Collision Detection Device

Abstract

To improve the safety of conveyance by an automatic conveyance robot.SOLUTION: A collision detection device is mounted on at least one of a cargo bed and a cargo loaded on the cargo bed. The collision detection device includes a first belt, at least one collision detection unit including a belt guide ring into which the first belt is inserted, and a control device receiving a signal from at least one collision detection unit. At least one collision detection unit is fixed by winding the first belt around at least one of side surfaces of the cargo bed and side surfaces of the cargo.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to a collision detection device used in an automatic transport robot. [Background technology]

[0002] In recent years, technological development of automatic guided vehicles (AGVs) has progressed, leading to the development of automatic transport robots that automatically transport a platform (cart) on which materials are loaded at, for example, construction sites. For example, the automatic transport robot disclosed in Patent Document 1 slides under the platform on which the materials are loaded, lifts the platform, and travels automatically in this state. By transporting materials while automatically traveling, the automatic transport robot can save on human resources for transporting materials. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-59460 A [Patent Document 2] Patent Publication No. 2021-70420 [Patent Document 3] Patent Publication No. 2021-70424 [Patent Document 4] Patent Publication No. 2021-70428 [Patent Document 5] Patent Publication No. 2021-102415 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the case of an automatic transport robot that can get under a loading platform, it is not always easy to operate the emergency stop switch and the emergency stop release switch provided on the automatic transport robot.

[0005] An object of one embodiment of the present invention is to improve the safety of transportation by an automatic transport robot. [Means for solving the problem]

[0006] A collision detection device according to one embodiment of the present invention is a collision detection device that is attached to at least one of a loading platform and luggage loaded on the loading platform, and includes a first belt, at least one collision detection unit including a belt guide ring through which the first belt is inserted, and a control device that receives a signal from the at least one collision detection unit, and the at least one collision detection unit is fixed by wrapping the first belt around at least one of a side of the loading platform and a side of the luggage.

[0007] At least one collision detector may be provided at a corner of at least one of the platform and the luggage.

[0008] At least one collision detection portion may include a body bent in a dogleg shape and a collision detection sensor.

[0009] The control device may include a signal generating unit that receives a signal from at least one collision detection unit and generates an emergency stop signal that brings the automatic transport robot towing the loading platform to an emergency stop.

[0010] The control device may further include an emergency stop release switch for releasing an emergency stop of the automatic transfer robot.

[0011] The collision detection device may further include a second belt that is wrapped around the luggage, and the first belt and the second belt may cross each other.

[0012] The first belt may include a first conductor through which a signal from the at least one collision detection unit is transmitted, and the second belt may include a second conductor electrically connected to the first conductor, the second conductor electrically connected to a control device, and the control device may receive a signal from the at least one collision detection unit via the first conductor and the second conductor.

[0013] Each of the first conductor and the second conductor may have a stranded construction, and the first conductor may be in contact with a conductive protrusion extending from the at least one collision detector.

[0014] The control device may include a connection terminal, and a wire from the at least one collision detection unit may be connected to the connection terminal. Effect of the Invention

[0015] The collision detection device according to one embodiment of the present invention can detect a collision of a platform or luggage and can quickly stop the movement of the automatic transport robot. Furthermore, the collision detection device according to one embodiment of the present invention allows a user to easily operate the emergency stop switch and the emergency stop switch. Therefore, the safety of transport by the automatic transport robot can be improved. [Brief description of the drawings]

[0016] [Figure 1] 1 is a schematic perspective view showing a configuration of a collision detection device according to an embodiment of the present invention; [Diagram 2] 1 is a schematic perspective view illustrating a usage mode of a collision detection device according to an embodiment of the present invention. [Diagram 3] 1 is a schematic side view illustrating a usage mode of a collision detection device according to an embodiment of the present invention. [Figure 4] 1 is a schematic perspective view illustrating a usage mode of a collision detection device according to an embodiment of the present invention. [Diagram 5] 1 is a block diagram illustrating a configuration of a control device of a collision detection device according to an embodiment of the present invention. [Figure 6] 1 is a schematic perspective view showing a configuration of a collision detection device according to an embodiment of the present invention; [Figure 7] 2A and 2B are a plan view and a cross-sectional view showing a configuration of a belt of a collision detection device according to an embodiment of the present invention. [Figure 8] 2A and 2B are a plan view and a cross-sectional view of an intersection between a first belt and a second belt of a collision detection device according to an embodiment of the present invention. [Figure 9] 4 is a schematic diagram illustrating electrical connections between a collision detection unit and a first conductor and a second conductor of a first belt in a collision detection device according to an embodiment of the present invention. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, each embodiment of the present invention will be described with reference to the drawings, etc. However, the present invention can be embodied in various forms without departing from the gist of the present invention, and the present invention should not be interpreted as being limited to the description of the embodiments exemplified below.

