Transport vehicle and interlock release method

Abstract

To provide a transport vehicle and an interlock release method capable of releasing an interlock state appropriately regardless of the stop position of a transport vehicle that has entered the interlock state.SOLUTION: A transport vehicle 1 is an autonomous transport vehicle, and includes a bumper portion 20 provided on at least a part of the outer periphery of a vehicle body 10, a contact detection section 110 that detects contact with the bumper portion 20, and a control section 120 that, when contact is detected by the contact detection section 110, sets to an interlock state that disables driving of the vehicle body 10. When the control section 120 accepts an interlock release instruction to release an interlock state for a specific period of time through a specific operation from an external device 2 while in the interlock state, the control section releases the interlock state for the specific period of time, and if contact at the bumper portion 20 is released during the specific period of time in which the interlock state is released, the control section releases the interlock state.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a carrier vehicle and an interlock release method.

Background Art

[0002] In recent years, carrier vehicles that autonomously travel along a travel route to a destination have become widespread, and are used, for example, in scenarios where goods are transported in factories and the like. Such carrier vehicles use, for example, sensors to travel or stop while avoiding collisions with the travel direction and obstacles existing in the surroundings (for example, equipment, machines, people, and other carrier vehicles), or even if a collision with an obstacle occurs, the carrier vehicle is put in an interlock state so that it does not drive, ensuring safety.

[0003] For example, when there is an abnormality in the travel position or travel speed of an unmanned carrier vehicle and the unmanned carrier vehicle is made to come to an emergency stop and put in an interlock state, it is conceivable that an operator may be confined in the space formed between the emergency-stopped unmanned carrier vehicle and the equipment. The operator moves the unmanned carrier vehicle from the position where it was emergency-stopped by pushing the unmanned carrier vehicle while pressing the brake release button provided on the unmanned carrier vehicle (see Patent Document 1). Thus, a method for releasing the brake of an unmanned carrier vehicle that has been braked and put in a so-called interlock state is known.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, the brake release button of the automated guided vehicle disclosed in Patent Document 1 is provided in the recesses on both the left and right sides of the automated guided vehicle in order to prevent inadvertent touching or hitting and accidental operation. Since the automated guided vehicle makes an emergency stop when an abnormality occurs, depending on the position where it has made an emergency stop and the surrounding environment (such as the position and shape of facilities), there may be a situation where an operator cannot reach the brake release button and press it.

[0006] Therefore, an object of the present invention is to provide a carrier vehicle and an interlock release method that can appropriately release the interlock state regardless of the stop position of the carrier vehicle in the interlocked state.

Means for Solving the Problems

[0007] A carrier vehicle according to an aspect of the present invention is a carrier vehicle capable of autonomous driving, and includes a bumper portion disposed at at least a part of the outer periphery of the vehicle body, a contact detection portion that detects contact in the bumper portion, and a control portion that puts the vehicle body into an interlock state in which driving of the vehicle body is disabled when contact is detected by the contact detection portion. The control portion, in the interlock state, when receiving an interlock release instruction to release the interlock state for a specific period by a specific operation from an external device, releases the interlock state for the specific period, and in the specific period when the interlock state is released, if the contact in the bumper portion is eliminated, releases the interlock state.

[0008] According to this aspect, when the contact detection unit detects contact in the bumper unit, the control unit sets the vehicle body in an interlock state where driving is disabled. In this interlock state, when an interlock release instruction is received from an external device, the interlock state is released for a specific period. Then, when the contact in the bumper unit is resolved during the specific period when the interlock state is released, the interlock state is released. That is, the operator (worker) can appropriately and temporarily (for a specific period) release the interlock state by operating the external device regardless of the stop position of the carrier in the interlock state. If the contact in the bumper unit is resolved during that period, the carrier can be restored to the normal drivable state.

[0009] In the above aspect, the specific period may be a period during which the control unit continuously receives an interlock release instruction in the interlock state.

[0010] According to this aspect, it is possible to appropriately manage and control the period for temporarily (for a specific period) releasing the interlock state, and ensure safety.

