Automated guided vehicle

Abstract

To upgrade the workability in a work area without inviting an increase in the number of components or an increase in cost.SOLUTION: A detection area of an obstacle sensor is differentiated between the outside of a work area WA and the inside of the work area. Outside the work area WA, the obstacle sensor is used as normally as a sensor for allowing an automated guided vehicle 1 to avoid touching an object. Inside the work area WA, the obstacle sensor is used as a sensor for allowing the automated guided vehicle 1 to follow a worker 70 who moves along a guide belt MT. This obviates a sensor dedicated to allow the automated guided vehicle 1 to travel and follow the worker 70. Therefore, the number of components can be reduced and cost can be minimized. When the worker 70 leaves a detection area DA2 so as to perform work, the automated guided vehicle 1 can be halted at a position where it is easy to load a picked article W on a cart 90.SELECTED DRAWING: Figure 14

Description

[Technical field]

[0001] The present invention relates to an automated guided vehicle capable of traveling along a route that includes a work area. [Background technology]

[0002] Japanese Patent Application Laid-Open No. 2019-212008 (Patent Document 1) describes an automated guided vehicle that travels along an aisle while following a worker performing so-called picking work, that is, removing items from shelves.

[0003] The automated guided vehicle has a recognition laser that can recognize the worker, and based on the distance between the worker and the automated guided vehicle itself (the vehicle) detected by the recognition laser, it stops or resumes tracking the worker, thereby improving the workability of the worker when performing picking work. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-212008 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the automated guided vehicle described in the above publication requires a dedicated sensor (recognition laser) to recognize the worker performing the picking work, and there is still room for improvement in terms of reducing the number of parts and costs.

[0006] The present invention has been made in consideration of the above, and one of its objects is to provide a technology that can improve workability within a work area without increasing the number of parts or costs. [Means for solving the problem]

[0007] In order to achieve the above object, the automated guided vehicle of the present invention employs the following means.

[0008] According to a preferred embodiment of the present invention, an automated guided vehicle capable of traveling along a path including a work area is configured. The automated guided vehicle includes a vehicle body, a drive unit, an obstacle sensor arranged on the vehicle body to detect an object on the path, and a control unit arranged on the vehicle body. The drive unit has drive wheels and a rotation shaft extending in the vertical direction, and is supported on the vehicle body so as to be rotatable about the rotation shaft. The control unit controls the drive unit so that the automated guided vehicle travels along the path when the obstacle sensor does not detect an object outside the work area, and controls the drive unit so that the automated guided vehicle decelerates and / or stops when the obstacle sensor detects an object outside the work area. On the other hand, the control unit controls the drive unit so that the automated guided vehicle stops when the obstacle sensor does not detect an object within the work area, and controls the drive unit so that the automated guided vehicle travels along the path when the obstacle sensor detects an object within the work area and the distance to the object is greater than a first predetermined distance. Here, in the present invention, a "work area" is defined as an area where a worker performs a specified task, such as an area where a worker removes items stored on a shelf and loads the items onto a cart towed by an automated guided vehicle, or conversely, an area where a worker removes items transported by a cart towed by an automated guided vehicle and stores the items on a shelf.

[0009] According to the present invention, when the obstacle sensor detects an object, i.e., a worker, in the working area and the distance to the worker is greater than a first predetermined distance, the drive unit is controlled so that the automated guided vehicle travels along the route, that is, the obstacle sensor is used as a sensor for recognizing the worker so that the automated guided vehicle travels along the route following the worker in the working area. This eliminates the need for a dedicated sensor for recognizing the worker, and enables the automated guided vehicle to travel along the route following the worker in the working area. As a result, it is possible to improve the workability in the working area while reducing the number of parts and reducing costs. Of course, when the automated guided vehicle travels outside the working area, if the obstacle sensor detects an object, the automated guided vehicle is decelerated or stopped, so that the automated guided vehicle can be effectively prevented from colliding with an object on the route.

[0010] According to a further aspect of the automated guided vehicle of the present invention, when the obstacle sensor detects an object within the working area and the distance to the object is within a first predetermined distance, the control unit controls the drive unit to stop the automated guided vehicle.

[0011] According to this embodiment, when the distance between the object and the AGV, i.e., the distance between the worker and the AGV, is within a first predetermined distance, the AGV is stopped, so that the AGV can follow the worker while effectively preventing the AGV from coming into contact with the worker. Of course, when an object is present on the route, the AGV can be prevented from colliding with the object.

[0012] According to a further aspect of the automated guided vehicle of the present invention, when an obstacle sensor detects an object within a working area and the distance to the object is greater than a first predetermined distance and within a second predetermined distance, the control unit controls the drive unit to cause the automated guided vehicle to travel along the path at a first speed, and when the distance to the object is greater than the second predetermined distance, controls the drive unit to cause the automated guided vehicle to travel along the path at a second speed faster than the first speed.

[0013] According to this embodiment, when the distance between the unmanned guided vehicle and an object within the work area, i.e., the distance between the unmanned guided vehicle and a worker, is greater than a first predetermined distance and is within a second predetermined distance, the unmanned guided vehicle is made to follow the worker at a first speed, and when the distance between the unmanned guided vehicle and the worker becomes greater than the second predetermined distance, the unmanned guided vehicle is made to follow the worker at a second speed that is faster than the first speed. In other words, the speed of the unmanned guided vehicle is changed depending on the distance between the unmanned guided vehicle and the worker, thereby improving the ability of the unmanned guided vehicle to follow the worker.

