Automated guided vehicles

Abstract

To provide an automatic transport vehicle capable of setting an obstacle detection range of itself according to a cart transported by itself.SOLUTION: The automatic transport vehicle includes a range sensor that is removably connected to a transport cart and detects obstacles around the vehicle, and a control unit that can change the obstacle detection range of the range sensor based on the detection result of the range sensor.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an automated guided vehicle. [Background technology]

[0002] In transportation systems used in production lines, automated warehouses, and other locations, automated guided vehicles (AGVs) and mobile robots are often used to transport goods. Recently, low-profile AGVs (Automatic Guided Vehicles) are often used to transport goods by crawling under a trolley, or conveyors or robots are installed on top of the AGV to transport and transfer goods. These automated guided vehicles and mobile robots are equipped with obstacle detection devices and contact detection safety devices to ensure safety while traveling. However, depending on the size of the goods or cargo being transported by the automated guided vehicle, the trolleys or conveyors being transported by the AGV are often wider than the vehicle itself. This limits the obstacle detection range, making it impossible to properly detect obstacles. Furthermore, if the AGV comes into contact with nearby workers or obstacles outside the range of the safety devices, it may cause damage to the surrounding area.

[0003] To address these issues, for example, Patent Document 1 discloses an unmanned transport device in which a movable part is installed on a carriage that moves so as to enter the obstacle detection range of the unmanned transport device when it comes into contact with an obstacle. Summary of the Invention [Problem to be solved by the invention]

[0004] However, the unmanned transport device disclosed in Patent Document 1 has a problem in that it is necessary to install a movable part on every carriage, which increases costs.

[0005] The present invention has been made in view of the above, and aims to provide an automated guided vehicle that can set its own obstacle detection range in accordance with the cart it is transporting. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the automatic guided vehicle of the present invention is a vehicle that is detachably connected to a carrier. hand a range sensor that measures the surrounding physical shape data; The type of the transport vehicle being transported by the vehicle itself is estimated based on the pre-stored positions of the legs of the transport vehicle, the general shape of the transport vehicle, and the positions of the legs of the transport vehicle detected by the range sensor, and the type of the transport vehicle being transported by the vehicle itself is set as an obstacle detection range for the range sensor based on the estimation result of the transport vehicle. and a control unit. [Effects of the Invention]

[0007] According to the present invention, it is possible to set the obstacle detection range of the robot itself depending on the carriage that the robot itself is transporting. [Brief explanation of the drawings]

[0008] [Figure 1A] FIG. 1A is a front view showing a schematic configuration of an automatic guided vehicle according to an embodiment. [Figure 1B] FIG. 1B is a side view showing a schematic configuration of the automatic guided vehicle according to the embodiment. [Figure 2A] FIG. 2A is a front view showing a state in which the automated guided vehicle according to the embodiment is coupled to the platform car. [Figure 2B] FIG. 2B is a side view showing a state in which the automated guided vehicle according to the embodiment is coupled to the platform car. [Figure 3] FIG. 3 is a hardware block diagram showing an example of a hardware configuration of the automatic guided vehicle according to the embodiment. [Figure 4] FIG. 4 is a functional block diagram illustrating an example of the functional configuration of the automatic guided vehicle according to the embodiment. [Figure 5] FIG. 5 is a diagram illustrating the obstacle detection range of the range sensor. [Figure 6A] FIG. 6A is a diagram showing an example of a state in which a leg of a transporting platform vehicle is present within the obstacle detection range of the range sensor. [Figure 6B] FIG. 6B is a diagram showing an example of an output signal output by the range measurement sensor in the state of FIG. 6A. [Figure 7] FIG. 7 is a diagram showing an example of the arrangement of the legs that are detected when the automated guided vehicle is coupled with the platform car. [Figure 8]FIG. 8 is a diagram showing an example of an obstacle detection exclusion range set by the automatic guided vehicle according to this embodiment in the state shown in FIG. [Figure 9] FIG. 9 is a flowchart showing an example of the flow of an obstacle detection range setting process performed by an automated guided vehicle. [Figure 10A] FIG. 10A is a diagram showing an example of a movement state of the obstacle detection range and the obstacle detection exclusion range when the automated guided vehicle according to the embodiment moves forward. [Figure 10B] FIG. 10B is a diagram showing an example of a movement state of the obstacle detection range and the obstacle detection exclusion range when the automated guided vehicle according to the embodiment is turning. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an automated guided vehicle will be described in detail below with reference to the accompanying drawings.