[0011] In the above aspect, the specific operation from the external device may include that a specific switch on the portable operation terminal is continuously pressed.

[0012] According to this aspect, since the interlock state is released only during the period when the operator (worker) continuously presses a specific switch on the portable operation terminal, the interlock state is not released due to an unintended malfunction or accident by the operator (worker), and safety can be further ensured.

[0013] In the above aspect, the specific period may be a predetermined period after the control unit receives an interlock release instruction in the interlock state.

[0014] According to this aspect, it is possible to improve the convenience of the operator (worker) while ensuring safety by appropriately managing and controlling the period during which the interlock state is temporarily released (for a specific period only).

[0015] An interlock release method according to an aspect of the present invention is an interlock release method for releasing, by a computer, an interlock state in which the driving of a vehicle body of a transport vehicle capable of autonomous driving is disabled, the method including: a contact detection step of detecting contact in a bumper portion disposed on at least a part of the outer periphery of the vehicle body; an interlock control step of setting the interlock state when contact is detected in the contact detection step; a specific interlock release step of releasing the interlock state for a specific period when an interlock release instruction for releasing the interlock state for only a specific period is received from an external device in the interlock state; and an interlock release step of releasing the interlock state when the contact in the bumper portion is eliminated during the specific period in which the interlock state is released.

[0016] According to this aspect, in the interlock control step, when contact in the bumper portion is detected in the contact detection step, the interlock state in which the driving of the vehicle body is disabled is set, and when an interlock release instruction from an external device is received in the interlock state, the interlock state is released for a specific period. Then, when the contact in the bumper portion is eliminated during the specific period in which the interlock state is released, the interlock state is released. That is, the operator (worker) can appropriately and temporarily release the interlock state (for only a specific period) by operating the external device regardless of the stop position of the transport vehicle in the interlock state. If the contact in the bumper portion is eliminated during that period, the transport vehicle can be restored to the normal drivable state.

Effects of the Invention

[0017] According to the present invention, an object is to provide a carrier and an unlocking method that can appropriately release the interlock state regardless of the stop position of the carrier in the interlocked state.

Brief Description of the Drawings

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiments for Carrying Out the Invention

[0019] Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings. Note that the embodiments described below are merely specific examples for carrying out the present invention and do not limit the present invention in an interpretive manner. Also, for ease of understanding of the description, the same reference numerals are attached to the same components in each drawing as much as possible, and duplicate descriptions may be omitted.

[0020] <One Embodiment> [Configuration of the Carrier] FIG. 1 is an external schematic view (plan view) showing an outline of a carrier 1 according to an embodiment of the present invention. As shown in FIG. 1, the carrier 1 includes a bumper portion 20 on the outer periphery of the vehicle body 10. The carrier 1 is a device capable of autonomous travel. For example, it may be a carrier truck for loading and transporting luggage or the like on the vehicle body 10, or it may be a transport robot for transporting luggage or the like. In the present embodiment, for example, the case where the carrier 1 is a carrier truck will be described.

[0021] The transport vehicle 1 can move automatically or manually. For example, by providing omni-wheels at the four corners of the vehicle body 10, it may be configured to be able to move in all directions of 360 degrees.

[0022] When the transport vehicle 1 travels autonomously, for example, the travel route may be taught in advance using a portable operation terminal (teaching device) such as a teaching pendant, and the transport vehicle 1 travels according to the taught travel route (teaching program).

[0023] Furthermore, the transport vehicle 1 may be equipped with sensors for checking the travel direction and obstacles existing around it. For example, by measuring the distance to an obstacle (object) with the sensors, it may be configured to travel while avoiding collisions. Specifically, if the transport vehicle 1 detects an obstacle in the travel direction, it may stop in front of it or change the travel direction.

[0024] Also, the transport vehicle 1 is provided with a bumper portion 20 on the outer periphery of the vehicle body 10. If the transport vehicle 1 collides with an obstacle such as equipment, the bumper portion 20 will come into contact with the obstacle. When the bumper portion 20 comes into contact with an obstacle, the transport vehicle 1 is controlled so as not to be driven in a so-called interlock state. Note that the details regarding the process, including the method of releasing the interlock state, will be described later.

