Apparatus and method for detecting cargo collapse in an automatic transport device

Abstract

To provide a cargo shifting detection device of an automatic carrier device capable of accurately detecting shifting of a cargo loaded on the automatic carrier device by simple processing.SOLUTION: A cargo shifting detection device 60A of an automatic carrier device 1A comprises a detection range information storage unit 40, an object detection processing unit 32A, and a cargo shifting determination unit 33. The detection range information storage unit 40 stores information indicating a cargo shifting detection range adjacent to the automatic carrier device 1A, and information indicating an obstacle detection range around the cargo shifting detection range. The object detection processing unit 32A acquires detection results by object detection sensors 10-1 and 10-2 detecting an object around the automatic carrier device 1A while the automatic carrier device 1A is travelling, and detects an object within the cargo shifting detection range and an object within the obstacle detection range. When an object within the cargo shifting detection range is detected, the cargo shifting determination unit determines whether the object was detected within the obstacle detection range before it has been detected within the cargo shifting detection range. When the object is not detected within the obstacle detection range before it is detected within the cargo shifting detection range, the cargo shifting determination unit determines that the object dropped due to cargo shifting.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a load collapse detection device for an automatic transport system and a load collapse detection method for an automatic transport system. [Background technology]

[0002] In many factories, warehouses, and other facilities, products and luggage are transported using automated guided vehicles (AGVs), which are autonomous vehicles. By using automated guided vehicles to perform transportation work, it is possible to reduce the labor and costs required by workers and improve work efficiency.

[0003] When an automatic conveying device is traveling with a load of cargo, if the cargo collapses due to vibration or the like and the cargo falls from the automatic conveying device, the fallen cargo may come into contact with the automatic conveying device or another automatic conveying device, causing damage to both. Therefore, when a cargo collapse occurs while the automatic conveying device is traveling, it is necessary to quickly detect this, stop the automatic conveying device, and take steps to resume normal traveling. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 4803049 Summary of the Invention [Problem to be solved by the invention]

[0005] There is a system in which a photoelectric sensor is installed at the luggage loading position of the automatic transport device in order to detect any collapse of luggage that occurs while the automatic transport device is moving, and the system detects the falling of the loaded luggage based on the detection results of the photoelectric sensor (see Patent Document 1).

[0006] However, using this technology requires the automatic transport device to be newly equipped with a photoelectric sensor to detect falling luggage, which is time-consuming and costly.

[0007] One aspect of the present invention resides in a load collapse detection device for an automatic transport device and a load collapse detection method for an automatic transport device, which are capable of accurately detecting the collapse of luggage loaded on an automatic transport device through simple processing. [Means for solving the problem]

[0008] A cargo collapse detection device for an automatic conveying device according to one embodiment of the present invention is a cargo collapse detection device communicatively connected to an object detection sensor that detects objects around the automatic conveying device, and includes a detection range information memory unit that stores information indicating a cargo collapse detection range adjacent to the automatic conveying device within the detection range of the object detection sensor, and information indicating an obstacle detection range around the cargo collapse detection range within the detection range of the object detection sensor, an object detection processing unit that acquires the detection results of the object detection sensor while the automatic conveying device is traveling, and detects objects within the cargo collapse detection range and objects within the obstacle detection range, and a cargo collapse determination unit that, when an object within the cargo collapse detection range is detected by the object detection processing unit, determines whether the object was detected within the obstacle detection range before being detected in the cargo collapse detection range, and if the object was not detected within the obstacle detection range before being detected in the cargo collapse detection range, determines that the object has fallen due to cargo collapse.

