Autonomous Driving Equipment Control System

Abstract

To reduce a workload of a worker who enters an entry restriction area where automatic driving device is installed, while ensuring safety of the worker in the enter restriction area.SOLUTION: An automatic driving device control system includes: an entry restriction area; at least one entrance that is opened and closed by an opening and closing body; an automatic driving device; and a control device, and further includes: an outer identification device 7; an inner identification device; and a storage device 10, when the control device acquires identification information 9 by the outer identification device 7, the automatic driving device is stopped and resumes operation of the automatic driving device, on condition that none of entry identification information 91 that exit time identification information corresponding to the same worker is not stored in the storage device 10, and all entrances are in an entry restriction state.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an automatic driving equipment control system comprising an entry restriction area surrounded by an entry restriction member that restricts the entry of workers, at least one entrance / exit provided in a part of the entry restriction member and opened / closed by an opening / closing body, an automatic driving equipment arranged within the entry restriction area, and a control device that controls the automatic driving equipment. [Background technology]

[0002] For example, Japanese Patent Laid-Open Publication No. 2015-189560 (Patent Document 1) discloses a technology related to an automatic driving equipment control system. In the following description of the background art, the reference numerals in parentheses refer to those in Patent Document 1.

[0003] The automated driving equipment control system (transport vehicle system 1) of Patent Document 1 includes an access restriction area (travel path 2) surrounded by an access restriction member (access guard fence 31) that restricts the entry of a worker (entrant 52), multiple entrances (entrance entrances 34) provided in the access restriction member and opened and closed by opening / closing bodies (entrance doors 33), a transport vehicle (3) located within the access restriction area, a control device (main control device 12) that controls the transport vehicle (3), multiple monitoring boxes (22) provided corresponding to the multiple entrances, and an operation box (21). The monitoring box (22) houses multiple key attachment units (24) and multiple monitoring keys (25) attached to the key attachment units (24). In this automated driving equipment control system, when an automatic stop button in the operation box (21) is pressed, the control device stops the operation of the transport vehicle (3). Furthermore, when the monitoring key (25) is removed from the key attachment portion (24) in the monitoring box (22), the control device determines that there is a possibility that a worker is present in the restricted access area, and does not resume operation of the transport vehicle (3) even if the start button in the operation box (21) is pressed. Furthermore, when the opening / closing body is unlocked by the opening / closing key (39), the control device cuts off the power supply to the transport vehicle (3). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-189560 Summary of the Invention [Problem to be solved by the invention]

[0005] In an automated driving equipment control system such as that described in Patent Document 1, when an operator enters a restricted access area, he or she presses an automatic stop button to stop the transport vehicle. The operator then removes the monitoring key from the key attachment and unlocks the opening / closing body using a different key from the monitoring key, allowing the operator to enter the restricted access area. The transport vehicle will not resume operation even if the start button in the operation box is pressed unless the monitoring key is returned to the key attachment. This prevents a situation in which another operator, unaware that the operator is already in the restricted access area, attempts to resume operation of the transport vehicle without noticing. Therefore, safety for operators in the restricted access area can be improved. However, such automated driving equipment control systems require operators to perform multiple operations and carry multiple keys each time they enter or exit the restricted access area, which can complicate the operations required to ensure the operator's safety.

[0006] Therefore, it is desirable to reduce the workload of workers entering restricted access areas where autonomous driving equipment is located, while ensuring the safety of workers in the restricted access areas. [Means for solving the problem]

[0007] The autonomous driving equipment control system according to the present disclosure is an autonomous driving equipment control system including an entry restriction area surrounded by an entry restriction member that restricts the entry of workers, at least one entrance / exit provided in a part of the entry restriction member and opened / closed by an opening / closing body, autonomous driving equipment arranged in the entry restriction area, and a control device that controls the autonomous driving equipment, an outside identification device that is provided outside the entry restriction area with respect to the entrance and that acquires identification information of the worker; Further included is an inside identification device that is provided inside the entry restriction area relative to the entrance and that acquires the identification information, and a storage device that stores information, The control device When the identification information is acquired by the outside identification device, the identification information is stored in the storage device as entry identification information, the automatic driving equipment is stopped, the state of the opening / closing body is changed to an entry / exit permitting state that allows the worker to pass through the entrance / exit, and after the worker passes through the entrance / exit, the state of the opening / closing body is changed to an entry / exit restricting state that restricts the worker from passing through the entrance / exit, When the identification information is acquired by the inside identification device, the identification information is stored in the storage device as exit identification information, the state of the opening / closing body is set to the entry / exit permitted state, and after the worker passes through the entrance / exit, the state of the opening / closing body is set to the entry / exit restricted state. If there is any entry identification information for which the corresponding exit identification information for the same worker is not stored in the storage device, the automatic driving device is maintained in a stopped state, The operation of the automatic driving equipment is resumed on the condition that there is no entry identification information for the same worker for which the corresponding exit identification information is not stored in the storage device, and all entrances and exits are in the entry and exit restricted state.

[0008] According to this configuration, the identification information of a worker is acquired when the worker enters and exits the entrance and is then allowed to pass through the entrance, so that the worker who entered the entry-restricted area and the worker who exited the entry-restricted area can be identified. Furthermore, by comparing the entry identification information and exit identification information stored in the storage device, it is possible to identify with high reliability the workers who remain in the entry-restricted area and to determine with high reliability that all workers have exited the entry-restricted area. The system then resumes operation of the automated driving device only when it is determined that all workers who were determined to have entered the restricted access area have exited the restricted access area and all entrances and exits are in a restricted access state. This prevents the system from resuming operation of the automated driving device while workers remain in the restricted access area. In this way, with this configuration, it is possible to ensure the safety of workers in restricted access areas while reducing the workload of workers entering restricted access areas where autonomous driving equipment is located.

[0009] Further features and advantages of the automated driving equipment control system will become apparent from the following description of exemplary, non-limiting embodiments that refer to the drawings. [Brief explanation of the drawings]

[0010] [Figure 1] Overall plan view of the goods transport facility [Figure 2] Control Block Diagram [Figure 3] Table showing entry and exit identification information [Figure 4] Control Flow Diagram [Figure 5] Control Flow Diagram [Figure 6] Control Flow Diagram [Figure 7] Control Flow Diagram [Figure 8] Control Flow Diagram DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment of an automatic driving equipment control system will be described with reference to the drawings.