[0025] Here, the bumper portion 20 is provided over the entire circumference of the vehicle body 10, but is not limited to this. For example, it may be configured to be arranged on at least a part of the outer periphery. Specifically, the bumper portion 20 may be arranged at the four corners and the vicinity thereof on the outer periphery of the vehicle body 10, or may be arranged at predetermined intervals. The bumper portion 20 may be arranged at a location where it is easy to arrange according to the parts provided on the vehicle body 10 and the shape of the vehicle body 10, or may not be arranged at a location where the possibility of collision is low according to the travel direction and the surrounding environment (arrangement of equipment).

[0026] FIG. 2 is a functional block diagram for explaining each function in the carrier vehicle 1 according to an embodiment of the present invention. As shown in FIG. 2, the carrier vehicle 1 includes a bumper portion 20, a contact detection portion 110, and a control portion 120. Further, the carrier vehicle 1 is configured to be operable by an operator using a portable operation terminal 2 such as a teaching pendant, for example.

[0027] As described with reference to FIG. 1, the bumper portion 20 is disposed on at least a part of the outer periphery of the vehicle body 10 of the carrier vehicle 1.

[0028] The contact detection portion 110 detects contact in the bumper portion 20. Specifically, the contact detection portion 110 is configured as a so-called bumper sensor (bumper switch) together with the bumper portion 20, and is configured to be able to detect, for example, that the bumper portion 20 has come into contact with an obstacle (e.g., equipment, machinery, a person, and another carrier vehicle) during traveling of the carrier vehicle 1.

[0029] When the contact of the bumper portion 20 is detected by the contact detection portion 110, the control portion 120 puts the carrier vehicle 1 into an interlock state in which driving of the vehicle body 10 is disabled. For example, when the bumper portion 20 comes into contact with an obstacle during traveling of the carrier vehicle 1, the control portion 120 cuts off the power supply to the motor or the like to disable driving of the vehicle body 10 (interlock state). That is, when the carrier vehicle 1 comes into contact (collides) with an obstacle, the control portion 120 ensures safety by putting the carrier vehicle 1 into the interlock state and keeping the carrier vehicle 1 stopped so that it does not move.

[0030] Then, in the interlock state, when the control portion 120 receives an interlock release instruction to temporarily release (for a specific period only) the interlock state by a specific operation from an external device, the control portion 120 releases the interlock state for the specific period only.

[0031] For example, in a portable operation terminal 2 such as a teaching pendant, when an operator long-presses an enable switch (for example, continuously presses for 3 seconds or more), the control unit 120 determines that it has received an interlock release instruction, and then, during the period when the enable switch is continuously pressed (specific period), releases the interlock state. That is, during the period when the enable switch is continuously pressed (specific period), the carrier vehicle 1 becomes in a travelable state.

[0032] Here, the specific operation in the external device that serves as the interlock release instruction is set as the long-press of the enable switch of the teaching pendant, but it is not limited to this. For example, it may be the simultaneous pressing, sequential pressing, and pressing at a predetermined timing of a plurality of preset buttons, or other operations different from the normal button operations according to a predetermined menu. In this way, by setting the specific operation as an operation different from the normal button operations according to a predetermined menu, the possibility of malfunction or accidental performance of the characteristic operation by the operator (worker) can be reduced. As a result, even when the interlock state is temporarily released (only for a specific period) in the interlock state, it is carried out based on the specific operation intentionally performed by the operator (worker), so the possibility of the carrier vehicle 1 unexpectedly traveling can be reduced and safety can be ensured.

[0033] During this period when it is in the travelable state, if the operator (worker) moves the carrier vehicle 1 and the contact in the bumper portion 20 is released, the control unit 120 releases the interlock state. That is, the carrier vehicle 1 returns to the normal travelable state.

[0034] [Details of the Interlock State] Hereinafter, the interlock state and the process for releasing it will be described in detail. FIG. 3 is a timing chart showing the operation of the carrier vehicle 1 according to an embodiment of the present invention, and the state transition of the interlock state and the release of the interlock state.

