JPH082688A - Obstacle detecting device for movable body - Google Patents

Abstract

PURPOSE:To detect the existence of an obstacle even in the case where the obstacle which exists on the front surface of the transfer passage of a movable body makes contact with an optical sensor. CONSTITUTION:As for an obstacle detecting device which is constituted by supporting a pair of transmission type optical sensors 40A and 40B on a traveling body 31, both the optical sensors 40A and 40B are supported so as to be displaced from the standard detecting work position under the action of the external force, and both the optical sensors 40A and 40B are urged to be positioned at the standard detection work position in a state where the external force does not act.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle detecting device for a moving body such as a loading device.

[0002]

2. Description of the Related Art In a distribution center or the like, various moving bodies such as a loading device are used. At this time, it is necessary to prevent a contact accident between the moving body and an obstacle such as a person, but in the conventional technology, as shown in FIG. 4, it is set on both sides of the obstacle detection range W in front of the moving path of the moving body 1. Of a pair of transmissive optical sensors 2A and 2B that are arranged in each of the detection work areas and face each other.
Are fixedly supported by the moving body 1. That is, when a person is present in front of the moving path of the moving body 1 when the moving body 1 moves and the moving body 1 approaches the person, the person enters the above-mentioned detection work area W and faces the optical sensor. As a result of blocking the transmitted light between 2A and 2B and blocking the reception of the transmitted light between the optical sensors 2A and 2B, the presence of an obstacle (person) can be detected. As a result, the movement control unit of the moving body 1 stops the movement of the moving body 1 and the contact accident between the moving body 1 and a person can be prevented in advance.

[0003]

However, the prior art has the following problems. An obstacle such as a person present in front of the moving path of the moving body 1 is shown in FIG.
When the moving body 1 approaches the obstacle A1 when it is located in front of the optical sensor 2A (or 2B), the obstacle A1 is located between the opposite optical sensors 2A and 2B. Without interrupting the transmitted light, the optical sensor 2A (or 2B) is immediately contacted and damages the optical sensor 2A (or 2B) and the obstacle A1.

When an obstacle such as a person existing outside the moving path of the moving body 1 is located so as to look into the moving path surface from above the optical sensor 2A (or 2B) as indicated by A2 in FIG. When the moving body 1 approaches the obstacle A2, the obstacle A2 immediately contacts the front surface of the moving body 1 without blocking the transmitted light between the optical sensors 2A and 2B facing each other, and the moving body 1 And the obstacle A2.

It is an object of the present invention to detect the presence of an obstacle in a moving body obstacle detecting device even when an obstacle existing in front of a moving path of the moving body contacts an optical sensor. .

It is another object of the present invention to detect an obstacle existing in an obstacle detecting device for a moving body such that the obstacle is present so as to look into the front of the moving path from the outside of the moving path of the moving body.

[0007]

According to a first aspect of the present invention, there is provided a pair of transparent members which are arranged at respective standard detection work positions defined on both sides of an obstacle detection range in front of a moving path of a moving body and which face each other. Type or retroreflective type detection tool is supported by the moving body, in an obstacle detection device for a moving body, each detection tool is supported so that it can be displaced from a standard detection work position under the action of an external force, and an external force is applied. Under the condition that does not work, the detection tool is biased so as to be positioned at the standard detection work position.

According to a second aspect of the present invention, in addition to the first aspect of the present invention, the detection tool is provided with a side member extending upward from the detection tool. is there.

[0009]

In the present invention, the transmissive or retroreflective detector includes an optical sensor, an infrared sensor, an ultraviolet sensor, an ultrasonic sensor and the like. Hereinafter, a case where a transmissive optical sensor is used as the detection tool will be described as an example.

According to the present invention described in claim 1, the following effects are obtained. When an obstacle A0 such as a person exists in front of the moving path of the moving body when the moving body moves, and the moving body approaches the obstacle A0, the obstacle A0 enters the obstacle detection range W and moves relative to the obstacle A0. As a result of blocking the transmitted light between the photosensors and blocking the reception of the transmitted light between the photosensors, the presence of the obstacle A0 can be detected (FIG. 3 (A)).

When an obstacle A1 such as a person present in front of the moving path of the moving body is located in front of the optical sensor, the moving body approaches the obstacle A1 and the obstacle A1 contacts the optical sensor. Upon contact, the optical sensor is immediately and easily displaced from the standard sensing working position. As a result, the optical axes of the optical sensors facing each other are deviated from each other, and the reception of the transmitted light between the optical sensors is blocked. As a result, the presence of the obstacle A1 can be detected (FIG. 3B). The optical sensor can be easily displaced from the standard detection work position under the influence of obstacle force,
The above-mentioned contact between the optical sensor and the optical sensor does not damage the obstacle A1 and the optical sensor.

When the obstacle A1 contacting the optical sensor is removed, the optical sensor immediately returns to the standard detection work position by the urging force.