[0009] In addition, in one embodiment of the present invention, in a method for detecting cargo collapse in an automatic conveying device, a cargo collapse detection device that is communicatively connected to an object detection sensor that detects objects around the automatic conveying device stores information indicating a cargo collapse detection range adjacent to the automatic conveying device within the detection range of the object detection sensor, and information indicating an obstacle detection range around the cargo collapse detection range within the detection range of the object detection sensor, acquires the detection results of the object detection sensor while the automatic conveying device is traveling, and monitors whether or not an object has been detected within the cargo collapse detection range and the obstacle detection range by the object detection sensor, and when an object within the cargo collapse detection range is detected, determines whether or not the object was detected within the obstacle detection range before being detected in the cargo collapse detection range, and if the object was not detected within the obstacle detection range before being detected in the cargo collapse detection range, determines that the object has fallen due to cargo collapse.

[0010] The cargo collapse detection device for an automatic conveying device and the cargo collapse detection method for an automatic conveying device configured as described above are capable of accurately detecting the collapse of cargo loaded on the automatic conveying device with a simple configuration.When an object is detected within a cargo collapse detection range adjacent to the automatic conveying device while the automatic conveying device is moving, if the object has not been detected within an obstacle detection range surrounding the cargo collapse detection range before being detected in the cargo collapse detection range, it is determined that the object has fallen due to a cargo collapse. Effect of the Invention

[0011] According to the device and method for detecting cargo collapse of an automatic transport device of one aspect of the present invention, the collapse of cargo loaded on the automatic transport device can be accurately detected by simple processing. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a perspective view of the appearance of automatic transfer devices 1A and 1B according to the first and second embodiments. [Diagram 2] FIG. 2 is a block diagram showing the configuration of the automatic transfer device 1A of the first embodiment. [Diagram 3] FIG. 3 is a diagram showing object detection range C1 of object detection sensor 10-1 and object detection range C2 of object detection sensor 10-2 of automatic transport device 1A according to the first embodiment, viewed from above. [Figure 4] FIG. 4 is a diagram showing the load collapse detection range E and obstacle detection ranges F1 and F2, information of which is stored in the detection range information storage unit 40 of the automatic conveying apparatus 1A according to the first embodiment, as viewed from above. [Diagram 5] FIG. 5 is a flowchart showing the operation of the automatic transport device 1A of the first embodiment. [Figure 6] FIG. 6(a) is a top view of the state when an object X is detected within the obstacle detection range F1 while the automatic conveying device 1A of the first embodiment is traveling, and FIG. 6(b) is a top view of the state when an object Y is detected within the load collapse detection range E while the automatic conveying device 1A is traveling. [Figure 7] FIG. 7 is a block diagram showing the configuration of an automatic conveying apparatus 1B according to the second embodiment. [Figure 8] FIG. 8 is a flowchart showing the operation of the automatic transport apparatus 1B of the second embodiment. [Figure 9] Figure 9(a) is a top view of the state in which the cargo shift detection range is updated when the automatic conveying device 1B of the second embodiment accelerates forward, and (b) is a top view of the state in which the cargo shift detection range is updated when the automatic conveying device 1B decelerates while traveling. [Figure 10] Figure 10(a) is a top view of the state in which the cargo shift detection range is updated when the automatic conveying device 1B of the second embodiment turns left, and (b) is a top view of the state in which the cargo shift detection range is updated when the automatic conveying device 1B turns right. [Figure 11] Figure 11(a) is a top view of the state in which the cargo collapse detection range has been updated when the automatic conveying device 1B of the second embodiment is traveling with a long load loaded, and (b) is a top view of the state in which the cargo collapse detection range has been updated when the automatic conveying device 1B is traveling with a small load loaded. [Figure 12]FIG. 12 is a top view showing the state in which the load collapse detection range is updated when the automatic conveying device 1B of the second embodiment is traveling with the center of gravity of the luggage loaded on the automatic conveying device 1B shifted forward. [Figure 13] Figure 13(a) is an explanatory diagram showing a dome-shaped object detection range by object detection sensor 10-3 installed at one end of the upper part of automatic conveying equipment 1A, 1B, (b) is an explanatory diagram showing a planar object detection range by object detection sensor 10-4 installed at one end of the upper part of automatic conveying equipment 1A, 1B, and (c) is an explanatory diagram showing a fan-shaped object detection range by object detection sensor 10-5 installed on each of the four side surfaces of automatic conveying equipment 1A, 1B. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] First Embodiment Configuration of the automatic transfer device according to the first embodiment Hereinafter, the configuration of an automated guided vehicle (AGV) according to a first embodiment will be described with reference to the accompanying drawings. Fig. 1 is an external perspective view of an automated guided vehicle 1A according to the first embodiment, and Fig. 2 is a block diagram showing the configuration of the automated guided vehicle 1A.

