JP2020166734A - Dolly - Google Patents

Abstract

To provide a dolly that enables a worker to set a movement mode for a dolly with arbitrary timing.SOLUTION: A dolly 100 has at least one movement mode. The dolly 100 comprises a vehicle body 1, wheels 21, a control unit 9, and a detection unit 3. The wheels 21 move the vehicle body 1. The control unit 9 controls movements of the wheels 21. The detection unit 3 detects a movement of a detection target. Based on output from the detection unit 3, the control unit 9 determines whether the movement is a predetermined gesture or not. In response to the determination that the movement of the detection target is the predetermined gesture, the control unit 9 sets at least one of the movement modes.SELECTED DRAWING: Figure 1

Description

The present invention relates to a transport vehicle.

Patent Document 1 discloses an automatic guided vehicle provided with a mark detection sensor. The mark detection sensor detects the automatic turning steering start mark. The automatic turning steering start mark is provided at a predetermined position near the guide line. The automatic guided vehicle of Patent Document 1 has a guide line following mode and an automatic turning steering mode as traveling modes. The guided vehicle following mode is a mode in which the automatic guided vehicle travels following the guided vehicle. The automatic guided vehicle of Patent Document 1 switches the traveling mode from the guide line following mode to the automatic turning steering mode when the mark detection sensor detects the automatic turning steering start mark while following the guide line.

Japanese Unexamined Patent Publication No. 2016-21149

However, in the automatic guided vehicle of Patent Document 1, the operator cannot set the operation mode of the automatic guided vehicle at an arbitrary timing.

The present invention has been made in view of the above problems. An object of the present invention is to provide a transport vehicle capable of setting an operation mode of the transport vehicle at an arbitrary timing by an operator.

The exemplary transport vehicle of the present invention has at least one mode of operation. The transport vehicle includes a vehicle body, wheels, a control unit, and a detection unit. The wheels move the vehicle body. The control unit controls the operation of the wheels. The detection unit detects the operation of the detection target. The control unit determines whether or not the operation of the detection target is a predetermined gesture based on the output of the detection unit. The control unit sets one of the at least one operation mode according to the determination that the operation of the detection target is the predetermined gesture.

According to the exemplary invention, the operator can set the operation mode of the transport vehicle at an arbitrary timing.

FIG. 1 is a side view showing a transport vehicle according to an embodiment of the present invention. FIG. 2 is a top view showing a transport vehicle according to an embodiment of the present invention. FIG. 3 is a block diagram showing a configuration of a transport vehicle according to an embodiment of the present invention. FIG. 4 is a diagram showing a detection unit according to an embodiment of the present invention. FIG. 5 is a flowchart showing a process executed by the control unit according to the embodiment of the present invention. FIG. 6 is a flowchart showing a process executed by the control unit according to the embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described with reference to the drawings. However, the description may be omitted as appropriate for the parts where the explanations are duplicated. Further, in the drawings, the same or corresponding parts are designated by the same reference numerals and the description is not repeated.

In the specification of the present application, in order to facilitate understanding of the invention, X-direction, Y-direction and Z-direction which are orthogonal to each other may be described. The X and Y directions are parallel to the horizontal direction, and the Z direction is parallel to the vertical direction. Further, in the specification of the present application, in order to facilitate the understanding of the invention, the X direction may be described as the front-rear direction, the Y direction may be described as the left-right direction, and the Z direction may be described as the up-down direction.

First, the transport vehicle 100 of the present embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a side view showing a transport vehicle 100 according to the present embodiment. FIG. 2 is a top view showing the transport vehicle 100 according to the present embodiment. The transport vehicle 100 of the present embodiment is an automatic guided vehicle.

As shown in FIGS. 1 and 2, the transport vehicle 100 includes a vehicle body 1, a plurality of wheels 2, and a detection unit 3. The transport vehicle 100 of the present embodiment further includes an impact detection switch 4. The transport vehicle 100 has a plurality of operation modes. The plurality of operation modes include a follow-up mode and a standby mode. The follow-up mode is a mode in which the vehicle body 1 is moved following the follow-up target. The standby mode is a mode in which the transport vehicle 100 is put into a standby state. Specifically, the transport vehicle 100 is in a state of waiting for an instruction for the next operation.

In the present embodiment, the plurality of operation modes further include a manual operation mode and an automatic operation mode. The manual operation mode is a mode in which the vehicle body 1 is moved in the direction instructed by the host device 200 (FIG. 3). The automatic driving mode is a mode in which the vehicle body 1 is moved along a traveling path instructed by the host device 200 (FIG. 3). The host device 200 (FIG. 3) is, for example, a management device that manages a plurality of transport vehicles 100.

The vehicle body 1 has a main body portion 11 and a top plate portion 12. The top plate portion 12 is arranged above the main body portion 11. The main body portion 11 of the present embodiment has a support portion 11a. The support portion 11a is provided on the upper portion of the main body portion 11. The support portion 11a supports the top plate portion 12 from below. The top plate portion 12 supports the transported object transported by the transport vehicle 100. The main body 11 accommodates the control unit 9, which will be described with reference to FIG. In addition to the control unit 9, the main body unit 11 further houses a first drive unit 6a, a second drive unit 6b, a wireless communication unit 7, and a storage unit 8 described with reference to FIG.

