Surrounding monitoring system for towing transport vehicles

Abstract

To provide a periphery monitoring system for a towing transport vehicle, capable of suppressing a contact between a towing truck and an operator while suppressing a cost increase.SOLUTION: A periphery monitoring system monitors a contact between towing trucks 21, 22, ... to be towed by a towing transport vehicle and an operator. The system includes: a single camera arranged in the towing transport vehicle; a risk area setting section for estimating all the existence areas 21b, 22b, ... of the respective towing trucks based on partial images 21a, 22a, ... of the towing trucks imaged by the camera, and setting risk areas RA based on the existence areas 21, 22b, ...; a prediction section for predicting a contact between the towing trucks 21, 22, ... and the operator when it is determined that the operator has entered in the risk areas RA; and a patrol light and speaker. The patrol light and the speaker are actuated when the contact between the towing trucks 21, 22, ... and the operator is predicted.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a periphery monitoring system for a towing transport vehicle, and more particularly to a periphery monitoring system for monitoring contact between a towing dolly towed by a towing transport vehicle and an operator around the towing transport vehicle. [Background technology]

[0002] For example, in automobile production factories, it has been customary to load parts and the like to be used in production onto a number of towing carts that are towed in a line by a towing transport vehicle, and transport the parts to the work stations where they will be used.

[0003] There are various types of such towing transport vehicles and towing dollies. For example, Patent Document 1 discloses a transport device in which a component support for holding a component (item) is provided on a movable dolly (towing dolly) and is movable relative to the movable dolly, thereby enabling the component to be accurately positioned on the movable dolly.

[0004] In this patent, a camera is provided on the moveable carriage to monitor the position of a component held on one component support relative to the position of a component held on another component support. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-202751 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, in a towing and transport vehicle that tows multiple towing dollies in a line, the behavior of the towing dollies changes (the difference between the inside wheels increases) depending on the driving operation of the towing and transport vehicle, so there is a risk of the towing dollies coming into contact with workers working in the same production plant, which is called "entanglement." It is difficult to prevent such entrapment caused by the difference between the inside wheels from occurring just by the driver's caution.

[0007] One possible solution is to install a fixed camera in a high position within the production plant and use this camera to monitor contact between the towing cart and workers. However, fixed cameras are expensive to install and cannot be easily relocated, which poses the problem that it is difficult to accommodate changes in the layout of the production plant or changes in the route of the towing transport vehicle.

[0008] Also, as in the above-mentioned Patent Document 1, a camera may be provided on the towing cart to monitor contact between the towing cart and the worker.

[0009] However, this method has the problem that while it is possible to monitor the area that can be imaged by the camera, it does not monitor the area that cannot be imaged by the camera. Therefore, it is possible to provide multiple cameras so that the entire area around the towing dolly can be imaged, but this increases costs and complicates the device configuration.

[0010] The present invention has been made in consideration of these points, and its object is to provide a surrounding monitoring system for a towing transport vehicle that can reduce contact between the towing cart and workers while suppressing increases in costs. [Means for solving the problem]

[0011] In order to achieve the above-mentioned objective, the surrounding monitoring system for a towing transport vehicle of the present invention sets a risk area (danger zone) based on an image of a portion of each towing cart captured by a single camera.

[0012] Specifically, the present invention is directed to a perimeter monitoring system for a towing transport vehicle for monitoring contact between a worker and a plurality of towing dollies towed in a line by the towing transport vehicle.

[0013] The surrounding area monitoring system comprises a single camera that is provided on the towing transport vehicle or the leading towing cart and captures images of workers around the towing transport vehicle and multiple towing carts behind it, a danger area setting means that sets a danger area based on an image of a portion of each towing cart captured by the camera, a prediction means that predicts contact between the towing cart and the worker when it is determined that a worker is within the danger area set by the danger area setting means based on the image of the worker captured by the camera, and a contact avoidance means that avoids contact between the towing cart and the worker, and the contact avoidance means is configured to operate when contact between the towing cart and the worker is predicted by the prediction means.

[0014] According to this configuration, the danger area setting means sets danger areas based on images of portions of each towing cart captured by the camera, making it possible to monitor contact between the towing cart and the worker even in areas that cannot be captured by the camera.