[0018] In the drawings, the width, thickness, shape, etc. of each part may be shown diagrammatically compared to the actual embodiment in order to make the explanation clearer, but it is merely an example and does not limit the interpretation of the present invention. In this specification and each figure, elements having the same function as those described with respect to the previous figures may be given the same reference numerals and duplicated explanations may be omitted. When multiple elements having the same or similar structure are to be distinguished from each other and described, a hyphen and a natural number are added after the reference numeral. When multiple elements having the same or similar structure are to be collectively described, only the reference numerals are used.

[0019] First Embodiment A collision detection device 10 according to one embodiment of the present invention will be described with reference to FIGS.

[0020] [1. Configuration of collision detection device 10] 1 is a schematic perspective view showing a configuration of a collision detection device 10 according to an embodiment of the present invention. The collision detection device 10 includes a control device 100, a plurality of collision detection units 200 (a first collision detection unit 200-1, a second collision detection unit 200-2, a third collision detection unit 200-3, and a fourth collision detection unit 200-4), and a first belt 300-1.

[0021] The control device 100 includes a main body 110, an emergency stop switch 120, an emergency stop release switch 130, and a connection terminal 140. Although details will be described later, the control device 100 is connected to the automatic transfer robot so as to be able to communicate with the automatic transfer robot. The emergency stop switch 120 and the emergency stop release switch 130 are switches for bringing the automatic transfer robot to an emergency stop and releasing the emergency stop. The emergency stop switch 120 and the emergency stop release switch 130 are provided on the top surface of the main body 110. The connection terminal 140 is a terminal for receiving a signal from the collision detection unit 200. The emergency stop switch 120 and the emergency stop release switch 130 may be integrated switches.

[0022] The collision detection unit 200 includes a main body 210, a collision detection sensor 220, a belt guide ring 230, a wiring 240, and a connector 250. The main body 210 has a bent shape. The collision detection sensor 220 may be provided inside the main body 210 or on the surface of the main body 210. The collision detection sensor 220 can detect a collision with the main body 210 and may be a contact sensor or a pressure sensor. The belt guide ring 230 is fixed to the main body 210, and the first belt 300-1 is passed through the belt guide ring 230, so that the collision detection unit 200 can be connected to the first belt 300-1. That is, the first belt 300-1 is inserted through the belt guide rings 230 of the first collision detection unit 200-1, the second collision detection unit 200-2, the third collision detection unit 200-3, and the fourth collision detection unit 200-4, so that the first collision detection unit 200-1, the second collision detection unit 200-2, the third collision detection unit 200-3, and the fourth collision detection unit 200-4 are connected to the first belt 300-1. The wiring 240 can transmit a signal from the collision detection sensor 220, and a connector 250 is provided at one end of the wiring 240. The connector 250 can be connected to the connection terminal 140. Therefore, the connector 250 is connected to the connection terminal 140, so that the signal from the collision detection sensor 220 is input to the control device 100.

[0023] The first belt 300-1 is provided with a fastener 310 at one end, and the other end can be fastened. The fastener 310 can adjust the fastening position of the other end of the first belt 300-1. Therefore, the size (or perimeter) of the area surrounded by the first belt 300-1 can be adjusted by the fastener 310.

[0024] [2. Usage of the collision detection device 10] 2 and 3 are schematic perspective and side views for explaining a usage mode of the collision detection device 10 according to an embodiment of the present invention. The automatic transport robot 20 slips under the loading platform 30 and is connected to the loading platform 30. The loading platform 30 is a so-called dolly and includes casters. The luggage 50 is loaded on the loading platform 30. The automatic transport robot 20 can move forward, backward, or turn by driving a pair of crawlers, but since it is connected to the loading platform 30, the loading platform 30 can be moved using the casters of the loading platform 30 to transport the luggage 50 to a predetermined location. However, the transportation of the luggage 50 by the automatic transport robot 20 is not limited to this. The automatic transport robot 20 can also lift the casters of the loading platform 30 so that the casters are lifted off the floor surface, move without using the casters of the loading platform 30, and transport the luggage 50 to a predetermined location. The automatic transport robot 20 may move along a route created in advance. Although detailed configuration of the automatic transfer robot 20 is omitted, the automatic transfer robot 20 may be equipped with a sensor for measuring the position or distance of an obstacle, a sensor or an encoder for determining the position of the automatic transfer robot 20, and the like.