The plurality of wheels 2 move the vehicle body 1. The plurality of wheels 2 are arranged at the lower part of the vehicle body 1. Specifically, the plurality of wheels 2 are arranged below the main body 11. As shown in FIG. 2, the plurality of wheels 2 include two driving wheels 21 and two auxiliary wheels 22. The transport vehicle 100 drives two drive wheels 21. The transport vehicle 100 travels by driving the two drive wheels 21. The two training wheels 22 rotate when the transport vehicle 100 travels.

The two drive wheels 21 face each other in a direction orthogonal to the traveling direction of the transport vehicle 100. The two training wheels 22 also face each other in a direction orthogonal to the traveling direction of the transport vehicle 100. In the present embodiment, the two drive wheels 21 are provided on the front portion of the vehicle body 1. The two training wheels 22 are provided at the rear of the vehicle body 1. More specifically, the drive wheels 21 are provided on the front portion of the main body portion 11. The training wheels 22 are provided at the rear of the main body 11. In the present embodiment, the front portion of the vehicle body 1 is a portion on the front side (+ x side) of the transport vehicle 100 in the traveling direction, and the rear portion of the vehicle body 1 is a portion on the rear side (−x side) of the transport vehicle 100 in the traveling direction. is there.

The detection unit 3 is arranged at the front portion of the vehicle body 1. Specifically, the detection unit 3 is arranged between the main body portion 11 and the top plate portion 12. By arranging the detection unit 3 between the main body portion 11 and the top plate portion 12, it is possible to prevent the detection unit 3 from interfering with the conveyed object and obstacles.

In the present embodiment, the detection unit 3 is an obstacle detection sensor and detects an obstacle. Specifically, the detection unit 3 has a detection area and detects an obstacle in the detection area. For example, obstacles include walls within the facility where the carrier 100 is used. In addition, the obstacle includes a shelf provided in the facility where the transport vehicle 100 is used.

The detection unit 3 further detects the operation of the detection target in the detection region. Specifically, when the tracking mode is set as the operation mode, the detection unit 3 detects the tracking target as the detection target. The tracking target is, for example, the worker W. When the tracking target is the worker W, the transport vehicle 100 moves following the worker W. Specifically, the worker W walks in front of the transport vehicle 100, and the transport vehicle 100 follows the worker W and travels. Further, when the worker W stops walking, the transport vehicle 100 stops.

The detection unit 3 further detects a predetermined gesture. A predetermined gesture is a predetermined operation of a detection target detected in a predetermined area of the detection area. For example, the detection target is the hand of the worker W, and the gesture is the movement of the hand of the worker W. The transport vehicle 100 of the present embodiment sets the follow-up mode according to the detection unit 3 detecting a predetermined gesture. According to this embodiment, the detection unit 3 detects an obstacle, a tracking target, and a predetermined gesture. Therefore, it is not necessary to separately provide the transport vehicle 100 with a sensor for detecting the gesture. Therefore, a predetermined gesture can be detected without changing the configuration of the transport vehicle 100. Specifically, a predetermined gesture can be detected by updating the program. In the following description, the region for detecting gestures may be referred to as "gesture detection region A".

The impact detection switch 4 detects an impact. For example, the impact detection switch 4 detects the impact of the transport vehicle 100 colliding with an obstacle. The impact detection switch 4 is provided at the lower part of the vehicle body 1. More specifically, the impact detection switch 4 is provided at the lower part of the main body 11. Further, as shown in FIG. 2, the impact detection switch 4 surrounds the main body portion 11.

As shown in FIG. 2, the main body 11 has a mark 5. The mark 5 is provided on the upper surface of the front end portion 11b of the main body portion 11. The front end portion 11b of the main body portion 11 is a portion in front of the front end 121 of the top plate portion 12. The mark 5 guides the detection target to a predetermined area. Specifically, the mark 5 guides the hand of the worker W to the gesture detection area A. When the worker W moves his / her hand toward the mark 5, the detection unit 3 detects a predetermined gesture.

In the present embodiment, the predetermined gesture is an operation of tapping the mark 5 twice within a predetermined time. More specifically, the predetermined gesture is an operation in which the detection unit 3 detects the detection target (hand of the worker W) twice within the predetermined time in the gesture detection area A. Since the main body 11 has the mark 5, the worker W can easily perform a predetermined gesture. In other words, the operator W can easily set the operation mode of the transport vehicle 100. For example, the operator W can easily set the follow-up mode. In order for the detection unit 3 to detect the detection target (hand of the worker W) twice, the worker W needs to hit the mark 5 twice from above the top plate portion 12.

Subsequently, the transport vehicle 100 of the present embodiment will be further described with reference to FIG. FIG. 3 is a block diagram showing the configuration of the transport vehicle 100 according to the present embodiment. As shown in FIG. 3, the transport vehicle 100 further includes a control unit 9. Further, the transport vehicle 100 further includes a first drive unit 6a, a second drive unit 6b, a wireless communication unit 7, and a storage unit 8. Further, the two drive wheels 21 include a first drive wheel 21a and a second drive wheel 21b.

