Obstacle detection device, automated guided vehicle, and obstacle detection program

Abstract

To detect obstacles around a light emitter / receiver.SOLUTION: An obstacle detection device includes a second control unit. The second control unit has a detection area storage unit that stores in advance a plurality of obstacle detection areas for detecting obstacles around a light emitter / receiver 19, and an obstacle detection unit that detects surrounding obstacles in the horizontal direction of the light emitter / receiver by analyzing reflected light in any of the obstacle detection areas. The plurality of obstacle detection areas includes an obstacle detection area EB of a pattern B that does not include the area in the direction of a lift member in the horizontal direction. The obstacle detection unit switches the obstacle detection area based on the height of the lift member to prevent erroneous detection of the lift member or a load as an obstacle.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to an obstacle detection device for an automated guided vehicle, an automated guided vehicle including the obstacle detection device, and an obstacle detection program. [Background technology]

[0002] Conventionally, automated guided vehicles that travel and handle cargo autonomously are known. Among these types of automated guided vehicles, there is an automated guided vehicle disclosed in Patent Document 1, for example, that detects its own position using a projector / receiver provided on the vehicle body and multiple reflectors arranged at predetermined positions within a facility. This automated guided vehicle detects its own position by irradiating a laser with the projector / receiver and detecting the reflected laser light from the multiple reflectors. In addition, this automated guided vehicle further includes a lifting means for raising and lowering the projector / receiver, and the projection height and the reception height can be changed by raising and lowering this lifting means. As a result, even if there is an obstacle that blocks the laser, this automated guided vehicle can raise the projector / receiver and irradiate the laser to avoid the obstacle.

[0003] Incidentally, an automated guided vehicle may be moved manually for maintenance or the like. At this time, the light emitter / receiver, which is located higher than the vehicle body, may collide with the upper frame of an entrance / exit in a facility. For example, an automated guided vehicle disclosed in Patent Document 2 is an automated guided vehicle equipped with an obstacle sensor to prevent the vehicle from colliding with an obstacle. This automated guided vehicle is configured to detect an obstacle using the obstacle sensor and to decelerate and stop before colliding with the obstacle. However, the obstacle sensor disclosed in Patent Document 2 only detects obstacles to the vehicle body, loading equipment, and load of the automated guided vehicle, and does not take into consideration obstacles to the light emitter / receiver. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 08-161038 [Patent Document 2] JP 2017-224136 A Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, the problem that the present invention aims to solve is to provide an obstacle detection device capable of detecting obstacles around a light emitter / receiver, an unmanned guided vehicle equipped with the obstacle detection device, and an obstacle detection program. [Means for solving the problem]

[0006] In order to solve the above problem, the obstacle detection device according to the present invention is an obstacle detection device for an automatic guided vehicle, the automatic guided vehicle includes a lift member that can be raised and lowered, a height detection unit that detects the height of the lift member, an irradiation unit that irradiates a laser while rotating in a horizontal direction, and a light receiving unit that detects reflected light of the laser, and a light projector / receiver having such a unit, and a first control unit. The first control unit includes a position estimation unit that analyzes the reflected light to estimate the positions of a plurality of reflectors arranged at predetermined positions in a facility, and estimates the position of the automatic guided vehicle. The obstacle detection device includes a second control unit. The second control unit includes a detection area storage unit that pre-stores a plurality of obstacle detection areas for detecting obstacles around the light projector / receiver, and an obstacle detection unit that analyzes the reflected light in any of the obstacle detection areas to detect obstacles around the light projector / receiver in the horizontal direction. The plurality of obstacle detection areas include an obstacle detection area that does not include an area in the direction of the lift member in the horizontal direction, and the obstacle detection unit switches the obstacle detection area based on the height of the lift member to prevent erroneous detection of the lift member or the load as an obstacle.

[0007] The obstacle detection device is preferably configured such that the unmanned guided vehicle can be switched to traveling under manual operation by a user not riding in the unmanned guided vehicle, and the first control unit is configured to estimate the position of the unmanned guided vehicle using the position estimation unit when the unmanned guided vehicle is traveling under manual operation, and the second control unit detects obstacles using the obstacle detection unit when the unmanned guided vehicle is traveling under manual operation.

[0008] In the above obstacle detection device, the automated guided vehicle preferably further includes a light emitter / receiver lifting unit that raises and lowers the light emitter / receiver, and the obstacle detection unit further switches the obstacle detection area based on the height of the light emitter / receiver.