[0025] The cargo loaded on the loading platform 30 is not particularly limited, and may be, for example, various materials, tools, or equipment used at a construction site or a work site, or various office supplies such as paper, cardboard, desks, or chairs used in an office. Alternatively, the automatic transport robot 20 may be used in a restaurant, in which case, the cargo may be not only ingredients or cooking utensils, but also food to be served. For the sake of convenience, the cargo 50 will be described as having a rectangular flat plate shape.

[0026] The collision detection device 10 is attached by wrapping a first belt 300-1 around the side of the luggage 50. Since the length of the first belt 300-1 can be adjusted, the collision detection unit 200 can be fixed to the side of the luggage 50 regardless of the size of the luggage 50. Furthermore, since the main body 210 of the collision detection unit 200 has a dogleg shape, it can be fixed to a corner position of the luggage 50. Therefore, the collision detection device 10 can detect a collision of the side (particularly a corner) of the luggage 50 and bring the automatic transport robot 20 to an emergency stop.

[0027] Typically, the automatic transport robot 20 is provided with an emergency stop switch for an emergency stop and an emergency stop release switch. However, since the automatic transport robot 20 tows the loading platform 30 while being submerged under the loading platform 30, it is not necessarily easy to operate the emergency stop switch and emergency stop release switch of the automatic transport robot 20. In particular, when the baggage 50 is larger than the loading platform 30, it becomes even more difficult to operate the emergency stop switch and emergency stop release switch provided on the automatic transport robot 20.

[0028] However, when the collision detection device 10 is installed, the automatic transport robot 20 can be brought to an emergency stop or released from an emergency stop when the collision detection unit 200 detects a collision or when a user operates the emergency stop switch 120 or the emergency stop release switch 130 of the collision detection device 10. Therefore, by using the collision detection device 10, danger can be reliably avoided and damage from accidents can be kept to a minimum.

[0029] The control device 100 of the collision detection device 10 is preferably placed on the luggage 50, but is not limited to this. The control device 100 can be placed in a position where a user can easily press the emergency stop switch 120 and the emergency stop release switch 130. A connector 250 is connected to a connection terminal 140 of the control device 100, and a signal from the collision detection unit 200 is input to the control device 100 via a wiring 240.

[0030] The luggage 50 may have a second belt 300-2 wound around it. The second belt 300-2 is wound so as to cross the first belt 300-1, and can be fixed so that the luggage 50 does not collapse. The first belt 300-1 and the second belt 300-2 may cross each other via a connector 320. The connector 320 has a cross shape, and a part of the cross-shaped protruding area is opened. That is, the connector 320 has four openings (or two pairs of opposing openings), and the first belt 300-1 and the second belt 300-2 can be inserted into each of the opposing openings of the connector 320. By using the connector 320, the collision detection unit 200 can be stably fixed to the fixed luggage 50.

[0031] The material of the connector 320 may be metal, plastic, cloth, carbon fiber, or the like.

[0032] The collision detection device 10 may include components other than the second belt 300-2 and the connector 320.

[0033] The collision detection device 10 can also be used for a loading platform 30 that is not carrying any luggage 50. This will be described with reference to FIG.

[0034] FIG. 4 is a schematic perspective view illustrating a usage mode of the collision detection device 10 according to an embodiment of the present invention. The collision detection device 10 is attached by wrapping a first belt 300-1 around the side surface of the loading platform 30. Since the length of the first belt 300-1 can be adjusted, the collision detection unit 200 can be fixed to the side surface of the loading platform 30 regardless of the size of the loading platform 30. Furthermore, since the main body 210 of the collision detection unit 200 has a dogleg shape, it can be fixed to a corner position of the loading platform 30. Therefore, the collision detection device 10 can detect a collision with the side surface (particularly the corner) of the loading platform 30 and can bring the automatic transport robot 20 to an emergency stop.

[0035] In the above description, the luggage 50 and the loading platform 30 are described as being rectangular, but the shapes of the luggage 50 and the loading platform 30 are not limited to this. The shape of the collision detection unit 200 is also not limited to a V-shape. The collision detection unit 200 may have a shape that corresponds to a part of the shape of the luggage 50 or the loading platform 30.