The first drive unit 6a is controlled by the control unit 9 to generate a driving force for rotating the first drive wheel 21a. For example, the first drive unit 6a includes a motor, gears, and axles that rotate the first drive wheel 21a, and a drive circuit. The drive circuit is controlled by the control unit 9 to generate a signal for driving the motor.

Similarly, the second drive unit 6b is controlled by the control unit 9 to generate a driving force for rotating the second drive wheel 21b. For example, the second drive unit 6b includes a motor, gears, and axles that rotate the second drive wheel 21b, and a drive circuit. The drive circuit is controlled by the control unit 9 to generate a signal for driving the motor.

The first drive unit 6a can rotate the first drive wheel 21a in both the clockwise direction and the counterclockwise direction. Similarly, the second drive unit 6b can rotate the second drive wheel 21b in both the clockwise direction and the counterclockwise direction. Therefore, the transport vehicle 100 can perform not only forward movement but also backward movement, turning (curve), and in-situ rotation.

The wireless communication unit 7 performs wireless communication with the host device 200. For example, the wireless communication unit 7 communicates with the host device 200 via a wireless communication network such as a wireless LAN (Local Area Network). When the wireless communication unit 7 communicates with the host device 200 via the wireless communication network, the wireless communication unit 7 includes a wireless LAN module. The wireless LAN module has a communication circuit. The wireless communication unit 7 transmits a signal indicating the current coordinates (current position) of the carrier 100 to the host device 200. Further, the wireless communication unit 7 transmits a signal indicating whether the transport vehicle 100 is in the traveling state or the stopped state to the host device 200. Further, the wireless communication unit 7 transmits a signal indicating the currently set operation mode of the transport vehicle 100 to the host device 200.

The wireless communication unit 7 may communicate with the host device 200 by wireless communication conforming to a short-range wireless communication standard such as Bluetooth (registered trademark). In this case, the wireless communication unit 7 includes a short-range wireless communication module such as a Bluetooth (registered trademark) module. The short-range wireless communication module has a communication circuit.

When the operation mode of the transport vehicle 100 is set to the manual operation mode, the wireless communication unit 7 receives a signal indicating the moving direction of the transport vehicle 100 from the host device 200. As a result, the transport vehicle 100 moves in the direction instructed by the host device 200.

When the operation mode of the transport vehicle 100 is set to the automatic operation mode, the wireless communication unit 7 receives a signal indicating the travel route of the transport vehicle 100 from the host device 200. As a result, the transport vehicle 100 moves along the traveling route instructed by the host device 200.

The host device 200 is, for example, an information processing device provided with a touch display. Specifically, the host device 200 can be a smartphone or a tablet terminal. When the host device 200 transmits a signal indicating the moving direction of the transport vehicle 100 to the transport vehicle 100, the host device 200 displays a map of the facility where the transport vehicle 100 is used on the touch display. The user of the host device 200 slides his or her finger along the path for moving the transport vehicle 100 on the map displayed on the touch display. The host device 200 transmits a signal indicating the moving direction of the transport vehicle 100 to the wireless communication unit 7 based on the direction in which the finger slides.

When the host device 200 transmits a signal indicating the traveling route of the transport vehicle 100 to the transport vehicle 100, the host device 200 displays a map of the facility where the transport vehicle 100 is used on the touch display. The user of the host device 200 touches the touch display and specifies a destination on the map displayed on the touch display. The host device 200 converts the position touched by the user into coordinates. In other words, the host device 200 acquires the coordinates of the destination specified by the user. The host device 200 determines a travel route for the transport vehicle 100 to move to the destination specified by the user based on the current coordinates of the transport vehicle 100 and the coordinates of the destination specified by the user. The host device 200 transmits a signal indicating the determined traveling route to the wireless communication unit 7.

The host device 200 is not limited to the information processing device provided with the touch display. The host device 200 can be, for example, an information processing device including a display and an input device such as a mouse. For example, the host device 200 can be a personal computer.

The storage unit 8 stores various data and various control programs. Specifically, the storage unit 8 includes a semiconductor memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage unit 8 may include an EEPROM (registered trademark). Further, the storage unit 8 may include a storage device in addition to the semiconductor memory. The storage device is composed of, for example, an HDD (Hard Disk Drive) and / or an SSD (Solid State Drive). In addition, the storage unit 8 may include a USB (Universal Serial Bus) memory and a removable medium such as an SD (Secure Digital) card. In the present embodiment, various data include map data. The map data shows a map of the facility where the transport vehicle 100 is used. The map of the facility shows the walls inside the facility and the shelves installed inside the facility. A map of the facility may also show luggage placed within the facility.

The control unit 9 controls the operation of each unit of the transport vehicle 100 based on the control program stored in the storage unit 8. Further, the control unit 9 executes various processes based on the control program stored in the storage unit 8. The control unit 9 includes a processor such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit), for example.

Specifically, the control unit 9 controls the operations of the first drive wheels 21a and the second drive wheels 21b via the first drive unit 6a and the second drive unit 6b. For example, the control unit 9 stops the operation of the first drive wheel 21a and the second drive wheel 21b in response to the impact detection switch 4 detecting the impact while the transport vehicle 100 is traveling.

