211) to stop. If there is no worker, the process proceeds to the determination process of step 2208 (S2208). Similarly, in step 2208 (S2208), it is determined whether or not there is a worker at the corresponding position of the work area 114C, and if there is a worker, the work area 114C is determined as a stop destination and the process proceeds to the work area 114C.
- step 2212 S2212
- step 2209 S2209
- steps 2210 (S2210), 2211 (S2211), and 2212 (S2212) information on the work area of the stop destination is displayed on the display unit 250 of the transport vehicle, the pilot 3000, and the operation management device before arriving at the stop area. It may be output to 4000.
- each step of S2206, S2207, and S2208 an example of determining the stop destination on the condition that the worker is present is shown, but as described above, in addition to the worker being at the corresponding position in the work area, The absence of objects in the work area may be a condition for selection as a stop destination.
- the control flow is for the case where the candidate positions of the stop destination are three work areas 114A to 114C, the control flow is provided with three judgment steps of S2006-S2008. If there are five candidate positions, the number of control steps is also five according to the number of candidate positions.
- FIG. 21 shows an example in which a plurality of work areas are defined on the traveling path of the transport vehicle, but as shown in FIG. 23, a wide range of work areas in which a plurality of transport vehicles can enter is defined, and the work is concerned. It is also possible to stop the transport vehicle at any position in the area. In such a case, by changing the stop position of the transport vehicle according to the position of the worker, the worker and the transport vehicle can be linked and the work efficiency can be improved.
- the object position detection unit 12 determines whether or not there is an object in each work area in front of the route.
- FIG. 23 shows an example in which the worker is at a position corresponding to the work area 114 on the front side of the course.
- the transport vehicle 10 determines that the worker is at a position corresponding to the work area on the side of the work area 114 by the object position detection unit 12.
- the stop destination determination the track on the side of the worker position is determined as the stop destination according to the position of the worker, and the carrier vehicle is driven to the stop destination in the work area 114 and stopped.
- the device described in the present specification may be realized as a single device, or may be realized by a plurality of devices (for example, a cloud server) which are partially or wholly connected by a network.
- the control unit 260 and the recording unit 220 of the transport vehicle may be realized by different servers connected to each other by a network.
- the pilot 3000, the operation management device 4000, and the input / output device 5000 are each composed of separate hardware connected via a network. Part or all of the functions of the 3000, the operation management device 4000, and the input / output device 5000 may be mounted on the transport vehicle 10.
- the series of processes by the apparatus described in the present specification may be realized by using any of software, hardware, and a combination of software and hardware. It is possible to create a computer program for realizing each function of the control unit 260 according to the present embodiment and implement it on a PC or the like. It is also possible to provide a computer-readable recording medium in which such a computer program is stored.
- the recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like. Further, the above computer program may be distributed, for example, via a network without using a recording medium.
- a transport system having a transport vehicle that travels along a guide line laid on a travel path, wherein the transport vehicle has a guide line detection unit that detects the guide line and a peripheral portion of the transport vehicle.
- a transport system including an object position detection unit that detects information about the position of an object, and a stop position determination unit that determines a stop position of the transport vehicle according to a detection result by the object position detection unit.
- the carrier further includes a storage unit for storing information on one or more stop candidate positions that are candidates for stop positions, and the object position detection unit is the stop candidate stored in the storage unit.
- the transport according to item 1 wherein it is determined whether or not there is an object at the stop candidate position or the position of the object within the area of the stop candidate position based on the information regarding the position and the detected object position information. system.
- the stop position determination unit is based on whether or not there is an object at the stop candidate position determined by the object position detection unit, or the position of the object in the area of the stop candidate position.
- the transport system according to item 2. (Item 4)
- the stop position determination unit is a stop candidate position other than the position determined to have an object based on the position of the object in the area of the stop candidate position determined by the object position detection unit.
- the transport system according to any one of items 1 to 3, which selects a stop position from an area.
- the stop position determination unit sets a stop position close to the position where the object is determined to exist, based on the position of the object in the area of the stop candidate position determined by the object position detection unit.
- the transport system according to any one of items 1 to 3 to be selected as.