[0010] (Outline of the automated guided vehicle) The schematic configuration of an automated guided vehicle 10 according to this embodiment will be described with reference to Figures 1A and 1B. Figure 1A is a front view showing the schematic configuration of the automated guided vehicle according to this embodiment. Figure 1B is a side view showing the schematic configuration of the automated guided vehicle according to this embodiment.

[0011] 1A and 1B, the schematic configuration of the automated guided vehicle 10 will be described using three mutually orthogonal axis directions: the X-axis, the Y-axis, and the Z-axis. The X-axis is an axis that runs along the left-right direction of the automated guided vehicle 10. The Y-axis is an axis that runs along the front-to-back direction of the automated guided vehicle 10. Here, the negative Y-axis direction is the front of the automated guided vehicle 10, and the positive Y-axis direction is the back of the automated guided vehicle 10. The Z-axis is an axis that runs along the up-down direction of the automated guided vehicle 10.

[0012] The automated guided vehicle 10 includes a main body 11, a moving unit 12, an elevator 13, and range sensors 14a and 14b.

[0013] The main body 11 constitutes the main body of the automated guided vehicle 10. The main body 11 is a support member that supports other components. The main body 11 also houses a battery (not shown) that serves as a power source for the automated guided vehicle 10.

[0014] The moving unit 12 is provided below the main body 11 and supports the main body 11 so that it can move. Specifically, the moving unit 12 is composed of multiple tires. Of the multiple tires constituting the moving unit 12, for example, the center tire is a drive wheel. The drive wheel is driven by the rotational force of a motor built into the main body 11 to move the automated guided vehicle 10 forward or backward. The drive wheel adjusts its speed according to the rotational speed of the motor. The tires other than the drive wheels are non-drive wheels and rotate freely regardless of the rotational direction. The moving unit 12 controls the traveling direction of the automated guided vehicle 10, for example, by changing the rotation speed of the left and right drive wheels. Note that the moving unit 12 may change the direction of the automated guided vehicle 10 on the spot by rotating the left and right drive wheels in opposite directions. Note that although FIGS. 1A and 1B show an example with six tires, the number of tires is not limited to six.

[0015] The lifting unit 13 is a part that can change its height in the Z-axis direction by moving up and down in response to commands from the main body unit 11. The lifting unit 13 couples with the transporting platform 20 to be transported by rising in the positive direction of the Z-axis (see Figures 2A and 2B). The lifting unit 13 also detaches from the transporting platform 20 that it was coupled to by descending in the negative direction of the Z-axis. Note that Figures 1A and 1B show the state in which the lifting unit 13 has descended. In this way, the automated transport vehicle 10 and the transporting platform 20 are detachably coupled to each other.

[0016] The range sensors 14a and 14b detect obstacles around the automated guided vehicle 10 and the legs 21 of the transport vehicle 20 being transported by the automated guided vehicle 10 (see FIGS. 2A and 2B). The range sensors 14a and 14b are sensors with distance measurement functions, such as ultrasonic sensors, cameras, and LiDAR (Light Detection and Ranging). The range sensors 14a and 14b are sensors of the same type and specifications. The range sensor 14a is installed on the front side of the automated guided vehicle 10, facing the front direction (negative Y-axis direction). The range sensor 14b is installed on the rear side of the automated guided vehicle 10, facing the rear direction (positive Y-axis direction). The detection ranges within which the range sensors 14a and 14b detect obstacles will be described later (see FIG. 5).

[0017] (Automated transport vehicle transport status) 2A and 2B, a state in which the automated guided vehicle 10 according to this embodiment is transporting the platform 20 will be described. Fig. 2A is a front view showing a state in which the automated guided vehicle according to this embodiment is coupled to the platform. Fig. 2B is a side view showing a state in which the automated guided vehicle according to this embodiment is coupled to the platform.

[0018] The transporting vehicle 20 includes legs 21, casters 22, and a shelf 23.

[0019] The legs 21 support the transport vehicle 20 and are also locations where the casters 22 are installed. The transport vehicle 20 has a plurality of legs 21. Generally, four legs 21 are provided at the four corners of the transport vehicle 20. However, a large transport vehicle 20 may have a greater number of legs.