Further, the control unit 9 determines whether or not the obstacle detected by the detection unit 3 is an obstacle included in the map data. When the control unit 9 determines that the obstacle detected by the detection unit 3 is an obstacle included in the map data, the control unit 9 determines the distance between the obstacle detected by the detection unit 3 and the transport vehicle 100, and The current coordinates of the transport vehicle 100 are estimated based on the map data.

When the control unit 9 determines that the obstacle detected by the detection unit 3 while the transport vehicle 100 is traveling is not an obstacle included in the map data, the operation of the first drive wheel 21a and the second drive wheel 21b To stop. Alternatively, the control unit 9 controls the operations of the first drive wheels 21a and the second drive wheels 21b so that the vehicle body 1 moves in a direction of avoiding obstacles. Specifically, the control unit 9 controls the operations of the first drive wheels 21a and the second drive wheels 21b so that the vehicle body 1 turns (curves) to the left or right.

Further, when the follow-up mode is set in the storage unit 8 as the operation mode, the control unit 9 controls the operation of the first drive wheel 21a and the second drive wheel 21b based on the output of the detection unit 3, and the vehicle body 1 ( The transport vehicle 100) is made to follow the tracking target.

Further, when the standby mode is set in the storage unit 8 as the operation mode, the control unit 9 is in the standby state. Specifically, the control unit 9 is in a state of waiting for input of an instruction for the next operation.

Further, when the manual operation mode is set in the storage unit 8 as the operation mode, the control unit 9 controls the operations of the first drive wheels 21a and the second drive wheels 21b in the moving direction instructed by the host device 200. The vehicle body 1 (transport vehicle 100) is moved.

Further, when the automatic operation mode is set in the storage unit 8 as the operation mode, the control unit 9 controls the operations of the first drive wheels 21a and the second drive wheels 21b to set the travel path instructed by the host device 200. The vehicle body 1 (transport vehicle 100) is moved along the route.

Further, the control unit 9 determines whether or not the operation to be detected is a predetermined gesture based on the output of the detection unit 3. Then, the control unit 9 sets one of the plurality of operation modes according to the determination that the operation to be detected is a predetermined gesture. In this embodiment, the predetermined gesture includes a first gesture corresponding to the follow-up mode. The first gesture is an example of a follow-up setting gesture. The control unit 9 sets the follow-up mode according to the determination that the operation to be detected is the first gesture. The detection target is, for example, the hand of the worker W.

In the present embodiment, the first gesture is an operation in which the detection unit 3 detects the hand of the worker W twice within a predetermined time in the gesture detection area A. The predetermined time is, for example, 1 second. Specifically, the first gesture is an operation in which the detection unit 3 detects the worker W's hand once in the gesture detection area A and then detects the worker W's hand again in the gesture detection area A within 1 second. Can be.

In the present embodiment, the predetermined gesture further includes a second gesture that cancels the setting of the follow-up mode. The second gesture is an example of a follow-up release gesture. After setting the follow-up mode, the control unit 9 determines whether or not the operation to be detected is the second gesture based on the output of the detection unit 3. Then, the control unit 9 cancels the setting of the follow-up mode according to the determination that the operation to be detected is the second gesture. In the present embodiment, the control unit 9 sets the standby mode when the setting of the follow-up mode is canceled. In other words, the control unit 9 sets the standby mode according to the determination that the operation to be detected is the second gesture. The detection target is, for example, the hand of the worker W.

In this embodiment, the second gesture is the same gesture as the first gesture. That is, the second gesture is an operation in which the detection unit 3 detects the hand of the worker W twice within a predetermined time in the gesture detection area A. The predetermined time is, for example, 1 second. Specifically, the second gesture is an operation in which the detection unit 3 detects the worker W's hand once in the gesture detection area A and then detects the worker W's hand again in the gesture detection area A within 1 second. Can be.

The present embodiment has been described above with reference to FIGS. 1 to 3. According to the present embodiment, the worker W can set one of the plurality of operation modes of the transport vehicle 100 by performing a predetermined gesture. Therefore, the operator W can set the operation mode of the transport vehicle 100 at an arbitrary timing. Further, the operator W can set the operation mode of the transport vehicle 100 at an arbitrary position.

Further, according to the present embodiment, the worker W can set the follow-up mode by performing the first gesture. Therefore, the operator W can set the follow-up mode at any timing. Further, the operator W can set the follow-up mode at an arbitrary position. Specifically, the worker W can set the follow-up mode when the transport vehicle 100 is stopped.

Further, according to the present embodiment, the worker W can set the follow-up mode of the transport vehicle 100 by performing the first gesture, and then cancel the follow-up mode of the transport vehicle 100 by performing the second gesture. it can. Therefore, the operator W can cancel the follow-up mode at an arbitrary timing. Further, the operator W can cancel the follow-up mode at an arbitrary position.