- the object position detection unit performs it.
- the transport system according to any one of items 1 to 5, which detects the position of an object around the transport vehicle.
- the transport vehicle outputs information on the stop position determined by the stop position determination unit to the display unit, or notifies the external device of the transport vehicle to any one of items 1 to 6. Described transport system.
- the stop position determination unit determines a position on the guidance line close to the detection position of the worker as a stop position, items 1 to item. 7.
- the transport system according to any one of 7.
- the stop candidate position is defined as a branch destination where the guidance line is branched into a plurality of branches, and the stop position determination unit determines the stop position before the carrier vehicle passes through the branch of the guidance line.
- the transport system according to any one of items 1 to 8, which executes the determination process of.
- the transport system according to any one of items 1 to 9, further comprising a unit.
- the guidance line includes at least one of a plurality of barcodes and a plurality of two-dimensional codes, and the guidance line detection unit is described from a camera that captures the guidance line and image information captured. Item 1 to item 1 to acquire the code information included in the bar code or the two-dimensional code, and the stop position determination unit determines the stop position when the guidance line detection unit acquires the predetermined code information.
- the transport system according to any one of 10.
- a transport system including a guide line provided with a plurality of cords laid on a traveling road surface and a transport vehicle traveling along the guide line, wherein the transport vehicle travels on the guide line.
- the transport vehicle has a main line, which is the guide line, and a branch line, which is the guide line, which is laid at a predetermined distance or more from the main line, and the transport vehicle has a guide line detection unit for detecting the guide line.
- the travel control unit includes a travel control unit that maintains a state in which the guidance line is located within the detection range of the guidance line detection unit and executes guidance line follow-up control for traveling the carrier vehicle.
- a transport control method for a transport vehicle traveling along a guide line laid on a travel path wherein the guide line detection step for detecting the guide line and information on the position of an object around the transport vehicle.
- a transport control method comprising: an object position detection step for detecting an object position, and a stop position determination step for determining a stop position of the transport vehicle according to information regarding the position of the object detected in the object position detection step.
- the carrier further includes a storage unit for storing information on one or more stop candidate positions that are candidates for stop positions, information on the stop candidate positions stored in the storage unit, and the object.
- the stop candidate position object determination step Based on the information on the position of the object detected in the position detection step, the stop candidate position object determination step for determining whether or not there is an object at the stop candidate position or the position of the object in the area of the stop candidate position is performed.
- (Item 15) In the stop position determination step, whether or not there is an object at the stop candidate position determined by the stop candidate position object determination step, or based on the position of the object in the area of the stop candidate position.
- the stop candidate In the stop position determination step, the stop candidate other than the position determined to have an object based on the position of the object in the area of the stop candidate position determined by the stop candidate position object determination step.
- the transport control method according to any one of items 13 to 15, wherein a stop position is selected from the position area.
- the stop position determination unit sets a stop position close to the position where the object is determined to exist, based on the position of the object in the area of the stop candidate position determined by the object position detection unit.
- the transport control method according to any one of items 13 to 15, which is selected as.
- the object position detection step is executed.
- the transport control method according to any one of items 13 to 17, wherein the position of an object around the transport vehicle is detected.
- the transport vehicle includes a step of outputting to an information display unit regarding a stop position determined by the stop position determination step or notifying an external device of the transport vehicle.
- the transport control method according to one.
- a position on the guidance line close to the worker's detection position in the stop position determination step is determined as a stop position, items 13 to 19.
- the transport control method according to any one of the above.
- the stop candidate position is defined as a branch destination at which the guidance line is branched into a plurality of branches, and in the stop position determination step, the vehicle is stopped before the carrier vehicle passes through the branch of the guidance line.
- the transport control method according to any one of items 13 to 20, wherein the determination process of the position determination step is executed.
- the transport control method according to any one of items 13 to 21, comprising a step.
- the guidance line includes at least one of a plurality of barcodes and a plurality of two-dimensional codes, and in the guidance line detection step, the bar is obtained from image information captured by a camera that captures the guidance line. Items 13 to 13 in which the code information included in the code or the two-dimensional code is acquired, and in the stop position determination step, the stop position is determined when the predetermined code information is acquired in the guidance line detection step. 22.