[0014] According to a further aspect of the automated guided vehicle of the present invention, the control unit controls the drive unit to stop the automated guided vehicle when the obstacle sensor detects an object within the working area and the distance to the object becomes greater than a third predetermined distance that is greater than the second predetermined distance.

[0015] According to this embodiment, when the distance between the unmanned guided vehicle and an object within the work area, i.e., the distance between the unmanned guided vehicle and a worker, becomes greater than a third predetermined distance which is greater than the second predetermined distance, the unmanned guided vehicle can be stopped.

[0016] According to a further aspect of the automated guided vehicle of the present invention, the obstacle sensor has a sensing area extending in a direction along the traveling direction of the automated guided vehicle at least within the working area.

[0017] According to this aspect, the obstacle sensor detects a worker who is working and prevents the unmanned guided vehicle from traveling along the route, thereby preventing a decrease in workability.

[0018] According to a further embodiment of the automatic guided vehicle of the present invention, the automatic guided vehicle further comprises a display unit capable of visually displaying on the route a sensing area that is equal to or larger than a first predetermined distance and equal to or smaller than a third predetermined distance. Here, the embodiment of "visually displaying on the route a sensing area that is equal to or larger than a first predetermined distance and equal to or smaller than a third predetermined distance" in the present invention preferably includes not only an embodiment in which the entire area is displayed, but also an embodiment in which only the outer edge of the area is displayed.

[0019] According to this aspect, it is possible to visually show to the worker the sensing region within the work area in which the automated guided vehicle is to travel along a route.

[0020] According to a further aspect of the present invention, the automated guided vehicle further includes a marker sensor capable of detecting first and second markers arranged on the route immediately before and immediately after the working area, and the control unit determines that the automated guided vehicle starts traveling within the working area when the first marker is detected by the marker sensor, and determines that the automated guided vehicle ends traveling within the working area when the marker sensor detects the second marker.

[0021] According to this aspect, it is possible to easily determine whether the automatic guided vehicle is traveling inside the work area or outside the work area.

[0022] According to a further aspect of the present invention, the automated guided vehicle further includes a measuring unit capable of measuring an elapsed time from when the automated guided vehicle starts traveling within a working area to when it finishes traveling within the working area, and an alarm unit capable of visually and / or audibly notifying the user, and the control unit activates the alarm unit when the elapsed time exceeds a predetermined time.

[0023] According to this embodiment, it is possible to notify the worker that a predetermined time has elapsed as the work time in the work area, thereby minimizing adverse effects on subsequent processes caused by delays in work in the work area. Effect of the Invention

[0024] According to the present invention, it is possible to provide a technique that can improve workability within a work area without increasing the number of parts or costs. [Brief description of the drawings]

[0025] [Figure 1] 1 is a schematic diagram showing an outline of the configuration of an automatic guided vehicle 1 according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a front view of an automated guided vehicle 1 according to an embodiment of the present invention. [Diagram 3] 1 is a plan view of an automated guided vehicle 1 according to an embodiment of the present invention, as viewed from above. [Figure 4] FIG. 1 is a side view of an automated guided vehicle 1 according to an embodiment of the present invention. [Diagram 5] 1 is a bottom view of an automated guided vehicle 1 according to an embodiment of the present invention, as viewed from the bottom. [Figure 6] 1 is an explanatory diagram showing an automatic guided vehicle 1 traveling along a route including a work area WA while towing a carriage 90. FIG. [Figure 7] FIG. 2 is an explanatory diagram showing a detection area DA1. [Figure 8] FIG. 11 is an explanatory diagram showing a detection area DA2. [Figure 9] 2 is an exploded perspective view showing the outline of the configuration of a drive unit 4. FIG. [Figure 10] 13 is an explanatory diagram showing a detection area DA210 displayed on a floor surface by an area display sensor AS, viewed from above. FIG. [Figure 11] 13 is an explanatory diagram showing a state in which a detection area DA210 is displayed on a floor surface by an area display sensor AS, as viewed from the side. FIG. [Figure 12] 1 is an explanatory diagram showing a state when an automatic guided vehicle 1 starts traveling within a work area WA. FIG. [Figure 13] 5 is a flowchart showing an example of a work area travel control processing routine executed by the control unit ACU. [Figure 14]1 is an explanatory diagram showing the state of an automated guided vehicle 1 at rest while a worker 70 is working in a work area WA. FIG. [Figure 15] 1 is an explanatory diagram showing an automatic guided vehicle 1 following a worker 70 who is moving along a guide strip MT within a work area WA. [Figure 16] 1 is an explanatory diagram showing the state of an automated guided vehicle 1 at rest while a worker 70 is working in a work area WA. FIG. [Figure 17] 1 is an explanatory diagram showing a state in which the automated guided vehicle 1 finishes traveling within the work area WA. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Next, the best mode for carrying out the present invention will be described with reference to examples. EXAMPLES

[0027] As shown in Figures 1 to 5, the unmanned guided vehicle 1 of this embodiment comprises a vehicle body 2, a drive unit 4 (see Figures 3 to 5) rotatably supported on the vehicle body 2, a pair of swivel wheels 6, 6 (see Figures 4 and 5) supported on the vehicle body 2, a battery 8 (see Figures 1, 3 and 4) arranged on the vehicle body 2, a traction device 9 (see Figures 1, 3 to 5) supported on the vehicle body 2 so as to be swingable, and a control box 10 (see Figures 1 to 4).