[0012] As shown in FIG. 1 , the automatic driving equipment control system includes an entry restriction area 3 surrounded by an entry restriction member 2 that restricts the entry of workers, at least one entrance / exit 5 provided in a part of the entry restriction member 2 and opened / closed by an opening / closing body 4, an automatic driving equipment 6 disposed within the entry restriction area 3, and a control device H that controls the automatic driving equipment 6. In this embodiment, the automatic driving equipment control system is applied to an item transport facility 1. Therefore, the entry restriction area 3, the entrance / exit 5, the automatic driving equipment 6, and the control device H are disposed in the item transport facility 1. In this example, the item transport facility 1 is divided into a plurality of sections E. In the illustrated example, the item transport facility 1 is divided into three sections E: a first section E1, a second section E2, and a third section E3. An entry restriction area 3 is disposed to connect these multiple sections E.

[0013] In the example of FIG. 1, the article conveying equipment 1 includes a storage section 15 that stores multiple articles W and a work area 14 where work related to the articles W is performed. The storage section 15 and the work area 14 are arranged in multiple sections E. Here, a storage section 15 is arranged in each of the first section E1 and the second section E2, and a work area 14 is arranged in the third section E3. The autonomous driving device 6 transports the articles W between each of the storage sections 15 in the first section E1 and the second section E2 and the work area 14 in the third section E3. Examples of the articles W include machine parts and products completed by assembling the machine parts. In this case, for example, the machine parts are transported from the storage section 15 to the work area 14, and the products are transported from the work area 14 to the storage section 15. The storage section 15 includes multiple storage shelves (not shown) and stores the articles W on the storage shelves. The work area 14 is, for example, an area that includes a product production line and where work such as manufacturing products from machine parts is performed.

[0014] The item W may be stored or transported in a container or supported on a pallet, etc. The item W is not limited to machine parts, etc., but may also be clothing, food, etc.

[0015] As shown in FIGS. 1 and 2, in this embodiment, the automatically operated device 6 includes an automated guided vehicle 61. The automated guided vehicle 61 travels along a travel path 31 set within the entry-restricted area 3 to transport an article W. The automated guided vehicle 61 is an autonomously traveling vehicle. In this example, the automated guided vehicle 61 travels along the travel path 31 to transport the article W to a plurality of sections E (here, a first section E1, a second section E2, and a third section E3). In the example of FIG. 1, the entire entry-restricted area 3 is set as the travel path 31 along which the automated guided vehicle 61 travels. A plurality of automated guided vehicles 61 can travel along the travel path 31.

[0016] In this example, the automated guided vehicle 61 includes a running unit, a plurality of running wheels provided on the running unit that roll on the floor surface, and a placement unit on which the article W is placed. The automated guided vehicle 61 moves the running unit by rotating some or all of the running wheels using the driving force of a driving force source such as an electric motor. The automated guided vehicle 61 also travels with the article W placed on the placement unit. The placement unit is supported from below by the running unit and is configured to be movable in the vertical direction relative to the running unit. The automated guided vehicle 61 then transfers the article W between the storage unit 15 and the work area 14 by raising and lowering the placement unit. For example, the automated guided vehicle 61 raises and lowers the placement unit to transfer the article W to and from a loading / unloading unit (e.g., a conveyor) provided in the storage unit 15 or the work area 14. The automated guided vehicle 61 may also transfer the article W using a conveyor, forks, or the like.

[0017] As shown in FIG. 2, the automated guided vehicle 61 is equipped with a plurality of sensors. Specifically, the automated guided vehicle 61 is equipped with sensors that detect other automated guided vehicles 61 located in front of and behind the automated guided vehicle 61, and sensors that detect other automated guided vehicles 61 located to the side of the automated guided vehicle 61. In the example of FIG. 2, the automated guided vehicle 61 is equipped with a distance sensor 62 that can measure the inter-vehicle distance between the automated guided vehicle 61 and other automated guided vehicles 61 located in front of and behind the automated guided vehicle 61, and an obstacle sensor 63 that detects the automated guided vehicles 61 located to the side of the automated guided vehicle 61. As such sensors, various well-known sensors such as laser sensors and ultrasonic sensors can be used. Note that the autonomous driving equipment 6 can also be various devices other than the automated guided vehicle 61, such as a stacker crane, a conveyor, a picking robot, a manufacturing device, a processing device, etc.

[0018] As described above, the entry restricted area 3 is arranged to connect multiple sections E. In this example, the entry restricted area 3 is arranged along the travel path 31. Furthermore, the entry restricted area 3 is arranged to include the travel path 31. The entry restricted area 3 is configured to restrict workers from entering the entry restricted area 3. Specifically, the entry restriction member 2 is arranged to surround the entry restricted area 3, thereby restricting workers from entering the entry restricted area 3. Note that in this example, the entry restriction member 2 is formed of a wall member, but it may also be formed of, for example, a fence. In the example of FIG. 1 , the entire entry restricted area 3 is set in the travel path 31, and the entry restriction member 2 is installed to surround the travel path 31.

[0019] In this example, the travel path 31 has a width that allows multiple automated guided vehicles 61 to be adjacent to each other. In the example of FIG. 1, the travel path 31 has a width that allows two automated guided vehicles 61 to be adjacent to each other. An entrance / exit opening 32 is provided at each connection between the travel path 31 and each section E (first section E1, second section E2, and third section E3). The automated guided vehicle 61 can reach any one of the sections E outside the entry-restricted area 3 by traveling along the travel path 31 and passing through the entrance / exit opening 32. The automated guided vehicle 61 can also enter the entry-restricted area 3 (here, the travel path 31) by passing through the entrance / exit opening 32 from any one of the sections E. At the entrance / exit opening 32, an opening that allows the automated guided vehicle 61 to pass through is formed in a part of the entry-restricting member 2, thereby allowing the automated guided vehicle 61 to enter and exit the travel path 31 and each section E. In the example shown in the figure, three entrance / exit openings 32 are provided corresponding to the three sections E. The opening formed in the entrance / exit gate 32 may be formed at a height that allows only the automatic guided vehicle 61 to pass through, but does not allow (or makes it difficult for) workers to pass through.

[0020] The entrance / exit 5 is a location where workers enter and exit the entry-restricted area 3. In this embodiment, the automatic driving equipment control system is provided with a plurality of entrances / exits 5, and each of the plurality of entrances / exits 5 is provided in the entry-restricted member 2. Workers are restricted from entering the entry-restricted area 3 by the entry-restricted member 2, but can enter the entry-restricted area 3 by passing through the entrance / exit 5. In this example, the plurality of entrances / exits 5 are provided to correspond to each of the plurality of sections E. In this manner, workers can move between each section E by passing through the entrance / exit 5 and the entry-restricted area 3. In the example of FIG. 1 , the item conveying equipment 1 is provided with a worker area A that is different from the plurality of sections E, and the entrance / exit 5 is also provided to correspond to the worker area A. Then, workers can move between each section E and the worker area A by passing through the plurality of entrances / exits 5 and the entry-restricted area 3. Here, the worker area A includes an office or the like where workers can perform office work or wait. In the illustrated example, the entire travel passage 31 is set as the access restriction area 3. Therefore, workers travel along the travel passage 31 to move between each section E and the worker area A.