[0009] In order to solve the above problem, the automated guided vehicle according to the present invention includes a light projector / receiver having a lift member that can be raised and lowered, a height detection unit that detects the height of the lift member, an irradiation unit that irradiates a laser while rotating in a horizontal direction, and a light receiving unit that detects reflected light of the laser, a first control unit, and an obstacle detection device. The first control unit has a position estimation unit that analyzes the reflected light to estimate the positions of multiple reflectors arranged at predetermined positions in a facility and estimates the position of the automated guided vehicle. The obstacle detection device has a second control unit, which has a detection area storage unit that pre-stores multiple obstacle detection areas for detecting obstacles around the light projector / receiver, and an obstacle detection unit that analyzes the reflected light in any of the obstacle detection areas to detect obstacles around the light projector / receiver in the horizontal direction, and the multiple obstacle detection areas include obstacle detection areas that do not include an area in the lift member direction in the horizontal direction. The obstacle detection unit switches the obstacle detection area based on the height of the lift member to prevent erroneous detection of the lift member or the load as an obstacle.

[0010] In order to solve the above problems, the obstacle detection program according to the present invention is an obstacle detection program for an automated guided vehicle, the automated guided vehicle includes a lift member that can be raised and lowered, a height detection unit that detects the height of the lift member, an emitter / receiver having an emitter / receiver that emits a laser while rotating horizontally, and a receiver that detects reflected light of the laser, and a computer, and is configured to analyze the reflected light to estimate the position of a reflector arranged at a predetermined position in a facility, thereby estimating the position of the automated guided vehicle. The obstacle detection program causes the computer to operate as the second control unit. Effect of the Invention

[0011] The obstacle detection device according to the present invention and the automated guided vehicle equipped with the obstacle detection device can detect obstacles around the light emitter and receiver. [Brief description of the drawings]

[0012] [Figure 1] 1 is a side view showing an automated guided vehicle according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a perspective view showing autonomous driving of the automated guided vehicle shown in FIG. [Diagram 3] 2 is a schematic diagram showing the automatic guided vehicle shown in FIG. 1 traveling under manual operation. FIG. [Figure 4] FIG. 2 is a functional block diagram of the obstacle detection device. [Diagram 5] FIG. 1A is a schematic side view showing the height of each pattern of the obstacle detection device, and FIG. 1B is a schematic plan view showing the obstacle detection area for each pattern. [Figure 6] FIG. 1A is a table showing an example of setting values ​​for the obstacle detection area, and FIG. 1B is a schematic plan view showing an automatic guided vehicle and the obstacle detection area. [Figure 7] 11 is a schematic side view showing an operation of the obstacle detection unit switching the obstacle detection area based on a predetermined height of the lift member. FIG. [Figure 8]FIG. 1A is a schematic side view showing the operation of the obstacle detection unit switching the obstacle detection area for each height of the lift member, and FIG. 1B is a schematic plan view showing the obstacle detection area for each pattern. [Figure 9] 11 is a table showing a judgment formula for switching an obstacle detection area and area patterns corresponding to the judgment results. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] First Embodiment Hereinafter, a first embodiment of an obstacle detection device and an unmanned guided vehicle equipped with the obstacle detection device of the present invention will be described with reference to the attached drawings. The double-headed arrows X, Y, and Z in the drawings are based on the traveling direction of the vehicle.

[0014] <Automated Guided Vehicle> First, the configuration of an automated guided vehicle 1 will be described. Fig. 1 is a side view showing an automated guided vehicle 1 according to one embodiment of the present invention. The automated guided vehicle 1 includes a vehicle body 10, wheels 11, a drive unit 12, a mast 13, a fork 14, a backrest 15, a lift bracket 16, a chain (not shown), a reel 17 (see Fig. 4), a hydraulic cylinder 18, a light emitter / receiver 19, an operation pendant 20 (see Fig. 3), and a computer 22.

[0015] The vehicle body 10 is mounted on wheels 11, and the drive unit 12 is mounted inside the vehicle body 10. The drive unit 12 is configured to rotate the wheels 11 (drive wheels), turn the wheels 11, and stop the rotation of the wheels 11.

[0016] Although not described in detail in this specification, the automatic guided vehicle 1 is additionally provided with an obstacle sensor for preventing the vehicle body 10 from colliding with an obstacle on the travel path while traveling.