[0028] As shown in FIG. 6, the automated guided vehicle 1 travels along a guide strip MT (e.g., a magnetic tape) installed on the floor surface along a preset travel route including the work area WA while towing a dolly 90 by a towing device 9. Near the entrance to the work area WA, a marker M1 is placed adjacent to the guide strip MT as shown in FIG. 6. The marker M1 is for detecting that the automated guided vehicle 1 starts traveling in the work area WA, and is placed on the right side of the guide strip MT in the forward travel direction of the automated guided vehicle 1 (upward in FIG. 6). In addition, near the exit of the work area WA, a marker M2 is placed adjacent to the guide strip MT as shown in FIG. 6. The marker M2 is for detecting that the automated guided vehicle 1 ends traveling in the work area WA, and is placed on the left side of the guide strip MT in the forward travel direction of the automated guided vehicle 1 (upward in FIG. 6). Here, in the following description, the work area WA is described as an area where a worker 70 picks a desired item W from a shelf 80 on which various items W are piled, and loads the item onto a cart 90 pulled by an automated guided vehicle 1. The worker 70 in the work area WA is an example of an embodiment corresponding to an "object" in the present invention. Also, the marker M1 corresponds to a "first marker" in the present invention, and the marker M2 is an example of an embodiment corresponding to a "second marker" in the present invention.

[0029] At the front end of the vehicle body 2, at a position below the control box 10, as shown in FIGS. 1, 2, and 4, an obstacle sensor OS is arranged. The obstacle sensor OS can use, for example, a laser ranging sensor that irradiates an object with pulsed laser light and obtains the distance from the flight time of the laser light until it is reflected back (phase difference method). The obstacle sensor OS can set a plurality of different detection areas and can switch to a desired detection area from among the plurality of set different detection areas to detect an object. In this embodiment, the obstacle sensor OS has a detection area DA1 applied when the automated guided vehicle 1 travels outside the work area WA and a detection area DA2 applied when the automated guided vehicle 1 travels inside the work area WA, which are preset. As shown in FIGS. 7 and 8, in this embodiment, the detection areas DA1 and DA2 have a width dimension wider than the width dimension of the automated guided vehicle 1 in the width direction and are set as areas extending in the direction along the guide strip MT. The detection area DA2 is an example of an implementation configuration corresponding to the "sensing area" in the present invention.

[0030] In this embodiment, as shown in FIG. 7, the detection area DA1 has three areas: a first slow travel area DA11, a second slow travel area DA12, and a stop area DA13 from the side farther from the automated guided vehicle 1. Here, when there is no object in the detection area DA1, that is, when the obstacle sensor OS does not detect an object while the automated guided vehicle 1 is traveling outside the work area WA, the automated guided vehicle 1 travels at a traveling speed V along the guide strip MT. The first slow travel area DA11 is set as an area for causing the automated guided vehicle 1 to travel at a traveling speed V1 (V1 < V) lower than the traveling speed V when an object exists in the first slow travel area DA11. The second slow travel area DA12 is set as an area for causing the automated guided vehicle 1 to travel at a traveling speed V2 (V2 < V1 < V) lower than the traveling speed V1 when an object exists in the second slow travel area DA12. The stop area DA13 is set as an area for stopping the automated guided vehicle 1 when an object exists in the stop area DA13.

[0031] In this embodiment, the detection area DA2 has three areas, a high-speed travel area DA21, a travel area DA22, and a stop area DA23, from the side farthest from the automatic guided vehicle 1, as shown in FIG. 8. The high-speed travel area DA21 is set as an area for the automatic guided vehicle 1 to travel at a travel speed V3 (V3>V) higher than the travel speed V when an object exists in the high-speed travel area DA21, the travel area DA22 is set as an area for the automatic guided vehicle 1 to travel at the travel speed V when an object exists in the travel area DA22, and the stop area DA23 is set as an area for the automatic guided vehicle 1 to stop when an object exists in the stop area DA23. In this embodiment, the area outside the detection area DA in the working area WA is set as a stop area DA24 for stopping the automatic guided vehicle 1. That is, when the automatic guided vehicle 1 travels in the working area WA, if the obstacle sensor OS does not detect an object, the automatic guided vehicle 1 is stopped. The traveling speed V of the unmanned guided vehicle 1 when a worker 70 is detected within the traveling area DA22 corresponds to the "first speed" in the present invention, and the traveling speed V3 of the unmanned guided vehicle 1 when a worker 70 is detected in the high-speed traveling area DA21 is an example of an implementation configuration corresponding to the "second speed" in the present invention. In addition, the state in which the worker 70 is present within the detection area DA210 corresponds to "when the distance to the object is greater than a first predetermined distance" in the present invention, the state in which the worker 70 is present within the stopping area DA23 corresponds to "when the distance to the object is within the first predetermined distance" in the present invention, the state in which the worker 70 is present within the driving area DA22 corresponds to "when the distance to the object is greater than the first predetermined distance and within the second predetermined distance" in the present invention, the state in which the worker 70 is present within the high-speed driving area DA21 corresponds to "when the distance to the object becomes greater than the second predetermined distance" in the present invention, and the state in which the worker 70 is present at a position farther than the high-speed driving area DA21 in the direction along the guide strip MT is an example of an implementation configuration corresponding to "when the distance to the object becomes greater than a third predetermined distance that is greater than the second predetermined distance" in the present invention.