[0021] An opening / closing body 4 is attached to each of the multiple entrances 5. In this example, the opening / closing body 4 is equipped with a locking mechanism that switches between a locked state, in which the opening / closing of the opening / closing body 4 is restricted and kept closed, and an unlocked state, in which the opening / closing body 4 can be freely opened and closed. In the unlocked state, workers can pass through the entrances 5. In addition, in the locked state, workers are restricted from passing through the entrances 5. The locking mechanism is automatic and is controlled by the control device H (specifically, the opening / closing body control unit 86, which will be described later). Here, the opening / closing body 4 is a hinged door, and in the locked state, workers cannot open the door of the opening / closing body 4. In the unlocked state, workers can open the door of the opening / closing body 4. In addition to a hinged door, the opening / closing body 4 may also be configured as a sliding door, a shutter, a double-door gate, or the like.

[0022] As shown in FIGS. 1, 2, and 3, the outer identification device 7 is provided outside the entry restriction area 3 relative to the entrance 5, and acquires identification information 9 of the worker. In this embodiment, a plurality of outer identification devices 7 are provided corresponding to a plurality of entrances 5. The outer identification devices 7 are arranged adjacent to the entrances 5. In the example of FIG. 1, the outer identification device 7 is attached to the entry restriction member 2.

[0023] The outer identification device 7 acquires identification information 9 of a worker who is passing through the entrance / exit 5 from outside the entry-restricted area 3. The outer identification device 7 is equipped with an identification information reading unit. The outer identification device 7 acquires the identification information 9 by the identification information reading unit. In this example, the identification information reading unit is an ID card reader that reads an ID card presented by the worker to the outer identification device 7. In this way, the outer identification device 7 acquires the identification information 9. Note that the identification information reading unit may also be a biometric information reader for a face image, fingerprint, iris, or the like. The identification information 9 acquired by the outer identification device 7 is stored in the storage device 10, which will be described later, as entry identification information 91. In the example of FIG. 3, the entry identification information 91 includes the gate number through which the worker enters (the number indicating the entrance / exit 5), an ID number that identifies the worker (an example of the identification information 9), and the time at which the identification information 9 was acquired (entry identification information acquisition time).

[0024] As shown in FIGS. 1, 2, and 3, the inner identification device 8 is provided inside the entry restriction area 3 relative to the entrance 5, and acquires identification information 9. In this embodiment, a plurality of inner identification devices 8 are provided corresponding to a plurality of entrances 5. The inner identification devices 8 are arranged adjacent to the entrances 5. In the example of FIG. 1, the inner identification device 8 is attached to the entry restriction member 2.

[0025] The inner identification device 8 acquires identification information 9 of a worker attempting to pass through the entrance 5 from inside the entry-restricted area 3. The basic configuration of the inner identification device 8 is the same as that of the outer identification device 7, and therefore a description thereof will be omitted. The identification information 9 acquired by the inner identification device 8 is stored in a storage device 10, which will be described later, as exit identification information 92. In the example of FIG. 3 , the exit identification information 92 includes the gate number from which the worker exits, an ID number that identifies the worker, and the time at which the identification information 9 was acquired (entry identification information acquisition time). In this embodiment, the outer identification device 7 and the inner identification device 8 are configured to be able to communicate with the control device H, and transmit the acquired identification information 9 to the control device H.

[0026] As shown in FIG. 2, the autonomous driving equipment control system further includes an area detection device 11 that detects the presence or absence of workers within the entry-restricted area 3. In this example, the area detection device 11 detects workers entering the entry-restricted area 3. The area detection device 11 is configured to be able to communicate with the control device H, and transmits area detection information 94 including the number of workers present in the entry-restricted area 3 (hereinafter, sometimes referred to as the number of workers within the area) to the control device H. The area detection device 11 includes multiple imaging devices and an image recognition device arranged in the entry-restricted area 3. The multiple imaging devices capture images of the entire entry-restricted area 3, and the number of workers present in the entry-restricted area 3 is detected from the multiple image information acquired by the imaging. It is preferable that such imaging devices and image recognition devices have a moving object detection function. The area detection device 11 can also be a human presence sensor using infrared rays or ultrasonic waves. Furthermore, as the in-area detection device 11, for example, a plurality of beacon receivers may be provided in the entry-restricted area 3, and the number of workers in the entry-restricted area 3 may be identified by the beacon transmitters carried by the workers.

[0027] As shown in FIG. 2, the autonomous driving equipment control system further includes an entrance / exit detection device 12 that detects workers passing through an entrance / exit 5. In this example, the entrance / exit detection device 12 detects workers passing through each of the multiple entrances / exits 5. The entrance / exit detection device 12 is configured to be able to communicate with the control device H, and transmits entrance / exit detection information 93 including the number of workers who have passed through each entrance / exit 5 to the control device H. The entrance / exit detection device 12 includes multiple imaging devices and an image recognition device arranged at each entrance / exit 5. The multiple imaging devices capture images of each entrance / exit 5, and the number of workers who have passed through each entrance / exit 5 is detected from the multiple image information acquired by the imaging. It is preferable that such imaging devices and image recognition devices have a moving object detection function. The entrance / exit detection device 12 can also be a human presence sensor using infrared rays or ultrasound.

[0028] As shown in FIG. 2, the autonomous driving equipment control system further includes a storage device 10 that stores information. In this embodiment, the storage device 10 is configured to be able to communicate with the control device H. The storage device 10 stores at least entry identification information 91 and exit identification information 92. The control device H stores the identification information 9 acquired by the identification information acquisition unit 82 from the outer identification device 7 in the storage device 10 as entry identification information 91, and stores the identification information 9 acquired by the identification information acquisition unit 82 from the inner identification device 8 in the storage device 10 as exit identification information 92. In the example of FIG. 2, one storage device 10 is provided, but a configuration in which one storage device 10 is provided at each entrance / exit 5 may also be used. The storage device 10 may be provided in the control device H as a storage unit.

[0029] 2, in this embodiment, the control device H controls a plurality of automatic guided vehicles 61, an outer identification device 7, an inner identification device 8, an entrance / exit detection device 12, an in-area detection device 11, an opening / closing body 4, a storage device 10, and a display device 13, which will be described later. The control device H includes an arithmetic processing device such as a CPU, as well as peripheral circuits such as a memory, and each function of the control device H is realized by cooperation between these pieces of hardware and programs executed on the hardware such as the arithmetic processing device. The control device H may be configured not as a single piece of hardware, but as a collection of multiple pieces of hardware (multiple separate pieces of hardware) that can communicate with each other.