- the transport control method according to any one of 22.
- (Item 24) A transport control method for a transport vehicle traveling along a guide line provided with a plurality of cords laid on a traveling road surface, wherein the guide line is the guide line on which the transport vehicle is traveling.
- It has a main line and a branch line which is the guide line laid at a predetermined interval or more apart from the main line, and is within the detection range of the guide line detection step for detecting the guide line and the guide line detection unit.
- the trigger information is acquired from the code in the travel control step for executing the guidance line follow-up control for maintaining the position of the guidance line and traveling the transport vehicle and the travel control step
- the guidance line is used.
- the follow-up control is stopped, a predetermined predetermined travel control is executed, and the guidance line detection unit detects the guidance line of the branch line while the predetermined travel control is being executed, the predetermined travel control is executed.
- a transport control method in which traveling control is stopped and the guidance line follow-up control is executed.
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Abstract
Description
。
物流倉庫や製造工場などでは、現場の作業と連携させるために、台車やパレットなどの搬送物を所定の位置と向きに所定の方法で停止させることが求められる。例えば、台車をベルトコンベヤとの連携位置に停車させたり、作業員の作業位置に横付けしたりすることで、作業員が移動せず搬送物に乗せられた荷物を取ることができるように搬送物を搬送することが求められる。上記したようなベルトコンベアと連携させ、または作業員の作業位置に横付けするためには、精度の高い搬送作業が必要となる。
上述した実施形態では、停車目的地への経路が分岐点から分岐している場合の実施形態を示したが、本第2の実施形態では、同一経路上に複数の停車目的地(作業エリア114A、114B、114C)が定義されている場合の搬送車の動作を図18~20を用いて説明する。本実施形態では、上述した第1の実施形態とは異なる部分を説明するものとし、言及しない部分は第1の実施形態と同様であるものとする。
上述した第2の実施形態では、先行する台車等の検出位置に基づいて、停車目的地を判定する実施形態を示したが、本第3の実施形態では、作業員の有無に応じて停車目的地を判定する場合の搬送車の動作を図21~24を用いて説明する。本実施形態では、上述した第2の実施形態とは異なる部分を説明するものとし、言及しない部分は第2の実施形態と同様であるものとする。
