JP7633902B2 - Collision Detection Device - Google Patents

Description

One embodiment of the present invention relates to a collision detection device used in an automatic transport robot.

In recent years, technological development of automatic guided vehicles (AGVs) has progressed, leading to the development of automatic transport robots that automatically transport a platform (cart) on which materials are loaded at, for example, construction sites. For example, the automatic transport robot disclosed in Patent Document 1 slides under the platform on which the materials are loaded, lifts the platform, and travels automatically in this state. By transporting materials while automatically traveling, the automatic transport robot can save on human resources required for transporting materials.

JP 2019-59460 A JP 2021-70420 A JP 2021-70424 A JP 2021-70428 A JP 2021-102415 A

However, in the case of an automatic transport robot that can slip under a loading platform, it is not always easy to operate the emergency stop switch and emergency stop release switch provided on the automatic transport robot.

One of the objectives of one embodiment of the present invention is to improve the safety of transport using an automatic transport robot.

The collision detection device according to one embodiment of the present invention is a collision detection device that is attached to at least one of the loading platform and the luggage loaded on the loading platform, and includes a first belt, at least one collision detection unit including a belt guide ring through which the first belt is inserted, and a control device that receives a signal from the at least one collision detection unit, and the at least one collision detection unit is fixed by wrapping the first belt around at least one of the side of the loading platform and the side of the luggage.

At least one collision detector may be installed at a corner of at least one of the platform and the luggage.

At least one collision detection unit may include a body bent in a dogleg shape and a collision detection sensor.

The control device may include a signal generating unit that receives a signal from at least one collision detection unit and generates an emergency stop signal to bring the automated transport robot to an emergency stop while towing the loading platform.

The control device may further include an emergency stop release switch that releases the emergency stop of the automated transport robot.

The collision detection device may further include a second belt that is wrapped around the luggage, and the first belt and the second belt may intersect.

The first belt may include a first conductor through which a signal from the at least one collision detection unit is transmitted, the second belt may include a second conductor electrically connected to the first conductor, the second conductor may be electrically connected to a control device, and the control device may receive a signal from the at least one collision detection unit via the first conductor and the second conductor.

Each of the first conductor and the second conductor may have a twisted wire structure, and the first conductor may be in contact with a conductive protrusion protruding from at least one of the collision detection portions.

The control device may include a connection terminal, and a wire from at least one collision detection unit may be connected to the connection terminal.

The collision detection device according to one embodiment of the present invention can detect a collision of a loading platform or luggage and can quickly stop the movement of the automatic transport robot. In addition, the collision detection device according to one embodiment of the present invention allows the user to easily operate the emergency stop switch and the emergency stop switch. Therefore, the safety of transport by the automatic transport robot can be improved.

1 is a schematic perspective view showing a configuration of a collision detection device according to an embodiment of the present invention; 1 is a schematic perspective view illustrating a usage mode of a collision detection device according to an embodiment of the present invention. 1 is a schematic side view illustrating a usage mode of a collision detection device according to an embodiment of the present invention. 1 is a schematic perspective view illustrating a usage mode of a collision detection device according to an embodiment of the present invention. 1 is a block diagram illustrating a configuration of a control device of a collision detection device according to an embodiment of the present invention. 1 is a schematic perspective view showing a configuration of a collision detection device according to an embodiment of the present invention; 2A and 2B are a plan view and a cross-sectional view showing a configuration of a belt of a collision detection device according to an embodiment of the present invention. 3A and 3B are a plan view and a cross-sectional view of an intersection between a first belt and a second belt of a collision detection device according to an embodiment of the present invention. 4 is a schematic diagram illustrating electrical connections between a collision detection unit and a first conductor and a second conductor of a first belt in the collision detection device according to the embodiment of the present invention; FIG.

Each embodiment of the present invention will be described below with reference to the drawings. However, the present invention can be implemented in various forms without departing from the spirit of the invention, and should not be interpreted as being limited to the description of the embodiments exemplified below.