[0020] The casters 22 are wheels attached to the tips of the legs 21. The casters 22 are generally swivel type, and move in a direction corresponding to the direction of the force applied to the transporting cart 20 when the transporting cart 20 is moved manually after being lowered from the automatic transport vehicle 10.

[0021] The shelf section 23 stores items to be transported by the transport vehicle 20. Generally, the transport vehicle 20 is provided with multiple shelves 23 arranged in the vertical direction. Alternatively, the shelf section 23 may have only one tier, and the items stored on the shelf section 23 may be stacked in multiple tiers.

[0022] After the automated guided vehicle 10 has slipped under the bottom of the transporting platform 20, the lifting section 13 is raised, causing the upper surface of the lifting section 13 to come into contact with the bottom surface of the transporting platform 20. Then, when the lifting section 13 continues to rise, the casters 22 rise from the ground, and the automated guided vehicle 10 and the transporting platform 20 are coupled together.

[0023] (Automated guided vehicle hardware configuration) The hardware configuration of the automated guided vehicle 10 will be described with reference to Fig. 3. Fig. 3 is a hardware block diagram showing an example of the hardware configuration of the automated guided vehicle according to the embodiment.

[0024] The automated guided vehicle 10 includes a control unit 31, a memory unit 35, a peripheral device controller 40, and various peripheral devices connected to the peripheral device controller 40. The control unit 31, the memory unit 35, and the peripheral device controller 40 are connected via an internal bus 50.

[0025] The automated guided vehicle 10 operates by receiving instructions such as the attachment point of the transporting vehicle 20, the departure point of the transporting vehicle 20, and the travel route from a server device not shown in Figure 3, but the configuration of the server device will not be described here.

[0026] The control unit 31 is responsible for various control operations of the automated guided vehicle 10. The control unit 31 includes a CPU (Central Processing Unit) 32, a ROM (Read Only Memory) 33, and a RAM (Random Access Memory) 34. The CPU 32 executes various programs to perform various control operations of the automated guided vehicle 10. The ROM 33 stores various data and the like required when the CPU 32 executes the various programs. The RAM 34 temporarily stores data and programs when the CPU 32 executes the various programs.

[0027] Note that part or all of the control unit 31 shown in FIG. 3 may be realized by dedicated hardware such as an ASIC (Application Specific Integrated Circuit).

[0028] The storage unit 35 is configured with a non-volatile memory such as a hard disk drive (HDD) or flash memory that retains stored information even when the power is turned off. The storage unit 35 stores a control program 36, bogie leg information 37, bogie outline information 38, map data 39, etc.

[0029] The control program 36 is a program for controlling the entire automated guided vehicle 10. The control program 36 may be provided as an installable or executable file recorded on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a digital versatile disk (DVD). The control program 36 may also be configured to be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Furthermore, the control program 36 may also be configured to be provided or distributed via a network such as the Internet.

[0030] The carriage leg information 37 is a database that stores information related to the legs 21 of the multiple carriages 20 connected to the automated guided vehicle 10. The carriage leg information 37 stores the number, layout, dimensions, etc. of the legs 21 of each of the multiple carriages 20 connected to the automated guided vehicle 10.

[0031] The carriage outline information 38 stores outline information of each of the plurality of carriages 20 connected to the automated guided vehicle 10.

[0032] The map data 39 is data that stores information such as the travel route, the position of the transporting vehicle, and the position where the transporting vehicle leaves within the range where the automated guided vehicle 10 travels. The control unit 31 detects the current position of the automated guided vehicle 10 by performing so-called map matching, which is to compare the detection results of a positioning sensor 43 (described later) with the map data 39. The control unit 31 also refers to the map data 39 to set the coupling location of the transporting vehicle 20, the leaving location of the transporting vehicle 20, and the like.

[0033] The peripheral device controller 40 is connected to the lifting actuator 41, the range sensors 14a and 14b, the wheel drive motor 42, and the positioning sensor 43, and controls the operations of these peripheral devices based on instructions from the control unit 31.

[0034] The lifting actuator 41 is an actuator such as a motor that moves the lifting unit 13 up and down.

[0035] As described above, the range sensors 14a and 14b are sensors that detect obstacles around the automated guided vehicle 10 and the legs 21 of the platform cart 20 during transportation.

[0036] The wheel drive motor 42 is, for example, an electric motor that supplies power to drive wheels among the multiple wheels that make up the moving unit 12.