(項目1)走行路に敷設された誘導ラインに沿って走行する搬送車を有する搬送システムであって、前記搬送車は、前記誘導ラインを検出する誘導ライン検出部と、前記搬送車の周辺の物体の位置に関する情報を検出する物体位置検出部と、を備え、前記物体位置検出部による検出結果に応じて、前記搬送車の停車位置を判定する停車位置判定部を備える、搬送システム。
(項目2)前記搬送車は、停車位置の候補となる1つ以上の停車候補位置に関する情報を記憶する記憶部を更に備え、前記物体位置検出部は、前記記憶部に記憶された前記停車候補位置に関する情報、および検出した物体位置の情報に基づいて、前記停車候補位置に物体があるか否か、又は前記停車候補位置のエリア内における物体の位置、を判定する、項目1に記載の搬送システム。
(項目3)前記停車位置判定部は、前記物体位置検出部により判定された前記停車候補位置に物体があるか否か、又は前記停車候補位置のエリア内における物体の位置に基づいて、停車位置を判定する、項目2に記載の搬送システム。
(項目4)前記停車位置判定部は、前記物体位置検出部により判定された前記停車候補位置のエリア内における物体の位置に基づいて、物体が有ると判定された位置以外の前記停車候補位置のエリアから停車位置を選択する、項目1乃至項目3のいずれか1つに記載の搬送システム。
(項目5)前記停車位置判定部は、前記物体位置検出部により判定された前記停車候補位置のエリア内における物体の位置に基づいて、物体が有ると判定された位置に近接する位置を停車位置として選択する、項目1乃至項目3のいずれか1つに記載の搬送システム。
(項目6)前記搬送車の外部から停車位置判定のトリガとなるトリガ情報を受信した場合、もしくは前記搬送車が取得した自機の位置情報が所定位置となった場合、前記物体位置検出部により前記搬送車の周辺の物体の位置を検出する、項目1乃至項目5のいずれか1つに記載の搬送システム。
(項目7)前記搬送車は、前記停車位置判定部により決定された停車位置に関する情報を表示部に出力、又は前記搬送車の外部装置に通知する、項目1乃至項目6のいずれか1つに記載の搬送システム。
(項目8)前記物体位置検出部が作業員を検出した場合に、前記停車位置判定部は、作業員の検出位置に近接する前記誘導ライン上の位置を停車位置と判定する、項目1乃至項目7のいずれか1つに記載の搬送システム。
(項目9)前記停車候補位置は、前記誘導ラインが複数に分岐した分岐先に定義されており、前記停車位置判定部は、前記搬送車が前記誘導ラインの分岐を通過する前に、停車位置の判定処理を実行する、項目1乃至項目8のいずれか1つに記載の搬送システム。
(項目10)前記誘導ラインに沿って走行する誘導走行モードと、前記物体位置検出部の検出結果を用いて前記誘導ラインの敷設されていないエリアを自律走行する自律走行モードと、を切り替えるモード切替部を備える、項目1乃至項目9のいずれか1つに記載の搬送システム。
(項目11)前記誘導ラインは、複数のバーコードと複数の二次元コードの少なくともいずれかを含んでおり、前記誘導ライン検出部は、前記誘導ラインを撮影するカメラと、撮影した画像情報から前記バーコード又は前記二次元コードに含まれるコード情報を取得し、前記停車位置判定部は、前記誘導ライン検出部が所定の前記コード情報を取得した場合に停車位置の判定を行う、項目1乃至項目10のいずれか1つに記載の搬送システム。
(項目12)走行路面に敷設された複数のコードを備える誘導ラインと、当該誘導ラインに沿って走行する搬送車と、を有する搬送システムであって、前記誘導ラインは、前記搬送車が走行している前記誘導ラインである本線と、当該本線から所定間隔以上離間又は分岐して敷設された前記誘導ラインである支線とを有し、前記搬送車は、前記誘導ラインを検出する誘導ライン検出部と、前記誘導ライン検出部の検出範囲内に前記誘導ラインが位置する状態を維持して前記搬送車を走行させる誘導ライン追従制御を実行する走行制御部と、を備え、前記走行制御部は、前記コードからトリガ情報を取得した場合には、前記誘導ライン追従制御を停止して、予め定められた所定走行制御を実行し、前記所定走行制御を実行している際に前記誘導ライン検出部が前記支線の前記誘導ラインを検出した場合には、前記所定走行制御を停止して前記誘導ライン追従制御を実行する、搬送システム。
(項目13)走行路に敷設された誘導ラインに沿って走行する搬送車の搬送制御方法であって、前記誘導ラインを検出する誘導ライン検出ステップと、前記搬送車の周辺の物体の位置に関する情報を検出する物体位置検出ステップと、前記物体位置検出ステップで検出した物体の位置に関する情報に応じて、前記搬送車の停車位置を判定する停車位置判定ステップと、を備える搬送制御方法。