[0032] As shown in Fig. 9, the drive unit 4 includes a top plate 42, a rotating shaft mechanism 44, a swinging support plate 46, and a unit body 48. The drive unit 4 is attached to the automated guided vehicle 1 by fastening the top plate 42 to the vehicle body 2. The drive unit 4 is disposed at a position on the rear side (right side in Fig. 4) in the forward travel direction (left direction in Fig. 4) of the automated guided vehicle 1. In other words, a right drive wheel 48a and a left drive wheel 48b of the drive unit 4, which will be described later, can be said to constitute the rear wheels of the automated guided vehicle 1. The rotating shaft mechanism 44 is an example of an embodiment corresponding to the "rotating shaft" in the present invention.

[0033] 9, one axial end of the rotating shaft mechanism 44 is fastened to the top plate 42, and the other axial end is fastened to the bottom surface of the holder portion 46a of the oscillating holding plate 46. In this way, the rotating shaft mechanism 44 connects the top plate 42 and the oscillating holding plate 46 to be capable of relative rotation. The rotating shaft mechanism 44 is configured such that the rotation axis RL faces the vertical direction when the drive unit 4 is installed in the automatic guided vehicle 1.

[0034] 9, the swingable holding plate 46 is configured to pivotally support the front and rear end faces of the unit body 48 via the swingable pins P. That is, the swingable holding plate 46 holds the unit body 48 in a state in which the unit body 48 can swing around the swingable pins P.

[0035] 5 and 9, the unit body 48 is composed of two motors 47a, 47b, two gearboxes G1, G2 connected to the motors 47a, 47b, respectively, a right drive wheel 48a and a left drive wheel 48b connected to the gearboxes G1, G2, respectively, via axles not shown, a frame 49 that houses the motors 47a, 47b and the gearboxes G1, G2, and a travel sensor GS and a pair of marker sensors MS1, MS2 attached to the frame 49. The right drive wheel 48a and the left drive wheel 48b are examples of an embodiment corresponding to the "drive wheel" in the present invention.

[0036] 4, the towing device 9 includes a hook member 20 and a connecting member 22 for connecting the hook member 20 to the automated guided vehicle 1. One end of the towing device 9 is connected to the automated guided vehicle 1 by the connecting member 22 so as to be rotatable (swingable) about a rotation axis SL, and the other end is configured so as to be engageable with the frame of the carriage 90 by the hook member 20 fastened to the connecting member 22. In this way, the towing device 9 realizes towing of the carriage 90 with flexible steering ability relative to the automated guided vehicle 1.

[0037] The control box 10 is disposed at the front end of the vehicle body 2 as shown in FIG. 1, FIG. 2, and FIG. 4. The control box 10 has a display area sensor AS, a warning light 12, a warning buzzer 14, and a control unit ACU that controls the entire automated guided vehicle 1 as shown in FIG. 1 and FIG. 2. The display area sensor AS is disposed at the center of the upper surface of the control box 10, and can display a part (detection area DA210, see FIG. 10 and FIG. 11) of the detection area DA2 (see FIG. 8) of the obstacle sensor OS on the floor surface. For example, the area display sensor AS can be an area light having an LED as a light source or a projector having an LED as a light source. In this embodiment, the area display sensor AS displays the detection area DA210, which is a combination of the high-speed travel area DA21 and the travel area DA22 of the detection area DA2, as shown in FIG. 10 and FIG. 11. This allows the worker 70 to visually see the sensing area for traveling the automated guided vehicle 1 along the guide strip MT within the work area WA. In this embodiment, the area display sensor AS is configured to display the entire surface of the detection area DA210, but it goes without saying that the area display sensor AS may be configured to display only the outer edge of the detection area DA210. The warning light 12 and the warning buzzer 14 are each an example of an embodiment corresponding to the "notification unit" in the present invention. Also, the display area sensor AS is an example of an embodiment corresponding to the "display unit" in the present invention.

[0038] As shown in Fig. 2, the control unit ACU is configured as a microprocessor centered on a CPU, and in addition to the CPU, it is equipped with a ROM for storing a processing program, a RAM for temporarily storing data, a timer 16 for measuring the elapsed time since the automatic guided vehicle 1 started traveling in the work area WA, and an input / output port and a communication port (not shown). The control unit ACU receives, via the input port, a position deviation signal from the traveling sensor GS, a command signal from the marker sensors MS1 and MS2, an object detection signal from the obstacle sensor OS, and signals required for managing the battery 8, such as a terminal voltage from a voltage sensor (not shown) installed between the terminals of the battery 8, a current detected by a current sensor (not shown), and the rotation speed of the right drive wheel 48a and the left drive wheel 48b from a rotation speed sensor (not shown). In addition, the control unit ACU outputs, via the output port, a drive signal to the motors 47a and 47b, a detection area switching signal to the obstacle sensor OS, an operation signal to the area display sensor AS, and an operation signal to the warning light 12 and the warning buzzer 14. The timer 16 is an example of a feature corresponding to a "measuring unit" of the present invention.