[0036] [3. Configuration of control device 100] 5 is a block diagram illustrating the configuration of a control device 100 of the collision detection device 10 according to one embodiment of the present invention. In addition to an emergency stop switch 120 and an emergency stop release switch 130, the control device 100 includes a signal generating unit 150, a communication unit 160, and a battery 170. The collision detection device 10 (more specifically, the control device 100) can be communicatively connected to the automatic transfer robot 20 via a network NW such as the Internet or an intranet.

[0037] The control device 100 includes a so-called computer that can perform arithmetic processing using information or data. The computer includes, for example, a central processing unit (CPU), a microprocessor (MPU), or a graphics processing unit (GPU), a storage device such as a random access memory (RAM), a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), or a communication interface. The signal generating unit 150 can function by the computer executing a program stored in the storage device. The communication unit 160 is a communication interface, specifically, a wireless interface such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0038] The battery 170 can supply power to the components in the control device 100. The battery 170 is, for example, a rechargeable lithium ion battery, but is not limited to this. The battery 170 may supply power to the collision detection sensor 220 of the collision detection unit 200 via the wiring 240.

[0039] In the control device 100, the communication unit 160 can also function as a wireless power supply. In this case, the power supply from the communication unit 160 may charge the battery 170, or may directly supply power to the components in the control device 100 without going through the battery 170.

[0040] Although not shown, the control device 100 may also include a warning light or a sound output unit that notifies that the automatic transfer robot 20 is in an emergency stop state.

[0041] When the emergency stop switch 120 is pressed, or when a signal is received from the collision detection sensor 220 of the collision detection unit 200, the signal generation unit 150 generates an emergency stop signal. The generated emergency stop signal is transmitted to the automatic transfer robot 20 via the communication unit 160. The automatic transfer robot 20 receives the emergency stop signal and stops moving. Furthermore, when the emergency stop release switch 130 is pressed, the signal generation unit 150 generates an emergency stop release signal. The generated emergency stop release signal is transmitted to the automatic transfer robot 20 via the communication unit 160. The automatic transfer robot 20 receives the emergency stop release signal and starts moving.

[0042] As described above, in the collision detection device 10 according to one embodiment of the present invention, the collision detection unit 200 detects a collision and can quickly stop the automatic transport robot 20. In addition, the collision detection unit 200 can adjust the length of the first belt 300-1 and attach it to any size of baggage 50 or platform 30. In addition, in the collision detection device 10, the control device 100 including the emergency stop switch 120 and the emergency stop release switch 130 is installed in a position visible to the user, so that the user can easily operate the emergency stop switch 120 or the emergency stop release switch 130. Therefore, the safety of transport by the automatic transport robot 20 can be improved.

[0043] <Second embodiment> A collision detection device 10A according to one embodiment of the present invention will be described with reference to Figures 6 to 9. In the following, when the configuration of the collision detection device 10A is similar to that of the collision detection device 10, the description of the configuration of the collision detection device 10A may be omitted.

[0044] 6 is a schematic perspective view showing a configuration of a collision detection device 10A according to an embodiment of the present invention. The collision detection device 10 includes a control device 100A, a plurality of collision detection units 200A (a first collision detection unit 200-1, a second collision detection unit 200-2, and a third collision detection unit 200-3 are shown in FIG. 6), a first belt 300A-1, a second belt 300A-2, and a connector 320.

[0045] In the collision detection device 10A, wiring is provided in the first belt 300A-1 and the second belt 300A-2. That is, the collision detection device 10A includes the first belt 300A-1 and the second belt 300A-2 integrated with the wiring. The control device 100A is electrically connected to the wiring of the second belt 300A-2, and a signal from the collision detection unit 200A is input to the control device 100A through the wiring in the first belt 300A-1 and the second belt 300A-2. Therefore, the collision detection unit 200A does not have the wiring 240 and the connector 250, and the control device 100A does not have the connection terminal 140.

[0046] In the collision detection device 10A, the first belt 300A-1 and the second belt 300A-2 are in contact with each other at an intersection (the position of the connector 320). Note that, in the following, the configurations of the first belt 300A-1 and the second belt 300A-2 will be described with reference to Fig. 7 and Fig. 8, but when there is no particular need to distinguish between them, they may be described as the belt 300A.