In the drawings, the width, thickness, shape, etc. of each part may be shown diagrammatically compared to the actual embodiment in order to make the explanation clearer, but this is merely an example and does not limit the interpretation of the present invention. In this specification and each figure, elements having the same function as those explained in the previous figures may be given the same reference numerals and duplicate explanations may be omitted. When describing multiple elements having the same or similar structure in a differentiated manner, a hyphen and a natural number are added after the reference numeral. When describing multiple elements having the same or similar structure collectively, only the reference numerals are used.

First Embodiment
A collision detection device 10 according to an embodiment of the present invention will be described with reference to FIGS.

[1. Configuration of the collision detection device 10]
1 is a schematic perspective view showing a configuration of a collision detection device 10 according to an embodiment of the present invention. The collision detection device 10 includes a control device 100, a plurality of collision detection units 200 (a first collision detection unit 200-1, a second collision detection unit 200-2, a third collision detection unit 200-3, and a fourth collision detection unit 200-4), and a first belt 300-1.

The control device 100 includes a main body 110, an emergency stop switch 120, an emergency stop release switch 130, and a connection terminal 140. As will be described in detail later, the control device 100 is connected to the automatic transfer robot so as to be able to communicate with it. The emergency stop switch 120 and the emergency stop release switch 130 are switches for bringing the automatic transfer robot to an emergency stop and releasing the emergency stop. The emergency stop switch 120 and the emergency stop release switch 130 are provided on the top surface of the main body 110. The connection terminal 140 is a terminal for receiving a signal from the collision detection unit 200. The emergency stop switch 120 and the emergency stop release switch 130 may be integrated switches.

The collision detection unit 200 includes a main body 210, a collision detection sensor 220, a belt guide ring 230, wiring 240, and a connector 250. The main body 210 has a bent shape. The collision detection sensor 220 may be provided inside the main body 210 or on the surface of the main body 210. The collision detection sensor 220 can detect a collision with the main body 210 and may be a contact sensor or a pressure sensor. The belt guide ring 230 is fixed to the main body 210, and the first belt 300-1 is passed through the belt guide ring 230, thereby connecting the collision detection unit 200 to the first belt 300-1. That is, the first belt 300-1 is inserted through the belt guide rings 230 of the first collision detection unit 200-1, the second collision detection unit 200-2, the third collision detection unit 200-3, and the fourth collision detection unit 200-4, so that the first collision detection unit 200-1, the second collision detection unit 200-2, the third collision detection unit 200-3, and the fourth collision detection unit 200-4 are connected to the first belt 300-1. The wiring 240 can transmit a signal from the collision detection sensor 220, and a connector 250 is provided at one end of the wiring 240. The connector 250 can be connected to the connection terminal 140. Therefore, when the connector 250 is connected to the connection terminal 140, a signal from the collision detection sensor 220 is input to the control device 100.

The first belt 300-1 has a fastener 310 at one end, and the other end can be fastened. The fastener 310 can adjust the fastening position of the other end of the first belt 300-1. Therefore, the size (or perimeter) of the area surrounded by the first belt 300-1 can be adjusted by the fastener 310.

2. Usage of the Collision Detection Device 10
2 and 3 are schematic perspective and side views for explaining a usage mode of the collision detection device 10 according to an embodiment of the present invention. The automatic transport robot 20 slips under the loading platform 30 and is connected to the loading platform 30. The loading platform 30 is a so-called dolly and includes casters. The luggage 50 is loaded on the loading platform 30. The automatic transport robot 20 can move forward, backward, or turn by driving a pair of crawlers, but since it is connected to the loading platform 30, the loading platform 30 can be moved using the casters of the loading platform 30 to transport the luggage 50 to a predetermined location. However, the transportation of the luggage 50 by the automatic transport robot 20 is not limited to this. The automatic transport robot 20 can also lift the casters of the loading platform 30 so that the casters of the loading platform 30 are lifted off the floor surface, move without using the casters of the loading platform 30, and transport the luggage 50 to a predetermined location. The automatic transport robot 20 may move along a route created in advance. Although detailed configuration of the automatic transfer robot 20 is omitted, the automatic transfer robot 20 may be equipped with a sensor for measuring the position or distance of an obstacle, a sensor or encoder for determining the position of the automatic transfer robot 20, and the like.