(項目14)前記搬送車は、停車位置の候補となる1つ以上の停車候補位置に関する情報を記憶する記憶部を更に備え、前記記憶部に記憶された前記停車候補位置に関する情報、および前記物体位置検出ステップで検出した物体の位置の情報に基づいて、前記停車候補位置に物体があるか否か、又は前記停車候補位置のエリア内における物体の位置、を判定する停車候補位置物体判定ステップを更に備える、項目13に記載の搬送制御方法。
(項目15)前記停車位置判定ステップでは、前記停車候補位置物体判定ステップにより判定された前記停車候補位置に物体があるか否か、又は前記停車候補位置のエリア内における物体の位置に基づいて、停車位置判定する、項目13又は請求項14に記載の搬送制御方法。
(項目16)前記停車位置判定ステップでは、前記停車候補位置物体判定ステップにより判定された前記停車候補位置のエリア内における物体の位置に基づいて、物体が有ると判定された位置以外の前記停車候補位置のエリアから停車位置を選択する、項目13乃至項目15のいずれか1つに記載の搬送制御方法。
(項目17)前記停車位置判定部は、前記物体位置検出部により判定された前記停車候補位置のエリア内における物体の位置に基づいて、物体が有ると判定された位置に近接する位置を停車位置として選択する、項目13乃至項目15のいずれか1つに記載の搬送制御方法。
(項目18)前記搬送車の外部から停車位置判定のトリガとなるトリガ情報を受信した場合、もしくは前記搬送車が取得した自機の位置情報が所定位置となった場合、物体位置検出ステップを実行して前記搬送車の周辺の物体の位置を検出する、項目13乃至項目17のいずれか1つに記載の搬送制御方法。
(項目19)前記搬送車は、前記停車位置判定ステップにより決定された停車位置に関する情報表示部に出力、又は前記搬送車の外部装置に通知するステップを備える、請求項13乃至請求項18のいずれか1つに記載の搬送制御方法。
(項目20)前記物体位置検出ステップにより作業員を検出した場合に、前記停車位置判定ステップにおいて作業員の検出位置に近接する前記誘導ライン上の位置を停車位置と判定する、項目13乃至項目19のいずれか1つに記載の搬送制御方法。
(項目21)前記停車候補位置は、前記誘導ラインが複数に分岐した分岐先に定義されており、前記停車位置判定ステップでは、前記搬送車が前記誘導ラインの分岐を通過する前に、前記停車位置判定ステップの判定処理を実行する、項目13乃至項目20のいずれか1つに記載の搬送制御方法。
(項目22)前記誘導ラインに沿って走行する誘導走行モードと、前記物体位置検出部の検出結果を用いて前記誘導ラインの敷設されていないエリアを自律走行する自律走行モードと、を切り替えるモード切替ステップを備える、項目13乃至項目21のいずれか1つに記載の搬送制御方法。
(項目23)前記誘導ラインは、複数のバーコードと複数の二次元コードの少なくともいずれかを含んでおり、前記誘導ライン検出ステップでは、前記誘導ラインを撮影するカメラにより撮影した画像情報から前記バーコード又は前記二次元コードに含まれるコード情報を取得し、前記停車位置判定ステップでは、前記誘導ライン検出ステップにて所定の前記コード情報を取得した場合に停車位置の判定を行う、項目13乃至項目22のいずれか1つに記載の搬送制御方法。
(項目24)走行路面に敷設された複数のコードを備える誘導ラインに沿って走行する搬送車の搬送制御方法であって、前記誘導ラインは、前記搬送車が走行している前記誘導ラインである本線と、当該本線から所定間隔以上離間又は分岐して敷設された前記誘導ラインである支線とを有し、前記誘導ラインを検出する誘導ライン検出ステップと、前記誘導ライン検出部の検出範囲内に前記誘導ラインが位置する状態を維持して前記搬送車を走行させる誘導ライン追従制御を実行する走行制御ステップと、前記走行制御ステップにおいて、前記コードからトリガ情報を取得した場合には、前記誘導ライン追従制御を停止して、予め定められた所定走行制御を実行し、前記所定走行制御を実行している際に前記誘導ライン検出部が前記支線の前記誘導ラインを検出した場合には、前記所定走行制御を停止して前記誘導ライン追従制御を実行する、搬送制御方法。
Claims (24)
