Article transport vehicle

Patent metadata

Field	Value
Publication number	US-10766513-B2
Application number	US-201815969126-A
Country	US
Kind code	B2
Filing date	May 2, 2018
Priority date	May 9, 2017
Publication date	Sep 8, 2020
Grant date	Sep 8, 2020

Abstract

An article transport vehicle includes an obstacle sensor having a detection area that includes at least the width of the own vehicle and that expands in the advancing direction, controls the travel of the own vehicle, based on as front inter-object distance corresponding to own-vehicle position information indicating a position of the own vehicle and front object position information indicating a position on a track of a front object that is located in front of the own vehicle and whose position on the track is specified, and sets a length of the detection area E along the advancing direction of the obstacle sensor to be variable according to the front inter-object distance such that the length is less than the front inter-object distance.

First claim

What is claimed is:

1. An article transport vehicle for use in an article transport facility in which a plurality of article transport vehicles travel along a track so as to transport articles, the article transport vehicle comprising:
an obstacle sensor having a detection area that includes at least a width of own vehicle in a width direction extending along a horizontal plane and orthogonal to an advancing direction of the own vehicle and that expands in the advancing direction,
wherein the article transport vehicle controls travel of the own vehicle, based on a front inter-object distance corresponding to own-vehicle position information indicating a position on the track of the own vehicle and front object position information indicating a position on the track of a front object that is located in front of the own vehicle and whose position on the track is specified, and sets a length of the detection area along the advancing direction of the obstacle sensor to be variable according to the front inter-object distance such that the length is less than the front inter-object distance.

2. The article transport vehicle according to claim 1 , wherein the front object is another vehicle traveling in front of the own vehicle, the front object position information is another-vehicle position information indicating a position on the track of the other vehicle, and the front inter-object distance is a front inter-vehicle distance corresponding to the own-vehicle position information and the another-vehicle position information.

3. The article transport vehicle according to claim 2 , wherein the own vehicle acquires the another-vehicle position information from the other vehicle by communicating with the other vehicle, and calculates the front inter-vehicle distance.

4. The article transport vehicle according to claim 1 , wherein when a length, along the advancing direction, of an object that is included in objects assumed as detection targets of the obstacle sensor and that has the shortest length along the advancing direction is taken as a target object length, a length of the detection area along the advancing direction is set to be less than the front inter-object distance and greater than or equal to a distance that is shorter than the front inter-object distance by the target object length.

5. The article transport vehicle according to claim 2 , wherein when a length, along the advancing direction, of an object that is included in objects assumed as detection targets of the obstacle sensor and that has the shortest length along the advancing direction is taken as a target object length, a length of the detection area along the advancing direction is set to be less than the front inter-object distance and greater than or equal to a distance that is shorter than the front inter-object distance by the target object length.

6. The article transport vehicle according to claim 3 , wherein when a length, along the advancing direction, of an object that is included in objects assumed as detection targets of the obstacle sensor and that has the shortest length along the advancing direction is taken as a target object length, a length of the detection area along the advancing direction is set to be less than the front inter-object distance and greater than or equal to a distance that is shorter than the front inter-object distance by the target object length.

7. The article transport vehicle according to claim 1 , wherein an actual length of the detection area along the advancing direction is allowed to be shorter or longer by a predefined prescribed error, relative to a length set for the obstacle sensor, and
wherein the length of the detection area along the advancing direction is set to a distance shorter than the front inter-object distance by at least the prescribed error.

8. The article transport vehicle according to claim 2 , wherein an actual length of the detection area along the advancing direction is allowed to be shorter or longer by a predefined prescribed error, relative to a length set for the obstacle sensor, and
wherein the length of the detection area along the advancing direction is set to a distance shorter than the front inter-object distance by at least the prescribed error.

9. The article transport vehicle according to claim 3 , wherein an actual length of the detection area along the advancing direction is allowed to be shorter or longer by a predefined prescribed error, relative to a length set for the obstacle sensor, and
wherein the length of the detection area along the advancing direction is set to a distance shorter than the front inter-object distance by at least the prescribed error.

10. The article transport vehicle according to claim 4 , wherein an actual length of the detection area along the advancing direction is allowed to be shorter or longer by a predefined prescribed error, relative to a length set for the obstacle sensor, and
wherein the length of the detection area along the advancing direction is set to a distance shorter than the front inter-object distance by at least the prescribed error.

11. The article transport vehicle according to claim 5 , wherein an actual length of the detection area along the advancing direction is allowed to be shorter or longer by a predefined prescribed error, relative to a length set for the obstacle sensor, and
wherein the length of the detection area along the advancing direction is set to a distance shorter than the front inter-object distance by at least the prescribed error.

12. The article transport vehicle according to claim 6 , wherein an actual length of the detection area along the advancing direction is allowed to be shorter or longer by a predefined prescribed error, relative to a length set for the obstacle sensor, and
wherein the length of the detection area along the advancing direction is set to a distance shorter than the front inter-object distance by at least the prescribed error.

13. The article transport vehicle according to claim 4 , wherein an actual length of the detection area along the advancing direction is allowed to be shorter by a predefined minus side-prescribed error or longer by a plus side-prescribed error, relative to a length set for the obstacle sensor, and
wherein a length of the detection area along the advancing direction is set to a distance shorter than the front inter-object distance by at least the plus side-prescribed error, and is also set to be greater than or equal to a distance shorter than the front inter-object distance by the target object length from which the minus side-prescribed error has been subtracted.

14. The article transport vehicle according to claim 5 , wherein an actual length of the detection area along the advancing direction is allowed to be shorter by a predefined minus side-prescribed error or longer by a plus side-prescribed error, relative to a length set for the obstacle sensor, and
wherein a length of the detection area along the advancing direction is set to a distance shorter than the front inter-object distance by at least the plus side-prescribed error, and is also set to be greater than or equal to a distance shorter than the front inter-object distance by the target object length from which the minus side-prescribed error has been subtracted.

15. The article transport vehicle according to claim 6 , wherein an actual length of the detection area along the advancing direction is allowed to be shorter by a predefined minus side-prescribed error or longer by a plus side-prescribed error, relative to a length set for the obstacle sensor, and
wherein a length of the detection area

Assignees

• Daifuku Kk

Inventors

• Takagawa Natsuo
• Yoshinaga Kazuharu
• Kato Toshikazu
• Morimoto Yusuke

Classifications

• B65G1/04 Primary

  mechanical · CPC title

• B65G2201/02

  Articles · CPC title

• B61L23/041

  Obstacle detection · CPC title

• B61L23/34 Primary

  for indicating the distance between vehicles or trains by the transmission of signals therebetween · CPC title

• B65G47/642

  in a horizontal plane · CPC title