The cargo loaded onto the loading platform 30 is not particularly limited, but may be, for example, various materials, tools, or equipment used at a construction site or work site, or various office supplies such as paper, cardboard, desks, or chairs used in an office. Alternatively, the automatic transport robot 20 may be used in a restaurant, in which case it may be not only ingredients or cooking utensils, but also the food to be served. For the sake of convenience, the cargo 50 will be described as having a rectangular, flat plate shape.

The collision detection device 10 is attached by wrapping the first belt 300-1 around the side of the luggage 50. The length of the first belt 300-1 can be adjusted, so the collision detection unit 200 can be fixed to the side of the luggage 50 regardless of the size of the luggage 50. In addition, the main body 210 of the collision detection unit 200 has a dogleg shape, so it can be fixed to a corner position of the luggage 50. Therefore, the collision detection device 10 can detect a collision with the side (particularly a corner) of the luggage 50 and bring the automatic transport robot 20 to an emergency stop.

Typically, the automatic transport robot 20 is provided with an emergency stop switch and an emergency stop release switch for an emergency stop. However, since the automatic transport robot 20 tows the loading platform 30 while submerged under it, it is not always easy to operate the emergency stop switch and emergency stop release switch of the automatic transport robot 20. In particular, if the luggage 50 is larger than the loading platform 30, it becomes even more difficult to operate the emergency stop switch and emergency stop release switch provided on the automatic transport robot 20.

However, when the collision detection device 10 is installed, the automatic transport robot 20 can be brought to an emergency stop or the emergency stop can be released when the collision detection unit 200 detects a collision, or when the user operates the emergency stop switch 120 or the emergency stop release switch 130 of the collision detection device 10. Therefore, by using the collision detection device 10, danger can be reliably avoided and damage from accidents can be kept to a minimum.

The control device 100 of the collision detection device 10 is preferably placed on top of the luggage 50, but is not limited to this. The control device 100 can be placed in a position where the user can easily press the emergency stop switch 120 and the emergency stop release switch 130. In addition, a connector 250 is connected to the connection terminal 140 of the control device 100, and a signal from the collision detection unit 200 is input to the control device 100 via a wiring 240.

The luggage 50 may be wrapped with a second belt 300-2. The second belt 300-2 is wrapped around the first belt 300-1 so as to cross and secure the luggage 50 so that it does not collapse. The first belt 300-1 and the second belt 300-2 may cross each other via a connector 320. The connector 320 has a cross shape, and a part of the cross-shaped protruding area is opened. That is, the connector 320 has four openings (or two pairs of opposing openings), and the first belt 300-1 and the second belt 300-2 can be inserted into each of the opposing openings of the connector 320. By using the connector 320, the collision detection unit 200 can be stably fixed to the fixed luggage 50.

The connector 320 can be made of metal, plastic, cloth, or carbon fiber.

The collision detection device 10 may include components other than the second belt 300-2 and the connector 320.

The collision detection device 10 can also be used on a platform 30 that is not carrying any luggage 50. This will be described with reference to FIG. 4.

Figure 4 is a schematic perspective view illustrating a usage mode of the collision detection device 10 according to one embodiment of the present invention. The collision detection device 10 is attached by wrapping a first belt 300-1 around the side of the loading platform 30. The length of the first belt 300-1 can be adjusted, so the collision detection unit 200 can be fixed to the side of the loading platform 30 regardless of the size of the loading platform 30. In addition, the main body 210 of the collision detection unit 200 has a dogleg shape, so it can be fixed to a corner position of the loading platform 30. Therefore, the collision detection device 10 can detect a collision with the side (particularly the corner) of the loading platform 30 and bring the automatic transport robot 20 to an emergency stop.

In the above description, the luggage 50 and the loading platform 30 are described as being rectangular, but the shapes of the luggage 50 and the loading platform 30 are not limited to this. The shape of the collision detection unit 200 is also not limited to a V-shape. The collision detection unit 200 may have a shape that corresponds to a part of the shape of the luggage 50 or the loading platform 30.

3. Configuration of the control device 100
5 is a block diagram illustrating the configuration of a control device 100 of the collision detection device 10 according to an embodiment of the present invention. In addition to an emergency stop switch 120 and an emergency stop release switch 130, the control device 100 includes a signal generating unit 150, a communication unit 160, and a battery 170. The collision detection device 10 (more specifically, the control device 100) can be communicatively connected to the automatic transfer robot 20 via a network NW such as the Internet or an intranet.

