成果報告書詳細
管理番号20120000001027
タイトル*平成23年度中間年報 生活支援ロボット実用化プロジェクト 安全技術を導入した移動作業型(自律が中心)生活支援ロボットの開発 安全技術を導入した配送センター内高速ビークルシステムの開発
公開日2013/4/10
報告書年度2011 - 2013
委託先名株式会社ダイフク
プロジェクト番号P09009
部署名技術開発推進部
和文要約和文要約等以下本編抜粋:
(1) 研究開発の背景と目的
本事業では、固定設備にならないフレキシブルな高速ビークルシステムの安全技術を開発する。また、作業者やフォークリフトが高速無人搬送台車(AGV)と共存する配送センターを想定し作業者の安全が確保できるデバイス及びシステムを開発する。この結果、大型配送センター(例:建屋幅350m×奥行200m)において、高速ビークルの安全運行が可能になり、生産性の向上が期待できる。また、本事業で得た知見を基に、JIS などに対し安全技術への提言を行う。
本年度は事業初年度であり、(a)リスクアセスメントの実施・(b)高速AGV(最高速度200m/min)の開発・(c)安全に関するデバイス及びシステムの開発に取り組んだ。
英文要約Title: Project for Practical Applications of Service Robots, Development of autonomously controlled mobile servant robots based on safety technology, Development of a Safe High-Speed AGV System in Distribution Centers. (FY2011-FY2013) FY2011 Annual Report.
DAIFUKU CO., LTD.

This project develops flexible high-speed AGVs and safety-devices/systems to ensure workers’ safety in distribution centers where workers, forklifts and the AGVs coexist. These developments realize safe high-speed AGVs operation and high productivity on large-scale distribution centers (e.g. width: 350m, length: 200m). The results will also provide proposals to JIS regarding AGV’s safety technologies.

As the first step, a risk assessment was done and necessary safety technologies for the high-speed AGVs were studied. Thus this project well examined technologies to decrease its speed from high speed to 60m/min. As the results, the following technologies are considered to realize safe high-speed AGV operations; 1) a 3D sensor to detect obstacles which are located in front of an AGV, 2) Local Area Sensor which detects workers and forklifts at a blind corner and 3) Area Management System which locates workers, forklifts and AGVs in real time. Additionally existing safety technologies have to be applied as for 60m/min operation.
This project develops the following technologies according to the above risk assessment.

1) A high-speed AGV
A high-speed AGV (max speed: 200m/min) was developed. It has an obstacle sensor, all around soft bumpers, display devices of movement direction and emergency stop buttons. The configuration is the same with a conventional one but the maximum speed.

2) Safety devices and system
Firstly, a 3D sensor was developed to detect obstacles located in front of the AGV. It safely stops the AGV when workers, forklifts or obstacles exist on the AGV’s movement direction. It detect obstacles up to 20m away (8m: safety zone) and 2m height. It is compliant with IEC61496-1-3 Type3 and IEC61508 SIL2.
Secondly, Local Area Sensor was developed to avoid the AGV’s side-impact crash against workers and forklifts. It is safety support device using laser for the detection. It directs an AGV to decrease its speed when workers or forklifts exist at a blind corner.
Thirdly, Area Management system as a safety support system was developed to locate workers, forklifts and AGVs in real time and direct AGV’s speed. UWB (Ultra Wide Band) is used as its locating. Workers, forklifts and AGVs have tags sending out UWB signals and sensors placed around the working place receive the signals and determine the locations. The system decreases the AGV’s speed to 60m/min before workers and forklifts come near it.
Last of all, this project had been consultation with the other safety-validation development group about the risk assessment method, the experimental data procedure and the safety validation methodology.
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