[0039] Next, the operation of the thus configured automated guided vehicle 1, particularly the operation when the automated guided vehicle 1 travels in the work area WA, will be described. When the automated guided vehicle 1 travels outside the work area WA, the CPU of the control unit ACU outputs a drive signal to the motors 47a, 47b based on the position deviation signal from the travel sensor GS to drive and control the drive unit 4, and outputs a detection area switching signal to the obstacle sensor OS to operate the obstacle sensor OS in the detection area DA1. As a result, the automated guided vehicle 1 travels at a travel speed V along the guide strip MT while detecting whether or not an object exists in the detection area DA1.

[0040] Here, when the obstacle sensor OS detects an object in the first slow travel area DA11 of the detection area DA1, the CPU of the control unit ACU outputs a drive signal to the motors 47a and 47b to drive and control the drive unit 4 so that the travel speed V of the automated guided vehicle 1 is decelerated to a travel speed V1. When the obstacle sensor OS detects an object in the second slow travel area DA12, the CPU of the control unit ACU outputs a drive signal to the motors 47a and 47b to drive and control the drive unit 4 so that the travel speed V1 (or the travel speed V) of the automated guided vehicle 1 is decelerated to a travel speed V2. When the obstacle sensor OS detects an object in the stop area DA13, the CPU of the control unit ACU outputs a stop signal to the motors 47a and 47b to drive and control the drive unit 4 so as to stop the automated guided vehicle 1. In this way, in this embodiment, when the obstacle sensor OS detects an object outside the work area WA, the automated guided vehicle 1 can be stopped while being decelerated in stages. This effectively prevents the automated guided vehicle 1 from coming into contact with objects on the route.

[0041] When the automated guided vehicle 1 reaches the work area WA while traveling along the guided belt MT outside the work area WA in this manner, the marker sensor MS1 of the automated guided vehicle 1 detects the marker M1, and a command signal from the marker sensor MS1 is transmitted to the CPU of the control unit ACU, as shown in Fig. 12. As a result, the CPU of the control unit ACU determines that the automated guided vehicle 1 starts traveling within the work area WA, and executes the in-work area travel control processing routine shown in Fig. 13. Here, the in-work area travel control processing routine is executed when the CPU of the control unit ACU receives the command signal from the marker sensor MS1.

[0042] When the in-work area travel control processing routine is executed, as shown in Fig. 13, the CPU of the control unit ACU first executes processing to output a detection area switching signal to the obstacle sensor OS and executes processing to read the elapsed time T from the timer 16 (step S100). As a result, the obstacle sensor OS operates in the detection area DA2, in other words, the automated guided vehicle 1 is stopped until the obstacle sensor OS detects the worker 70 in the detection area DA210, and measurement of the elapsed time T from when the automated guided vehicle 1 starts traveling in the work area WA, in other words, the elapsed time T from when the marker sensor MS1 detects the marker M1, is started. The elapsed time T is reset to a value of 0 when the automated guided vehicle 1 finishes traveling in the work area WA, that is, when the marker sensor MS2 detects the marker M2.

[0043] Next, the CPU of the control unit ACU executes a process to determine whether or not the worker 70 is detected in the high-speed travel area DA21 of the detection area DA210 based on the object detection signal from the obstacle sensor OS (step S102). When the worker 70 is detected in the high-speed travel area DA21, the CPU of the control unit ACU outputs a drive signal to the motors 47a and 47b so that the automated guided vehicle 1 travels along the guided strip MT at a travel speed V3 (step S104). On the other hand, when the worker 70 is not detected in the high-speed travel area DA21, the CPU of the control unit ACU executes a process to determine whether or not the worker 70 is detected in the travel area DA22 of the detection area DA210 based on the object detection signal from the obstacle sensor OS (step S106). When the worker 70 is detected in the travel area DA22, the CPU of the control unit ACU outputs a drive signal to the motors 47a and 47b so that the automated guided vehicle 1 travels along the guided strip MT at a travel speed V (step S108).

[0044] In this manner, in this embodiment, when the automated guided vehicle 1 travels within the working area WA, the obstacle sensor OS is used as a sensor for making the automated guided vehicle 1 follow the movement of the worker 70 along the guided belt MT (route), so there is no need to prepare a dedicated sensor separately. This makes it possible to reduce the number of parts and the cost. Also, in this embodiment, when the worker 70 is detected in the high-speed travel area DA21 that is the farthest from the automated guided vehicle 1, the automated guided vehicle 1 travels at the fastest travel speed V3 (V3>V>V1>V2), so that the ability of the automated guided vehicle 1 to follow the worker 70 can be improved.

[0045] After thus executing the process of causing the automated guided vehicle 1 to travel at the travel speed V3 or the travel speed V, the CPU of the control unit ACU executes a process of determining whether or not the marker M2 has been detected based on the command signal of the marker sensor MS2 (step S110). If it is determined that the marker sensor MS2 has detected the marker M2, the CPU of the control unit ACU resets the timer 16 to a value of 0 (step S112) and ends this processing routine.

[0046] On the other hand, if the marker sensor MS2 does not detect the marker M2, the CPU of the control unit ACU executes a process to determine whether the elapsed time T has exceeded the predetermined time Tref (step S114). Here, the predetermined time Tref is set as a normal time required for the worker 70 to perform work in the work area WA, and in this embodiment, it is a normal time required for the worker to load all of the articles W arranged on the shelf 80 installed in the work area WA onto the cart 90.

[0047] When the elapsed time T exceeds the predetermined time Tref, the CPU of the control unit ACU lights or blinks the warning light 12, turns on the warning buzzer (step S116), and ends this processing routine. This notifies the worker 70 that the preset work time (predetermined time Tref) has been exceeded, and also notifies those around that some kind of problem has occurred in the work area WA. This makes it possible to minimize adverse effects on subsequent processes caused by delays in work in the work area WA.