The control device 100 includes a so-called computer that can perform arithmetic processing using information or data. The computer includes, for example, a central processing unit (CPU), a microprocessor (MPU), or a graphics processing unit (GPU), a storage device such as a random access memory (RAM), a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), or a communication interface. The signal generation unit 150 can function by the computer executing a program stored in the storage device. The communication unit 160 is a communication interface, specifically a wireless interface such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

The battery 170 can supply power to components within the control device 100. The battery 170 is, for example, a rechargeable lithium-ion battery, but is not limited to this. The battery 170 may also supply power to the collision detection sensor 220 of the collision detection unit 200 via the wiring 240.

In the control device 100, the communication unit 160 can also function as a wireless power supply. In this case, the power supply from the communication unit 160 may charge the battery 170, or may directly supply power to the components within the control device 100 without going through the battery 170.

In addition, although not shown, the control device 100 may include a warning light or audio output unit that notifies the user that the automatic transport robot 20 is in an emergency stop state.

When the emergency stop switch 120 is pressed, or when a signal is received from the collision detection sensor 220 of the collision detection unit 200, the signal generation unit 150 generates an emergency stop signal. The generated emergency stop signal is transmitted to the automatic transfer robot 20 via the communication unit 160. The automatic transfer robot 20 receives the emergency stop signal and stops moving. In addition, when the emergency stop release switch 130 is pressed, the signal generation unit 150 generates an emergency stop release signal. The generated emergency stop release signal is transmitted to the automatic transfer robot 20 via the communication unit 160. The automatic transfer robot 20 receives the emergency stop release signal and starts moving.

As described above, in the collision detection device 10 according to one embodiment of the present invention, the collision detection unit 200 detects a collision and can quickly stop the automatic transport robot 20. Furthermore, the collision detection unit 200 can adjust the length of the first belt 300-1 and can be attached to luggage 50 or loading platform 30 of any size. Furthermore, in the collision detection device 10, the control device 100 including the emergency stop switch 120 and the emergency stop release switch 130 is installed in a position visible to the user, so that the user can easily operate the emergency stop switch 120 or the emergency stop release switch 130. Therefore, the safety of transport by the automatic transport robot 20 can be improved.

Second Embodiment
A collision detection device 10A according to an embodiment of the present invention will be described with reference to Figures 6 to 9. In the following, when the configuration of the collision detection device 10A is similar to that of the collision detection device 10, the description of the configuration of the collision detection device 10A may be omitted.

Figure 6 is a schematic perspective view showing the configuration of a collision detection device 10A according to one embodiment of the present invention. The collision detection device 10 includes a control device 100A, multiple collision detection units 200A (a first collision detection unit 200-1, a second collision detection unit 200-2, and a third collision detection unit 200-3 are shown in Figure 6), a first belt 300A-1, a second belt 300A-2, and a connector 320.

In the collision detection device 10A, wiring is provided in the first belt 300A-1 and the second belt 300A-2. That is, the collision detection device 10A includes the first belt 300A-1 and the second belt 300A-2 integrated with the wiring. The control device 100A is electrically connected to the wiring of the second belt 300A-2, and the signal from the collision detection unit 200A is input to the control device 100A via the wiring in the first belt 300A-1 and the second belt 300A-2. Therefore, the collision detection unit 200A does not have the wiring 240 and the connector 250, and the control device 100A does not have the connection terminal 140.

In addition, in the collision detection device 10A, the first belt 300A-1 and the second belt 300A-2 are in contact at the intersection (the position of the connector 320). Note that the configurations of the first belt 300A-1 and the second belt 300A-2 will be described below with reference to Figures 7 and 8, but when there is no particular distinction between them, they may be described as belt 300A.

Figure 7 is a plan view and a cross-sectional view showing the configuration of belt 300A of collision detection device 10A according to one embodiment of the present invention. Figure 7 (B) is a cross-sectional view taken along line A1-A2 in Figure 7 (A).

