成果報告書詳細
管理番号20130000000418
タイトル*平成24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2013/8/28
報告書年度2012 - 2012
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
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) FY2012 Annual Report.
DAIFUKU CO., LTD.

This project develops the safety technology of 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 the high-speed AGV’s safety technologies.

In first year, the high-speed AGV of conveyor type (max speed : 200m/min) was developed. Based on risk assessment at the time of project start, three safety technologies were developed ; 3D obstacle sensor, Area Management System, Local Area System.
In this year equal to middle year, following things were conducted ; (a) development of the high-speed AGV of rear fork type (max speed : 200m/min), (b) development/operation validation of safety device and safety system, (c) execution of safety validation test. The details are as follows.
(a) development of the high-speed AGV of rear fork type
In addition to the high-speed AGV of conveyor type, the one of fork type was developed newly. In addition to the first year’s safety protection measures which were executed for the high-speed AGV of conveyor type, following new ones were added ; obstacle detection of AGV side part, obstacle detection at the time of back run, obstacle detection at the time of the rise and fall of the AGV fork part. Also, by letting new AGV run with
last year’s one, we confirmed that two AGVs traveled normally.
(b) development/operation validation of safety device and safety system
For 3D obstacle sensor, based on ISO (AGV’s safety standard) of draft, obstacle detection test and AGV stop test were executed. As the results of those tests, we confirmed that this sensor detected test pieces and stopped AGV normally. In next year, we let the sensor based on SiL2 by implementing the dualization of each part.
For Area Management System, the reinforcement of safety support function and the remodeling which was conscious of actual use were executed. As the result, the development of function side was almost completed, and the development as safety support system was finished. In next year, in addition to the execution of operation test in distribution center, the study of the system constitution as safety system will be performed with safety validation group.
Two local area sensors were produced and installed in the ceiling of blind corner. System interlocking movement tests were performed, and we confirmed that AGV
ran the corner at low speed when worker was in blind corner.
By the risk assessment which was carried out for this year beginning, a fire and electric shocks were enumerated as the dangerous source at the time of AGV charge. AGV was remodeled to perform charge without coming into contact as these dangerous source measures. In next year, the safety will be evaluated.
(c) execution of safety validation test
We assumed the collision with AGV and worker and carried out collision tests using dummy dolls at the collision test site of JARI. The test results are being put together now, and we will propose knowledge for safe speed based on these results in Japan Industrial Vehicles Association in the next year.
The characteristic test of Ultra Wide Band (UWB) which was used in Area Management System was performed. The quantitative results were provided about distance and radio intensity, and they will become the guidance of future UWB sensor placement.
We carried out risk assessment after the development mentioned above and confirmed that appropriate measures were taken for main risks.
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