[0037] The positioning sensor 43 is a sensor for measuring the current position of the automated guided vehicle 10. The positioning sensor 43 is, for example, a GPS receiver that receives a GPS signal to perform GPS positioning, or a receiver that receives a beacon signal transmitted from a wireless LAN access point to perform Wi-Fi positioning.

[0038] Although not shown in FIG. 3, the automated guided vehicle 10 is also provided with a wireless communication unit for communicating with the server device described above.

[0039] (Functional configuration of automated guided vehicles) The functional configuration of the automated guided vehicle 10 will be described with reference to Fig. 4. Fig. 4 is a functional block diagram showing an example of the functional configuration of the automated guided vehicle according to the embodiment.

[0040] The control unit 31 of the automated guided vehicle 10 deploys the control program 36 in the RAM 34 and operates it, thereby realizing the functional units of the cart leg detection unit 61, the detection exclusion range calculation unit 62, the cart estimation unit 63, the obstacle detection range setting unit 64, the movement control unit 65, the self-position detection unit 66, and the lifting control unit 67 shown in Figure 4.

[0041] The carriage leg detection unit 61 detects the legs 21 of the carriage 20 based on the output of the range sensors 14a, 14b when the automatic guided vehicle 10 is coupled to the carriage 20 or when the carriage 20 is being coupled.

[0042] The detection exclusion range calculation unit 62 calculates, based on the detection results of the cart leg detection unit 61, an obstacle detection exclusion range in which obstacle detection cannot be performed when the range sensors 14a, 14b perform obstacle detection due to being in the blind spot of the legs 21 of the transport cart 20.

[0043] When there are multiple types of transport carts 20, the cart estimation unit 63 estimates the type of transport cart 20 connected to it based on the position of the legs 21 of the transport cart 20 detected by the cart leg detection unit 61 and the cart leg information 37 and cart outline information 38 stored in the memory unit 35.

[0044] In addition, an RFID (Radio Frequency IDentifier) ​​tag with registered information indicating the type of the transporting cart 20 may be attached to the transporting cart 20 in advance, and the cart estimation unit 63 may estimate the type of the transporting cart 20 that it has connected by reading the information on the RFID tag when the automatic transport vehicle 10 connects the transporting cart 20 or while the transporting cart 20 is being connected.

[0045] The obstacle detection range setting unit 64 sets the obstacle detection range of the automatic guided vehicle 10 based on the obstacle detection exclusion range calculated by the detection exclusion range calculation unit 62 and the type of transport vehicle 20 estimated by the cart estimation unit 63.

[0046] The movement control unit 65 moves the automated guided vehicle 10 toward the destination.

[0047] The self-position detection unit 66 detects the current position of the automated guided vehicle 10 by comparing the measurement results of the positioning sensor 43 with the map data 39 .

[0048] The lift control unit 67 controls the lift actuator 41 to move the lift unit 13 up and down. More specifically, the lift control unit 67 raises the lift unit 13 when the automated guided vehicle 10 couples the transporting cart 20. The lift control unit 67 also lowers the lift unit 13 when the automated guided vehicle 10 detaches the transporting cart 20.

[0049] (Detection of legs of an automated guided vehicle using a range sensor) Using Figures 5, 6A, and 6B, we will explain how the range sensors 14a and 14b of the automated guided vehicle 10 detect the legs 21 of the automated guided vehicle 10. Figure 5 is a diagram illustrating the obstacle detection range of the range sensor. Figure 6A is a diagram showing an example of how the legs of a transport vehicle are present within the obstacle detection range of the range sensor. Figure 6B is a diagram showing an example of an output signal output by the range sensor in the state of Figure 6A.

[0050] 5, the range sensors 14a and 14b each have an obstacle detection range with a horizontal angle of approximately 270°. That is, the range sensor 14a has an obstacle detection range 15a that includes the front and left and right directions of the automated guided vehicle 10, and the range sensor 14b has an obstacle detection range 15b that includes the back and left and right directions of the automated guided vehicle 10.

[0051] When the automated guided vehicle 10 is coupled to the transporting vehicle 20 or while the transporting vehicle 20 is being coupled, the legs 21 of the transporting vehicle 20 enter the obstacle detection range of the range sensor 14a. At this time, when the range sensor 14a of the automated guided vehicle 10 is viewed from directly above, the range sensor 14b and the legs 21a, 21b of the transporting vehicle 20 have a positional relationship as shown in FIG. 6A.