Further, according to the present embodiment, the worker W can set the standby mode by performing the second gesture. Therefore, the operator W can switch the operation mode of the transport vehicle 100 from the follow-up mode to the standby mode at an arbitrary timing. Further, the operator W can switch the operation mode of the transport vehicle 100 from the follow-up mode to the standby mode at an arbitrary position. Specifically, the worker W can make the transport vehicle 100 follow the operator W to perform a predetermined work, and then switch the operation mode of the transport vehicle 100 from the follow-up mode to the standby mode.

Subsequently, the detection unit 3 of the present embodiment will be described with reference to FIGS. 3 and 4. FIG. 4 is a diagram showing a detection unit 3 according to the present embodiment. Specifically, FIG. 4 shows the operation of the detection unit 3.

As shown in FIG. 4, the detection unit 3 of the present embodiment is a range sensor. Specifically, the detection unit 3 includes a light emitting unit and a light receiving unit. Further, the detection unit 3 includes a housing for accommodating the light emitting unit and the light receiving unit. The detection unit 3 further includes a processing unit that processes a signal output from the light receiving unit. The processing unit includes, for example, a DSP (digital signal processor), a CPU, or an MPU.

The light emitting unit scans the laser beam L. Specifically, the light emitting unit scans the laser beam L on a two-dimensional plane. More specifically, the light emitting unit scans the laser beam L in a range of 135 degrees to the left and right (270 degrees in total) about the center 3a of the detection unit 3. The center 3a of the detection unit 3 is the radiation center of the laser beam L, and the radiation range of the laser light L (range of 270 degrees) is the detection range of the detection unit 3. The light emitting unit sequentially emits the laser beam L while changing the irradiation angle of the laser beam L within the detection range. For example, the light emitting unit emits a pulsed laser beam L while changing the irradiation angle every 0.25 degrees. The light receiving unit receives the reflected light, which is the laser light reflected from the object. The light receiving unit outputs a signal corresponding to the reflected light to the processing unit.

The processing unit measures the relative distance between the radiation center of the laser beam L and the object (reflection point of the laser beam L) by processing the signal output from the detection unit 3. The processing unit transmits data indicating the relative distance together with data indicating the irradiation angle of the laser beam L to the control unit 9. The control unit 9 measures the position of the object based on the output of the detection unit 3 (processing unit). Specifically, the control unit 9 measures polar coordinates indicating the position of the reflection point of the laser beam L with respect to the radiation center of the laser beam L. The control unit 9 may convert polar coordinates to Cartesian coordinates. For example, when the follow-up mode is set, the control unit 9 controls the operations of the first drive wheel 21a and the second drive wheel 21b based on the position of the worker W (object) to be followed. The vehicle body 1 (transport vehicle 100) is made to follow the tracking target.

Subsequently, the gesture detection region A will be described with reference to FIGS. 2 and 4. In the present embodiment, as shown in FIG. 4, the gesture detection area A is set in front of the detection unit 3. The angle range of the gesture detection region A is, for example, a range of 20 degrees to the left and right (40 degrees in total) about the center 3a of the detection unit 3. Further, the range of the gesture detection area A in the front-rear direction is, for example, a range from the front end 121 of the top plate portion 12 to the front end 41 of the impact detection switch 4 (FIG. 2).

According to the present embodiment, since the detection unit 3 is a range sensor, the gesture detection area A can be set more accurately. Therefore, the possibility of erroneously switching the operation mode can be reduced. Further, since the detection unit 3 is a range sensor, the width of the detection target can be detected. Therefore, the width of the detection target can be added to the condition for setting the operation mode based on the gesture. Therefore, the possibility of erroneously switching the operation mode can be reduced.

Subsequently, the process executed by the control unit 9 will be described with reference to FIGS. 1 to 5. FIG. 5 is a flowchart showing a process executed by the control unit 9 according to the present embodiment. More specifically, FIG. 5 shows a process in which the control unit 9 sets the follow-up mode based on the first gesture. The process shown in FIG. 5 starts when the control unit 9 enters the standby mode. The process shown in FIG. 5 is sequentially repeated while the standby mode is set.

As shown in FIG. 5, the control unit 9 determines whether or not the detection unit 3 has detected the detection target in the gesture detection area A (step S11). When the detection unit 3 determines that the detection target has not been detected in the gesture detection area A (No in step S11), the control unit 9 ends the process shown in FIG. When the control unit 9 determines that the detection target is detected in the gesture detection area A (Yes in step S11), the first predetermined time after the detection unit 3 detects the detection target in the gesture detection area A. Is determined (step S12). The first predetermined time is, for example, 1 second.

When the control unit 9 determines that the first predetermined time has not elapsed (No in step S12), the control unit 9 determines whether or not the detection unit 3 has detected the detection target in the gesture detection area A (step S13). When the control unit 9 determines that the detection unit 3 has not detected the detection target in the gesture detection area A (No in step S13), the process returns to step S12. In other words, the control unit 9 repeats the processes of steps S12 and S13 until the first predetermined time elapses.

When the control unit 9 determines that the first predetermined time has elapsed (Yes in step S12), the control unit 9 ends the process shown in FIG. In other words, if the detection unit 3 does not detect the detection target again within the first predetermined time after the detection unit 3 detects the detection target once, the process shown in FIG. 5 ends.

