JPH08211939A - Safety equipment for automated guided vehicles - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a safety device that enables a person to easily stop the drive of an automatic guided vehicle in an emergency regardless of the conditions of the automatic guided vehicle. [Configuration] In an automatic guided vehicle 1 capable of automatically moving forward and backward, laterally, diagonally, or transferring an object, a laser is provided on a part of the front and rear surfaces of the automatic guided vehicle 1 or both sides. A light emitting portion 5 for receiving light such as light, a light receiving portion 7, and light reflectors 8 and 9 are provided. When the light 6 emitted from the emitting section 5 enters the light receiving section 7, it is regarded as normal,
When it is detected that the light does not enter the light receiving unit 7, it is determined as an abnormality that the speed of the automatic guided vehicle 1 is reduced or a control circuit for temporarily stopping the driving power supply is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic guided vehicle that can automatically travel along a taxiway and can transfer an object at a fixed position, and can surely decelerate or emergency stop in an emergency. The present invention relates to a safety device for an automated guided vehicle.

[0002]

2. Description of the Related Art When an automated guided vehicle is used to transport an article in an automated warehouse, a manufacturing factory, etc., the automated guided vehicle is run along a predetermined guideway and stopped at a fixed position to transfer the article. Is going. And as a safety device, bumpers that detect contact with objects, emergency switches for emergency stop by people, etc. to prevent collisions with goods installed in this warehouse, manufacturing factory, etc., other automated guided vehicles and workers. The unmanned guided vehicle is equipped with an anti-collision optical sensor that detects the presence or absence of reflected light from the object, an anti-collision ultrasonic sensor that detects the reflection of ultrasonic waves from other objects, and the like. However, recent automated guided vehicles have become more sophisticated, and the demand for the frequency of carrying objects tends to increase. In order to increase this carrying capacity, many automated guided vehicles have come to be used in the same system. Therefore, the movement required for the automatic guided vehicle is complicated, and the traverse function and the diagonal traveling function are required in addition to the forward and backward movement. As an automated guided vehicle that satisfies this function, for example, a model capable of four-wheel steering has been developed.

[0003]

A bumper provided at the bottom of such an unmanned guided vehicle of the related art has a structure for detecting contact of the object when the unmanned guided vehicle collides with the object, and therefore, in a case of emergency Even if the automated guided vehicle is to be stopped urgently, the structure is such that it cannot be detected unless the bumper is strongly touched. In addition, there are generally multiple emergency switches for emergency stop,
In the case of an emergency, there is a problem that it takes some time to push it because a person must reach for the switch and push it until it is pushed. Also, as a non-contact emergency sensor,
Generally, a plurality of collision prevention optical sensors are provided to detect the presence or absence of reflected light from other objects. However, when the automated guided vehicle approaches the station on the ground side due to the transfer of an object, the collision prevention optical sensor on the station side provided on the automated guided vehicle detects the station and the automated guided vehicle malfunctions. It is necessary to prevent it from stopping. For this reason, when approaching the station, it was necessary to switch off the collision prevention optical sensor on the station side to make it ineffective. Therefore, even if a person tries to stop the automated guided vehicle in an emergency by using this collision prevention optical sensor, in some cases, the sensor does not work,
Further, even when the sensor works, there is a problem that it takes some time before the sensor works because the person does not work unless the person reaches for the position of the sensor.

The present invention has been made in view of the above,
It is an object of the present invention to provide a safety device that allows a person to easily stop the drive of an automatic guided vehicle in an emergency regardless of the conditions of the automatic guided vehicle.

[0005]

SUMMARY OF THE INVENTION The present invention has been made to achieve the above object, and provides an automatic guided vehicle capable of automatically moving forward and backward, laterally, diagonally, or transferring an object. The front and rear surface portions of the cover of the automatic guided vehicle, a light emitting portion such as laser light, a light receiving portion, and a light reflector are provided on part or all of the both side portions, and the light emitted from the light emitting portion is the light receiving portion. When the light is incident to the normal state, it is normal, and when it is detected that the light is not incident on the light receiving section, it is regarded as an abnormal condition to reduce the speed of the automatic guided vehicle or to provide a control circuit for temporarily stopping the driving power source. By providing a plurality of reflectors, the light radiated from the radiation section has a structure in which reflection is repeated a plurality of times before entering the light receiving section, and when the light enters the light receiving section, it is regarded as normal, and the light receiving section When it is detected that the light does not enter the Or reducing the speed of the automatic guided vehicle as abnormalities or summarized in that the driving power is provided a control circuit for pause.