[0035] For example, when the transport vehicle 1 collides with a facility (wall) while traveling inside the factory in the normal (travelable) state, the contact detection unit 110 detects the contact of the bumper unit 20, and the control unit 120 stops the transport vehicle 1 and puts it in an interlock state.

[0036] The operator presses and holds the enable switch on the portable operation terminal 2 such as a teaching pendant in order to escape from the state where the transport vehicle 1 has collided with a facility (wall) and stopped.

[0037] When the control unit 120 receives a signal indicating that the enable switch is pressed by the portable operation terminal 2 and determines that it has been pressed for, for example, 3 seconds or more, it temporarily releases the interlock state. Here, temporarily releasing the interlock state means, for example, releasing the interlock state during a period (specific period) in which the enable switch continues to be pressed by the portable operation terminal 2 and a signal indicating the same is continuously received.

[0038] During the specific period in which the enable switch is continuously pressed by the portable operation terminal 2 in this way, the interlock state is temporarily released, so the transport vehicle 1 can travel. Then, during the specific period in which it is in a travelable state, the operator (worker) moves the transport vehicle 1 (vehicle body 10) to escape from the state of having collided with a facility (wall).

[0039] Thereby, the control unit 120 releases the interlock state, and the transport vehicle 1 returns to the normal travelable state.

[0040] [Method for releasing the interlock state] Next, the interlock release method for releasing the interlock state in the transport vehicle 1 (vehicle body 10) will be specifically and detailedly described.

[0041] FIG. 4 is a flowchart showing the process flow of an interlock release method for releasing the interlock state in the carrier vehicle 1 according to an embodiment of the present invention. As shown in FIG. 4, the interlock release method includes steps S110 to S170, and each step is executed by a processor included in the carrier vehicle 1.

[0042] In step S110, the carrier vehicle 1 is running in a normal state. As a specific example, the carrier vehicle 1 is autonomously running according to a pre-taught running route (teaching program).

[0043] In step S120, when the contact detection unit 110 detects contact with the bumper portion 20 disposed on the outer periphery of the vehicle body 10 during the running of the carrier vehicle 1 (''Yes'' in step S120), the process proceeds to step S130 (contact detection step). When the contact with the bumper portion 20 is not detected, the carrier vehicle 1 continues to run in the normal state (''No'' in step S120).

[0044] In step S130, the control unit 120 sets the carrier vehicle 1 (vehicle body 10) in an interlock state (interlock control step). As a specific example, when the bumper portion 20 contacts the facility (wall), the control unit 120 ensures safety by keeping the carrier vehicle 1 stopped and immobile.

[0045] In step S140, when the control unit 120 receives an interlock release instruction from an external device in the interlock state (''Yes'' in step S140), the process proceeds to step S150 (specific interlock release step). When the control unit 120 has not received an interlock release instruction from the external device (''No'' in step S140), the interlock state is maintained. As a specific example, when the operator (worker) long-presses the enable switch of the teaching pendant (specific operation), the process proceeds to step S150.

[0046] In step S150, the control unit 120 releases the interlock state for a specific period (specific interlock release step). As a specific example, the control unit 120 temporarily releases the interlock state and makes the carrier vehicle 1 drivable only during the period (specific period) when the enable switch of the teaching pendant is continuously pressed by the operator (worker).

[0047] In step S160, if the carrier vehicle 1 is moved by the operator (worker) during the specific period when the carrier vehicle 1 is in a drivable state and the carrier vehicle 1 escapes from the state of colliding with the equipment (wall) (”Yes” in step S160), the process proceeds to step S170. If not (”No” in step S160), the process returns to step S130 to maintain the interlock state. As a specific example, during the specific period when the enable switch of the teaching pendant is continuously pressed by the operator (worker), the operator (worker) pushes and moves the carrier vehicle 1 to escape from the state where the bumper portion 20 arranged on the outer periphery of the carrier vehicle 1 is in contact with the equipment (wall). Here, the operator (worker) who operates the teaching pendant and the operator (worker) who pushes and moves the carrier vehicle 1 may be the same person or different persons.