[0015] Furthermore, the prediction means can easily and accurately predict contact between the workers and the multiple towing dollies by determining whether the worker is within the danger zone. When the prediction means predicts contact between the workers and the towing dollies, the contact avoidance means is activated to avoid contact between the workers and the towing dollies, thereby reliably preventing contact between the workers and the towing dollies.

[0016] Furthermore, since contact between multiple towing carts and workers is predicted based on images captured using a single camera installed on the towing transport vehicle or the leading towing cart, unlike a fixed camera, it is possible to accommodate changes in the layout within a production plant or changes in the route of the towing transport vehicle, and cost increases can be suppressed compared to installing a fixed camera or multiple cameras.

[0017] Incidentally, when determining contact between a worker and a towing cart, the worker's position is often replaced with a point, but this does not accurately represent the worker's position, making it difficult to accurately predict contact between the worker and the towing cart.

[0018] Therefore, in the above-mentioned perimeter monitoring system, the prediction means may be configured to predict contact between the towing cart and the worker when it determines that a virtual line projected onto the floor surface, which represents the area surrounding the worker in the image captured by the camera, is within a danger area.

[0019] With this configuration, the area surrounding the worker in the image captured by the camera is projected onto the floor using virtual lines, so that the area in which the worker is present is accurately represented, thereby improving the accuracy of predicting contact between the worker and the towing cart compared to when the worker's position is replaced by a point.

[0020] In the perimeter monitoring system, the contact avoidance means may be configured to alert the worker by sound and / or light.

[0021] With this configuration, workers around the towing transport vehicle are reliably informed by sound and / or light that there is a risk of contact between the towing trolley and the workers, thereby alerting the workers and reliably preventing contact between the towing trolley and the workers.

[0022] Furthermore, in the perimeter monitoring system, the contact avoidance means may be configured to cause the towing transport vehicle to slow down, stop, or change course.

[0023] According to this configuration, if the prediction means predicts contact between the towing trolley and the worker, the contact avoidance means causes the towing transport vehicle to slow down, stop or change course, thereby more reliably preventing contact between the towing trolley and the worker.

[0024] Furthermore, the towing transport vehicle perimeter monitoring system of the present invention can be applied not only to logistics within a factory using multiple towing dollies, but also to logistics between buildings using a single towing dolly.

[0025] Specifically, the present invention is a surrounding monitoring system for a towing and transport vehicle for monitoring contact between a towing dolly towed by a towing and transport vehicle and a worker, comprising a single camera provided on the towing and transport vehicle for capturing images of the worker around the towing and transport vehicle and the towing dolly, a danger area setting means for setting a danger area based on an image of a portion of the towing dolly captured by the camera, a prediction means for predicting contact between the towing dolly and the worker when it is determined that the worker is within the danger area set by the danger area setting means based on the image of the worker captured by the camera, and a contact avoidance means for avoiding contact between the towing dolly and the worker, wherein the contact avoidance means is configured to operate when contact between the towing dolly and the worker is predicted by the prediction means.

[0026] According to this configuration, when contact between the towing cart and a worker is predicted, a contact avoidance means is activated to avoid contact between the towing cart and the worker, thereby reliably preventing the worker from being pinched between the towing cart and the building, even when the towing transport vehicle is traveling between relatively narrow buildings. Effect of the Invention

[0027] As described above, the surroundings monitoring system for a towing transport vehicle according to the present invention can prevent contact between the towing dolly and an operator while suppressing increases in costs. [Brief description of the drawings]

[0028] [Figure 1] FIG. 1 is a diagram illustrating a schematic diagram of a periphery monitoring system for a towing and transport vehicle according to a first embodiment of the present invention. [Diagram 2] FIG. 1 is a block diagram illustrating a perimeter monitoring system. [Diagram 3] FIG. 10 is a diagram for explaining a method for setting a risk area. [Figure 4] FIG. 10 is a diagram for explaining an image processing method relating to a worker. [Diagram 5] FIG. 10 is a diagram for explaining a method for predicting contact between a towing cart and a worker. [Figure 6] FIG. 13 is a diagram illustrating a perimeter monitoring system according to a second embodiment of the present invention. [Figure 7] FIG. 1 is a diagram illustrating a conventional perimeter monitoring system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0030] (Embodiment 1) -Overall composition- Fig. 1 is a diagram showing a periphery monitoring system 1 of a towing and transport vehicle 10 according to this embodiment, and Fig. 2 is a block diagram showing the periphery monitoring system 1. As shown in Fig. 1, the periphery monitoring system 1 is for monitoring contact between a plurality of towing dollies 20, 21, 22, 23, ... towed in a line by the towing and transport vehicle 10 in a factory and a worker P (see Fig. 4) working in the factory. As shown in Figs. 1 and 2, the periphery monitoring system 1 includes the towing and transport vehicle 10, a plurality of (e.g., 8 to 10) towing dollies 20, 21, 22, 23, ..., a camera 30, a processing device 40, and a patrol light 50 and a speaker 51 installed in the factory.