[0006]

[Operation] A reflector plate is used to cover the entire side or front and rear surfaces of the automated guided vehicle that automatically travels along the taxiway and can transfer objects at fixed positions. Since the radiation part and the receiving part of the sensor are paired so as to be bent and reflected at, and the laser light is bent and reflected a plurality of times by the reflecting plate to reach the receiving part, the side surface of the carrier, or The laser light is securely shielded between the transmitter and receiver of the sensor only when the operator touches or approaches one of the front and rear surfaces, and it becomes unreceivable, reducing the speed of the automated guided vehicle, or Alternatively, the drive power supply is suspended. For this reason, when a danger occurs due to the proximity or contact of an operator or an object during traveling of an automated guided vehicle, the driving power can be instantly turned off and the automated guided vehicle can be stopped immediately, which improves safety. To do.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A safety device for an automated guided vehicle according to the present invention will be described below with reference to the embodiments shown in the drawings. FIG. 1 is an external view of an automated guided vehicle of the present invention, FIG. 2 is an external view showing one operation of the automated guided vehicle of the present invention, FIG. 3 is a flowchart showing one operation of the present invention, and FIG. FIG. 5 is a front view showing a safety device portion of an automated guided vehicle of an embodiment, FIG. 5 is a plan sectional view of an essential part of an automated guided vehicle of a third embodiment, and FIG. 6 is a safety device portion of an automated guided vehicle of a third embodiment. It is a front view.

In FIG. 1, reference numeral 1 denotes an automatic guided vehicle of the present invention. Around the foot of the automatic guided vehicle 1, a bumper 2 having a required elastic force for protection is attached, and the automatic guided vehicle 1 is provided.
A plurality of push button switches 3 for emergency stop are provided on the top surface of the vehicle or at a position where it is easy to operate, and collision prevention optical sensors 4 are provided on the front and rear surfaces in the traveling direction of the automatic guided vehicle 1. Although not shown in detail, the collision prevention optical sensor 4 is composed of, for example, a light emitting section for laser light and a light receiving section for receiving the reflected light.

Furthermore, at least one light emitting portion 5 for emitting a laser beam and the like, at least one light receiving portion 7 for receiving the laser light 6 emitted from this light emitting portion, and this laser are provided on the side portion of the automatic guided vehicle 1. A safety device 10 consisting of reflectors 8 and 9 for reflecting the light 6 from the light emitting portion 5 to the light receiving portion 7 is attached. Since the reflectors 8 and 9 of the laser light 6 are provided in parallel to each other and opposite to each other at both ends of the automatic guided vehicle 1, the laser light 6 is emitted obliquely downward from the light emitting section 5 and the opposing reflectors 8 and 9 are provided. It is configured that the light is reflected by the light receiving section 7 a plurality of times and is received by the light receiving section 7.

Further, at least one light emitting section 11 for emitting a laser beam or the like is provided from the ridges of the front and rear surface sections in the traveling direction of the automatic guided vehicle 1, and the laser beam 12 emitted from this light emitting section is received. At least one light receiving unit 13
Then, the safety device 16 including the reflectors 14 and 15 for reflecting the laser light 12 so as to reach the light receiving portion 13 from the light emitting portion 11 is attached. Reflectors 14 and 1 for laser light 12
Since the laser beams 5 are provided in parallel with each other and opposite to each other at both ends, the laser light 12 is emitted obliquely downward from the light emitting unit 11, is reflected multiple times between the reflectors 14 and 15, and the light receiving unit 1 is provided.
3 is configured to receive light. Although not shown, the automatic guided vehicle 1 incorporates a drive power source and a drive unit.

Next, the operation of these safety devices will be described.
When the automated guided vehicle 1 is automatically traveling along a taxiway (not shown), or while the object is being transferred between stations (not shown) after stopping, the bumper 2 is not in contact with the object, and the emergency push is performed. Button 3 is not pressed,
The collision prevention light sensor 4 does not detect reflected light, the light receiving portion 7 of the safety device 10 receives the reflected light of the laser light 6, and the light receiving portion 13 of the safety device 16 reflects the reflected light of the laser light 12. When it is confirmed that the light is being received, the automated guided vehicle 1 continues to perform the required work.