When the control unit 9 determines that the detection target has been detected in the gesture detection area A (Yes in step S13), the control unit 9 determines whether or not the predetermined first condition is satisfied (step S14). In the present embodiment, the first condition includes the following conditions (a) and (b). (A) The width of the detection target is equal to or larger than a predetermined width.
(B) The detection time of the detection target is within the predetermined detection time.

The condition (a) is set based on the width of a general adult hand. For example, the predetermined width in the condition (a) is 5 degrees. The detection target can be limited by the condition (a). Therefore, it is possible to prevent the operation mode of the transport vehicle 100 from being erroneously switched. Condition (b) is set so that a relatively slow motion of the detection target can be detected as the first gesture. For example, the predetermined detection time under the condition (b) is 100 ms. According to the condition (b), the operation to be detected can be detected as the first gesture even when the operation of the worker W hitting the mark 5 by hand is relatively slow.

When the control unit 9 determines that the predetermined first condition is satisfied (Yes in step S14), the control unit 9 sets the follow-up mode and ends the process shown in FIG. When the control unit 9 determines that the predetermined first condition is not satisfied (No in step S14), the process shown in FIG. 5 ends.

Subsequently, the process executed by the control unit 9 will be described with reference to FIGS. 1 to 4 and 6. FIG. 6 is a flowchart showing a process executed by the control unit 9 according to the present embodiment. More specifically, FIG. 6 shows a process in which the control unit 9 cancels the follow-up mode based on the second gesture. In other words, FIG. 6 shows a process in which the control unit 9 sets the standby mode based on the second gesture. The process shown in FIG. 6 starts according to the setting of the tracking mode. The process shown in FIG. 6 is sequentially repeated while the tracking mode is set.

As shown in FIG. 6, the control unit 9 determines whether or not the detection unit 3 has detected the detection target in the gesture detection area A (step S21). When the detection unit 3 determines that the detection target has not been detected in the gesture detection area A (No in step S21), the control unit 9 ends the process shown in FIG. When the control unit 9 determines that the detection target has been detected in the gesture detection area A (Yes in step S21), the control unit 9 has detected the detection target in the gesture detection area A for a second predetermined time. Is determined (step S22). The second predetermined time is, for example, 1 second.

When the control unit 9 determines that the second predetermined time has not elapsed (No in step S22), the control unit 9 determines whether or not the detection unit 3 has detected the detection target in the gesture detection area A (step S23). When the control unit 9 determines that the detection unit 3 has not detected the detection target in the gesture detection area A (No in step S23), the process returns to step S22. In other words, the control unit 9 repeats the processes of steps S22 and S23 until the second predetermined time elapses.

When the control unit 9 determines that the second predetermined time has elapsed (Yes in step S22), the control unit 9 ends the process shown in FIG. In other words, if the detection unit 3 detects the detection target once and then the detection unit 3 does not detect the detection target again within the second predetermined time, the process shown in FIG. 6 ends.

When the control unit 9 determines that the detection target is detected in the gesture detection area A (Yes in step S23), the control unit 9 determines whether or not the predetermined second condition is satisfied (step S24). In the present embodiment, the second condition is the same as the first condition described with reference to FIG.

When the control unit 9 determines that the predetermined second condition is satisfied (Yes in step S24), the control unit 9 cancels the follow-up mode and sets the standby mode. When the standby mode is set, the control unit 9 ends the process shown in FIG. When the control unit 9 determines that the predetermined second condition is not satisfied (No in step S24), the process shown in FIG. 6 ends.

The embodiments of the present invention have been described above with reference to the drawings. However, the present invention is not limited to the above-described embodiment, and can be implemented in various embodiments without departing from the gist thereof. Further, in order to facilitate the understanding of the invention, the drawings are schematically shown mainly for each component, and the thickness, length, number, spacing, etc. of each of the illustrated components are shown in the drawing. It may be different from the actual one for the convenience of. Further, the configuration of each component shown in the above embodiment is an example, and is not particularly limited, and various changes can be made without substantially deviating from the effect of the present invention.

For example, in the embodiment according to the present invention, the follow-up mode is set according to the first gesture, but the operation mode set according to the first gesture is not limited to the follow-up mode. For example, a manual operation mode or an automatic operation mode may be set according to the first gesture.

Similarly, in the embodiment according to the present invention, the standby mode is set according to the second gesture, but the operation mode set according to the second gesture is not limited to the standby mode. For example, a manual operation mode or an automatic operation mode may be set according to the second gesture.

Further, in the embodiment according to the present invention, the first gesture and the second gesture are operations of hitting the mark 5 twice within a predetermined time, but the number of times the mark 5 is hit is not particularly limited. The number of times to hit the mark 5 may be once or three times or more.

Further, in the embodiment according to the present invention, the first gesture and the second gesture are operations in which the worker W hits the same position by hand one or more times, but in the first gesture and the second gesture, the worker W It may be an operation of tapping different positions one or more times by hand. For example, in the first gesture and the second gesture, after the worker W hits the right end of the upper surface of the front end 11b of the main body 11 once by hand, the left end of the upper surface of the front end 11b of the main body 11 is manually 1 It can be a tapping motion. Alternatively, the operator W may hit the right end of the upper surface of the front end portion 11b of the main body portion 11 twice by hand, and then hit the left end of the upper surface of the front end portion 11b of the main body portion 11 once by hand. In this case, the marks 5 may be provided on the right end and the left end of the upper surface of the front end portion 11b of the main body portion 11, respectively.