[0048] On the other hand, if the elapsed time T has not reached the predetermined time Tref, the process returns to step S102 and repeats the processing of steps S102 to S114 until the marker sensor MS2 detects the marker M2 or until the elapsed time T reaches the predetermined time Tref.

[0049] In step S106, if the operator 70 is not detected within the travel area DA22, specifically, if the obstacle sensor OS detects the operator 70 within the stop area DA23, or if the operator 70 is in the stop area DA24 (outside the detection area DA2) as shown in Fig. 14, the CPU of the control unit ACU outputs a stop signal to the motors 47a and 47b so as to stop the automated guided vehicle 1 (step S118). That is, if the automated guided vehicle 1 approaches the operator 70 to the extent that it comes into contact with the operator 70 (if the operator 70 is present within the stop area DA23) or if the operator 70 is present in the stop area DA24 (outside the detection area DA2) for work, i.e., to pick up an article W, the automated guided vehicle 1 is stopped. This effectively prevents the unmanned guided vehicle 1 from coming into contact with the worker 70, and allows the unmanned guided vehicle 1 to be stopped in a position where it is easy for the worker 70 to work, i.e., an appropriate position where the picked item W can be easily loaded onto the trolley 90, thereby improving workability.

[0050] After stopping the automatic guided vehicle 1 in this way, the CPU of the control unit ACU executes a process of determining whether the elapsed time T has passed the predetermined time Tref (step S114), and if the elapsed time T has passed the predetermined time Tref, the CPU of the control unit ACU lights or blinks the warning light 12 and turns on the warning buzzer (step S116), and ends this processing routine. On the other hand, if the elapsed time T has not passed the predetermined time Tref, the process returns to step S102, and the processes of steps S102 to S114 are repeatedly executed until the marker sensor MS2 detects the marker M2 or until the elapsed time T has passed the predetermined time Tref.

[0051] In this manner, in this embodiment, within the work area WA, the unmanned guided vehicle 1 can repeatedly stop at appropriate positions (see Figures 14 and 16) and follow the movement of the worker 70 along the guided belt MT (see Figures 12, 15 and 17), thereby loading items W picked up from the shelf 80 onto the cart 90.

[0052] According to the automated guided vehicle 1 according to the present embodiment described above, the obstacle sensor OS has different detection areas DA1, DA2 outside the working area WA and inside the working area, and when the obstacle sensor OS detects an object in the detection area DA1 outside the working area WA, the automated guided vehicle 1 is decelerated or stopped, whereas when the obstacle sensor OS detects an object (worker 70) in the high-speed travel area DA21 or travel area DA22 within the working area WA, the automated guided vehicle 1 is caused to travel along the guide strip MT, and when the obstacle sensor OS detects an object (worker 70) in the high-speed travel area DA21 or travel area DA22 within the working area WA, When the operator 70 is detected in the stopping area DA23, or when the obstacle sensor OS does not detect the operator 70 in the working area WA, the automatic guided vehicle 1 is stopped. In other words, outside the working area WA, the obstacle sensor OS is used as a sensor for preventing the automatic guided vehicle 1 from contacting an object as usual, while in the working area WA, the obstacle sensor OS is used as a sensor for making the automatic guided vehicle 1 follow the operator 70 moving along the guided belt MT. Therefore, a dedicated sensor required for making the automatic guided vehicle 1 follow the operator 70 is not required. This can reduce the number of parts and the cost. In addition, when the obstacle sensor OS detects the operator 70 in the stopping area DA23 in the working area WA, the automatic guided vehicle 1 is stopped, so that the automatic guided vehicle 1 can be effectively prevented from contacting the operator 70. Furthermore, even when the obstacle sensor OS does not detect the worker 70 (when the worker 70 is in the stopping area DA24), the automatic guided vehicle 1 is stopped, so the automatic guided vehicle 1 can be stopped at a position where the worker 70 can easily work, that is, at an appropriate position where the picked item W can be easily loaded onto the cart 90. This can improve workability. Of course, when the automatic guided vehicle 1 travels outside the working area WA, if the obstacle sensor OS detects an object, the automatic guided vehicle 1 is decelerated or stopped, so that the automatic guided vehicle 1 can be effectively prevented from colliding with an object on the guided belt MT (route).

[0053] Furthermore, according to the unmanned guided vehicle 1 of this embodiment, the area of ​​the detection area DA2 within the work area WA that is closest to the unmanned guided vehicle 1 is designated as the stopping area DA23, so that the unmanned guided vehicle 1 can be effectively prevented from coming into contact with the worker 70 even within the work area WA.

[0054] Furthermore, according to the unmanned guided vehicle 1 of this embodiment, the traveling speed of the unmanned guided vehicle 1 is configured to be faster when the worker 70 is present in the high-speed traveling area DA21, which is farther away from the unmanned guided vehicle 1 than the traveling area DA22, i.e., the traveling speed of the unmanned guided vehicle 1 is changed depending on the distance between the unmanned guided vehicle 1 and the worker 70, thereby improving the ability of the unmanned guided vehicle 1 to follow the worker 70.