[0030] The control device H includes an identification information acquisition unit 82 that acquires identification information 9 from the outer identification device 7 and the inner identification device 8, and acquires already stored identification information 9 (entry identification information 91, exit identification information 92) from the storage device 10, an entrance / exit detection information acquisition unit 83 that acquires entrance / exit detection information 93 from the entrance / exit detection device 12, an area interior detection information acquisition unit 84 that acquires area interior detection information 94 from the area interior detection device 11, an automated guided vehicle control unit 85 that controls the automated guided vehicle 61, an opening / closing body control unit 86 that controls the opening / closing body 4, a display device control unit 87 that controls the display device 13, and a determination unit 88 that the control device H makes a determination. The control when a worker enters the entry-restricted area 3 will be specifically described below.

[0031] As shown in FIGS. 2 and 4 , when the control device H acquires identification information 9 from the outer identification device 7, it stores the identification information 9 in the storage device 10 as entry identification information 91, stops the automatically operated device 6, and sets the state of the opening / closing body 4 to an entry / exit permitting state that allows the worker to pass through the entrance / exit 5. After the worker passes through the entrance / exit 5, it sets the state of the opening / closing body 4 to an entry / exit restricting state that restricts the worker from passing through the entrance / exit 5. In this embodiment, when the identification information acquisition unit 82 acquires the identification information 9 from the outer identification device 7 and stores the identification information 9 in the storage device 10 as entry identification information 91, the automatic guided vehicle control unit 85 stops all automatic guided vehicles 61 traveling in the entry-restricted area 3 (here, the travel passage 31). Then, the opening / closing body control unit 86 switches the opening / closing body 4 from a locked state to an unlocked state. As a result, the opening / closing body 4 enters the entry / exit permitting state, allowing the worker to open the door of the opening / closing body 4 and pass through the entrance / exit 5. Incidentally, if the automated guided vehicle 61 is stopped because another worker is already entering the entry-restricted area 3, the control device H continues to maintain the automated guided vehicle 61 in a stopped state when the outside identification device 7 acquires the identification information 9 of the other worker. In this embodiment, when the worker enters the entry-restricted area 3 and closes the door of the opening-closing body 4, the opening-closing body control unit 86 switches the opening-closing body 4 from an unlocked state to a locked state, thereby establishing an entry / exit restricted state. Here, the door of the opening-closing body 4 is automatically closed by a door closer. As described above, in this embodiment, the control device H stores the identification information 9 in the storage device 10 as entry identification information 91, then stops the automated guided vehicle 61, and then changes the state of the opening-closing body 4 to an entry / exit permitted state. However, the order in which the control device H performs the above control can be changed as appropriate. For example, the control device H may store the entry identification information 91, then change the state of the opening-closing body 4 to an entry / exit permitted state, and then stop the automated guided vehicle 61.

[0032] 2 and 4, in this embodiment, when the control device H acquires the identification information 9 from the outer identification device 7, the control device H stops the automatic guided vehicle 61 on the condition that the automatic guided vehicle 61 is located in a location that does not obstruct the passage of a worker. Specifically, when the control device H acquires the identification information 9 from the outer identification device 7 and the automatic guided vehicle 61 is located in a location that obstructs the passage of a worker, the control device H moves the automatic guided vehicle 61 to a location that does not obstruct the passage of a worker and then stops the automatic guided vehicle 61. Hereinafter, the control by the control device H to move the automatic guided vehicle 61 to a location that does not obstruct the passage of a worker may be simply referred to as "position correction control."

[0033] In this example, when multiple AGVs 61 are positioned at an inter-vehicle distance smaller than a set distance in the traveling direction of the AGVs 61, the control device H determines that these AGVs 61 are located in a location that will obstruct the passage of workers, and executes position correction control. Specifically, the AGV control unit 85 drives at least one of the multiple AGVs 61 determined by the determination unit 88 to be located in a location that will obstruct the passage of workers, so that the inter-vehicle distance is equal to or greater than the set distance. It is preferable that the AGV control unit 85 stops an AGV 61 that is not the target of the position correction control (an AGV 61 determined to be located in a location other than a location that will obstruct the passage of workers) before executing the position correction control. It is to be noted that in this example, the AGV control unit 85 acquires position information of each AGV 61 from detection information obtained by the distance sensor 62 and the obstacle sensor 63 provided on the AGV 61, and calculates the inter-vehicle distance.

[0034] In the example of FIG. 1, the determination unit 88 also determines that two AGVs 61 traveling on adjacent lanes are in a location that obstructs the passage of workers if the inter-vehicle distance in the traveling direction between the two AGVs 61 is less than the set distance. In the example shown, two AGVs 61 are positioned adjacent to each other on adjacent lanes. The inter-vehicle distance in the traveling direction between the two AGVs 61 is less than the set distance. Therefore, the AGV control unit 85 executes position correction control to cause one of the two adjacent AGVs 61 to travel so that the inter-vehicle distance is equal to or greater than the set distance (dash-dot line in FIG. 1). This prevents the movement of a worker who has entered the entry-restricted area 3 from being obstructed by the stopped AGV 61.

[0035] It is preferable that the set distance be set to a length sufficient for one worker to pass through the entry-restricted area 3 (here, the travel path 31) without coming into contact with the stopped automatic guided vehicle 61. Furthermore, when the determination unit 88 determines that the inter-vehicle distance to another automatic guided vehicle 61 that was not the target of the position correction control has become less than the set distance as a result of executing the position correction control, the automatic guided vehicle control unit 85 preferably executes the position correction control again.

[0036] If the plurality of automated guided vehicles 61 are configured to be able to communicate with each other and are thereby able to grasp the positions of each other's automated guided vehicles 61, the control device H may acquire position information from each automated guided vehicle 61 and calculate the inter-vehicle distance between each automated guided vehicle 61. The control device H may also acquire position information of the plurality of automated guided vehicles 61 from the in-area detection device 11 (plurality of imaging devices and image recognition devices) and calculate the inter-vehicle distance. If an evacuation area separate from the travel path 31 is provided in the entry-restricted area 3, the automated guided vehicle control unit 85 may move an automated guided vehicle 61 that is in a location that obstructs the passage of workers to the evacuation area.

[0037] As shown in FIG. 4 , in this embodiment, the control device H sets the opening / closing body 4 to the entry / exit permitting state, which allows a worker to pass through the entrance / exit 5, on the condition that the automated guided vehicles 61 have stopped. In this example, the control device H sets the opening / closing body 4 to the entry / exit permitting state on the condition that all automated guided vehicles 61 present in the entry-restricted area 3 have stopped. Furthermore, when it is necessary to perform position correction control, the control device H sets the opening / closing body 4 to the entry / exit permitting state after the position correction control is completed. More specifically, the opening / closing body control unit 86 sets the opening / closing body 4 to the entry / exit permitting state when the determination unit 88 determines that all automated guided vehicles 61 present in the entry-restricted area 3 have stopped. Furthermore, when the automated guided vehicle control unit 85 has performed position correction control, the opening / closing body control unit 86 sets the opening / closing body 4 to the entry / exit permitting state after the position correction control is completed.