- 走行路に敷設された誘導ラインに沿って走行する搬送車を有する搬送システムであって、
前記搬送車は、
前記誘導ラインを検出する誘導ライン検出部と、
前記搬送車の周辺の物体の位置に関する情報を検出する物体位置検出部と、を備え、
前記物体位置検出部による検出結果に応じて、前記搬送車の停車位置を判定する停車位置判定部を備える、搬送システム。 - 前記搬送車は、停車位置の候補となる1つ以上の停車候補位置に関する情報を記憶する記憶部を更に備え、
前記物体位置検出部は、前記記憶部に記憶された前記停車候補位置に関する情報、および検出した物体位置の情報に基づいて、前記停車候補位置に物体があるか否か、又は前記停車候補位置のエリア内における物体の位置、を判定する、請求項1に記載の搬送システム。 - 前記停車位置判定部は、前記物体位置検出部により判定された前記停車候補位置に物体があるか否か、又は前記停車候補位置のエリア内における物体の位置に基づいて、停車位置を判定する、請求項2に記載の搬送システム。
- 前記停車位置判定部は、前記物体位置検出部により判定された前記停車候補位置のエリア内における物体の位置に基づいて、物体が有ると判定された位置以外の前記停車候補位置のエリアから停車位置を選択する、請求項1乃至請求項3のいずれか1項に記載の搬送システム。
- 前記停車位置判定部は、前記物体位置検出部により判定された前記停車候補位置のエリア内における物体の位置に基づいて、物体が有ると判定された位置に近接する位置を停車位置として選択する、請求項1乃至請求項3のいずれか1項に記載の搬送システム。
- 前記搬送車の外部から停車位置判定のトリガとなるトリガ情報を受信した場合、もしくは前記搬送車が取得した自機の位置情報が所定位置となった場合、前記物体位置検出部により前記搬送車の周辺の物体の位置を検出する、請求項1乃至請求項5のいずれか1項に記載の搬送システム。
- 前記搬送車は、前記停車位置判定部により決定された停車位置に関する情報を表示部に出力、又は前記搬送車の外部装置に通知する、請求項1乃至請求項6のいずれか1項に記載の搬送システム。
- 前記物体位置検出部が作業員を検出した場合に、前記停車位置判定部は、作業員の検出位置に近接する前記誘導ライン上の位置を停車位置と判定する、請求項1乃至請求項7のいずれか1項に記載の搬送システム。
- 前記停車候補位置は、前記誘導ラインが複数に分岐した分岐先に定義されており、
前記停車位置判定部は、前記搬送車が前記誘導ラインの分岐を通過する前に、停車位置の判定処理を実行する、請求項1乃至請求項8のいずれか1項に記載の搬送システム。 - 前記誘導ラインに沿って走行する誘導走行モードと、前記物体位置検出部の検出結果を用いて前記誘導ラインの敷設されていないエリアを自律走行する自律走行モードと、を切り替えるモード切替部を備える、請求項1乃至請求項9のいずれか1項に記載の搬送システム。
- 前記誘導ラインは、複数のバーコードと複数の二次元コードの少なくともいずれかを含んでおり、
前記誘導ライン検出部は、前記誘導ラインを撮影するカメラと、撮影した画像情報から前記バーコード又は前記二次元コードに含まれるコード情報を取得し、
前記停車位置判定部は、前記誘導ライン検出部が所定の前記コード情報を取得した場合に停車位置の判定を行う、請求項1乃至請求項10のいずれか1項に記載の搬送システム。
- 走行路面に敷設された複数のコードを備える誘導ラインと、当該誘導ラインに沿って走行する搬送車と、を有する搬送システムであって、
前記誘導ラインは、前記搬送車が走行している前記誘導ラインである本線と、当該本線から所定間隔以上離間又は分岐して敷設された前記誘導ラインである支線とを有し、
前記搬送車は、前記誘導ラインを検出する誘導ライン検出部と、前記誘導ライン検出部の検出範囲内に前記誘導ラインが位置する状態を維持して前記搬送車を走行させる誘導ライン追従制御を実行する走行制御部と、を備え、
前記走行制御部は、前記コードからトリガ情報を取得した場合には、前記誘導ライン追従制御を停止して、予め定められた所定走行制御を実行し、前記所定走行制御を実行している際に前記誘導ライン検出部が前記支線の前記誘導ラインを検出した場合には、前記所定走行制御を停止して前記誘導ライン追従制御を実行する、搬送システム。
- 走行路に敷設された誘導ラインに沿って走行する搬送車の搬送制御方法であって、
前記誘導ラインを検出する誘導ライン検出ステップと、
前記搬送車の周辺の物体の位置に関する情報を検出する物体位置検出ステップと、