According to the second aspect of the present invention, there are the following effects. When the obstacle A2 such as a person existing outside the moving path of the moving body is located so as to look into the front of the moving path from above the optical sensor, the moving body approaches the obstacle A2 and the obstacle A2 When is touched to the side member provided on the optical sensor, the optical sensor is immediately and easily displaced from the standard detection work position in the same manner as described above. This allows
The optical axes of the optical sensors facing each other are deviated from each other, which prevents the transmitted light from being received between the optical sensors.
Can be detected (FIG. 3 (C)). The light sensor can be easily displaced from the standard detection work position under the action of obstacle force, and the above-mentioned contact between the obstacle A2 and the side member does not damage the obstacle A2 and the side member.

When the obstacle A2 contacting the side member is removed, the optical sensor immediately returns to the standard detection work position by the urging force.

[0015]

1 is a schematic view showing a shipping facility to which the present invention is applied, FIG. 2 is a detailed view of an essential part of FIG. 1, FIG. 3 is a schematic view showing the operation of the present invention, and FIG. 4 is a conventional example. It is a schematic diagram which shows.

As shown in FIG. 1, the shipping facility 10 includes a load 11
Load transfer device 20 for transferring the load from the pallet 12 and the load 1
Loading device 30 for loading 1 onto the bed 14A of the truck 14
Composed of and. In addition, the truck 14 is the loading device 30.
It is located in the truck yard along the road.

The load transfer device 20 has a load receiving conveyor 21, a load transfer pusher 22, and a load receiving base 23. The load receiving conveyor 21 receives the load 11 in the form of a pallet from a forklift (not shown), and carries the load of the pallet to the front of the load transfer pusher 22. The load transfer pusher 22 receives only the load 11 on the slip sheet in the form of a pallet from the load receiving table 23.
Move to push to the side.

The loading device 30 receives the load 11 on the loading tray 23 of the loading and unloading device 20, carries it to the truck 14 which is going to load the load 11, and loads the loading 11 on the loading platform 1 of the truck 14.
Load on 4A. The loading device 30 includes a traveling body 31 that travels along rails 32 along a track yard, and the traveling body 31 is driven by a traveling motor 34. The loading device 30 includes a loading carriage 35 that can move in the front-rear direction of the loading rack of the truck 14 on the traveling body 31 (moves back and forth with respect to the loading position of the truck 14). The body 36 and the pusher device 37 are provided.

The loading device 30 advances the loading carriage 35 to make the loading body 36 follow the loading platform 23 of the loading and unloading device 20, and receives the loading 11 on the loading body 36. After that, it moves on the rail 32 and is positioned on the track 14. Then, the platform vehicle 35 is moved, the platform 36 is inserted into the loading platform 14A, the load 11 is pushed into the loading platform 14A by the pusher device 37, and the loading 11 is loaded on the loading platform 14A.

Therefore, the traveling body 31 described above is the moving body of the present invention, and is provided with the obstacle detecting device 40. The obstacle detection device 40 is, as shown in FIGS. 1 to 3, a pair of transmissive types that are arranged and opposed to standard detection work positions defined on both sides of an obstacle detection range W in front of the traveling path of the traveling body 31. The optical sensors 40A and 40B are supported by supports 41 installed on both sides of the front surface of the traveling body 31.

The support body 41 has upper and lower guide rods 44, 44 attached to upper and lower guide cylinders 43, 43 provided on support brackets 42 fixed to both sides of the front surface of the traveling body 31, respectively.
Is supported so that it can move smoothly in a straight line. The upper and lower guide rods 44, 44 are connected by a connecting body 45 at a front end portion and a connecting body 46 at a rear end portion,
The above-mentioned optical sensor 40A (40B) is provided on the inner surface of the connecting body 45.
Is fixed.

The support 41 is the support bracket 4
The stopper ring 48 fixed to the axial two positions of the guide rods 44, 44 is positioned at the forward end position where it abuts the guide cylinders 43, 43 by the urging force of the tension spring 47 interposed between the two and the connecting body 46. To be When the support body 41 is at the forward end position, the optical sensors 40A and 40B supported by the support body 41 are positioned at the standard detection work position described above. That is, the obstacle detection device 40 is (a)
Each of the optical sensors 40A and 40B is pulled by the tension spring 4 under the action of an external force.
While supporting so as to be able to displace along the guide axis direction of the guide cylinders 43, 43 from the above-mentioned standard detection work position against the urging force of 7, under the condition that (b) no external force acts,
The optical sensors 40A and 40B are driven by the biasing force of the tension spring 47.
To position the standard detection work position.

Further, the obstacle detecting device 40 has a light rod-shaped guide member (having a small inertia) extending upward from the optical sensors 40A and 40B to the connecting body 45 fixing the optical sensors 40A and 40B. 49 is provided.

The operation of this embodiment will be described below. When an obstacle A0 such as a person exists in front of the traveling path of the traveling body 31 when the traveling body 31 moves, and the traveling body 31 approaches the obstacle A0, the obstacle A0 causes the obstacle detection range W to be detected.
As a result of blocking the transmitted light between the optical sensors 40A and 40B facing each other and blocking the reception of the transmitted light between the optical sensors 40A and 40B, the presence of the obstacle A0 can be detected (see FIG. )).