[0047] Fig. 7 is a plan view and a cross-sectional view showing the configuration of a belt 300A of a collision detection device 10A according to an embodiment of the present invention. Fig. 7(B) is a cross-sectional view taken along the line A1-A2 in Fig. 7(A).

[0048] The belt 300A has a conductor 301A (first conductor 301A-1 and second conductor 301A-2) embedded in an insulator 302A. In other words, the conductor 301A is covered by the insulator 302A. The conductor 301A extends in the length direction of the belt 300A. When the belt 300A is flat, it is preferable that the conductor 301A is also flat. The cross-sectional shape of the conductor 301A is, for example, rectangular, but is not limited thereto. The cross-sectional shape of the conductor 301A may be circular, elliptical, polygonal, or the like.

[0049] The conductor 301A may be made of a metal such as aluminum. The conductor 301A may preferably have a stranded structure. The insulator 302A may be made of a cloth material such as a woven glass cloth or a woven carbon cloth, or a resin material such as polyvinyl chloride or polyethylene.

[0050] Fig. 8 is a plan view and a cross-sectional view of an intersection between a first belt 300A-1 and a second belt 300A-2 of a collision detection device 10A according to an embodiment of the present invention. Fig. 8(B) is a cross-sectional view taken along line B1-B2 in Fig. 8(A). Fig. 8(C) is a cross-sectional view taken along line C1-C2 in Fig. 8(C).

[0051] 8A, the first belt 300A-1 includes a first conductor 301A-1 and a second conductor 301A-2, and the second belt 300A-2 includes a third conductor 301A-3 and a fourth conductor 301A-4.

[0052] As shown in FIG. 8(B), at the intersection, the first conductor 301A-1 is electrically connected to the third conductor 301A-3. Specifically, an opening is provided in the insulator 302A of each of the first belt 300A-1 and the second belt 300A-2, and the first conductor 301A-1 and the third conductor 301A-3 are electrically connected. Also, as shown in FIG. 8(C), at the intersection, the second conductor 301A-2 is electrically connected to the fourth conductor 301A-4. Specifically, an opening is provided in the insulator 302A of each of the first belt 300A-1 and the second belt 300A-2, and the second conductor 301A-2 and the fourth conductor 301A-4 are electrically connected. Therefore, at the intersection, the first conductor 301A-1 is electrically connected to the third conductor 301A-3 but is not electrically connected to the fourth conductor 301A-4. Similarly, the second conductor 301A-2 is electrically connected to the fourth conductor 301A-4 but is not electrically connected to the third conductor 301A-3. Note that the electrical connection between the first conductor 301A-1 and the third conductor 301A-3 and the electrical connection between the second conductor 301A-2 and the fourth conductor 301A-4 may be made via a bump or a conductive adhesive material.

[0053] Next, an example of electrical connection between the collision detection section 200A and the first conductor 301A-1 and the second conductor 301A-2 of the first belt 300A-1 will be described with reference to FIG.

[0054] Fig. 9 is a schematic diagram for explaining electrical connection between the collision detection unit 200A and the first conductor 301A-1 and the second conductor 301A-2 of the first belt 300A-1 in the collision detection device 10A according to an embodiment of the present invention. Fig. 9(B) is a partial enlarged view of the region D in Fig. 9(A). Fig. 9(C) and Fig. 9(D) are schematic cross-sectional views for explaining the state before and after the electrical connection.

[0055] 9(A) and 9(B), the collision detection unit 200A includes a plurality of conductive protrusions 260A protruding from the main body 210A. The conductive protrusions 260A are provided on a surface of the main body 210A that contacts the first belt 300A-1. The conductive protrusions 260A are electrically connected to the collision detection sensor 220, and a signal from the collision detection sensor 220 can be transmitted via the conductive protrusions 260A.

[0056] FIG. 9(C) is a cross-sectional view before electrical connection between the collision detection unit 200A and the first conductor 301A-1 and the second conductor 301A-2 of the first belt 300A-1 is made, and as shown in FIG. 9(C), the conductive protrusions 260A are arranged to correspond to the first conductor 301A-1 and the second conductor 301A-2. Therefore, as shown in FIG. 9(D), when the main body 210A of the collision detection unit 200A is pressed against the insulator 302A of the first belt 300A-1, the conductive protrusions 260A break through the insulator 302A and can contact the first conductor 301A-1 and the second conductor 301A-2. If each of the first conductor 301A-1 and the second conductor 301A-2 has a twisted wire structure, the conductive protrusions 260A can contact without breaking the conductor. That is, the collision detection unit 200A is electrically connected to the first conductor 301A-1 and the second conductor 301A-2 via the conductive protrusion 260A. This allows a signal from the collision detection sensor 220 of the collision detection unit 200A to be transmitted to the control device 100A.