[0038] Next, a specific description will be given of the control when a worker exits the entry-restricted area 3. As shown in FIG. 5 , when the control device H acquires identification information 9 from the inner identification device 8, it stores the identification information 9 in the storage device 10 as exit identification information 92, sets the state of the opening-closing body 4 to an entry-exit permitting state, and sets the state of the opening-closing body 4 to an entry-exit restricting state after the worker passes through the entrance / exit 5. In this embodiment, when the identification information acquisition unit 82 acquires the identification information 9 from the inner identification device 8 and stores the identification information 9 in the storage device 10 as exit identification information 92, the opening-closing body control unit 86 switches the opening-closing body 4 from a locked state to an unlocked state. As a result, the opening-closing body 4 enters the entry-exit permitting state, allowing the worker to open the door of the opening-closing body 4 and pass through the entrance / exit 5, and move from the entry-exit restricting area 3 (here, the travel passage 31) to outside the entry-exit restricting area 3. Then, when the worker passes through the entrance / exit 5, the door of the opening-closing body 4 is automatically closed as described above, and the opening-closing body 4 enters the entry-exit restricting state. In this embodiment, as described above, the control device H stores the identification information 9 in the memory device 10 as exit identification information 92, and then sets the state of the opening / closing body 4 to an entry / exit permitted state, but the state of the opening / closing body 4 may also be set to an entry / exit permitted state before the identification information 9 is stored in the memory device 10 as exit identification information 92.

[0039] Next, control when restarting the operation of the automatically driven device 6 will be described. As shown in FIGS. 3 and 5 , if there is at least one entry identification information 91 for which the corresponding exit identification information 92 for the same worker is not stored in the storage device 10, the control device H maintains the stopped state of the automatically driven device 6. In this embodiment, the control device H refers to the storage device 10 and searches for entry identification information 91 for which the corresponding exit identification information 92 for the same worker is not stored. If there is at least one such exit identification information 92, the control device H determines that a worker is present in the entry-restricted area 3 and maintains the stopped state of all automatic guided vehicles 61 in the entry-restricted area 3. Furthermore, in this embodiment, the control device H determines the number of workers in the area, which is the number of workers present in the entry-restricted area 3, based on the entry identification information 91 and exit identification information 92 stored in the storage device 10. As described above, when the control device H searches for entry identification information 91 for the same worker for which corresponding exit identification information 92 is not stored, the control device H determines the number of workers in the area by assuming that the same number of workers as the number of entry identification information 91 are present in the entry-restricted area 3. On the other hand, when entry identification information 91 and corresponding exit identification information 92 for the same worker are available, the control device H determines that the worker has already exited the entry-restricted area 3. This will be explained in more detail below with reference to FIG. 3.

[0040] 3, in this embodiment, the control device H stores the entry identification information 91 and the exit identification information 92 for multiple entrances 5 in the storage device 10 in a mutually referable state. In this example, the control device H can determine which of the multiple entrances 5 the same worker used to enter the entry-restricted area 3 and which of the multiple entrances 5 the same worker used to exit the entry-restricted area 3 by mutually referencing the entry identification information 91 and the exit identification information 92 for the same worker. Furthermore, the control device H can determine the time the same worker entered the entry-restricted area 3 (here, the time the entry identification information 91 was acquired) and the time the same worker exited the entry-restricted area 3 (here, the time the exit identification information 92 was acquired) by mutually referencing the entry identification information 91 and the exit identification information 92.

[0041] In the example of FIG. 3, entry identification information 91 and corresponding exit identification information 92 for the same worker are associated and stored in the storage device 10. Here, each of the multiple entrances / exits 5 is indicated by a different number (gate number). Furthermore, each worker passing through the entrances / exits 5 is indicated by a different number (ID number). Then, when the entry identification information 91 and the corresponding exit identification information 92 for the same worker are collected, the control device H deletes the entry identification information 91 and the corresponding exit identification information 92 from the storage device 10. In the example shown in the figure, the control device H deletes the entry identification information 91 and the corresponding exit identification information 92 for each worker with ID numbers "1, 3, 5" marked with a completion check mark. As a result, the control device H determines that each of the workers with ID numbers "1, 3, 5" has already exited the entry-restricted area 3. Furthermore, by deleting the entry identification information 91 and the corresponding exit identification information 92 from the storage device 10 in this manner, the control device H can prevent the previous exit identification information 92 relating to the worker from being mistakenly determined to be the current exit identification information 92 when the same worker repeatedly enters and exits the entry-restricted area 3.

[0042] In the example of FIG. 3, the entry identification information 91 for the worker with ID number "6" is stored, but the corresponding exit identification information 92 is not. In this way, when only the entry identification information 91 is stored and the corresponding exit identification information 92 is not stored, no mark is placed in the completion check. The control device H searches for entry identification information 91 for which no mark is placed in the completion check. Then, when there is even one entry identification information 91 for which no mark is placed in the completion check (i.e., entry identification information 91 for which no corresponding exit identification information 92 is stored), the control device H (here, the automated guided vehicle control unit 85) controls the automated guided vehicle 61 to maintain a stopped state and not to run. In the example of FIG. 3, the control device H references the entry identification information 91 for the worker with ID number "6" for which no completion check is placed. The determination unit 88 then determines that the worker with ID number "6" has not exited the entry-restricted area 3 and that there is only one worker present in the entry-restricted area 3. In this way, the control device H can identify all workers present in the entry-restricted area 3 and the number of workers (i.e., the number of workers within the area) by searching the storage device 10 for entry-time identification information 91 for which no corresponding exit-time identification information 92 is stored. In this embodiment, the control device H notifies the number of workers within the area. In this example, as shown in FIG. 2, when the determination unit 88 determines the number of workers within the area, the display device control unit 87 causes the display device 13 to display the number of workers within the area. The display device 13 can be a monitor connected to the control device H. A plurality of such display devices 13 may be provided inside and outside the entry-restricted area 3, or may be provided in each section E and worker area A. Furthermore, the number of workers within the area can also be displayed on a mobile terminal carried by the worker, for example.

