Cart Robot

Abstract

To provide a cart robot improving safety.SOLUTION: A cart robot is equipped with a traveling vehicle body, a first axle provided on the traveling vehicle body, a first axel provided on the traveling vehicle body, a plurality of second axles extending in a diametrical direction of the first axel from a tip end portion of the first axel and capable of expanding / contracting in the diametrical direction of the first axel, wheels provided on the plurality of second axels, a first driving portion that rotates the plurality of second axels in a circumferential direction of the first axel, a second driving portion that rotates the wheels with respect to the second axels, a third driving portion that expands / contracts the second axels in the diametrical direction of the first axel, a first lock portion that can regulates rotations of the second axel, a second lock portion that can regulate rotations of the wheels, and a control device that controls the expansion / contraction of the second axles, the regulation of the first lock portion, and the regulation of the second lock portion. The control device, when the first lock portion regulates the rotations of the second axels, detects the wheels not contacting with a traveling road, and stops rotation-driving of the second driving portion corresponding to the detected wheel.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The disclosed embodiments relate to cart robots.

Background Art

[0002] Conventionally, there is known a cart robot that autonomously travels based on a predetermined loading plan of articles and takes out a load from a shelf by an arm (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in cart robots, not only flat running paths but also non-flat running paths such as stairs are being considered as passable.

[0005] Such a cart robot includes a first axle provided on a traveling vehicle body, a plurality of second axles that extend in a radial direction of the first axle from the first axle and are telescopable in the radial direction of the first axle, wheels provided on the plurality of second axles respectively, a first drive unit that rotates the plurality of second axles in a circumferential direction of the first axle, a second drive unit that rotates the wheels with respect to the second axles, a third drive unit that expands and contracts the second axles, a first lock unit that can regulate the rotation of the second axles, and a second lock unit that can regulate the rotation of the wheels.

[0006] This type of cart robot controls the extension and retraction of the second axle, the restriction by the first locking mechanism, and the restriction by the second locking mechanism. On a flat surface, it rotates the wheels in contact with the surface without rotating the first axle, and on an uneven surface, it rotates the first axle without rotating the wheels relative to the second axle. This makes it possible to travel not only on flat surfaces but also on uneven surfaces.

[0007] There is still room for further improvement in terms of safety for these cart robots.

[0008] The present invention has been made in view of the above, and aims to provide a cart robot with improved safety. [Means for solving the problem]

[0009] A cart robot according to one embodiment includes a vehicle body, a first axle provided on the vehicle body, a plurality of second axles extending radially from the tip of the first axle and being extendable and retractable radially from the first axle, wheels provided at the tips of each of the plurality of second axles, a first drive unit that rotates the plurality of second axles in the circumferential direction of the first axle, a second drive unit that rotates the wheels relative to the second axles, a third drive unit that extends and retracts the second axles radially from the first axle, and The system includes a first locking mechanism capable of restricting the circumferential rotation of the first axle of the two axles, a second locking mechanism capable of restricting the rotation of the wheels, and a control device that controls the extension and retraction of the second axle, the restriction by the first locking mechanism, and the restriction by the second locking mechanism. When the first locking mechanism restricts the circumferential rotation of the first axle of the second axle, the control device detects a wheel that is not in contact with the road on which the vehicle body is traveling, and stops the rotational drive by the second drive unit corresponding to the detected wheel. [Effects of the Invention]

[0010] According to one embodiment, safety can be improved. [Brief explanation of the drawing]

[0011] [Figure 1]Figure 1 is a schematic side view of a cart robot according to the first embodiment. [Figure 2] Figure 2 is a block diagram of the control system of the information processing device according to the first embodiment. [Figure 3] Figure 3 shows the cart robot traveling on a flat road. [Figure 4] Figure 4 shows the cart robot traveling up and down the stairs. [Figure 5] Figure 5 is a flowchart illustrating the process of switching the driving state of the cart robot according to the first embodiment. [Figure 6] Figure 6 shows the drive stop configuration for wheels that do not come into contact with the travel path in the cart robot according to the first embodiment. [Figure 7] Figure 7 is a flowchart illustrating the process of controlling the stopping of the drive of wheels that are not in contact with the travel path in the cart robot according to the first embodiment. [Figure 8] Figure 8 shows the drive stop configuration for wheels that do not come into contact with the travel path in the cart robot according to the second embodiment. [Figure 9] Figure 9 is a flowchart illustrating the process of controlling the stopping of the drive of wheels that are not in contact with the travel path in the cart robot according to the second embodiment. [Figure 10] Figure 10 is a schematic diagram showing an example of a computer hardware configuration that functions as an information processing device. [Modes for carrying out the invention]