[0031] -Towing and transport vehicle- The towing and transport vehicle 10 is driven by an operator O to carry out logistics within a factory, and transports parts 60 used in production that are loaded onto a plurality of towing dollies 20, 21, 22, 23, ... to a work station where the parts 60 are used. As shown in Fig. 2, the towing and transport vehicle 10 is equipped with a communication unit 11, an electric motor 12, a steering device 13, a braking device 14, a memory unit 15, a control unit 16, a light 17, a speaker 18, and a steering angle sensor 19.

[0032] The communication unit 11 is configured to be able to exchange various information with a communication unit 41 of a processing device 40 described later by wireless communication. The electric motor 12 is a drive source of the towing transport vehicle 10, and its rotation speed is controlled by the control unit 16. The steering device 13 is configured to be able to realize manual steering control in which the operator O manually controls the steering angle, and automatic steering control in which the steering angle is automatically controlled by a command from the control unit 16. The brake device 14 is also configured to be able to realize manual braking by the operator O and automatic braking by a command from the control unit 16. The memory unit 15 stores the dimensions of each towing dolly 20, 21, 22, 23, .... The light 17 is configured to light up or flash by a command from the control unit 16. The speaker 18 is configured to emit a warning sound by a command from the control unit 16. The steering angle sensor 19 is configured to detect the turning angle of a steering shaft (not shown) of the towing transport vehicle 10.

[0033] -camera- 1, the camera 30 is fixed to the towing and transport vehicle 10 so as to face rearward, and is configured to capture images of a worker P around the towing and transport vehicle 10 and the multiple towing dollies 20, 21, 22, 23, ... behind it. Image data captured by the camera 30 is stored, for example, in the memory unit 15 of the towing and transport vehicle 10, and then transmitted to the communication unit 41 of the processing device 40 by the communication unit 11.

[0034] In this embodiment, the camera 30 is fixed to the towing and transport vehicle 10, but this is not limited to the above. For example, the camera 30 may be fixed to the leading towing cart 20, which experiences less change in behavior (inner wheel difference) due to the driving operation of the towing and transport vehicle 10, and images of the towing carts 21, 22, 23, ... behind the towing cart 20 may be captured.

[0035] - Processing equipment - The processing device 40 is, for example, a personal computer, and is configured with a CPU (Central Processing Unit) that executes arithmetic processing based on various programs, a ROM (Read Only Memory) that stores various programs and maps referenced when executing the various programs, and a RAM (Random Access Memory) that is a memory that temporarily stores the results of calculations by the CPU, etc. As shown in Fig. 2, the processing device 40 includes a communication unit 41, an image processing unit 42, a danger area setting unit 43, a prediction unit 44, and a command generation unit 45. These components 41 to 45 are configured to realize functions that meet a predetermined purpose through the execution of a program by the CPU.

[0036] The communication unit 41 receives from the communication unit 11 of the towing transport vehicle 10 image data captured by the camera 30, the steering angle of the steering shaft at the time the image data was captured detected by the steering angle sensor 19, and the dimensions of the towing carts 20, 21, 22, 23, ... stored in the memory unit 15.

[0037] Fig. 3 is a diagram for explaining a method for setting the risk area RA. The image processing unit 42 is configured to extract, from the image data shown in Fig. 3(a), partial images 21a, 22a, 23a, 24a, and 25a captured by the camera 30 of each of the towing dollies 21, 22, 23, 24, and 25, as shown in Fig. 3(b).

[0038] The danger area setting unit (danger area setting means) 43 is configured to estimate the entire existence area 21b, 22b, 23b, 24b of each towing cart 21, 22, 23, 24 based on partial images 21a, 22a, 23a, 24a of the towing carts 21, 22, 23, 24 captured by the camera 30, and to set a risk area (danger area) RA based on the existence areas 21b, 22b, 23b, 24b.