[0014] The automatic transport device 1A loads and transports cargo such as parts and products to be processed within a sheet metal processing facility in which a plurality of sheet metal processing devices (not shown) are installed.

[0015] As shown in FIG. 2, the automatic transport device 1A includes object detection sensors 10-1 and 10-2, a traveling mechanism 20, a CPU 30A, a detection range information storage unit 40, and an output unit 50. The object detection sensors 10-1 and 10-2 are sensors that detect objects around the automatic transport device 1A, and may be, for example, a LiDAR (Light Detection and Ranging) sensor that is pre-installed in the automatic transport device 1A for automatic operation. The object detection sensor 10-1 is installed in front of the automatic transport device 1A in the traveling direction to detect objects in the area in front of the automatic transport device 1A, and the object detection sensor 10-2 is installed in the rear of the automatic transport device 1A in the traveling direction to detect objects in the area behind the automatic transport device 1A. The object detection sensors 10-1 and 10-2 each detect the two-dimensional or three-dimensional relative position of the object with respect to the automatic transport device 1A.

[0016] The traveling mechanism 20 is a mechanism for traveling the automatic transport device 1A, and includes, for example, three or more wheels that support the automatic transport device 1A and can rotate on a road surface, a drive source such as a motor that drives and rotates the wheels, a power train that transmits the driving force of the drive source to the wheels, and a steering mechanism that controls the traveling direction of the automatic transport device 1A. The output unit 50 is a communication device that issues an alarm, transmits information to other automatic transport devices (not shown) or devices in the sheet metal processing facility and a management device (not shown) that manages the automatic transport device, and is, for example, a device capable of wireless communication via a wireless LAN (Local Area Network) conforming to the IEEE 802.11 standard, or mobile communication.

[0017] The CPU 30A has a travel control unit 31, an object detection processing unit 32A, a cargo collapse determination unit 33, and an output control unit 34. The travel control unit 31 controls the travel mechanism 20. The output control unit 34 controls the output of information to the output unit 50. The object detection processing unit 32A, the cargo collapse determination unit 33, and the detection range information storage unit 40 constitute a cargo collapse detection device 60A. Each component (31, 32A, 33, 34) of the CPU 30A can be realized using a general-purpose microcomputer. Specifically, a dedicated computer program is installed in the microcomputer and executed. As a result, the general-purpose microcomputer functions as a plurality of information processing units (31, 32A, 33, 34). Note that, here, an example is shown in which the dedicated computer program and the general-purpose microcomputer are used to realize the functions. However, it is of course possible to prepare dedicated hardware for executing each information processing instead of the general-purpose microcomputer. The dedicated hardware includes devices such as application specific integrated circuits (ASICs) and conventional circuit components arranged to perform the functions described in the embodiment.

[0018] The cargo collapse detection device 60A is equipped with a detection range information memory unit 40 that is communicatively connected to the object detection sensors 10-1, 10-2 and stores information indicating a cargo collapse detection range adjacent to the automatic conveying device 1A within the detection ranges of the object detection sensors 10-1, 10-2 and information indicating an obstacle detection range around the cargo collapse detection range within the detection ranges of the object detection sensors 10-1, 10-2, an object detection processing unit 32A that acquires the detection results of the object detection sensors 10-1, 10-2 while the automatic conveying device 1A is traveling and detects objects within the cargo collapse detection range and objects within the obstacle detection range, and a cargo collapse determination unit 33 that, when an object within the cargo collapse detection range is detected by the object detection processing unit 32A, determines whether the object was detected within the obstacle detection range before being detected in the cargo collapse detection range and, if the object was not detected within the obstacle detection range before being detected in the cargo collapse detection range, determines that the object has fallen due to cargo collapse. The detection range information storage unit 40 is, for example, a memory provided in a general-purpose microcomputer, or an auxiliary storage device (including a magnetic disk drive and an optical disk drive) connected to the microcomputer.