When an obstacle A1 such as a person present in front of the traveling path of the traveling body 31 is located in front of the optical sensor 40A (or 40B), the traveling body 31 approaches the obstacle A1 to cause an obstacle. The object A1 is the optical sensor 40A (or 40
When it comes into contact with B), its optical sensor 40A (or 40B)
Is immediately and easily displaced from the standard detection working position. As a result, the optical axes of the optical sensors 40A and 40B facing each other are displaced from each other, and the reception of the transmitted light between the optical sensors 40A and 40B is blocked, so that the presence of the obstacle A1 can be detected (see FIG. B)). The optical sensors 40A, 40
B can be easily displaced from the standard detection work position under the action of obstacle force, and the above-mentioned contact between the obstacle A1 and the optical sensor 40A (or 40B) causes the obstacle A1 and the optical sensor 40A (or 40B).
B) and will not be damaged.

When the obstacle A1 contacting the optical sensor 40A (or 40B) is removed, the optical sensor 40A is removed.
(Or 40B) immediately returns to the standard detection work position by the urging force of the tension spring 47.

When the obstacle A2 such as a person existing outside the traveling path of the traveling body 31 is located so as to look into the front of the traveling path from above the optical sensor 40A (or 40B), the traveling body 31 is When the obstacle A2 approaches the side member 49 provided on the optical sensor 40A (or 40B) and approaches the obstacle A2, the optical sensor 40A (or 40B) is immediately and easily moved in the same manner as above. It is displaced from the standard detection work position. As a result, the optical axes of the optical sensors 40A and 40B facing each other are displaced from each other, and the reception of the transmitted light is blocked between the optical sensors 40A and 40B. As a result, the presence of the obstacle A2 can be detected (see FIG. )).
The optical sensors 40A and 40B can be easily displaced from the standard detection work position under the action of the obstacle force, and the above-mentioned contact between the obstacle A2 and the side member 49 is caused by the obstacle A2 and the side member 49.
And will not damage.

The above-mentioned obstacle A in contact with the side member 49
When 2 is removed, the optical sensor 40A (or 40B) immediately returns to the standard detection work position by the biasing force of the tension spring 47.

By the above, obstacles A0, A1,
When the presence of A2 is detected, a traveling control unit (not shown) attached to the loading device 30 stops the traveling body 31 and issues an alarm at the same time to notify the traveling body 31 and the obstacles A0 to A2. The contact accident is prevented, and the traveling body 31 is restarted after confirming the elimination of the obstacles A0 to A2.

The embodiment of the present invention has been described in detail above with reference to the drawings. However, the specific structure of the present invention is not limited to this embodiment, and changes in design within the scope not departing from the gist of the present invention can be made. Even if it exists, it is included in the present invention. For example, the obstacle detection device of the present invention includes the load transfer pusher 22 of the load transfer device 20 in the shipping facility 10, the loading carriage 35 of the load loading device 30, the loading body 36, and the pusher device 37. As described above, it can be widely applied to general mobile bodies. Further, the obstacle detection device of the present invention may be provided not only on the front side of the moving body in the forward direction but also on the rear side of the backward direction.

Further, the detecting tool is not limited to the transmissive optical sensor, but it is also possible to use a regressive reflective optical sensor in which the light emitting / receiving device and the reflecting plate are arranged to face each other. Further, the detection tool is not limited to the optical sensor, and an infrared sensor, an ultraviolet sensor, an ultrasonic sensor, or the like can be used.

[0032]

As described above, according to the present invention, in the obstacle detecting device for a moving body, even when the obstacle existing in front of the moving path of the moving body comes into contact with the optical sensor, the existence of the obstacle is present. Can be detected. Further, according to the present invention,
The obstacle detecting device for a moving body can also detect an obstacle existing as if looking into the front of the moving path from the outside of the moving path of the moving body.

[Brief description of drawings]

FIG. 1 is a schematic view showing a shipping facility to which the present invention is applied.

FIG. 2 is a detailed view of an essential part of FIG.

FIG. 3 is a schematic view showing the operation of the present invention.

FIG. 4 is a schematic view showing a conventional example.

[Explanation of symbols]

 31 traveling body (moving body) 40 obstacle detection device 40A, 40B optical sensor 41 support 47 tension spring 49 side member A0, A1, A2 obstacle W obstacle detection range

Claims (2)

[Claims] 1. A pair of transmissive or retroreflective detection tools, which are arranged at respective standard detection work positions defined on both sides of an obstacle detection range in front of a moving path of the moving body and face each other, are supported by the moving body. In an obstacle detection device for a mobile body, each detection tool is supported so that it can be displaced from the standard detection work position under the action of an external force, and the detection tool is moved to the standard detection work position under no external force. An obstacle detection device for a moving body, wherein the obstacle detection device is urged so as to position the obstacle. 2. The obstacle detecting device for a moving body according to claim 1, wherein the detecting tool is provided with a side member extending upward from the detecting tool.