[0017] The mast 13 has an outer mast 13a and an inner mast 13b, and is disposed at the rear of the vehicle body 10. The inner mast 13b is configured to be able to rise and fall along the outer mast 13a. The fork 14 and the backrest 15 are connected to a lift bracket 16.

[0018] One end of the chain is connected to the outer mast 13a, and the other end of the chain is connected to the lift bracket 16 via a reel 17. When the hydraulic cylinder 18 extends or retracts, the inner mast 13b moves up and down along the outer mast 13a, and the lift bracket 16 also moves up and down. The reel 17 is configured to rotate by the amount that the hydraulic cylinder 18 extends or retracts.

[0019] The inner mast 13b, the fork 14, the backrest 15 and the lift bracket 16 correspond to the "lifting member" of the present invention. The automated guided vehicle of the present invention may be equipped with other attachments. For example, the automated guided vehicle 1 may be an automated forklift capable of loading and unloading in three directions by shifting and rotating. In this case, an L-shaped head and the like are also included in the lifting member. In other words, the lifting member of the present invention is a member that is raised and lowered by a lifting device such as a hydraulic cylinder 18.

[0020] The light emitter / receiver 19 has an irradiation unit and a light receiving unit. As shown in Fig. 2, the irradiation unit emits a laser L while rotating horizontally, and the light receiving unit detects reflected light of the laser L from multiple reflectors R arranged at predetermined positions within the facility.

[0021] The operation pendant 20 has a cord 20a, and switches, buttons, etc. for a user U who is not on the automated guided vehicle 1 to operate the vehicle, and is configured to be able to communicate with the computer 22 by wire, as shown in FIG. 3. The operation pendant 20 is merely an example, and the components for the user U to manually operate the automated guided vehicle 1 are not limited to this, and the automated guided vehicle 1 may be configured to be operated by wireless operation. In this embodiment, during manual operation, the maximum speed in the normal driving mode when the automated guided vehicle 1 moves forward is set to 2.52 [km / h], and the maximum speed in the normal driving mode when the automated guided vehicle 1 moves backward is set to 1.08 [km / h]. Moreover, the maximum speed of the automated guided vehicle 1 during the deceleration driving mode is set to 0.8 [km / h] for both forward and backward movements.

[0022] 4 is a functional block diagram of the automatic guided vehicle 1. As shown in FIG.

[0023] The height detection unit 21 is configured to detect the height of the lift member by a known technique. For example, the automated guided vehicle 1 may further include a reel encoder that detects the number of rotations of the reel 17, and the height estimation unit may detect the height of the lift member based on the number of rotations of the reel 17 received from the reel encoder. Note that the configuration in which the height detection unit 21 detects the height of the lift member is not limited to this.

[0024] The computer 22 has a storage device, a memory, and an arithmetic unit, and is housed in the vehicle body 10. The storage device stores an operating system (OS), a position estimation program, and an obstacle detection program. The position estimation program causes the computer 22 to operate as a first control unit 23 of the present invention, and the obstacle detection program causes the computer 22 to operate as a second control unit 30 of the present invention.

[0025] The first control unit 23 includes a traveling control unit 23a, a first storage unit 23b, and a position estimation unit 23c.

[0026] The travel control unit 23a controls the drive unit 12 to rotate and stop the wheels 11.

[0027] The first storage unit 23b stores the positions of the reflectors R arranged within the facility and the travel route of the automatic guided vehicle 1.

[0028] The position estimation unit 23c analyzes the reflected light of the laser L from the multiple reflectors R to estimate the position of the automatic guided vehicle 1. The estimated position of the automatic guided vehicle 1 is transmitted to the travel control unit 23a.

[0029] Based on the travel route and the received position of the automatic guided vehicle 1, the travel control unit 23a autonomously causes the automatic guided vehicle 1 to travel on the travel route, as shown in FIG.

[0030] <Obstacle detection device> Next, the configuration of the obstacle detection device 3 will be described. The obstacle detection device 3 includes a second control unit 30. In this embodiment, the first and second control units 23, 30 are configured from the same computer 22, but the first and second control units 23, 30 may be configured from separate computers 22. The second control unit 30 includes a second storage unit 30a and an obstacle detection unit 30b. The second storage unit 30a corresponds to the "detection area storage unit" of the present invention. In this embodiment, the obstacle detection device 3 is set to operate only during manual operation.