Further, in the embodiment according to the present invention, the first gesture and the second gesture are the same gesture, but the first gesture and the second gesture may be different gestures. For example, the first gesture may be an operation of hitting the mark 5 twice within a predetermined time, and the second gesture may be an operation of hitting the mark 5 three times within a predetermined time. Alternatively, the first gesture is an operation of hitting the right end of the upper surface of the front end portion 11b of the main body portion 11 once, and then the left end of the upper surface of the front end portion 11b of the main body portion 11 twice, and the second gesture is the main body. The operation may be such that the right end of the upper surface of the front end portion 11b of the portion 11 is tapped once by hand, and then the left end of the upper surface of the front end portion 11b of the main body portion 11 is tapped once.

Further, in the embodiment according to the present invention, the condition used when determining the first gesture (first condition) and the condition used when determining the second gesture (second condition) are the same conditions. The conditions used when determining the first gesture and the conditions used when determining the second gesture may be different conditions.

Further, in the embodiment according to the present invention, the control unit 9 sets the follow-up mode based on the first gesture and then sets the standby mode based on the second gesture, but the control unit 9 is based on the second gesture. After setting the standby mode, another operation mode may be further set based on the third gesture. For example, after setting the standby mode based on the second gesture, the control unit 9 may set the automatic operation mode or the manual operation mode based on the third gesture.

Further, in the embodiment according to the present invention, the gesture detection region A for detecting the first gesture and the second gesture is the same region, but the gesture detection region A for detecting the first gesture and the second gesture is It can be in different areas. For example, the region corresponding to the center of the front end portion 11b of the main body portion 11 is set as the gesture detection region A of the first gesture, and the region corresponding to the right end of the front end portion 11b of the main body portion 11 is the gesture detection region A of the second gesture. May be set to. In this case, for example, the first gesture is an operation of tapping the center of the upper surface of the front end portion 11b of the main body portion 11 twice, and the second gesture is the operation of tapping the right end of the upper surface of the front end portion 11b of the main body portion 11 twice by hand. It is a tapping action. Further, in this case, the marks 5 may be provided at the center and the left end of the upper surface of the front end portion 11b of the main body portion 11, respectively.

Further, in the embodiment according to the present invention, the detection unit 3 is a range sensor, but the detection unit 3 is not limited to the range sensor. The detection unit 3 may be, for example, a camera or an ultrasonic sensor. Alternatively, the detection unit 3 may be a wireless device.

Further, in the embodiment according to the present invention, the detection unit 3 detects the obstacle, the tracking target, and the predetermined gesture, but the detection unit 3 has the obstacle, the tracking target, and the predetermined gesture. Any one or two of the above may be detected. For example, when the detection unit 3 detects an obstacle and a tracking target, the transport vehicle 100 may include a sensor for detecting the tracking target in addition to the detection unit 3.

Further, in the embodiment according to the present invention, the transport vehicle 100 has a plurality of operation modes, but the number of operation modes of the transport vehicle 100 may be one.

Further, in the embodiment according to the present invention, the transport vehicle 100 has a follow-up mode, but the transport vehicle 100 does not have to have the follow-up mode.

Further, in the embodiment according to the present invention, the transport vehicle 100 has a follow-up mode, a standby mode, a manual operation mode, and an automatic operation mode, but the operation mode that the transport vehicle 100 can have is the follow-up mode. It is not limited to the standby mode, the manual operation mode, and the automatic operation mode. The transport vehicle 100 may have, for example, any of the following operation modes (1) to (4).

(1) High-speed traveling mode The transport vehicle 100 may have a high-speed traveling mode. The high-speed running mode is a mode in which the vehicle body 1 is moved at a predetermined first moving speed. The first moving speed corresponds to, for example, the maximum traveling speed of the transport vehicle 100. When the high-speed traveling mode is set, the control unit 9 controls the operations of the first driving wheel 21a and the second driving wheel 21b to move the vehicle body 1 at the first moving speed. When the transport vehicle 100 has a high-speed traveling mode, the control unit 9 may set the high-speed traveling mode according to the determination that the operation to be detected is a predetermined gesture. The high-speed running mode is an example of a predetermined running speed mode, and the predetermined gesture is an example of a speed setting gesture corresponding to the predetermined running speed mode. The worker W can set the high-speed running mode by performing a predetermined gesture. Therefore, the worker W can set the high-speed running mode at any timing. Further, the worker W can set the high-speed running mode at an arbitrary position.

(2) Low-speed traveling mode The transport vehicle 100 may have a low-speed traveling mode. The low-speed running mode is a mode in which the vehicle body 1 is moved at a predetermined second moving speed. The second moving speed corresponds to, for example, the minimum traveling speed of the transport vehicle 100. When the low-speed traveling mode is set, the control unit 9 controls the operations of the first driving wheel 21a and the second driving wheel 21b to move the vehicle body 1 at the second moving speed. When the transport vehicle 100 has a low-speed traveling mode, the control unit 9 may set the low-speed traveling mode according to the determination that the operation to be detected is a predetermined gesture. The low-speed running mode is an example of a predetermined running speed mode, and the predetermined gesture is an example of a speed setting gesture corresponding to the predetermined running speed mode. The worker W can set the low-speed running mode by performing a predetermined gesture. Therefore, the worker W can set the low-speed running mode at any timing. Further, the worker W can set the low-speed running mode at an arbitrary position.