On the other hand, as shown in FIG. 2, for example, if a person collides with the automated guided vehicle 1 in the traveling or transverse direction, or is likely to be caught between stations, or other abnormality occurs, the automated guided vehicle 1 is transported. When it is necessary to stop the operation of the vehicle in an emergency, the operator's hand 17 or the like is brought into light contact with or close to the side surface of the automatic guided vehicle 1 to block the laser light 6 and cause the light receiving portion 7 to receive the laser light 6. Therefore, by cutting off the drive circuit in the control circuit (not shown) of the automated guided vehicle 1, the automated guided vehicle can be stopped or decelerated in an emergency. In this case, since the laser light 6 is radiated over the entire side surface, it is possible to block the light wherever the human hand 17 touches anywhere on the side surface, and the light blocking operation can be performed very easily. it can.

Although not shown, it is possible to perform the same operation even when the laser beam 12 is blocked by lightly touching or approaching the front side of the automated guided vehicle.

As a result, it is possible to easily prevent an accident such as a person being caught and injured. Although not shown, if similar safety devices are provided on the side surface and the rear surface on the opposite side of the automated guided vehicle 1, the above operation can be performed similarly.

When an article is taken in and out of the station from, for example, the side of the automated guided vehicle, it is necessary to switch off the safety device 10 on the side so that it does not work. In this case, if the safety device 16 such as the front is used, there is no problem in the emergency stop operation.

Next, the above operation will be described with reference to the flowchart of FIG. Switched on (S1), automated guided vehicle 1
When is started, the control power is first turned on (S2). If it is confirmed by the monitoring of the bumper 2 that the object is not in contact (S3), it is confirmed that the emergency push button switch 3 is not pressed (S4). Next, it is confirmed that the reflected light does not enter the light receiving portion of the collision prevention light sensor 4 (S5). Next, it is confirmed that the reflected light of the laser light is incident on the light receiving portions of the safety devices 10 and 16 (S6).

Other abnormalities such as power supply voltage abnormality, temperature abnormality, microcomputer abnormality, etc. are checked (S7). If there is no abnormality, all are regarded as no abnormality, the drive power source is turned on (S8), and a command from the host is given. Based on the above, the operation of automatically moving the automatic guided vehicle 1 or transferring an object is performed (S9). When the above operation is completed, the operation of the automated guided vehicle 1 is stopped (S10).

If any of the conditions in the above flow of (S3) to (S7) is not satisfied, that is, in the case of NO, the drive power source of the automatic guided vehicle is turned off (S11), and the abnormality processing is carried out (S12). The flow of is stopped (S10).

When the driving power supply is turned off, the automatic guided vehicle is decelerated when it is automatically moving and stopped at that location. When it is being transferred, its operation is temporarily stopped.

Although not shown, if the abnormality processing is completed (S12), the abnormality checks (S3) to (S7) are performed again. If there is no abnormality, the drive power is turned on (S8), and a command from the host is issued. The drive (S9) may be performed based on the above.

Generally, these abnormality checks (S3)-
(S7) must be always performed during operation, and when any abnormality occurs, the drive power source is configured to be turned off by using an element such as a relay (not shown). The order of the abnormality checks (S3) to (S7) is not the same.

Next, FIG. 4 is a front view showing the safety device portion of the automatic guided vehicle of the second embodiment. In this safety device, a light emitting section 18 that emits a laser beam and the like, a light receiving section 20 that receives a laser beam 19 emitted from this light emitting section, and a laser beam 1
A safety device 25 including reflectors 21, 22, 23, 24 for reflecting 9 and a light emitting portion 26 for emitting laser light or the like.
And a light receiving portion 28 that receives the laser light 27 emitted from this light emitting portion, and reflectors 21 and 21 that reflect the laser light 27.
A safety device 29 composed of 2, 23, 24 is attached. Reflectors 21, 22, 23 for the laser beams 19 and 27,
Since the laser beams 24 are provided in parallel with each other, the laser light 19 is emitted obliquely downward from the light emitting portion 18, and the reflectors 21 and 21.
The light receiving section 28 is configured to reflect light between 2, 23 and 24 a plurality of times and receive the light.