[0043] As shown in FIG. 5 , the control device H resumes operation of the automatically driven device 6 on the condition that there is no entry identification information 91 for the same worker for which the corresponding exit identification information 92 is not stored in the storage device 10 and all entrances / exits 5 are in an entry / exit restricted state. In this embodiment, the control device H determines that all workers have exited the entry-restricted area 3 when there is no entry identification information 91 for the same worker for which the corresponding exit identification information 92 is not stored. Then, the control device H resumes operation of the automatically driven device 6 on the condition that all workers have exited the entry-restricted area 3 and all entrances / exits 5 are in an entry / exit restricted state. Furthermore, in this embodiment, the control device H resumes operation of the automatically driven device 6 on the additional condition that the area detection device 11 has not detected any workers in the entry-restricted area 3. More specifically, when the determination unit 88 determines that all workers have left the entry-restricted area 3, that the opening / closing bodies 4 of all entrances / exits 5 are in the locked state, and that the in-area detection devices 11 have not detected any workers in the entry-restricted area 3, the automated guided vehicle control unit 85 resumes the operation of all automated guided vehicles 61 that are stopped in the entry-restricted area 3 (here, the travel path 31). Note that the conditions for resuming the operation of the automated guided vehicles 61 can be, for example, that none of the automated guided vehicles 61 have stopped abnormally, or that a command to make an emergency stop has not been sent to any of the automated guided vehicles 61, or the like.

[0044] As shown in FIG. 6, the control device H notifies an abnormality when the number of workers detected by the entrance / exit detection device 12 differs from the number of pieces of identification information 9 acquired by the outer identification device 7 or the inner identification device 8. In this example, the determination unit 88 compares the entrance / exit detection information 93 acquired from the entrance / exit detection device 12 with the identification information 9 (entrance identification information 91 or exit identification information 92) to determine whether the number of workers detected by the entrance / exit detection device 12 differs from the number of pieces of identification information 9. The determination unit 88 performs such a determination for each of all entrances / exits 5. When the control device H acquires the identification information 9 corresponding to any entrance / exit 5 through which workers enter or exit, it acquires and refers to the corresponding entrance / exit detection information 93 for a certain period (for example, about 1 second) before and after the time when the identification information 9 was acquired. For example, when the control device H (here, the determination unit 88) acquires one piece of identification information 9 for a specific entrance / exit 5, if it detects that two workers have passed through this entrance / exit 5 from the entrance / exit detection information 93 for a certain period before and after the time the identification information 9 was acquired, it notifies the user of an abnormality. In the example of FIG. 2 , the display device control unit 87 causes the display device 13 (here, a monitor connected to the control device H) to display information indicating the abnormality. Here, the display device 13, which displays the number of workers in the area, also displays the information indicating the abnormality. A plurality of such display devices 13 may be provided inside and outside the entry-restricted area 3, or may be provided in each section E and worker area A. The information indicating the abnormality may also be displayed on a mobile terminal carried by the worker. The abnormality may also be notified by outputting an alarm or voice. Here, the information indicating the abnormality may be, for example, information indicating a system error.

[0045] In this embodiment, as shown in FIG. 7 , the control device H issues an abnormality notification when the outer identification device 7 acquires the identification information 9 for the same worker multiple times in succession, or when the inner identification device 8 acquires the identification information 9 for the same worker multiple times in succession. In this example, the control device H issues an abnormality notification when the outer identification device 7 acquires the entry identification information 91 for the same worker multiple times (here, twice) in succession, or when the inner identification device 8 acquires the exit identification information 92 for the same worker multiple times (here, twice) in succession. In the example of FIG. 2 , the display device control unit 87 causes the display device 13 (here, a monitor connected to the control device H) to display information indicating the abnormality. Here, the display device 13, which displays the number of workers in the area, also displays the information indicating the abnormality. Multiple such display devices 13 may be provided inside and outside the entry-restricted area 3, or may be provided in each section E and worker area A. Furthermore, the information indicating the abnormality may be displayed on a mobile terminal carried by the worker. Furthermore, an abnormality may be notified by outputting a warning sound or voice.

[0046] In this embodiment, as shown in FIG. 8 , the control device H notifies an abnormality when the determination unit 88 determines the number of workers in the area based on the entry identification information 91 and the exit identification information 92 and the number of workers in the area detected by the area detection device 11. In this example, the control device H notifies an abnormality when the number of workers in the area determined by searching the storage device 10 for entry identification information 91 for which no corresponding exit identification information 92 is stored differs from the number of workers in the area determined based on the area detection information 94. In the example of FIG. 2 , the display device control unit 87 causes the display device 13 (here, a monitor connected to the control device H) to display information indicating the abnormality. Here, the display device 13 that displays the number of workers in the area also displays information indicating the abnormality. A plurality of such display devices 13 may be provided inside and outside the entry-restricted area 3, or may be provided in each section E and worker area A. Information indicating the abnormality may also be displayed on a mobile terminal carried by the worker. Furthermore, an abnormality may be notified by outputting a warning sound or voice. In this way, even if the number of workers present in the entry-restricted area 3 is erroneously determined due to an error in reading the identification information 9 or the like, the accurate number of workers present in the entry-restricted area 3 can be determined by the in-area detection device 11, and information indicating the abnormality (error information, etc.) can be easily obtained.

[0047] The control by the control device H will be described below with reference to the flowcharts of FIGS.

[0048] 4, when the control device H acquires the identification information 9 from the outer identification device 7 (S01), it stores the identification information 9 in the storage device 10 as entry identification information 91 (S02). Then, when the control device H determines that at least one of the plurality of AGVs 61 in the entry-restricted area 3 is in a position that obstructs the passage of a worker (S03: Yes), it executes position correction control to cause the AGV 61 to travel a set distance (S04), and then stops all of the AGVs 61 in the entry-restricted area 3 (S05). On the other hand, when the control device H determines that none of the plurality of AGVs 61 in the entry-restricted area 3 is in a position that obstructs the passage of a worker (S03: No), it stops all of the AGVs 61 in the entry-restricted area 3 without executing position correction control (S05). The control device H stops all of the automatic guided vehicles 61 in the entry-restricted area 3 (S05), and then sets the opening / closing body 4 to an entry / exit permitted state (S06). After that, if the control device H determines that a worker has passed through the entrance / exit 5 (S07: Yes), it sets the opening / closing body 4 to an entry / exit restricted state (S08).