[0052] 6A, the leg 21a of the transporting vehicle 20 is located at a distance d1 from the range sensor 14a, and the leg 21b of the transporting vehicle 20 is located at a distance d2 from the range sensor 14a. The leg 21a of the transporting vehicle 20 is located within the obstacle detection range 15a of the range sensor 14a, with the azimuth angle θ ranging from θ=θ1 to θ=θ2. The leg 21b of the transporting vehicle 20 is located within the obstacle detection range 15a of the range sensor 14a, with the azimuth angle θ ranging from θ=θ3 to θ=θ4.

[0053] In the state shown in FIG. 6A, the range sensor 14a outputs a value corresponding to the distance D from the range sensor 14a to the leg 21, as shown in FIG. 6B, for example. That is, the range sensor 14a outputs a signal corresponding to the distance d1 when the azimuth angle θ is in the range from θ=θ1 to θ=θ2. Also, the range sensor 14a outputs a signal corresponding to the distance d2 when the azimuth angle θ is in the range from θ=θ3 to θ=θ4.

[0054] The vehicle leg detection unit 61 acquires the outputs of the range measurement sensors 14a and 14b multiple times when the lift control unit 67 of the automated guided vehicle 10 raises the lift unit 13 to couple the transport vehicle 20 or while the transport vehicle 20 is being coupled. At this time, the lift unit 13 moves the transport vehicle 20 along the Z axis, so the position of the legs 21 of the transport vehicle 20 in the XY plane does not change during the lifting or lowering. That is, among the output signals of the range measurement sensors 14a and 14b, the output signals corresponding to the legs 21 of the transport vehicle 20 do not change. Therefore, the range measurement sensor 14a continues to output the output signal shown in FIG. 6B while the lift unit 13 is rising. The vehicle leg detection unit 61 acquires the output signals of the range measurement sensors 14a and 14b multiple times at different times and identifies the output signals corresponding to the legs 21 of the transport vehicle 20 by identifying signals that do not change over time from the acquired output signals.

[0055] (Setting the obstacle detection exclusion range) 7 and 8, a method for the automated guided vehicle 10 to exclude an area related to the legs 21 of the transporting vehicle 20 from the obstacle detection range will be described. FIG. 7 is a diagram showing an example of the arrangement of the legs that are detected when the automated guided vehicle is coupled to the transporting vehicle. FIG. 8 is a diagram showing an example of the obstacle detection exclusion range set by the automated guided vehicle according to this embodiment in the state of FIG. 7.

[0056] 7, the carriage leg detection unit 61 of the automated guided vehicle 10 calculates the distances and angles to all of the legs 21 of the transporting vehicle 20 using the range sensors 14a and 14b, as explained in Fig. 6. This allows the automated guided vehicle 10 to identify the arrangement of the legs 21 of the transporting vehicle 20, that is, the number of legs 21, the positional relationship between adjacent legs 21, the dimensions of the installation positions of the legs 21, etc.

[0057] Then, the detection exclusion range calculation unit 62 of the automated guided vehicle 10 calculates the range in which the legs 21a, 21b, 21c, and 21d of the platform vehicle 20 are visible from the range measurement sensors 14a and 14b as the obstacle detection exclusion range, as shown in FIG.

[0058] More specifically, the detection exclusion range calculation unit 62 calculates, as the obstacle detection exclusion range, a region described by a half line extending from the positions of the range measurement sensors 14a and 14b toward the range of the azimuth angle θ of the leg 21 of the transporting vehicle 20 detected by the vehicle leg detection unit 61. Therefore, in the example of Fig. 8, obstacle detection exclusion ranges 30a, 30b, 30c, and 30d are calculated. For example, the obstacle detection exclusion range 30a is a region in which the obstacle detection range of the range measurement sensor 14a is blocked by the leg 21a of the transporting vehicle 20.

[0059] In Figure 8, the overlapping area between the area drawn by the half-line extending from the positions of the range sensors 14a and 14b toward the leg 21 of the transporting platform 20 and the automatic transporting vehicle 10 is excluded from the obstacle detection exclusion range. However, since it is unlikely that an obstacle exists in the overlapping area, the overlapping area may be included in the obstacle detection exclusion range.