(3) Transmission mode The transport vehicle 100 may have a transmission mode. The transmission mode is a mode in which a predetermined signal is transmitted to the host device 200. The predetermined signal indicates, for example, a predetermined instruction to the host device 200. The predetermined instruction indicates, for example, an instruction to urgently stop all the transport vehicles 100 managed by the host device 200. When the transport vehicle 100 has a transmission mode, the control unit 9 may set the transmission mode according to the determination that the operation to be detected is a predetermined gesture. The control unit 9 controls the wireless communication unit 7 according to the setting of the transmission mode, and causes the host device 200 to transmit a predetermined signal. The wireless communication unit 7 is an example of a transmission unit, and the predetermined gesture is an example of a transmission setting gesture corresponding to the transmission mode. The worker W can set the transmission mode by performing a predetermined gesture. Therefore, the worker W can set the transmission mode at an arbitrary timing and transmit a predetermined signal to the host device 200. Further, the worker W can set the transmission mode at an arbitrary position and transmit a predetermined signal to the host device 200.

(4) Straight-ahead mode The transport vehicle 100 may have a straight-ahead mode. The straight-ahead mode is a mode in which the transport vehicle 100 goes straight until the detection unit 3 detects an obstacle. When the transport vehicle 100 has a straight-ahead mode, the control unit 9 may set the straight-ahead mode according to the determination that the operation to be detected is a predetermined gesture.

The present invention can be suitably used for a transport vehicle.

1 Body 2 Wheels 3 Detection unit 5 Mark 9 Control unit 11 Main body 12 Top plate 21 Drive wheels 21a 1st drive wheels 21b 2nd drive wheels 100 Transport vehicle L Laser light

Claims (10)

A carrier vehicle having at least one mode of operation.
With the car body
The wheels that move the car body and
A control unit that controls the operation of the wheels
It is equipped with a detection unit that detects the operation of the detection target.
The control unit
Based on the output of the detection unit, it is determined whether or not the operation of the detection target is a predetermined gesture.
A transport vehicle that sets one of the at least one operation mode in response to determining that the operation to be detected is the predetermined gesture. The carrier according to claim 1, wherein the detection unit is a range sensor that scans a laser beam and outputs a signal corresponding to the reflected light. The transport vehicle according to claim 1 or 2, wherein the detection unit further detects an obstacle. The car body
A main body that houses the control unit and
It has a top plate portion arranged above the main body portion, and has a top plate portion.
The transport vehicle according to any one of claims 1 to 3, wherein the detection unit is arranged between the main body portion and the top plate portion. The transport vehicle according to claim 4, wherein the main body has a mark for guiding the detection target to a predetermined area. Further equipped with a transmitter for transmitting a predetermined signal to the management device,
The at least one operation mode includes a transmission mode for transmitting the predetermined signal to the management device.
The predetermined gesture includes a transmission setting gesture corresponding to the transmission mode.
The control unit
The transmission mode is set according to the determination that the operation of the detection target is the transmission setting gesture.
The transport vehicle according to any one of claims 1 to 5, wherein the transmission unit is controlled according to the setting of the transmission mode to transmit the predetermined signal to the management device. The at least one operation mode includes a tracking mode for moving the vehicle body following a tracking target.
The predetermined gesture includes a follow-up setting gesture corresponding to the follow-up mode.
The carrier according to any one of claims 1 to 6, wherein the control unit sets the follow-up mode according to the determination that the operation of the detection target is the follow-up setting gesture. The at least one operation mode includes a tracking mode for moving the vehicle body following a tracking target.
The detection unit further detects the tracking target,
The control unit controls the wheels based on the output of the detection unit to cause the vehicle body to follow the tracking target when the tracking mode is set, according to any one of claims 1 to 7. The transport vehicle described in. The at least one operation mode includes a tracking mode for moving the vehicle body following a tracking target.
The predetermined gesture includes a follow-up release gesture that cancels the setting of the follow-up mode.
The control unit
After setting the follow-up mode, it is determined whether or not the operation of the detection target is the follow-up release gesture based on the output of the detection unit.
The transport vehicle according to any one of claims 1 to 8, wherein the setting of the follow-up mode is canceled in response to the determination that the operation of the detection target is the follow-up release gesture. The at least one operation mode includes a predetermined speed traveling mode in which the vehicle body is moved at a predetermined moving speed.
The predetermined gesture includes a speed setting gesture corresponding to the predetermined speed running mode.
The control unit sets the predetermined speed traveling mode according to the determination that the operation of the detection target is the speed setting gesture.
The transport according to any one of claims 1 to 9, wherein when the predetermined speed traveling mode is set, the control unit controls the operation of the wheels to move the vehicle body at the predetermined speed. car.

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