[0019] <Operation of the automatic transfer device 1A according to the first embodiment> The object detection ranges of the object detection sensors 10-1 and 10-2 used in this embodiment will be described below. Fig. 3 is a diagram showing the object detection range C1 of the object detection sensor 10-1 and the object detection range C2 of the object detection sensor 10-2 of the automatic transport device 1A as viewed from above.

[0020] In the automatic transport device 1A traveling in the direction of the arrow, the object detection range C1 of the object detection sensor 10-1 is, for example, a sector-shaped area with a radius of 10 m and an interior angle of about 240° centered on the object detection sensor 10-1, and includes the front and left diagonally rear of the automatic transport device 1A. The object detection range C2 of the object detection sensor 10-2 is, for example, a sector-shaped area with a radius of 10 m and an interior angle of about 240° centered on the object detection sensor 10-2, and includes the rear and right diagonally front of the automatic transport device 1A. Note that the detection limit lines (arcs of the sector) in the depth direction of the object detection ranges C1 and C2 are omitted from the illustration.

[0021] By combining the object detection range C1 of object detection sensor 10-1 and the object detection range C2 of object detection sensor 10-2 set in this way, the entire horizontal periphery of automatic transport device 1A can be made into an object detection range. At this time, small blind spots D are generated on the left and right of automatic transport device 1A, but since object detection ranges C1 and C2 also move in the traveling direction while automatic transport device 1A is traveling, the area of ​​blind spot D is immediately included in object detection range C1 or object detection range C2. Therefore, an object in blind spot D is also immediately detected by object detection sensor 10-1 or object detection sensor 10-2.

[0022] In addition, in this embodiment, a description will be given of information that is stored in advance in the detection range information storage unit 40. Fig. 4 is a diagram seen from above of the load collapse detection range E and obstacle detection ranges F1 and F2, the information of which is stored in the detection range information storage unit 40 of the automatic conveying device 1A.

[0023] 4, the cargo collapse detection range E is an area adjacent to the automatic conveying device 1A, for example, an area within a predetermined distance (for example, 0.5 m) from the outer periphery of the automatic conveying device 1A. Note that, as another embodiment, the cargo collapse detection range E may surround the periphery of the automatic conveying device 1A when viewed from above the automatic conveying device 1A.

[0024] Moreover, obstacle detection range F1 is an area around the load shift detection range E, and is a predetermined area within object detection range C1, for example, a sector-shaped area with a radius of 3 m and an inner angle of about 240° centered on object detection sensor 10-1, excluding load shift detection range E. Obstacle detection range F2 is an area around the load shift detection range E, and is a predetermined area within object detection range C2, for example, a sector-shaped area with a radius of 3 m and an inner angle of about 240° centered on object detection sensor 10-2, excluding load shift detection range E. Note that, although the outer edges of obstacle detection ranges F1 and F2 are set inside the detection limit lines in the depth direction of object detection ranges C1 and C2 here, they may be made to coincide with each other.

[0025] The obstacle detection ranges F1, F2 are set sufficiently larger than the load shift detection range E, so that even if a person takes one long stride from the outer periphery of the obstacle detection range F1 or F2 toward the automatic conveying device 1A, he or she will not reach the load shift detection range E.

[0026] 5 is a flowchart showing the operation of the automatic conveying device 1A of the first embodiment. When the automatic conveying device 1A is loaded with a package and starts traveling to a predetermined destination under the control of the traveling mechanism 20 by the traveling control unit 31 ("YES" in S1), the object detection sensor 10-1 starts a process of detecting an object within the object detection range C1, and the object detection sensor 10-2 starts a process of detecting an object within the object detection range C2.