[0060] In this way, the area obtained by excluding the obstacle detection exclusion ranges 30a and 30b from the obstacle detection range 15a of the range sensor 14a becomes the obstacle detection range of the range sensor 14a. Also, the area obtained by excluding the obstacle detection exclusion ranges 30c and 30d from the obstacle detection range 15b of the range sensor 14b becomes the obstacle detection range of the range sensor 14b.

[0061] (Obstacle detection range setting process flow) The flow of the obstacle detection range setting process performed by the automated guided vehicle 10 will be described with reference to Fig. 9. Fig. 9 is a flowchart showing an example of the flow of the obstacle detection range setting process performed by the automated guided vehicle.

[0062] 3, the movement control unit 65 causes the automated guided vehicle 10 to travel to the connecting point of the transporting platform 20 (step S11). The automated guided vehicle 10 moves to the connecting point of the transporting platform 20 while identifying its own current position by comparing the current position measured by the positioning sensor 43 with the map data 39.

[0063] When the automated guided vehicle 10 arrives at the coupling point of the transporting vehicle 20, the lifting control section 67 raises the lifting section 13, thereby coupling the automated guided vehicle 10 and the transporting vehicle 20 together (step S12).

[0064] The carriage leg detection unit 61 acquires the output signals of the range sensors 14a and 14b and detects the legs 21 of the carriage 20 (step S13).

[0065] The carriage leg detector 61 determines whether the leg 21 of the transporting carriage 20 has been detected at the expected position (step S14). If it is determined that the leg 21 of the transporting carriage 20 has been detected at the expected position (step S14: Yes), the process proceeds to step S15. On the other hand, if it is not determined that the leg 21 of the transporting carriage 20 has been detected at the expected position (step S14: No), the process proceeds to step S18. Note that the detected position of the leg 21 is not at the expected position when, for example, the coupled posture of the transporting carriage 20 is extremely oblique with respect to the front-to-rear direction of the automatic transporting vehicle 10, or when the leg 21 of the transporting carriage 20 significantly protrudes from the automatic transporting vehicle 10, etc.

[0066] If it is determined in step S14 that the leg 21 of the transporting platform vehicle 20 has been detected at the expected position, the detection exclusion range calculation unit 62 calculates the obstacle detection exclusion range (step S15).

[0067] When there are multiple types of transporting vehicles 20, the vehicle estimation unit 63 estimates the type of the transporting vehicle 20 based on the detection results of the legs 21, the vehicle leg information 37, and the vehicle outline information 38 (step S16).

[0068] The obstacle detection range setting unit 64 sets the obstacle detection range of the range sensors 14a, 14b based on the vehicle outline information 38 of the transporting vehicle 20 estimated in step S16 and the obstacle detection exclusion range calculated in step S15 (step S17). After that, the automated guided vehicle 10 ends the processing of FIG.

[0069] Returning to step S14, if it is determined in step S14 that the leg 21 of the transporting vehicle 20 is not detected at the expected position, the transporting vehicle leg detection unit 61 notifies an error using a lamp, buzzer, or the like (not shown in Fig. 3) (step S18). The transporting vehicle leg detection unit 61 may also notify a server device (not shown in Fig. 3) that an error has occurred. Thereafter, the automated transporting vehicle 10 ends the processing of Fig. 9.

[0070] (Movement of obstacle detection exclusion range) 10A and 10B, the movement of the obstacle detection range and the obstacle detection exclusion range as the automated guided vehicle 10 moves will be described. Fig. 10A is a diagram showing an example of the movement state of the obstacle detection range and the obstacle detection exclusion range when the automated guided vehicle according to the embodiment moves forward. Fig. 10B is a diagram showing an example of the movement state of the obstacle detection range and the obstacle detection exclusion range when the automated guided vehicle according to the embodiment turns.

[0071] The solid lines in Fig. 10A indicate the automated guided vehicle 10, its obstacle detection ranges 15a and 15b, and its obstacle detection exclusion ranges 30a, 30b, 30c, and 30d. The dotted lines in Fig. 10A indicate the immediately preceding obstacle detection ranges 15ap and 15bp and the immediately preceding obstacle detection exclusion ranges 30ap, 30bp, 30cp, and 30dp.

[0072] 10A, the automated guided vehicle 10 is moving forward in the direction of arrow A. At this time, even if the legs 21ap, 21bp, 21cp, and 21dp of the transporting platform 20 limit the obstacle detection range a moment ago, the limited obstacle detection range will be included in the obstacle detection range of the automated guided vehicle 10 after it has moved a moment later, thereby eliminating blind spots in the obstacle detection range. In this way, even if the obstacle detection range is limited, the risk of contact between the automated guided vehicle 10 and an obstacle can be reduced.