[0057] The electrical connection between the collision detection unit 200A and the first conductor 301A-1 and the second conductor 301A-2 of the first belt 300A-1 shown in FIG. 9 is merely an example, and is not limited to this.

[0058] As described above, in the collision detection device 10A according to one embodiment of the present invention, wiring (first conductor 301A-1 and second conductor 301A-2) is provided in the belt 300A, so that even when the collision detection device 10A is attached, there is no extra wiring on the outside. Therefore, when the automatic transfer robot 20 moves, the wiring does not get caught on an obstacle, so that the movement of the automatic transfer robot 20 can be stabilized.

[0059] Moreover, since the conductive protrusion 260A of the collision detection unit 200A can be electrically connected to the first conductor 301A-1 and the second conductor 301A-2 at any position on the first belt 300A-1, the collision detection device 10A can be attached regardless of the size of the luggage 50 or the platform 30. Furthermore, the conductive protrusion 260A is pressed against the first belt 300A-1, so that the position of the collision detection unit 200A can be fixed.

[0060] The various embodiments of the present invention described above can be combined as appropriate as long as they are not mutually inconsistent. Any embodiment in which a person skilled in the art appropriately adds or deletes components or modifies the design based on each embodiment is also included in the scope of the present invention as long as it includes the gist of the present invention.

[0061] Even if there are other effects and advantages different from those brought about by the respective embodiments described above, those which are clear from the description in this specification or which can be easily predicted by a person skilled in the art are naturally understood to be brought about by the present invention. [Explanation of symbols]

[0062] 10, 10A: collision detection device, 20: automatic transport robot, 30: loading platform, 50: luggage, 100, 100A: control device, 110: main body, 120: emergency stop switch, 130: emergency stop release switch, 140: connection terminal, 150: signal generation unit, 160: communication unit, 170: battery, 200, 200A: collision detection unit, 200-1: first collision detection unit, 200-2: second collision detection unit, 200-3: third collision detection unit, 200-4: fourth collision detection unit, 210, 210A: main body, 220: collision detection sensor, 230: belt guide ring, 240: wiring, 250: connector, 260A: conductive protrusion, 300A: belt, 300-1, 300A-1: first belt, 300-2, 300A-2: second belt, 301A: conductor, 301A-1: first conductor, 301A-2: second conductor, 301A-3: third conductor, 301A-4: fourth conductor, 302A: insulator, 310: fastener, 320: connector

Claims

1. A collision detection device attached to at least one of a loading platform and a load carried on the loading platform, A first belt; At least one collision detection unit including a belt guide ring through which the first belt is inserted; a control device that receives a signal from the at least one collision detector; A collision detection device, wherein the at least one collision detection unit is fixed by wrapping the first belt around at least one of a side surface of the loading platform and a side surface of the luggage.

2. The collision detection device according to claim 1 , wherein the at least one collision detection unit is installed at a corner of at least one of the platform and the luggage.

3. The at least one collision detection unit The body is bent in a dogleg shape, The collision detection device according to claim 1 or 2, further comprising: a collision detection sensor.

4. 4. The collision detection device according to claim 1, wherein the control device includes a signal generating unit that receives a signal from the at least one collision detection unit and generates an emergency stop signal to bring an automatic transport robot to an emergency stop, the automatic transport robot towing the loading platform.

5. The collision detection device according to claim 4 , wherein the control device further includes an emergency stop release switch for releasing an emergency stop of the automatic transfer robot.

6. and a second belt wrapped around the load; The collision detection device according to claim 1 , wherein the first belt and the second belt cross each other.

7. the first belt includes a first conductor through which a signal from the at least one collision detector is transmitted; the second belt includes a second conductor electrically connected to the first conductor; the second conductor is electrically connected to the control device; The collision detection device of claim 6 , wherein the control device receives a signal from the at least one collision detector via the first conductor and the second conductor.

8. each of the first conductor and the second conductor has a stranded structure; The collision sensing device according to claim 7 , wherein the first conductor is in contact with a conductive protrusion extending from the at least one collision sensing portion.

9. The control device includes a connection terminal, The collision detection device according to claim 1 , wherein a wiring from the at least one collision detection unit is connected to the connection terminal.

Images