[0049] 5, when the control device H acquires the identification information 9 using the inside identification device 8 (S11), it stores the identification information 9 in the storage device 10 as exit identification information 92 (S12). Then, the control device H sets the opening / closing body 4 to an entry / exit permitting state (S13). Thereafter, if the control device H determines that a worker has passed through the entrance / exit 5 (S14: Yes), it sets the opening / closing body 4 to an entry / exit restricted state (S15). Then, if the control device H determines that there is no entry identification information 91 for the same worker for which exit identification information 92 is not stored (S16: No), determines that all entrances / exits 5 are in an entry / exit restricted state (S17: Yes), and determines that the in-area detection device 11 has not detected a worker in the entry-restricted area 3 (S18: No), it resumes operation of all automatic guided vehicles 61 in the entry-restricted area 3 (S19). On the other hand, when it is determined that there is entry identification information 91 for which no exit identification information 92 is stored for the same worker (S16: Yes), when it is determined that all entrances / exits 5 are not in an entry / exit restricted state (S17: No), or when it is determined that an operator has been detected in the entry restricted area 3 by the area detection device 11 (S18: Yes), the control device H controls each of the automatic guided vehicles 61 so as to maintain the stopped state of all the automatic guided vehicles 61 in the entry restricted area 3 (S20). Below, the control by the control device H to report an abnormality will be described with reference to Figs. 6 to 8.

[0050] As shown in FIG. 6, when the number of workers detected by the entrance / exit detection device 12 differs from the number of pieces of identification information 9 acquired by the outer identification device 7 or the inner identification device 8 (S30: Yes), the control device H issues an abnormality notification (S31). Also, as shown in FIG. 7, when the control device H determines that the outer identification device 7 and the inner identification device 8 have acquired identification information 9 for the same worker multiple times in succession (S40: Yes), the control device H issues an abnormality notification (S41). Furthermore, as shown in FIG. 8, the control device H determines the number of workers in the area based on the entry identification information 91 and the exit identification information 92 (S50). Also, the control device H determines the number of workers in the area based on the detection result of the area detection device 11 (S51). Then, when the control device H determines that the respective determined numbers of workers in the area differ (S52: Yes), the control device H issues an abnormality notification (S54). On the other hand, if the control device H determines that the respective in-area numbers of workers are not different (S52: No), it displays the in-area number of workers on the display device 13 (S53).

[0051] Other Embodiments Next, other embodiments of the automatic driving equipment control system will be described.

[0052] (1) In the above embodiment, an example has been described in which the entry-restricted area 3 is configured to connect multiple sections E in which the storage section 15 and the work area 14 are arranged. However, the present invention is not limited to this configuration. For example, the entry-restricted area 3 may be configured as one section E, and the storage section 15 and the work area 14 may be arranged within that section E.

[0053] (2) In the above embodiment, a configuration in which multiple entrances 5 are provided in the entry restriction member 2 has been described as an example. However, the present invention is not limited to this configuration, and the entry restriction member 2 may have only one entrance 5.

[0054] (3) In the above embodiment, the control device H resumes operation of the autonomously driven device 6 with the additional condition that the in-area detection device 11 has not detected a worker in the entry-restricted area 3. However, this is not limited to this. For example, the control device H does not need to require that the in-area detection device 11 has not detected a worker in the entry-restricted area 3 as a condition for resuming operation of the autonomously driven device 6.

[0055] (4) In the above embodiment, the control device H is configured to notify of an abnormality when the number of workers detected by the entrance / exit detection device 12 differs from the number of pieces of identification information 9 acquired by the outer identification device 7 or the inner identification device 8. However, the present invention is not limited to this. For example, the control device H may be configured not to compare the number of workers detected by the entrance / exit detection device 12 with the number of pieces of identification information 9 acquired by the outer identification device 7 or the inner identification device 8.

[0056] (5) In the above embodiment, the control device H is configured to issue an alarm when the outer identification device 7 acquires the identification information 9 for the same worker multiple times in succession, or when the inner identification device 8 acquires the identification information 9 for the same worker multiple times in succession. However, the present invention is not limited to this. For example, the control device H can issue an alarm only when the outer identification device 7 acquires the identification information 9 for the same worker multiple times in succession, or when the inner identification device 8 acquires the identification information 9 for the same worker multiple times in succession. Note that, when the entry identification information 91 or exit identification information 92 for the same worker is acquired multiple times in succession, the control device H preferably deletes the duplicate entry identification information 91 or exit identification information 92 from the storage device 10.

[0057] (6) In the above embodiment, the control device H determines the number of workers in the area, which is the number of workers present in the entry-restricted area 3, based on the entry identification information 91 and the exit identification information 92 stored in the storage device 10. However, the present invention is not limited to this. For example, the control device H can determine the number of workers in the area based only on the area detection information 94 obtained from the area detection device 11. Furthermore, if only one entrance / exit 5 is provided, the control device H may determine the number of workers in the area based only on the entrance / exit detection information 93 obtained from the entrance / exit detection device 12.

[0058] (7) In the above embodiment, the control device H stops the automated guided vehicle 61 when the identification information 9 is acquired by the outer identification device 7, provided that the automated guided vehicle 61 is located in a location that does not obstruct the passage of workers. However, the present invention is not limited to this. For example, the control device H does not have to set such a condition as a condition for stopping the automated guided vehicle 61.

[0059] (8) Note that the configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments (including combinations of embodiments described as other embodiments) as long as no contradictions arise. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0060] [Summary of the above embodiment] Below, an overview of the automatic driving equipment control system described above will be given.

[0061] The autonomous driving equipment control system according to the present disclosure is an autonomous driving equipment control system including an entry restriction area surrounded by an entry restriction member that restricts the entry of workers, at least one entrance / exit provided in a part of the entry restriction member and opened / closed by an opening / closing body, autonomous driving equipment arranged in the entry restriction area, and a control device that controls the autonomous driving equipment, an outside identification device that is provided outside the entry restriction area with respect to the entrance and that acquires identification information of the worker; Further included is an inside identification device that is provided inside the entry restriction area relative to the entrance and that acquires the identification information, and a storage device that stores information, The control device When the identification information is acquired by the outside identification device, the identification information is stored in the storage device as entry identification information, the automatic driving equipment is stopped, the state of the opening / closing body is changed to an entry / exit permitting state that allows the worker to pass through the entrance / exit, and after the worker passes through the entrance / exit, the state of the opening / closing body is changed to an entry / exit restricting state that restricts the worker from passing through the entrance / exit, When the identification information is acquired by the inside identification device, the identification information is stored in the storage device as exit identification information, the state of the opening / closing body is set to the entry / exit permitted state, and after the worker passes through the entrance / exit, the state of the opening / closing body is set to the entry / exit restricted state. If there is any entry identification information for which the corresponding exit identification information for the same worker is not stored in the storage device, the automatic driving device is maintained in a stopped state, The operation of the automatic driving equipment is resumed on the condition that there is no entry identification information for the same worker for which the corresponding exit identification information is not stored in the storage device, and all entrances and exits are in the entry and exit restricted state.