[0031] The second storage unit 30a stores a plurality of obstacle detection areas E for detecting objects around the light emitter / receiver 19 as obstacles O. FIG. 5 is a schematic plan view showing the obstacle detection areas E. As shown in FIG. 5, the plurality of obstacle detection areas E include an obstacle detection area EA of a pattern A that includes an area in the direction of the mast 13, and an obstacle detection area EB of a pattern B that does not include an area in the direction of the mast 13. Note that in this specification, the obstacle detection areas EA and EB are configured in a rectangular shape, but this is merely an example, and the shape of the obstacle detection area E is not limited to this.

[0032] FIG. 6A is a table showing an example of the setting of the obstacle detection area E. Rows A and B in FIG. 6A show the setting values ​​of the A pattern and the B pattern, respectively. FIG. 6B is a schematic plan view showing the automated guided vehicle 1 and the obstacle detection area E, showing the parts corresponding to X1, X2, Y1, and Y2 in the table. As shown in FIG. 6B, X1 shows the rear length from the center of the light emitter / receiver 19, and X2 shows the front length from the center of the light emitter / receiver. Also, Y1 shows the left length from the center of the light emitter / receiver 19, and Y2 shows the right length from the center of the light emitter / receiver 19.

[0033] As shown in FIG. 6A, the obstacle detection area E may be set for each vehicle model. As shown in FIG. 5, in this embodiment, the obstacle detection areas EA and EB of the A and B patterns each have a deceleration area E1 and a stop area E2. The deceleration area E1 is an area set in the normal driving mode, and the stop area E2 is an area set in the deceleration driving mode. The lengths of X1 and X2 in the deceleration area E1 are different because, when an obstacle O is detected in the normal driving mode, deceleration is first required, and the distance until deceleration is completed differs depending on the maximum speed, and the maximum speed differs depending on whether the vehicle is traveling forward or backward. In addition, the stop area E2 is an area used in the deceleration driving mode, and is set narrower than the deceleration area E1.

[0034] The obstacle detection unit 30b switches the obstacle detection area E between pattern A and pattern B based on a predetermined height of the lift member. Fig. 7 shows the operation of the obstacle detection unit 30b to switch the obstacle detection area E between pattern A and pattern B based on a predetermined height H of the lift member. In Fig. 7, the height of the forks 14 is shown as the height of the lift members, but this is because the height detection unit 21 detects the height of the lift members based on the number of revolutions of the reel 17, and because the number of revolutions of the reel 17 and the height of the forks 14 are linked, the number of revolutions of the reel 17 (i.e., the height of the lift members) is shown as the height of the forks 14.

[0035] The obstacle detection unit 30b analyzes the reflected light of the laser L from objects other than the reflector R, such as pillars and walls, and detects the angle of the reflected light and the horizontal distance from the center of the light projector / receiver 19 to the surrounding objects. When the obstacle detection unit 30b determines that the surrounding objects are located within the obstacle detection area E, it determines that an obstacle O is present around the light projector / receiver 19 and transmits an obstacle detection signal to the traveling control unit 23a, and switches the obstacle detection area E from the deceleration area E1 to the stop area E2.

[0036] When the traveling control unit 23a receives an obstacle detection signal in the normal traveling mode during manual operation, the traveling control unit 23a changes the traveling mode of the automated guided vehicle 1 to a deceleration traveling mode. That is, in this embodiment, the traveling control unit 23a decelerates the maximum speed of the automated guided vehicle 1 from 2.52 [km / h] or 1.08 [km / h] to 0.8 [km / h].

[0037] Furthermore, when the obstacle detection unit 30b analyzes the reflected light of the laser L and identifies that a surrounding object is located within the obstacle detection area E, it determines that an obstacle O is present around the light emitter / receiver 19 and transmits an obstacle detection signal to the travel control unit 23a. When the travel control unit 23a receives an obstacle detection signal during deceleration travel mode during manual operation, it stops the travel of the automatic guided vehicle 1. In this way, the obstacle detection device 3 prevents the light emitter / receiver 19 from colliding with the obstacle O.

[0038] In addition, when the forks 14 (lift members) are equal to or higher than a predetermined height H, the obstacle detection unit 30b switches the obstacle detection area E from pattern A to pattern B, thereby preventing the lift members including the inner mast 13b from being erroneously detected as an obstacle O. This enables the obstacle detection device 3 to properly detect the obstacle O.

[0039] In this way, the obstacle detection device 3 utilizes the light emitter / receiver 19 as an obstacle detection sensor, thereby making it possible to reduce the cost of providing a new obstacle detection sensor.