The belt 300A has the conductor 301A (first conductor 301A-1 and second conductor 301A-2) embedded in the insulator 302A. In other words, the conductor 301A is covered by the insulator 302A. The conductor 301A extends in the length direction of the belt 300A. When the belt 300A is flat, it is preferable that the conductor 301A is also flat. The cross-sectional shape of the conductor 301A is, for example, rectangular, but is not limited to this. The cross-sectional shape of the conductor 301A may be circular, elliptical, polygonal, or the like.

The conductor 301A may be made of a metal such as aluminum. It is preferable that the conductor 301A has a stranded structure. The insulator 302A may be made of a cloth material such as woven glass fabric or woven carbon fabric, or a resin such as polyvinyl chloride or polyethylene.

Figure 8 shows a plan view and a cross-sectional view of the intersection between the first belt 300A-1 and the second belt 300A-2 of the collision detection device 10A according to one embodiment of the present invention. Figure 8(B) is a cross-sectional view taken along the line B1-B2 in Figure 8(A). Also, Figure 8(C) is a cross-sectional view taken along the line C1-C2 in Figure 8(C).

As shown in FIG. 8A, the first belt 300A-1 includes a first conductor 301A-1 and a second conductor 301A-2. The second belt 300A-2 includes a third conductor 301A-3 and a fourth conductor 301A-4.

As shown in FIG. 8(B), at the intersection, the first conductor 301A-1 is electrically connected to the third conductor 301A-3. Specifically, an opening is provided in the insulator 302A of each of the first belt 300A-1 and the second belt 300A-2, and the first conductor 301A-1 and the third conductor 301A-3 are electrically connected. Also, as shown in FIG. 8(C), at the intersection, the second conductor 301A-2 is electrically connected to the fourth conductor 301A-4. Specifically, an opening is provided in the insulator 302A of each of the first belt 300A-1 and the second belt 300A-2, and the second conductor 301A-2 and the fourth conductor 301A-4 are electrically connected. Therefore, at the intersection, the first conductor 301A-1 is electrically connected to the third conductor 301A-3, but is not electrically connected to the fourth conductor 301A-4. Similarly, the second conductor 301A-2 is electrically connected to the fourth conductor 301A-4, but is not electrically connected to the third conductor 301A-3. Note that the electrical connection between the first conductor 301A-1 and the third conductor 301A-3 and the electrical connection between the second conductor 301A-2 and the fourth conductor 301A-4 may be via a bump or a conductive adhesive material, etc.

Next, with reference to FIG. 9, an example of the electrical connection between the collision detection unit 200A and the first conductor 301A-1 and the second conductor 301A-2 of the first belt 300A-1 will be described.

Figure 9 is a schematic diagram illustrating the electrical connection between the collision detection unit 200A and the first conductor 301A-1 and second conductor 301A-2 of the first belt 300A-1 in a collision detection device 10A according to one embodiment of the present invention. Figure 9(B) is a partial enlarged view of region D in Figure 9(A). Figures 9(C) and 9(D) are schematic cross-sectional views illustrating the state before and after the electrical connection.

As shown in Figures 9(A) and (B), the collision detection unit 200A includes a number of conductive protrusions 260A protruding from the main body 210A. The conductive protrusions 260A are provided on the surface of the main body 210A that contacts the first belt 300A-1. The conductive protrusions 260A are also electrically connected to the collision detection sensor 220, and a signal from the collision detection sensor 220 can be transmitted via the conductive protrusions 260A.

Figure 9 (C) is a cross-sectional view before electrical connection is made between the collision detection unit 200A and the first conductor 301A-1 and the second conductor 301A-2 of the first belt 300A-1, but as shown in Figure 9 (C), the multiple conductive protrusions 260A are arranged to correspond to the first conductor 301A-1 and the second conductor 301A-2. Therefore, as shown in Figure 9 (D), when the main body 210A of the collision detection unit 200A is pressed against the insulator 302A of the first belt 300A-1, the conductive protrusions 260A break through the insulator 302A and can come into contact with the first conductor 301A-1 and the second conductor 301A-2. If each of the first conductor 301A-1 and the second conductor 301A-2 has a twisted wire structure, contact can be made without breaking the conductor. That is, the collision detection unit 200A is electrically connected to the first conductor 301A-1 and the second conductor 301A-2 via the conductive protrusion 260A. This allows a signal from the collision detection sensor 220 of the collision detection unit 200A to be transmitted to the control device 100A.