[0012] The present invention will be described below through embodiments, but these embodiments are not intended to limit the invention as defined in the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0013] <First Embodiment> First, the cart robot 1 according to the first embodiment will be described. The outline of the cart robot 1 according to the first embodiment will be described with reference to FIG. 1. FIG. 1 is a side view showing the outline of the cart robot 1 according to the first embodiment.

[0014] The cart robot 1 transports luggage. The cart robot 1 transports the placed luggage. The cart robot 1 travels along a set travel route. The travel route may be changeable.

[0015] The cart robot 1, for example, takes out and transports luggage in a warehouse. The cart robot 1 is not limited to being used in a warehouse. The cart robot 1 may be used in a building, for example, in an office building. Luggage includes items, documents, and the like. Hereinafter, the cart robot 1 having an arm 4 will be described as an example, but it is not limited thereto. The cart robot 1 may not have an arm 4.

[0016] The cart robot 1 includes a traveling vehicle body 2, a drive mechanism 3, an arm 4, a detection unit 5, a detection unit 6 (see FIG. 6), and an information processing device 7. The traveling vehicle body 2 is formed, for example, in a box shape with an open top. Luggage can be placed on the traveling vehicle body 2.

[0017] The drive mechanism 3 is provided on the traveling vehicle body 2. The drive mechanism 3 includes a first axle 10, a second axle 11, wheels 12, a first drive unit 13, a second drive unit 14, a third drive unit 15, a first lock unit 16, and a second lock unit 17.

[0018] The first axle 10 is provided on the traveling vehicle body 2. The first axle 10 is rotatably supported by the traveling vehicle body 2. A plurality of first axles 10 are provided. An even number of first axles 10 are provided on the traveling vehicle body 2. For example, four first axles 10 are provided on the traveling vehicle body 2. The number of the first axles 10 is not limited to four. The number of the first axles 10 may be two or six. The first axle 10 is configured to extend in the left-right direction of the traveling vehicle body 2. When there are two first axles 10, the two first axles 10 are provided side by side in the front-rear direction.

[0019] The second axle 11 is configured to extend radially from the tip of the first axle 10 in the radial direction of the first axle 10. The second axle 11 is telescopic in the radial direction of the first axle 10. A plurality of second axles 11 are provided with respect to the first axle 10. The plurality of second axles 11 are each telescopic in the radial direction of the first axle 10. For example, four second axles 11 are provided for one first axle 10. The second axles 11 are provided at equal intervals along the circumferential direction of the first axle 10. When the first axle 10 is rotated, the second axle 11 rotates integrally with the first axle 10. The number of the second axles 11 is not limited to four. The number of the second axles 11 is three or more.

[0020] The wheel 12 is provided at the tip of the second axle 11. The wheels 12 are provided respectively with respect to the second axle 11. That is, a plurality of wheels 12 are provided for one first axle 10. For example, four wheels 12 are provided for one first axle 10. The wheel 12 is provided so as to be rotatable with respect to the second axle 11. The wheel 12 is rotatably supported by the second axle 11.

[0021] The first drive unit 13 rotates the plurality of second axles 11 in the circumferential direction of the first axle 10. By rotating the first axle 10, the first drive unit 13 rotates the second axle 11 in the circumferential direction of the first axle 10. The first drive units 13 are provided respectively for the plurality of first axles 10. That is, a plurality of first drive units 13 are provided. For example, four first drive units 13 are provided. The first drive unit 13 is a motor.

[0022] The second drive unit 14 rotates the wheels 12. A second drive unit 14 is provided for each wheel 12. For example, four second drive units 14 are provided for one first axle 10. The second drive unit 14 is a motor.