[0040] For example, when the automated guided vehicle 1 is moved off the travel route (lined out) by manual operation, it is difficult to quickly detect its own position even if it is returned to the travel route (lined in), and it cannot smoothly return to automatic driving, but by continuing to detect its own position by the position estimation unit 23c even when it is operated manually, it can smoothly return to automatic driving. That is, according to the configuration of this embodiment, when the automated guided vehicle 1 is operated manually, it can detect an obstacle O by the obstacle detection unit 30b while irradiating the laser L by the light projector / receiver 19, and can continue to estimate its own position at all times by the position estimation unit 23c, so that it can safely travel manually and can smoothly return from manual operation to automatic driving.

[0041] <Second embodiment> Next, a second embodiment of the obstacle detection device and the automatic guided vehicle including the obstacle detection device of the present invention will be described. Note that the description of the same configuration as the first embodiment may be omitted.

[0042] <Automated Guided Vehicle> The automated guided vehicle 1 further includes a light emitter / receiver lifting unit (not shown) that lifts and lowers the light emitter / receiver 19. Other configurations of the automated guided vehicle 1 are similar to those of the automated guided vehicle 1 of the first embodiment. Therefore, a description of the other configurations will be omitted.

[0043] The light emitter / receiver lifting unit is configured by a known technology and lifts and lowers the light emitter / receiver 19. As a result, even if the heights of the multiple reflectors R arranged in the facility are different, the automated guided vehicle 1 can lift and lower the light emitter / receiver 19 to appropriately irradiate the laser L to each reflector R. The light emitter / receiver lifting unit may be configured, for example, by a telescopic mechanism, but this is merely an example and the configuration of the light emitter / receiver lifting unit is not limited to this. As shown in FIG. 8, the light emitter / receiver lifting unit of this embodiment is configured to change the height of the light emitter / receiver 19 at three levels: a lower limit position, an intermediate position, and an upper limit position. However, this is also merely an example, and the light emitter / receiver lifting unit may position the light emitter / receiver 19 at another height or at four or more levels.

[0044] <Obstacle detection device> The obstacle detection device 3 has the same physical configuration as in the first embodiment, so a description of the configuration similar to that in the first embodiment will be omitted.

[0045] The obstacle detection unit 30b switches the obstacle detection area E between pattern A and pattern B based on the height of the light emitter / receiver 19 and the height of the lift member. Fig. 8 shows the operation of the obstacle detection unit 30b to switch the obstacle detection area E between pattern A and pattern B based on the height of the light emitter / receiver 19 and the lift member. As shown in Fig. 8, first to third reference heights are set for the lower limit position, intermediate position, and upper limit position of the light emitter / receiver 19, respectively.

[0046] Fig. 9 shows in a table the judgment formula used when switching the obstacle detection area E and the area patterns corresponding to the judgment results. As shown in Fig. 9, the obstacle detection unit 30b judges whether the height of the lift member (fork height) is equal to or higher than the corresponding reference height for each height of the light emitter / receiver 19, and switches the pattern of the obstacle detection area E based on the judgment result.

[0047] The obstacle detection unit 30b detects an obstacle O around the light emitter / receiver 19 by referring to the switched obstacle detection area E and the positions of objects around the light emitter / receiver 19, and when an obstacle O is detected, transmits an obstacle detection signal to the travel control unit 23a in the same manner as in the first embodiment. The travel control unit 23a decelerates or stops the automatic guided vehicle 1 in the same manner as in the first embodiment.

[0048] With the above configuration, when the unmanned guided vehicle 1 is manually operated, it can detect its own position by appropriately irradiating the laser L to each reflector R, while avoiding detecting the lift member as an obstacle O, thereby appropriately preventing the light emitter / receiver 19 from colliding with the obstacle O.

[0049] Although the first and second embodiments of the present invention have been described above, the obstacle detection device, the automated guided vehicle including the obstacle detection device, and the obstacle detection program of the present invention are not limited to the above-mentioned embodiments. The obstacle detection device, the automated guided vehicle, and the obstacle detection program of the present invention may be embodied, for example, in the following modified examples.

[0050] <Modification> The obstacle detection device 3 may also operate during autonomous driving of the automated guided vehicle 1. In this case, it is preferable that the area of ​​the obstacle detection area E differs depending on the maximum speed setting of the automated guided vehicle 1 (for example, the setting for each area in a facility). Furthermore, when operating during autonomous driving, the obstacle detection unit 30b may further switch the pattern of the obstacle detection area E based on the height of a load being carried by the automated guided vehicle 1. In this case, the obstacle detection device 3 may further include a load height detection unit that detects the height of the load.