Note that the electrical connection between the collision detection unit 200A and the first conductor 301A-1 and second conductor 301A-2 of the first belt 300A-1 shown in FIG. 9 is just one example and is not limited to this.

As described above, in the collision detection device 10A according to one embodiment of the present invention, wiring (first conductor 301A-1 and second conductor 301A-2) is provided in the belt 300A, so even when the collision detection device 10A is attached, there is no extra wiring on the outside. Therefore, when the automatic transport robot 20 moves, the wiring does not get caught on obstacles, so the movement of the automatic transport robot 20 can be stabilized.

In addition, the conductive protrusion 260A of the collision detection unit 200A can be electrically connected to the first conductor 301A-1 and the second conductor 301A-2 at any position on the first belt 300A-1, so the collision detection device 10A can be attached regardless of the size of the luggage 50 or the loading platform 30. Furthermore, the position of the collision detection unit 200A can be fixed by pressing the conductive protrusion 260A against the first belt 300A-1.

The various embodiments of the present invention described above can be implemented in any suitable combination as long as they are not mutually inconsistent. Any embodiment in which a person skilled in the art appropriately adds or deletes components or modifies the design is also included in the scope of the present invention as long as it contains the gist of the present invention.

Even if there are other effects and advantages different from those brought about by the above-mentioned embodiments, if they are clear from the description in this specification or can be easily predicted by a person skilled in the art, they are naturally understood to be brought about by the present invention.

10, 10A: Collision detection device, 20: Automatic transport robot, 30: Cargo platform, 50: Luggage, 100, 100A: Control device, 110: Main body, 120: Emergency stop switch, 130: Emergency stop release switch, 140: Connection terminal, 150: Signal generation unit, 160: Communication unit, 170: Battery, 200, 200A: Collision detection unit, 200-1: First collision detection unit, 200-2: Second collision detection unit, 200-3: Third collision detection unit, 200-4: Fourth collision detection unit, 210, 210A: Main body, 220: Collision detection sensor, 230: Belt guide ring, 240: Wiring, 250: Connector, 260A: Conductive protrusion, 300A: Belt, 300-1, 300A-1: First belt, 300-2, 300A-2: Second belt, 301A: Conductor, 301A-1: First conductor, 301A-2: Second conductor, 301A-3: Third conductor, 301A-4: Fourth conductor, 302A: Insulator, 310: Fastener, 320: Connector

Claims (9)

A collision detection device attached to at least one of a loading platform and a load carried on the loading platform,
A first belt;
At least one collision detector including a belt guide ring through which the first belt is inserted;
a control device that receives a signal from the at least one collision detector;
A collision detection device, wherein the at least one collision detection unit is fixed by wrapping the first belt around at least one of a side surface of the loading platform and a side surface of the luggage. The collision detection device according to claim 1, wherein the at least one collision detection unit is installed at a corner of at least one of the platform and the luggage. The at least one collision detection unit
The body is bent in a dogleg shape,
The collision detection device according to claim 1 or 2, further comprising: a collision detection sensor. The collision detection device according to any one of claims 1 to 3, wherein the control device includes a signal generation unit that receives a signal from the at least one collision detection unit and generates an emergency stop signal that brings the automatic transport robot to an emergency stop when the automatic transport robot tows the loading platform is pulled. The collision detection device according to claim 4, wherein the control device further includes an emergency stop release switch that releases an emergency stop of the automatic transport robot. and a second belt wrapped around the load;
The collision detection device according to claim 1 , wherein the first belt and the second belt cross each other. the first belt includes a first conductor through which a signal from the at least one collision detector is transmitted;
the second belt includes a second conductor electrically connected to the first conductor;
the second conductor is electrically connected to the control device;
The collision detection device of claim 6 , wherein the control device receives a signal from the at least one collision detector via the first conductor and the second conductor. each of the first conductor and the second conductor has a stranded structure;
The collision sensing device according to claim 7 , wherein the first conductor is in contact with a conductive protrusion extending from the at least one collision sensing portion. The control device includes a connection terminal,
The collision detection device according to claim 1 , wherein a wiring from the at least one collision detection unit is connected to the connection terminal.

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