[0027] When the object detection sensors 10-1, 10-2 start the process of detecting an object, the object detection processing unit 32A acquires information on these detection results and, based on the information stored in the detection range information memory unit 40, monitors whether or not an object has been detected within the load shift detection range E and the obstacle detection ranges F1, F2 (S2).

[0028] When no object is detected within the load collapse detection range E ("NO" in S3) but an object X is detected within the obstacle detection range F1 or F2 ("YES" in S4), the object detection processing unit 32A recognizes the object X as an obstacle and stores information regarding the detection of the obstacle (S5). The information regarding the detection of the obstacle includes information regarding the detected position of the obstacle within the obstacle detection range F1 or F2, information regarding the shape of the obstacle, etc. FIG. 6(a) is a top view of the state when object X is detected within the obstacle detection range F1 while the automatic transport device 1A is traveling.

[0029] When the object detection processing unit 32A detects an object X as an obstacle within the obstacle detection range F1, it executes an obstacle response process (S6). Examples of the obstacle response process include a process of issuing an alarm from the output unit 50 under the control of the output control unit 34 to notify that the automatic transport device 1A may come into contact with the obstacle, and a process of changing the travel route under the control of the travel control unit 31 so that the automatic transport device 1A does not come into contact with the obstacle.

[0030] If the automatic conveying device 1A has not yet arrived at the destination after the obstacle handling process is performed ("NO" in S7), the process returns to step S2, and steps S4 to S7 are repeated until an object is detected in the load collapse detection range E ("NO" in S3). By repeating these processes, the position information of the object X detected in the obstacle detection ranges F1 and F2 is stored over time, and the specific object X can be tracked.

[0031] Then, when an object is detected in the cargo collapse detection range E ("YES" in S3), the cargo collapse determination unit 33 determines (S8) whether or not the object was detected in the obstacle detection range F1 or F2 before being detected in the cargo collapse detection range E. Fig. 6(b) is a top view of the state when an object Y is detected in the cargo collapse detection range E while the automatic conveying device 1A is traveling.

[0032] Here, if information about object Y detected in the load collapse detection range E and detected and tracked in the obstacle detection range F1 or F2 is stored in the object detection processing unit 32A, the load collapse determination unit 33 determines that "the object Y was detected within the obstacle detection range F1 or F2 before being detected in the load collapse detection range E."

[0033] When the load collapse determination unit 33 determines that "the object Y was detected within the obstacle detection range F1 or F2 before being detected in the load collapse detection range E" ("YES" in S8), that is, when the object Y enters the load collapse detection range E via the obstacle detection range F1 or F2, it determines that the object Y is not a load collapse of the luggage loaded on the automatic transport device 1A, but an obstacle on the travel path (S9). When the load collapse determination unit 33 determines that the object Y is an obstacle, the process proceeds to step S6, and obstacle response processing is executed (S6). Here, if the automatic transport device 1A has not arrived at the destination again ("NO" in S7), the process returns to step S2.

[0034] In the above-mentioned step S8, if information regarding object Y detected in the load collapse detection range E that was detected and tracked in the obstacle detection range F1 or F2 is not stored in the object detection processing unit 32A ("NO" in S8), the load collapse determination unit 33 determines that the object Y has fallen due to load collapse (S10) and executes load collapse response processing (S11).

[0035] Examples of cargo collapse response processes include a process of stopping the automatic conveying device 1A under the control of the driving control unit 31, a process of issuing an alarm from the output unit 50 under the control of the output control unit 34 to notify that cargo collapse has occurred in the automatic conveying device 1A, and a process of sending notification information indicating that cargo collapse has occurred in the automatic conveying device 1A and that it has stopped to another automatic conveying device or a management device.

[0036] By transmitting notification information indicating that the automatic conveying device 1A has stopped due to a load collapse to other automatic conveying devices, the other automatic conveying devices can avoid the area where the automatic conveying device 1A is stopped when traveling.