[0039] Specifically, the danger area setting unit 43 estimates the entire existence areas 21b, 22b, 23b, 24b of each of the towing dollies 21, 22, 23, 24 as shown in FIG. 3(c) based on the partial images 21a, 22a, 23a, 24a, 25a extracted by the image processing unit 42 shown in FIG. 3(b), the steering angle of the steering shaft when the image data was captured detected by the steering angle sensor 19, and the dimensions of the towing dollies 21, 22, 23, 24. This makes it possible to monitor contact between each of the towing dollies 21, 22, 23, 24 and the worker P not only in the range that can be captured by the camera 30 but also in the range that cannot be captured by the camera 30. In this embodiment, the "existence area" means an area obtained by projecting the shape of the towing dollies 21, 22, 23, 24 onto the floor surface.

[0040] Then, to be on the safe side, the danger area setting unit 43 sets the risk area RA as an area obtained by expanding (extending) each estimated existence area 21b, 22b, 23b, 24b by, for example, 1 to 2 m on both sides of the vehicle width direction of each towing cart 21, 22, 23, 24, as shown in Figure 3 (d).

[0041] Incidentally, when determining contact between the worker P and the towing carts 21, 22, ..., the position of the worker P is often replaced with point D, as shown in Figure 4(a), but this does not accurately represent the position of the worker P, and therefore it becomes difficult to accurately predict contact between the worker P and the towing carts 21, 22, ....

[0042] Therefore, in the perimeter monitoring system 1 of this embodiment, the image processing unit 42 is configured to replace the section 31 surrounding the worker P in the image captured by the camera 30 with a virtual line L projected onto the floor surface as shown in Fig. 4(b). By using the virtual line L obtained by projecting the section 31 surrounding the worker P onto the floor surface in this manner, the area in which the worker P exists is accurately represented, and therefore the accuracy of predicting contact between the worker P and the towing carts 21, 22, 23, 24 can be improved compared to the case in which the position of the worker P is replaced with point D.

[0043] The prediction unit (prediction means) 44 is configured to predict contact between the towing carts 21, 22, 23, 24 and the worker P when it determines, based on an image of the worker P captured by the camera 30, that the worker P is within the risk area RA set by the danger area setting unit 43.

[0044] Specifically, the prediction unit 44 superimposes an image of the risk area RA shown in Fig. 5(a) set by the danger area setting unit 43 with an image of the virtual line L shown in Fig. 5(b) replaced by the image processing unit 42. Then, when the prediction unit 44 determines that the virtual line L replacing the area where the worker P exists is within the risk area RA as shown in Fig. 5(c), it predicts contact between the towing carts 21, 22, 23, 24 and the worker P.

[0045] The command generating unit 45 is configured to generate at least one of the following first to third commands when the predicting unit 44 predicts contact between the towing carriages 21, 22, . . . and the operator P.

[0046] <First Directive> The command generating unit 45 is configured to generate a first command to turn on or flash the light 17 of the towing transport vehicle 10 and to output a warning sound from the speaker 18 of the towing transport vehicle 10 when contact between the towing trolley 21, 22, ... and the worker P is predicted.

[0047] The first command is transmitted from the communication unit 41 to the communication unit 11 of the towing and transport vehicle 10 and input to the control unit 16 of the towing and transport vehicle 10. The control unit 16 that receives the first command alerts the worker P by turning on or blinking the light 17 and outputting a warning sound from the speaker 18. This makes it possible to reliably inform the worker P around the towing and transport vehicle 10 by light and sound that there is a risk of contact between the towing dollies 21, 22, ... and the worker P, thereby alerting the worker P and preventing contact between the towing dollies 21, 22, ... and the worker P.

[0048] In this case, in relation to the claims, the light 17 and the speaker 18 correspond to "contact avoidance means configured to be activated when contact between the towing cart and the worker is predicted, thereby avoiding contact between the towing cart and the worker."

[0049] <Second Directive> The command generating unit 45 is configured to generate a second command to turn on a patrol light 50 installed in the factory and to output a warning sound from a speaker 51 installed in the factory when contact between the towing carts 21, 22, ... and the worker P is predicted.

[0050] Upon receiving the second command, the patrol light 50 turns on and the speaker 51 outputs a warning sound to alert the worker P. This makes it possible to reliably inform the workers P around the towing transport vehicle 10 by light and sound that there is a risk of contact between the towing dollies 21, 22, ... and the workers P, thereby alerting the workers P to the risk of contact between the towing dollies 21, 22, ... and the workers P, and thereby making it possible to prevent contact between the towing dollies 21, 22, ... and the workers P.