Next, the operation of these safety devices will be described.
If a person is about to be pinched or if an abnormality occurs that necessitates an emergency stop of the operation of the automated guided vehicle, lightly touch the side surface of the automated guided vehicle 1 with a hand (not shown) by a person. Therefore, if the laser light 19 or 27 is blocked, the laser light will not reach the light receiving section 20 or 28. Therefore, the driver circuit is cut off by the control circuit (not shown) of the automatic guided vehicle 1 to stop the automatic guided vehicle in an emergency. Or you can slow down. In this case, since the laser light 19 or 27 is radiated in a grid pattern over the entire side surface, it is possible to shield the human hand anywhere on the side surface. It can be performed.

As a result, it is possible to easily prevent an accident such as a person being caught and injured.

FIG. 5 is a cross-sectional view of the essential parts of the automated guided vehicle of the third embodiment, and FIG. 6 is a front view showing the safety device portion of the automated guided vehicle of the third embodiment. In this safety device, a light emitting section 30 for emitting a laser beam or the like is provided inside the automatic guided vehicle 1,
A safety device 36 including a light receiving portion 33 that receives the laser light 32 emitted from the light emitting portion and reflectors 34 and 35 that reflect the laser light 32 is attached. Since the reflectors 34 and 35 of the laser light 32 are provided in parallel, the laser light 32
Is emitted from the light emitting unit 30 toward the reflector 31, is reflected by the reflector 31, and then is reflected a plurality of times between the reflectors 34 and 35, and is received by the light receiving unit 33.

The operation of the safety device 36 is exactly the same as in the first and second embodiments. The light receiving unit 33 can be provided inside the automatic guided vehicle 1 by attaching a reflector similar to that of 31 to the same angle.

With this structure, it is possible to minimize the amount of protrusion of the portion of the automated guided vehicle 1 that protrudes to the outside.

[0027]

According to the safety device of the automatic guided vehicle of the present invention, when it is necessary to make an emergency stop while the automatic guided vehicle is operating, a person can easily turn off the drive power of the automatic guided vehicle to make an emergency stop. It is possible.

[Brief description of drawings]

FIG. 1 is an external view showing a safety device for an automated guided vehicle according to the present invention.

FIG. 2 is an external view showing an operation of the automatic guided vehicle according to the present invention.

FIG. 3 is a diagram showing a flowchart showing one operation of the present invention.

FIG. 4 is a front view showing a safety device portion of an automated guided vehicle according to a second embodiment.

FIG. 5 is a plan sectional view of an essential part of an automated guided vehicle according to a third embodiment.

FIG. 6 is a front view showing a safety device portion of an automatic guided vehicle according to a third embodiment.

[Explanation of symbols]

 1 Automated guided vehicle 2 Bumper 3 Emergency push button switch 4 Collision prevention optical sensor 5 Laser light emitting part 6 Laser light 7 Light receiving part 8, 9 Laser light reflector 10 Safety device 11 Laser light emitting part 12 Laser light 13 Light Receiving Section 14, 15 Laser Light Reflector 16 Safety Device 17 Hands of People 18 Light Emitting Section 19 Laser Light 20 Light Receiving Section 21, 22, 23, 24 Reflector 25 Safety Device 26 Light Emitting Section 27 Laser Light 28 Light Receiving Section 29 Safety device 30 Light emitting unit 31 Reflector 32 Laser light 33 Light receiving unit 31, 34, 35 Reflector 36 Safety device

Claims (2)

[Claims] 1. An automated guided vehicle capable of automatically moving forward and backward, laterally, diagonally or transferring an object,
A light emitting part, a light receiving part, and a light reflector of light such as laser light are provided on the front and rear surface parts of the automatic guided vehicle, part or all of the both side parts, and the light emitted from the emitting part is received by the light receiving part. It is characterized by providing a control circuit for reducing the speed of the automatic guided vehicle or temporarily stopping the driving power source as normal when the light enters and abnormal when it detects that the light does not enter the light receiving unit. Safety device for automated guided vehicles. 2. The automatic guided vehicle according to claim 1, wherein a plurality of reflectors are provided so that the light emitted from the emitting section repeats a plurality of reflections before entering the light receiving section. When light enters the light receiving unit, it is regarded as normal,
A safety device for an automated guided vehicle, comprising: a control circuit for reducing the speed of the automated guided vehicle or temporarily stopping the driving power when it is detected that the light does not enter the light receiving unit.