前記物体位置検出ステップで検出した物体の位置に関する情報に応じて、前記搬送車の停車位置を判定する停車位置判定ステップと、を備える搬送制御方法。 - 前記搬送車は、停車位置の候補となる1つ以上の停車候補位置に関する情報を記憶する記憶部を更に備え、
前記記憶部に記憶された前記停車候補位置に関する情報、および前記物体位置検出ステップで検出した物体の位置の情報に基づいて、前記停車候補位置に物体があるか否か、又は前記停車候補位置のエリア内における物体の位置、を判定する停車候補位置物体判定ステップを更に備える、請求項13に記載の搬送制御方法。 - 前記停車位置判定ステップでは、前記停車候補位置物体判定ステップにより判定された前記停車候補位置に物体があるか否か、又は前記停車候補位置のエリア内における物体の位置に基づいて、停車位置判定する、請求項13又は請求項14に記載の搬送制御方法。
- 前記停車位置判定ステップでは、前記停車候補位置物体判定ステップにより判定された前記停車候補位置のエリア内における物体の位置に基づいて、物体が有ると判定された位置以外の前記停車候補位置のエリアから停車位置を選択する、請求項13乃至請求項15のいずれか1項に記載の搬送制御方法。
- 前記停車位置判定部は、前記物体位置検出部により判定された前記停車候補位置のエリア内における物体の位置に基づいて、物体が有ると判定された位置に近接する位置を停車位置として選択する、請求項13乃至請求項15のいずれか1項に記載の搬送制御方法。
- 前記搬送車の外部から停車位置判定のトリガとなるトリガ情報を受信した場合、もしくは前記搬送車が取得した自機の位置情報が所定位置となった場合、物体位置検出ステップを実行して前記搬送車の周辺の物体の位置を検出する、請求項13乃至請求項17のいずれか1項に記載の搬送制御方法。
- 前記搬送車は、
前記停車位置判定ステップにより決定された停車位置に関する情報表示部に出力、又は前記搬送車の外部装置に通知するステップを備える、請求項13乃至請求項18のいずれか1項に記載の搬送制御方法。 - 前記物体位置検出ステップにより作業員を検出した場合に、前記停車位置判定ステップにおいて作業員の検出位置に近接する前記誘導ライン上の位置を停車位置と判定する、請求項13乃至請求項19のいずれか1項に記載の搬送制御方法。
- 前記停車候補位置は、前記誘導ラインが複数に分岐した分岐先に定義されており、
前記停車位置判定ステップでは、前記搬送車が前記誘導ラインの分岐を通過する前に、前記停車位置判定ステップの判定処理を実行する、請求項13乃至請求項20のいずれか1項に記載の搬送制御方法。 - 前記誘導ラインに沿って走行する誘導走行モードと、前記物体位置検出部の検出結果を用いて前記誘導ラインの敷設されていないエリアを自律走行する自律走行モードと、を切り替えるモード切替ステップを備える、請求項13乃至請求項21のいずれか1項に記載の搬送制御方法。
- 前記誘導ラインは、複数のバーコードと複数の二次元コードの少なくともいずれかを含んでおり、
前記誘導ライン検出ステップでは、前記誘導ラインを撮影するカメラにより撮影した画像情報から前記バーコード又は前記二次元コードに含まれるコード情報を取得し、
前記停車位置判定ステップでは、前記誘導ライン検出ステップにて所定の前記コード情報を取得した場合に停車位置の判定を行う、請求項13乃至請求項22のいずれか1項に記載の搬送制御方法。 - 走行路面に敷設された複数のコードを備える誘導ラインに沿って走行する搬送車の搬送制御方法であって、
前記誘導ラインは、前記搬送車が走行している前記誘導ラインである本線と、当該本線から所定間隔以上離間又は分岐して敷設された前記誘導ラインである支線とを有し、
前記誘導ラインを検出する誘導ライン検出ステップと、
前記誘導ライン検出部の検出範囲内に前記誘導ラインが位置する状態を維持して前記搬送車を走行させる誘導ライン追従制御を実行する走行制御ステップと、
前記走行制御ステップにおいて、前記コードからトリガ情報を取得した場合には、前記誘導ライン追従制御を停止して、予め定められた所定走行制御を実行し、前記所定走行制御を実行している際に前記誘導ライン検出部が前記支線の前記誘導ラインを検出した場合には、前記所定走行制御を停止して前記誘導ライン追従制御を実行する、搬送制御方法。
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