[0037] Furthermore, by transmitting to the management device notification information indicating that the automatic conveying device 1A has stopped due to a load collapse, the management device can transmit instructions to the devices in the sheet metal processing equipment to reduce the load amount when loading cargo onto other automatic conveying devices in the future, to change the loading state, and the like. By transmitting these instructions from the management device, it is possible to prevent cargo collapse from occurring when the automatic conveying device transports cargo in the sheet metal processing equipment in the future. Furthermore, when the management device obtains notification information indicating that the automatic conveying device 1A has stopped due to a load collapse, it may change the execution order of processing in the sheet metal processing equipment in anticipation of the time required for recovery.

[0038] When the automatic conveying device 1A is stopped due to the load collapse response process, or when the automatic conveying device 1A arrives at the destination in step S7 ("YES" in S7), the operation of the automatic conveying device 1A ends.

[0039] According to the first embodiment described above, when an object is detected around the automatic transport device while it is running, it is possible to identify whether the object is a collapse of the luggage loaded on the automatic transport device or an obstacle on the travel path. This makes it possible to accurately detect the collapse of the luggage loaded on the automatic transport device and quickly resume the running of the automatic transport device by taking appropriate countermeasures.

[0040] Second Embodiment Configuration of the automatic transfer device 1B according to the second embodiment 7 is a block diagram showing the configuration of an automatic conveying device 1B according to the second embodiment. The automatic conveying device 1B has the same configuration as the automatic conveying device 1A described in the first embodiment, except that the automatic conveying device 1B has a load information acquisition unit 35 as one function of a load collapse detection device 60B in a CPU 30B, and therefore a detailed description of the parts having the same functions will be omitted.

[0041] The cargo information acquisition unit 35 acquires information such as the size, shape, and loading position of the cargo loaded on the automatic conveying device 1B based on information acquired by a load sensor (not shown) installed on the automatic conveying device 1B or information input by an operator.

[0042] The object detection processing unit 32B updates the information of the load collapse detection range based on the information acquired by the load information acquisition unit 35 or the information of the traveling direction and traveling speed of the automatic conveying device 1B under the control of the traveling control unit 31. Then, the object detection processing unit 32B detects objects within the updated load collapse detection range and objects within the obstacle detection range.

[0043] <Operation of the automatic transfer device 1B according to the second embodiment> 8 is a flowchart showing the operation of the automatic conveying device 1B of the first embodiment. When the automatic conveying device 1B is loaded with a package and starts traveling to a predetermined destination under the control of the traveling mechanism 20 by the traveling control unit 31 ("YES" in S1), the object detection sensor 10-1 starts a process of detecting an object within the object detection range C1, and the object detection sensor 10-2 starts a process of detecting an object within the object detection range C2.

[0044] When the object detection sensors 10-1 and 10-2 start the process of detecting an object, the object detection processing unit 32B acquires information on the detection results. The load information acquisition unit 35 acquires information on the size, shape, loading position, etc. of the cargo loaded on the automatic transport device 1B based on information acquired by a load sensor installed in the automatic transport device 1B or information input by an operator. The load information acquisition unit 35 also acquires information on the cargo collapse detection range E and obstacle detection ranges F1 and F2 stored in the detection range information storage unit 40.

[0045] Then, the object detection processing unit 32B updates the acquired information of the load collapse detection range E based on the information acquired by the load information acquisition unit 35 or the information of the traveling direction and traveling speed of the automatic conveying device 1B controlled by the traveling control unit 31 (S20). A specific example of the update process of the information of the load collapse detection range E executed by the object detection processing unit 32B will be described with reference to Figures 9(a), (b), 10(a), (b), 11(a), (b), and 12.

[0046] 9(a) is a top view of the updated load shift detection range when the automatic conveying device 1B loaded with the load Z1 accelerates forward as indicated by the arrow. When the automatic conveying device 1B accelerates forward, the load Z1 loaded on the automatic conveying device 1B is more likely to shift backward. Therefore, when the automatic conveying device 1B accelerates, the object detection processing unit 32B updates the load shift detection range to the area E1 behind the automatic conveying device 1B.