[0055] Furthermore, according to the automated guided vehicle 1 of this embodiment, the detection area DA2 of the obstacle sensor OS has a width dimension wider than the width dimension of the automated guided vehicle 1 and is set as an area extending in a direction along the guide strip MT, so that the obstacle sensor OS can detect the worker 70 working and prevent the automated guided vehicle 1 from traveling along the route (guide strip MT). This makes it possible to prevent a decrease in workability.

[0056] Furthermore, according to the unmanned guided vehicle 1 of this embodiment, the detection area DA210 is displayed on the floor surface by a display sensor, so that the sensing area for causing the unmanned guided vehicle 1 to travel along a route within the work area WA can be visually shown to the worker 70.

[0057] In addition, according to the unmanned guided vehicle 1 of this embodiment, the start and end of travel of the unmanned guided vehicle 1 within the work area WA are detected based on whether the marker sensors MS1, MS2 have detected the markers M1, M2, so that it is possible to easily determine whether the unmanned guided vehicle 1 is traveling within the work area.

[0058] Furthermore, according to the automated guided vehicle 1 of this embodiment, the elapsed time T from when the automated guided vehicle 1 starts traveling in the work area WA to when it finishes traveling in the work area WA is measured, and when the elapsed time T reaches a predetermined time Tref, a warning light is turned on or flashes, and a warning buzzer is turned on, so that the worker can be notified that the predetermined time Tref, which is preset as the work time in the work area WA, has elapsed, and the surroundings can be notified that some kind of problem has occurred in the work area WA. This makes it possible to minimize adverse effects on subsequent processes caused by delays in work in the work area WA.

[0059] In this embodiment, the automated guided vehicle 1 is configured to run along a guided belt MT laid on the route, but this is not limited to this. For example, the automated guided vehicle 1 may be configured to run on an off-track basis, that is, to run along a route map stored in advance in the ROM of the control unit ACU or a memory (not shown). In this case, commands corresponding to the markers M1 and M2 may be programmed near the entrance and exit of the work area WA on the route map.

[0060] In the present embodiment, the detection area DA1 has three areas, the first slow-traveling area DA11, the second slow-traveling area DA12, and the stop area DA13, but is not limited thereto. For example, the detection area DA1 may have two areas, the first slow-traveling area DA11 or the second slow-traveling area DA12, and the stop area DA13, or the detection area DA1 may have three or more slow-traveling areas and the stop area DA13.

[0061] In this embodiment, the detection area DA2 has three areas, namely, the high speed driving area DA21, the driving area DA22, and the stop area DA23, but is not limited thereto. For example, the detection area DA2 may have two areas, namely, the high speed driving area DA21 or the driving area DA22, and the stop area DA23, or the detection area DA2 may have three or more driving areas set to different driving speeds and the stop area DA23.

[0062] In this embodiment, the start and end of travel of the automatic guided vehicle 1 within the work area WA is detected based on the detection of the markers M1, M2 by the marker sensors MS1, MS2, but the present invention is not limited to this.

[0063] In this embodiment, the detection areas DA1, DA2 have a width dimension wider than the width dimension of the automated guided vehicle 1 and extend in a direction along the guide strip MT, but this is not limited thereto. For example, the detection areas DA1, DA2 may have a width dimension equal to or smaller than the width dimension of the automated guided vehicle 1 and extend in a direction along the guide strip MT.

[0064] The present embodiment shows an example of a mode for carrying out the present invention, and therefore the present invention is not limited to the configuration of the present embodiment.

[0065] <Additional Notes> In consideration of the above-mentioned gist of the invention, the automated guided vehicle according to the present invention can be configured in the following aspects. (Aspect 1) "An automated guided vehicle capable of traveling along a route that includes a work area, The car body and a drive unit having a drive wheel and a rotation shaft extending in a vertical direction and supported on the vehicle body so as to be rotatable around the rotation shaft; an obstacle sensor disposed on the vehicle body so as to be capable of detecting an object on the path; A control unit disposed in the vehicle body; Equipped with The control unit controls the drive unit to cause the automated guided vehicle to travel along the path when the obstacle sensor does not detect the object outside the work area, and controls the drive unit to decelerate and / or stop the automated guided vehicle when the obstacle sensor detects the object outside the work area, while controlling the drive unit to stop the automated guided vehicle when the obstacle sensor does not detect the object within the work area, and controls the drive unit to cause the automated guided vehicle to travel along the path when the obstacle sensor detects the object within the work area and the distance to the object is greater than a first predetermined distance. An automated guided vehicle." (Aspect 2) "When the obstacle sensor detects the object in the work area and the distance to the object is within the first predetermined distance, the control unit controls the drive unit to stop the automatic guided vehicle. The unmanned guided vehicle according to the first aspect. (Aspect 3) "When the obstacle sensor detects the object in the working area and the distance to the object is greater than a first predetermined distance and within a second predetermined distance, the control unit controls the drive unit to cause the automated guided vehicle to travel along the path at a first speed, and when the distance to the object is greater than the second predetermined distance, the control unit controls the drive unit to cause the automated guided vehicle to travel along the path at a second speed faster than the first speed." The unmanned guided vehicle according to aspect 2. (Aspect 4) "When the obstacle sensor detects the object in the working area and the distance to the object becomes greater than a third predetermined distance that is greater than the second predetermined distance, the control unit controls the drive unit to stop the automatic guided vehicle. The unmanned guided vehicle according to the third aspect. (Aspect 5) "The obstacle sensor has a sensing area extending in a direction along the traveling direction of the automatic guided vehicle at least in the working area. The automated guided vehicle according to any one of the first to fourth aspects. (Aspect 6) "The sensing area further includes a display unit capable of visually displaying an area that is equal to or larger than the first predetermined distance and equal to or smaller than the third predetermined distance on the route." The unmanned guided vehicle according to aspect 5. (Aspect 7) {further comprising a marker sensor capable of detecting a first marker and a second marker disposed on the path immediately before and immediately after the work area, The control unit determines that the automated guided vehicle starts traveling within the work area when the first marker is detected by the marker sensor, and determines that the automated guided vehicle ends traveling within the work area when the second marker is detected by the marker sensor. The automated guided vehicle according to any one of the first to sixth aspects. (Aspect 8) "A measurement unit capable of measuring an elapsed time from when the automated guided vehicle starts traveling in the work area to when the automated guided vehicle finishes traveling in the work area; A notification unit capable of notifying visually and / or audibly; Further equipped with The control unit activates the notification unit when the elapsed time exceeds a predetermined time. The automated guided vehicle according to any one of the first to seventh aspects. [Explanation of symbols]