[0048] In step S170, the control unit 120 releases the interlock state (interlock release step). As a result, the carrier vehicle 1 returns to the normal drivable state.

[0049] As described above, according to the carrier vehicle 1 and the interlock release method according to an embodiment of the present invention, when the contact detection unit 110 detects contact in the bumper unit 20, the control unit 120 sets the vehicle body 10 in an interlock state in which driving is disabled. In this interlock state, when the operator (worker) long-presses the enable switch of the teaching pendant and the control unit 120 receives an interlock release instruction from the teaching pendant, the interlock state is temporarily released (for a specific period only). Then, when the operator (worker) moves the carrier vehicle 1 and the contact in the bumper unit 20 is eliminated during the specific period in which the interlock state is released, the control unit 120 releases the interlock state.

[0050] That is, regardless of the stop position of the carrier vehicle 1 in the interlock state, the operator (worker) can appropriately and temporarily release the interlock state (for a specific period only) by operating the teaching pendant, which is an external device. During that period, it is possible to escape from the state where the bumper unit 20 of the carrier vehicle 1 is in contact with the equipment (wall) and return the carrier vehicle 1 to the normal drivable state.

[0051] In this embodiment, the interlock state was temporarily released only during the period when the enable switch of the teaching pendant was continuously pressed. However, the present invention is not limited to this. For example, the enable switch may be long-pressed (for example, for 3 seconds or more), and then, even if it is not continuously pressed, a predetermined period (for example, 10 seconds, etc.) may be set as the specific period to temporarily release the interlock state. As a result, as an operator (worker), even if the enable switch of the teaching pendant is not continuously pressed, the interlock state is released for a predetermined period (for example, 10 seconds, etc.). Therefore, even if operating (working) alone, it is possible to easily escape from the state where the bumper unit 20 of the carrier vehicle 1 is in contact with the equipment (wall) and return the carrier vehicle 1 to the normal drivable state.

[0052] The embodiments described above are for facilitating the understanding of the present invention and are not for limiting the interpretation of the present invention. Each element included in the embodiments, as well as its arrangement, material, conditions, shape, size, etc. are not limited to those illustrated and can be changed as appropriate. Also, it is possible to partially substitute or combine the configurations shown in different embodiments with each other.

Description of Reference Numerals

[0053] 1... transport vehicle, 2... portable operation terminal (external device), 10... vehicle body, 20... bumper section, 110... contact detection section, 120... control section, S110 to S170... each step of the interlock release method

Claims

1. An autonomous transport vehicle, A bumper portion disposed on at least a portion of an outer periphery of a vehicle body; A contact detection unit that detects contact with the bumper portion; a control unit that, when the contact is detected by the contact detection unit, sets the vehicle body to an interlock state that disables driving of the vehicle body, The control unit is When an interlock release instruction to release the interlock state for a specific period is received by a specific operation from an external device in the interlock state, the interlock state is released for the specific period, release the interlock state when contact at the bumper portion is released during the specific period in which the interlock state is released. Transport vehicle.

2. The specific period is a period during which the control unit continues to receive the interlock release instruction in the interlock state. The transport vehicle according to claim 1 .

3. The specific operation from the external device includes a specific switch on a portable operation terminal being continuously pressed. The transport vehicle according to claim 2.

4. The specific period is a predetermined period from when the control unit receives the interlock release instruction in the interlock state. The transport vehicle according to claim 1 .

5. An interlock release method for releasing an interlock state that disables driving of a vehicle body in an autonomously travelling transport vehicle by a computer, comprising: a contact detection step of detecting a contact at a bumper portion disposed on at least a part of an outer periphery of the vehicle body; an interlock control step of bringing the device into the interlock state when the contact is detected in the contact detection step; a specific interlock release step of releasing the interlock state for a specific period when an interlock release instruction for releasing the interlock state for the specific period is received by a specific operation from an external device in the interlock state; and an interlock release step of releasing the interlock state when contact at the bumper portion is released during the specific period in which the interlock state is released. Interlock release method.

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