[0051] In the case of pattern B, the length X1 of the obstacle detection area E in the lift member direction does not have to be 0. However, even in this case, X1 is set to a length that does not cause the obstacle detection unit 30b to erroneously detect the lift member as an obstacle O.

[0052] The obstacle detection device 3 may further include an alarm device and may be configured to issue an alarm when an obstacle O is detected. [Explanation of symbols]

[0053] 1. Automated guided vehicle 10. Body 11 wheels 12 Drive unit 13 Mast 13a Outer Mast 13b Innamast 14. Fork 15 Backrest 16 Lift bracket 17 Reel 18 Hydraulic Cylinder 19 Emitter / receiver 20 Operation Pendant 21 Height detection unit 22 Computers 23 First Control Section 23a Driving control unit 23b 1st memory section 23c Position estimation part 3 Obstacle detection device 30 Second Control Section 30a Second memory unit (detection area memory unit) 30b Obstacle detection unit L Laser O Obstacles R Reflector U User E Obstacle detection area E1 Deceleration area E2 Stop Area

Claims

1. An obstacle detection device for an automated guided vehicle, comprising: The automated guided vehicle is A lift member that can be raised and lowered; A height detection unit that detects the height of the lift member; a light projector / receiver having an irradiation unit that irradiates a laser while rotating in a horizontal direction and a light receiving unit that detects reflected light of the laser; A first control unit, The first control unit is a position estimation unit that estimates positions of a plurality of reflectors arranged at predetermined positions in a facility by analyzing the reflected light, and estimates a position of the automatic guided vehicle; The obstacle detection device includes a second control unit, The second control unit is a detection area storage unit that stores in advance a plurality of obstacle detection areas for detecting obstacles around the light emitter / receiver; an obstacle detection unit that detects the obstacle around the light emitter / receiver in a horizontal direction by analyzing the reflected light in any one of the obstacle detection areas, The obstacle detection areas include an obstacle detection area that does not include an area in a horizontal direction of the lift member, The obstacle detection unit switches the obstacle detection area based on the height of the lift member to prevent erroneous detection of the lift member or the load as the obstacle.

2. The automated guided vehicle can be switched to traveling by manual operation of a user who is not riding in the automated guided vehicle, the first control unit is configured to estimate a position of the automatic guided vehicle by the position estimation unit when the automatic guided vehicle travels by the manual operation, The obstacle detection device according to claim 1 , wherein the second control unit detects the obstacle by the obstacle detection unit when the automatic guided vehicle travels by the manual operation.

3. The automated guided vehicle further includes a light emitter / receiver lifting unit that lifts and lowers the light emitter / receiver, 3. The obstacle detection device according to claim 1, wherein the obstacle detection unit further switches the obstacle detection area based on a height of the light emitter / receiver.

4. An automated guided vehicle, A lift member that can be raised and lowered; A height detection unit that detects the height of the lift member; a light projector / receiver having an irradiation unit that irradiates a laser while rotating in a horizontal direction and a light receiving unit that detects reflected light of the laser; A first control unit; An obstacle detection device, The first control unit is a position estimation unit that estimates positions of a plurality of reflectors arranged at predetermined positions in a facility by analyzing the reflected light, and estimates a position of the automatic guided vehicle; The obstacle detection device includes: A second control unit is provided. The second control unit is a detection area storage unit that stores in advance a plurality of obstacle detection areas for detecting the obstacles around the light emitter / receiver; an obstacle detection unit that detects obstacles around the light emitter / receiver in a horizontal direction by analyzing the reflected light in any one of the obstacle detection areas, The obstacle detection areas include an obstacle detection area that does not include an area in a horizontal direction of the lift member, The obstacle detection unit of the automated guided vehicle switches the obstacle detection area based on the height of the lift member to prevent erroneous detection of the lift member or a load as the obstacle.

5. An obstacle detection program for an automated guided vehicle, comprising: The automated guided vehicle is A lift member that can be raised and lowered; A height detection unit that detects the height of the lift member; a light projector / receiver having an irradiation unit that irradiates a laser while rotating in a horizontal direction and a light receiving unit that detects reflected light of the laser; A computer, The computer is configured to analyze the reflected light to estimate a position of a reflector disposed at a predetermined position in a facility and estimate a position of the automated guided vehicle, The obstacle detection program includes: An obstacle detection program that causes the computer to operate as the second control unit according to claim 1.

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