[0066] 1. Automated Guided Vehicle (Automated Guided Vehicle) 2. Body (body) 4 Drive unit (drive unit) 6 free wheel 8 Battery 9 Traction device 10 Control Box 12 Warning light (alarm section) 14 Warning buzzer (alarm section) 16 Timer (meter side) 20 Hook member 22 Connecting members 42 Tabletop 44 Rotating shaft mechanism (rotating shaft) 46 Swing retaining plate 46a Holder part 47a Motor 47b Motor 48 Unit body 48a Right drive wheel (drive wheel) 48b Left drive wheel (drive wheel) 49 Frames 70 Worker (object) 80 Shelves 90 Carts MT induction band M1 marker (first marker) M2 marker (second marker) WA Working Area (Working Area) W Goods OS Obstacle Sensor (Obstacle Sensor) DA1 Detection Area DA2 Detection area (sensing region) DA11 1st slow driving area DA12 2nd slow driving area DA13 Stop Area DA21 Highway driving area DA22 Driving Area DA23 Stop Area DA24 Stop Area DA210 Detection Area V Traveling speed (1st speed) V1 Running speed V2 Traveling speed V3 Traveling speed (2nd speed) P Swing pin G1 Gearbox G2 Gearbox GS Travel Sensor MS1 Marker Sensor (Marker Sensor) MS2 Marker Sensor (Marker Sensor) AS Display area sensor (display section) ACU Control Unit (Control Unit) T Elapsed time (elapsed time) Tref Predetermined time (predetermined time)

Claims

1. An automated guided vehicle capable of traveling along a route including a work area, The car body and a drive unit having a drive wheel and a rotation shaft extending in a vertical direction and supported on the vehicle body so as to be rotatable around the rotation shaft; an obstacle sensor disposed on the vehicle body so as to be capable of detecting an object on the path; A control unit disposed in the vehicle body; Equipped with The control unit controls the drive unit to cause the automated guided vehicle to travel along the path when the obstacle sensor does not detect the object outside the work area, and controls the drive unit to decelerate and / or stop the automated guided vehicle when the obstacle sensor detects the object outside the work area, while controlling the drive unit to stop the automated guided vehicle when the obstacle sensor does not detect the object within the work area, and controls the drive unit to cause the automated guided vehicle to travel along the path when the obstacle sensor detects the object within the work area and the distance to the object is greater than a first predetermined distance. Automated guided vehicle.

2. The control unit controls the drive unit to stop the automated guided vehicle when the obstacle sensor detects the object in the work area and the distance to the object is within the first predetermined distance.

2. The automated guided vehicle according to claim 1.

3. When the obstacle sensor detects the object in the working area and the distance to the object is greater than a first predetermined distance and within a second predetermined distance, the control unit controls the drive unit to cause the automated guided vehicle to travel along the path at a first speed, and when the distance to the object is greater than the second predetermined distance, controls the drive unit to cause the automated guided vehicle to travel along the path at a second speed faster than the first speed.

3. The automated guided vehicle according to claim 2.

4. The control unit controls the drive unit to stop the automated guided vehicle when the obstacle sensor detects the object in the work area and the distance to the object becomes greater than a third predetermined distance that is greater than the second predetermined distance.

4. The automated guided vehicle according to claim 3.

5. The obstacle sensor has a sensing area extending in a direction along the traveling direction of the automated guided vehicle at least in the working area.

5. An automated guided vehicle according to claim 1.

6. The sensing area may further include a display unit capable of visually displaying an area that is equal to or larger than the first predetermined distance and equal to or smaller than the third predetermined distance on the route.

6. An automated guided vehicle according to claim 5.

7. a marker sensor capable of detecting a first marker and a second marker disposed on the path immediately before and immediately after the work area; The control unit determines that the automated guided vehicle starts traveling within the work area when the first marker is detected by the marker sensor, and determines that the automated guided vehicle ends traveling within the work area when the second marker is detected by the marker sensor.

5. An automated guided vehicle according to claim 1.

8. a measurement unit capable of measuring an elapsed time from when the automated guided vehicle starts traveling within the work area to when the automated guided vehicle finishes traveling within the work area; A notification unit capable of notifying visually and / or audibly; Further equipped with The control unit activates the notification unit when the elapsed time exceeds a predetermined time.

5. An automated guided vehicle according to claim 1.

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