[0051] In this case, in relation to the claims, the patrol light 50 and the speaker 51 correspond to "contact avoidance means configured to be activated when contact between the towing cart and an operator is predicted, thereby avoiding contact between the towing cart and an operator."

[0052] 〈Third Directive〉 The command generating unit 45 is configured to generate a third command for causing the towing transport vehicle 10 to decelerate, stop, or change course when contact between the towing dollies 21, 22, . . . and the worker P is predicted.

[0053] The third command is transmitted from the communication unit 41 to the communication unit 11 of the towing transport vehicle 10 and input to the control unit 16 of the towing transport vehicle 10. The control unit 16 that receives the third command, for example, reduces the rotation speed of the electric motor 12 to decelerate the towing transport vehicle 10, or activates the brake device 14 to automatically stop the towing transport vehicle 10, or controls the steering device 13 to change the course of the towing transport vehicle 10 by automatic steering control. This makes it possible to prevent contact between the towing dollies 21, 22, ... and the worker P.

[0054] In this case, in relation to the claims, the electric motor 12, the brake device 14 or the steering device 13 corresponds to "contact avoidance means configured to operate when contact between the towing cart and the worker is predicted, thereby avoiding contact between the towing cart and the worker."

[0055] The first, second and third commands may be executed individually, or, for example, the second and third commands may be executed simultaneously to cause the towing and transport vehicle 10 to slow down, stop or change course while also alerting the driver by turning on the patrol lights 50 and sounding a warning from the speaker 51.

[0056] -effect- According to this embodiment, the entire existence area 21b, 22b, 23b, 24b of each towing cart 21, 22, 23, 24 is estimated based on partial images 21a, 22a, 23a, 24a of the towing carts 21, 22, 23, 24 captured by the camera 30, and a risk area RA is set based on the existence areas 21b, 22b, 23b, 24b, so that it is possible to monitor contact between the towing carts 21, 22, 23, 24 and the worker P even in areas that cannot be captured by the camera 30.

[0057] Moreover, by determining whether the worker P is within the risk area RA, it is possible to easily and accurately predict contact between the worker P and the multiple towing dollies 21, 22, 23, 24. When the prediction unit 44 predicts contact between the towing dollies 21, 22, 23, 24 and the worker P, the patrol lights 50 and the speakers 51, etc. are activated, and the towing transport vehicle 10 is caused to decelerate, stop, or change course, so that contact between the towing dollies 21, 22, 23, 24 and the worker P can be reliably prevented.

[0058] Furthermore, since contact between multiple towing carts 21, 22, 23, 24 and worker P is predicted based on images of the towing carts 21, 22, 23, 24 and worker P captured using a single camera 30, unlike a fixed camera, it is possible to respond to changes in the layout within the production factory or changes in the route of the towing and transport vehicle, and cost increases can be suppressed compared to installing a fixed camera or multiple cameras.

[0059] In the above description, the entire existence area 21b, 22b, 23b, 24b of each towing dolly 21, 22, 23, 24 is estimated, and then the risk area RA is set based on the existence area 21b, 22b, 23b, 24b. However, the periphery monitoring system 1 according to the present embodiment may set the risk area RA based on a partial image 21a, 22a, 23a, 24a of the towing dolly 21, 22, 23, 24. For example, only the side of each towing dolly may be detected, and a risk area may be set in front of the side. This allows the risk area to be set according to the detection of the side of the towing dolly, thereby avoiding a decrease in detection accuracy due to the shape of the object placed on the towing dolly. In addition, the detection accuracy of the side of each towing dolly can be improved by coloring the side of each towing dolly in a striped pattern with different colors.

[0060] (Embodiment 2) This embodiment differs from the above-mentioned embodiment 1 in that the perimeter monitoring system is applied to an autonomous vehicle that runs outside a factory, more specifically, to an autonomous vehicle that runs between buildings within a premises. The following will mainly explain the differences from embodiment 1.

[0061] Fig. 6 is a diagram showing a schematic diagram of a perimeter monitoring system 1' according to this embodiment. This perimeter monitoring system 1' is for monitoring contact between a towing dolly 80 towed by an autonomous vehicle (towing transport vehicle) 70 and a worker P between buildings 90. As shown in Fig. 6(a), this perimeter monitoring system 1' includes the autonomous vehicle 70, the towing dolly 80, a camera 30', and a processing device 40'.