[0062] According to this configuration, the identification information of a worker is acquired when the worker enters and exits the entrance and is then allowed to pass through the entrance, so that the worker who entered the entry-restricted area and the worker who exited the entry-restricted area can be identified. Furthermore, by comparing the entry identification information and exit identification information stored in the storage device, it is possible to identify with high reliability the workers who remain in the entry-restricted area and to determine with high reliability that all workers have exited the entry-restricted area. The system then resumes operation of the automated driving device only when it is determined that all workers who were determined to have entered the restricted access area have exited the restricted access area and all entrances and exits are in a restricted access state. This prevents the system from resuming operation of the automated driving device while workers remain in the restricted access area. In this way, with this configuration, it is possible to ensure the safety of workers in restricted access areas while reducing the workload of workers entering restricted access areas where autonomous driving equipment is located.

[0063] Here, the entrance / exit is provided in plurality, It is preferable that the control device stores the entry identification information and the exit identification information for the plurality of entrances and exits in the storage device in a mutually referable state.

[0064] With this configuration, even if each worker exits through an entrance / exit different from the entrance / exit through which they entered, it is possible to appropriately determine each worker's entry into and exit from the restricted entry area.

[0065] The system further includes an area detection device that detects the presence or absence of the worker within the entry-restricted area, It is preferable that the control device resumes operation of the automatically operated equipment on the additional condition that the area detection device does not detect the worker within the restricted access area.

[0066] With this configuration, even if the entry identification information is not stored in the storage device by mistake, for example, when a worker passes through an entrance with other workers, it is possible to prevent the operation of the automated driving device from being resumed while the worker remains in the entry-restricted area, thereby further improving the safety of workers in the entry-restricted area.

[0067] The system further includes an entrance / exit detection device that detects the worker passing through the entrance / exit, It is preferable that the control device notify an abnormality when the number of workers detected by the entrance / exit detection device differs from the number of pieces of identification information obtained by the outer identification device or the inner identification device.

[0068] With this configuration, even if the entry identification information or exit identification information is mistakenly not stored in the storage device, for example, when a worker passes through an entrance / exit with other workers, it is possible to avoid erroneous judgments being made as a result.

[0069] In addition, it is preferable that the control device notify of an abnormality when the outer identification device acquires the identification information about the same worker multiple times in succession, or when the inner identification device acquires the identification information about the same worker multiple times in succession.

[0070] According to this configuration, even if the outer identification device or the inner identification device erroneously reads the identification information multiple times in succession, the resulting entry identification information or exit identification information can be prevented from being stored in the storage device, and ultimately, erroneous judgments based on such identification information can be prevented.

[0071] It is also preferable that the control device determines the number of workers in the area, which is the number of workers present in the entry-restricted area, based on the entry identification information and the exit identification information stored in the storage device, and notifies the number of workers in the area.

[0072] With this configuration, each worker can easily grasp the total number of workers in the entry-restricted area.

[0073] The autonomous driving device includes an unmanned guided vehicle, when the control device acquires the identification information from the outer identification device, the control device stops the automatic guided vehicle on the condition that the automatic guided vehicle is located in a place other than a place that obstructs passage of the worker, It is preferable that the opening / closing body be brought into the entrance / exit permitting state in which the worker is permitted to pass through the entrance / exit, on the condition that the automatic guided vehicle has come to a halt.

[0074] According to this configuration, the passage of workers who have entered the restricted access area can be prevented from being obstructed by automated guided vehicles, thereby facilitating the passage of workers within the restricted access area.

[0075] The autonomous driving equipment control system according to the present disclosure may achieve at least one of the above-described effects. [Explanation of symbols]

[0076] 2:Entry control member 3: Restricted entry area 4: Opening and closing body 5: Entrance / exit 6:Autonomous driving equipment 7 :Outer identification device 8:Inner identification device 9: Identification information 10:Storage device 11: Area detection device 12: Entrance / exit detection device 91:Entry identification information 92:Identification information when exiting H: Control device

Claims

1. An automatic driving equipment control system comprising: an entry restriction area surrounded by an entry restriction member that restricts the entry of workers; at least one entrance / exit provided in a part of the entry restriction member and opened / closed by an opening / closing body; automatic driving equipment arranged in the entry restriction area; and a control device that controls the automatic driving equipment, an outside identification device that is provided outside the entry restriction area with respect to the entrance and that acquires identification information of the worker; an inside identification device that is provided inside the entry-restricted area relative to the entrance and acquires the identification information; a storage device that stores information, The control device When the identification information is acquired by the outside identification device, the identification information is stored in the storage device as entry identification information, the automatic driving equipment is stopped, the state of the opening / closing body is changed to an entry / exit permitting state that allows the worker to pass through the entrance / exit, and after the worker passes through the entrance / exit, the state of the opening / closing body is changed to an entry / exit restricting state that restricts the worker from passing through the entrance / exit, When the identification information is acquired by the inside identification device, the identification information is stored in the storage device as exit identification information, the state of the opening / closing body is set to the entry / exit permitted state, and after the worker passes through the entrance / exit, the state of the opening / closing body is set to the entry / exit restricted state. If there is any entry identification information for which the corresponding exit identification information for the same worker is not stored in the storage device, the automatic driving device is maintained in a stopped state, An automatic driving equipment control system that resumes operation of the automatic driving equipment on the condition that there is no entry identification information for the same worker for which the corresponding exit identification information is not stored in the storage device, and all entrances and exits are in the entry and exit restricted state.

2. A plurality of the entrances and exits are provided, The automatic driving equipment control system according to claim 1 , wherein the control device stores the entry identification information and the exit identification information for the plurality of entrances and exits in the storage device in a mutually referable state.

3. further comprising an area detection device that detects the presence or absence of the worker within the entry-restricted area, The control device resumes operation of the autonomously driven equipment under the additional condition that the area detection device does not detect the worker within the restricted access area.

4. Further provided is an entrance / exit detection device that detects the worker passing through the entrance / exit, 3. The autonomous driving equipment control system according to claim 1, wherein the control device notifies an abnormality when the number of workers detected by the entrance / exit detection device differs from the number of identification information acquired by the outer identification device or the inner identification device.

5. 3. The autonomous driving equipment control system according to claim 1, wherein the control device notifies of an abnormality when the outer identification device acquires the identification information for the same worker multiple times in succession, or when the inner identification device acquires the identification information for the same worker multiple times in succession.

6. The control device determines the number of workers in the area, which is the number of workers present in the entry-restricted area, based on the entry identification information and the exit identification information stored in the storage device, and notifies the number of workers in the area. The autonomous driving equipment control system described in claim 1 or 2.

7. The autonomous driving device includes an automated guided vehicle, The control device When the identification information is acquired by the outer identification device, the automatic guided vehicle is stopped on the condition that the automatic guided vehicle is located in a place that does not obstruct the passage of the worker; 3. The automatic driving equipment control system according to claim 1, wherein the state of the opening / closing body is set to the entry / exit allowing state that allows the worker to pass through the entrance / exit, on the condition that the automatic guided vehicle has stopped.

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