[0073] The solid lines in Fig. 10B indicate the automated guided vehicle 10, its obstacle detection ranges 15a and 15b, and its obstacle detection exclusion ranges 30a, 30b, 30c, and 30d. The dotted lines in Fig. 10B indicate the immediately preceding obstacle detection ranges 15ap and 15bp and the immediately preceding obstacle detection exclusion ranges 30ap, 30bp, 30cp, and 30dp.

[0074] 10B, the automated guided vehicle 10 is turning in the direction of arrow A. At this time, even if the legs 21ap, 21bp, 21cp, and 21dp of the transporting platform 20 limit the obstacle detection range a moment ago, the limited obstacle detection range will be included in the obstacle detection range of the automated guided vehicle 10 after it has moved a moment later, thereby eliminating blind spots in the obstacle detection range. In this way, even if the obstacle detection range is limited, the risk of contact between the automated guided vehicle 10 and an obstacle can be reduced.

[0075] (Effects of the embodiment) As described above, the automated guided vehicle 10 according to this embodiment includes the range sensors 14a and 14b that are detachably coupled to the transporting platform 20 and detect obstacles around the vehicle, and the control unit 31 that can change the obstacle detection ranges of the range sensors 14a and 14b based on the detection results of the range sensors 14a and 14b. Therefore, the automated guided vehicle 10 can set its own obstacle detection range depending on the platform it is transporting.

[0076] Moreover, the automated guided vehicle 10 according to this embodiment further includes a lifting unit 13 that moves under the bottom of the transporting vehicle 20 and lifts up the transporting vehicle 20. Therefore, when the lifting unit 13 is raised to connect the transporting vehicle 20, the positions of the legs 21 of the transporting vehicle 20 are detected by the range sensors 14a and 14b, so that the positions of the legs 21 of the transporting vehicle 20 can be easily and reliably detected.

[0077] Furthermore, in the automated guided vehicle 10 according to this embodiment, the control unit 31 estimates the type of the transporting vehicle 20 that is being transported by the automated guided vehicle 10 itself based on the pre-stored positions of the legs of the transporting vehicle 20, the general shape of the transporting vehicle, and the positions of the legs 21 of the transporting vehicle 20 detected by the range measurement sensors 14a and 14b, and sets the obstacle detection ranges of the range measurement sensors 14a and 14b based on the estimation result of the transporting vehicle 20. Therefore, the automated guided vehicle 10 itself can set its own obstacle detection range depending on the type of the transporting vehicle 20 that it is transporting.

[0078] Although the embodiments of the present invention have been described above, the above-described embodiments are presented as examples and are not intended to limit the scope of the present invention. This novel embodiment can be embodied in various other forms. Furthermore, various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. Furthermore, this embodiment is included within the scope and spirit of the invention, and is also included in the inventions and their equivalents described in the claims. [Explanation of symbols]

[0079] 10 Automated Guided Vehicles 11 Main body 12 Moving section 13 Lifting section 14a, 14b Range sensor 15a, 15b Obstacle detection range 20 Transport cart 21,21a,21b,21c,21d Legs 30a, 30b, 30c, 30d Obstacle detection exclusion range 31 Control Unit 37 Bogie base information 38 Bogie outline information 61 Cart leg detection unit 62 Detection exclusion range calculation unit 63 Bogie Estimation Department 64 Obstacle detection range setting section 65 Movement control section 66 Self-position detection unit 67 Lift control section D distance θ Azimuth [Prior art documents] [Patent documents]

[0080] [Patent Document 1] Japanese Patent Application Publication No. 2019-133404

Claims

1. a range sensor detachably connected to the transporting vehicle and detecting obstacles around the transporting vehicle; and a control unit that estimates the type of transporting vehicle being transported by the transporting vehicle based on pre-stored positions of legs of the transporting vehicle, the general shape of the transporting vehicle, and the positions of the legs of the transporting vehicle detected by the range sensor, and sets an obstacle detection range of the range sensor based on the estimation result of the transporting vehicle. Automated guided vehicle.

2. Further provided is a lifting unit that moves under the bottom of the transporting platform and lifts the transporting platform. The automated guided vehicle according to claim 1 .

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