[0047] 9(b) is a top view of the updated load shift detection range when the automatic conveying device 1B loaded with load Z1 decelerates while traveling forward as indicated by the arrow. When the automatic conveying device 1B decelerates while traveling, the load Z1 loaded on the automatic conveying device 1B is more likely to shift forward. Therefore, when the automatic conveying device 1B decelerates, the object detection processing unit 32B updates the load shift detection range to the area E2 in front of the automatic conveying device 1B.

[0048] 10(a) is a top view of the updated load shift detection range when the automatic conveying device 1B loaded with the load Z1 turns left as indicated by the arrow. When the automatic conveying device 1B turns left, the load Z1 loaded on the automatic conveying device 1B is more likely to shift to the right. Therefore, when the automatic conveying device 1B turns left, the object detection processing unit 32B updates the load shift detection range to the area E3 on the right side of the automatic conveying device 1B.

[0049] 10(b) is a top view of the updated load shift detection range when the automatic conveying device 1B loaded with the load Z1 turns rightward as indicated by the arrow. When the automatic conveying device 1B turns rightward, the load Z1 loaded on the automatic conveying device 1B is more likely to shift to the left. Therefore, when the automatic conveying device 1B turns rightward, the object detection processing unit 32B updates the load shift detection range to the area E4 on the left side of the automatic conveying device 1B.

[0050] 11(a) is a top view of the updated load collapse detection range when the automatic conveying device 1B is traveling with a long load Z2 loaded. When the automatic conveying device 1B is loaded with a long load Z2, the range into which the load Z2 may fall when it collapses becomes wider. Therefore, when the automatic conveying device 1B is loaded with a long load Z2, the object detection processing unit 32B updates the load collapse detection range to a wider area E5. The same applies when the automatic conveying device 1B is loaded with a large load.

[0051] 11B is a top view of the updated load collapse detection range when the automatic conveying device 1B is traveling with a small load Z3 loaded. When the automatic conveying device 1B is loaded with a small load Z3, the range into which the load Z3 may fall when it collapses is narrowed. Therefore, when the automatic conveying device 1B is loaded with a small load Z3, the object detection processing unit 32B updates the load collapse detection range to a narrower area E6.

[0052] 12 is a top view of the updated load collapse detection range when the automatic conveying device 1B is traveling with the center of gravity of the load Z4 loaded on the automatic conveying device 1B biased forward. When the automatic conveying device 1B is traveling with the center of gravity of the load Z4 biased forward, the load Z4 is more likely to collapse forward. Therefore, in this case, the object detection processing unit 32B updates the load collapse detection range to an area E7 that is wider in front of the automatic conveying device 1B. Similarly, when the center of gravity of the loaded load is biased in another direction, the load collapse detection range may be updated to an area that is wider in the direction in which the load's center of gravity is biased.

[0053] After updating the information on the load shift detection range E as described above, the object detection processing unit 32B monitors whether an object has been detected within the updated load shift detection range and the obstacle detection ranges F1 and F2 (S2), as shown in Fig. 8. The subsequent processes executed in steps S3 to S11 are similar to those described in the first embodiment, and therefore detailed description thereof will be omitted.

[0054] Steps S2 to S11 and S20 are repeated until the automatic conveying device 1B arrives at the destination, and when the driving conditions of the automatic conveying device 1B change, for example when the driving speed or direction changes, the load shift detection range is appropriately updated according to the changed driving conditions.

[0055] According to the second embodiment described above, the load shift detection range is appropriately updated according to the traveling state of the automatic transport device 1B, so that the load shift detection process can be performed with high accuracy while suppressing the processing load.

[0056] In the above-described second embodiment, when the object detection processing unit 32B updates the information of the cargo shift detection range E based on the information acquired by the cargo information acquisition unit 35 or the information of the traveling direction and traveling speed of the automatic conveying device 1B, the obstacle detection ranges F1, F2 may also be updated to areas in the same direction as the cargo shift detection range E. By updating the obstacle detection ranges F1, F2 in this way, the processing load of the cargo shift detection device 60B can be further reduced.