[0062] An autonomous vehicle 70 transports goods between buildings 90, and transports parts (not shown) loaded onto a towing cart 80 from one building 90 to another building 90. As shown in Fig. 6(a), an operator O rides in this autonomous vehicle 70, but the autonomous vehicle 70 is designed to automatically start, stop, change direction, etc., using an ECU (not shown) or the like.

[0063] The camera 30' is fixed to the autonomously driven vehicle 70 so as to face backward, and is configured to capture images of the worker P around the autonomously driven vehicle 70 and the towing cart 80. Unlike the first embodiment, the processing device 40' is fixed to the autonomously driven vehicle 70. The processing device 40' has a configuration substantially similar to that of the processing device 40 of the first embodiment, and includes an image processing unit, a danger area setting unit, a prediction unit, and the like.

[0064] Here, in order to facilitate understanding of this embodiment, a conventional perimeter monitoring system will be described in which an autonomous vehicle travels between buildings.

[0065] Fig. 7 is a diagram illustrating a conventional perimeter monitoring system 101. As shown in Fig. 7(a), the conventional perimeter monitoring system 101 includes an autonomous vehicle 170, a towing cart 180, a fixed camera 130, a utility pole 133, and a control panel 140.

[0066] In the conventional surrounding monitoring system 101, a fixed camera 130 mounted on the top end of a utility pole 133 captures images of the area around the autonomous vehicle 170, and if contact between the towing cart 180 and worker P is predicted, the control panel 140 controls the autonomous vehicle 170 to turn on the lights (not shown) of the autonomous vehicle 170, emit a warning sound from a speaker (not shown) of the autonomous vehicle 170, or cause the autonomous vehicle 170 to change course, thereby preventing the worker P from being pinched between the towing cart 180 and the building 90.

[0067] However, such a conventional perimeter monitoring system 101 has the following problems. That is, when the autonomous vehicle 170 is driven between buildings 90 as shown by the bold arrows in FIG. 7(b), it is necessary to check the possibility of contact between the towing cart 180 and the worker P at both the crossroads surrounded by dashed lines A and B, where the autonomous vehicle 170 changes direction. In this case, it is necessary to newly install utility poles 133 at both the crossroads surrounded by dashed lines A and B, install fixed cameras 130 at the top ends of the newly installed utility poles 133, and install control panels 140. The installation of the fixed cameras 130, utility poles 133, and control panels 140 costs about 5 million yen per location, so there is a problem in that installing these facilities at each crossroad increases costs.

[0068] Therefore, in this embodiment, similarly to the first embodiment, the entire existence range of the towing vehicle 80 is estimated based on an image of a portion of the towing vehicle 80 captured by a single camera 30'.

[0069] Specifically, when the autonomous vehicle 70 travels between buildings 90 as shown by the bold arrow in FIG. 6(b), the danger area setting unit of the processing device 40' estimates the entire existence area of ​​the towing dolly 80 based on an image of a part of the towing dolly 80 captured by the camera 30', and sets a risk area based on the existence area. When the prediction unit of the processing device 40' determines that the worker P is in the risk area based on the image of the worker P captured by the camera 30', it predicts contact between the towing dolly 80 and the worker P. Then, when contact between the towing dolly 80 and the worker P is predicted, the processing device 40' is configured to turn on the lights (not shown) of the autonomous vehicle 70, output a warning sound from a speaker (not shown) of the autonomous vehicle 70, or cause the autonomous vehicle 70 to decelerate, stop, or change course, thereby preventing the worker P from being pinched between the towing dolly 80 and the building 90.

[0070] -effect- According to this embodiment, there is no need to install a fixed camera 130, utility pole 133, and control panel 140 at each intersection, and contact between the towing cart 80 and the worker P can be prevented based on an image of a portion of the towing cart 80 captured by a single camera 30' fixed to the autonomous vehicle 70.This makes it possible to significantly reduce costs while reliably preventing the worker P from being pinched between the towing cart 80 and the building 90, even when the autonomous vehicle 70 travels between relatively narrow buildings 90.

[0071] (Other embodiments) The present invention is not limited to the embodiments, and can be embodied in various other forms without departing from the spirit or main characteristics thereof.