[0057] In the above-described first and second embodiments, the object detection sensors 10-1, 10-2 are installed in front and behind the automatic conveying devices 1A, 1B, and the object detection range C1 of the object detection sensor 10-1 and the object detection range C2 of the object detection sensor 10-2 are combined to form an object detection range around the entire periphery of the automatic conveying devices 1A, 1B, but this is not limited to the above.

[0058] Other examples of the installation position and object detection range of the object detection sensor will be described with reference to Figs. 13(a) to (c). Fig. 13(a) is an explanatory diagram of a case where an object detection sensor 10-3 composed of a 3D-LiDAR is installed at one end of the upper part of the automatic transport apparatus 1A, 1B, and a dome-shaped surrounding space C3 including the upper part of the automatic transport apparatus 1A, 1B is set as the object detection range. Fig. 13(b) is an explanatory diagram of a case where an object detection sensor 10-4 composed of a 2D-LiDAR capable of detection in 360° directions is installed at one end of the upper part of the automatic transport apparatus 1A, 1B, and a planar surrounding area C4 in all directions of the automatic transport apparatus 1A, 1B is set as the object detection range. Fig. 13(c) is an explanatory diagram of a case where an object detection sensor 10-5 is installed on each of the four side surfaces of the automatic transport apparatus 1A, 1B, and an area C5 spreading in a fan shape forward from each installation position is set as the object detection range. In this way, the installation position and object detection range of the object detection sensor can be changed as appropriate.

[0059] The object detection sensor is not limited to a LiDAR sensor, but may be an ultrasonic sensor, a radar using radio waves, or the like.

[0060] The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the gist of the present invention. [Explanation of symbols]

[0061] 1A, 1B Automatic transport device 10-1~10-5 Object detection sensor 20 Running mechanism 30A, 30B CPU 31 Driving control unit 32A, 32B Object detection processing unit 33 Load shift detector 34 Output control section 35 Cargo Information Acquisition Unit 40 Detection range information storage unit 50 Output section 60A, 60B Load shift detector C1, C2, C3, C4, C5 Object detection range D blind spot E, E1, E2, E3, E4, E5, E6, E7 Load shift detection range F1, F2 Obstacle Detection Range X object Y object Z1, Z2, Z3, Z4 Luggage

Claims

1. A load collapse detection device communicably connected to an object detection sensor that detects objects around an automatic conveying device, a detection range information storage unit that stores information indicating a load shift detection range adjacent to the automatic transport device within the detection range of the object detection sensor, and information indicating an obstacle detection range around the load shift detection range within the detection range of the object detection sensor; an object detection processing unit that acquires a detection result by the object detection sensor while the automatic transport device is traveling and detects an object within the load collapse detection range and an object within the obstacle detection range; a load collapse determination unit which, when an object within the load collapse detection range is detected by the object detection processing unit, determines whether the object was detected within the obstacle detection range before being detected within the load collapse detection range, and determines that the object has fallen due to load collapse if the object was not detected within the obstacle detection range before being detected within the load collapse detection range.

2. The load shift detection device for an automatic transport device according to claim 1 , wherein the object detection processing unit updates the load shift detection range based on a traveling state of the automatic transport device.

3. A load shift detection device communicably connected to an object detection sensor that detects objects around the automatic transport device, storing information indicating a load shift detection range adjacent to the automatic transport device within the detection range of the object detection sensor, and information indicating an obstacle detection range around the load shift detection range within the detection range of the object detection sensor; Obtaining a detection result by the object detection sensor while the automatic transport device is traveling, and monitoring whether or not an object has been detected within the load collapse detection range and the obstacle detection range by the object detection sensor; When an object is detected within the load collapse detection range, the method determines whether or not the object was detected within the obstacle detection range before being detected within the load collapse detection range, and if the object was not detected within the obstacle detection range before being detected within the load collapse detection range, determines that the object has fallen due to load collapse.

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