[0072] In the above-mentioned first embodiment, the operator O drives the towing and transport vehicle 10, but the present invention is not limited to this, and the towing and transport vehicle 10 may be configured as an automatically driven vehicle.

[0073] In addition, in the above embodiment 1, the present invention is applied to one towing and transport vehicle 10, but this is not limited to this. For example, the present invention may be applied to multiple towing and transport vehicles 10 traveling within a factory, and the multiple towing and transport vehicles 10 may be controlled by a single processing device 40.

[0074] Furthermore, in the second embodiment, the towing and transport vehicle is configured as an automatically driven vehicle 70, but this is not limiting, and the towing and transport vehicle may be driven by an operator O.

[0075] In addition, in the second embodiment, the processing device 40' is provided in the autonomous vehicle 70. However, the present invention is not limited to this. For example, the processing device 40' may be provided in one building 90 and the autonomous vehicle 70 may be controlled remotely.

[0076] As such, the above-described embodiment is merely illustrative in all respects and should not be construed as limiting. Furthermore, all modifications and variations within the scope of the claims are within the scope of the present invention. [Industrial Applicability]

[0077] According to the present invention, it is possible to prevent contact between the towing cart and workers while suppressing increases in costs, and therefore it is extremely useful when applied to a surrounding monitoring system for monitoring contact between a towing cart towed by a towing transport vehicle and a worker. [Explanation of symbols]

[0078] 1,1' Perimeter Monitoring System 10 Towing and transport vehicles 12 Electric motor (contact avoidance means) 13 Steering device (contact avoidance means) 14 Brake device (contact avoidance means) 17 Light (contact avoidance means) 18 Speaker (contact avoidance means) 20 Leading towing cart 21~25 Towing trolley 21a~25a Some images 30,30' Camera 31 Plot 43 Danger area setting unit (danger area setting means) 44 Prediction unit (prediction means) 50 Patrol light (contact avoidance method) 51 Speaker (contact avoidance means) 70 Autonomous vehicles (towing and transport vehicles) 80 Towing trolley L Virtual Line P worker RA Risk Area (Danger Area)

Claims

1. A perimeter monitoring system for a towing and transport vehicle for monitoring contact between a plurality of towing dollies towed in a line by the towing and transport vehicle and an operator, comprising: A single camera is provided on the towing and transport vehicle or the leading towing dolly, and captures an image of a worker around the towing and transport vehicle and a plurality of towing dollies behind the towing and transport vehicle; a danger zone setting means for setting a danger zone based on an image of a portion of each of the towing carriages captured by the camera; a prediction means for predicting contact between the towing cart and the worker when it is determined that the worker is within the danger zone set by the danger zone setting means based on an image of the worker captured by the camera; and and a contact avoidance means for avoiding contact between the towing cart and an operator. A surrounding monitoring system for a towing and transport vehicle, characterized in that the contact avoidance means is configured to operate when the prediction means predicts contact between the towing cart and an operator.

2. In the towing and transport vehicle surroundings monitoring system according to claim 1, The prediction means is configured to predict contact between the towing cart and the worker when it determines that a virtual line projected onto the floor surface of the area surrounding the worker in the image captured by the camera is within a danger area.

3. In the towing and transport vehicle surroundings monitoring system according to claim 1, The surrounding monitoring system for a towing and transport vehicle is characterized in that the contact avoidance means is configured to alert the operator by sound and / or light.

4. In the towing and transport vehicle surroundings monitoring system according to claim 1, A surroundings monitoring system for a towing and transport vehicle, wherein the contact avoidance means is configured to cause the towing and transport vehicle to slow down, stop, or change course.

5. A perimeter monitoring system for a towing transport vehicle for monitoring contact between a towing dolly towed by the towing transport vehicle and an operator, comprising: A single camera is provided on the towing and transport vehicle and captures an image of a worker around the towing and transport vehicle and the towing dolly; a danger zone setting means for setting a danger zone based on an image of a portion of the towing dolly captured by the camera; a prediction means for predicting contact between the towing cart and the worker when it is determined that the worker is within the danger zone set by the danger zone setting means based on an image of the worker captured by the camera; and and a contact avoidance means for avoiding contact between the towing cart and an operator. A surrounding monitoring system for a towing and transport vehicle, characterized in that the contact avoidance means is configured to operate when the prediction means predicts contact between the towing cart and an operator.

Images