[0023] The third drive unit 15 extends and retracts the second axle 11 in the radial direction of the first axle 10. For example, one third drive unit 15 is provided for each first axle 10. The third drive unit 15 extends and retracts the second axle 11, which is provided on the first axle 10, in the radial direction of the first axle 10. A third drive unit 15 may be provided for each second axle 11. The length of each second axle 11 in the radial direction of the first axle 10 may be changeable. The third drive unit 15 includes a motor and a conversion mechanism that converts rotational motion (rotational movement) by the motor into linear motion.

[0024] The first locking mechanism 16 is configured to restrict the rotation of the second axle 11 in the circumferential direction of the first axle 10. The first locking mechanism 16 switches the rotational state of the second axle 11 in the circumferential direction of the first axle 10. The rotational states include an unlocked state in which rotation is permitted and a locked state in which rotation is restricted, specifically prohibited.

[0025] In other words, the first locking mechanism 16 can prevent the rotation of the second axle 11 in the circumferential direction of the first axle 10. When the first locking mechanism 16 is locked, the first axle 10 is fixed so that it does not rotate relative to the vehicle body 2. This prevents the rotation of the second axle 11 in the circumferential direction of the first axle 10.

[0026] When the first locking mechanism 16 is unlocked, the first axle 10 is released. This allows the first axle 10 to rotate relative to the vehicle body 2, and permits the second axle 11 to rotate in the circumferential direction of the first axle 10.

[0027] A first locking mechanism 16 is provided for each first axle 10. The first locking mechanism 16 includes, for example, an engaging member that engages with the first axle 10 to prevent the rotation of the first axle 10, and an actuator that operates the engaging member. The actuator includes, for example, a motor.

[0028] The second locking mechanism 17 is configured to restrict the rotation of the wheel 12. The second locking mechanism 17 switches the rotation state of the wheel 12. The second locking mechanism 17 can prevent the rotation of the wheel 12. When the second locking mechanism 17 is in the locked state, the wheel 12 is fixed to the second axle 11 so that it does not rotate. This prevents the wheel 12 from rotating relative to the second axle 11.

[0029] When the second locking mechanism 17 is unlocked, the wheel 12 is released from its position on the second axle 11. This allows the wheel 12 to rotate relative to the second axle 11.

[0030] A second locking mechanism 17 is provided for each wheel 12, that is, for each second axle 11. The second locking mechanism 17 includes, for example, a connecting member that connects the second axle 11 and the wheel 12 to prevent the wheel 12 from rotating relative to the second axle 11, and an actuator that operates the connecting member.

[0031] Arm 4 is attached to the vehicle body 2. The base end of Arm 4 is attached to the vehicle body 2, thereby fixing Arm 4 to the vehicle body 2. For example, the base end of Arm 4 is attached to the upper end of the vehicle body 2. Multiple Arm 4s are provided on the vehicle body 2. For example, two Arm 4s are provided. However, the number of Arm 4s is not limited to this. One Arm 4 may be provided, or three or more may be provided.

[0032] Arm 4 is attached to the front end and rear end of the vehicle body 2. Arm 4 is attached to the vehicle body 2 near the center in the left-right direction.

[0033] The arm 4 has multiple rod sections 4a and multiple joint sections 4b. The joint sections 4b are provided, for example, between two rod sections 4a, allowing the two rod sections 4a to rotate relative to each other. Each joint section 4b has a motor. By rotating the rod sections 4a relative to each joint section 4b, the arm 4 can extend and retract and rotate 360 ​​degrees.

[0034] A gripping section 4c is provided at the tip of the arm 4. The gripping section 4c comprises, for example, multiple fingers 4d. The number of fingers 4d on the gripping section 4c is 3 or 5. The number of fingers 4d on the gripping section 4c is not limited to these. The number of fingers 4d on the gripping section 4c is 2 or more. The arm 4 grips the load by moving the multiple fingers 4d. The gripping section 4c may also grip the load by suction.

[0035] The detection unit 5 includes a first detection unit 20 and a second detection unit 21. The first detection unit 20 is attached to the vehicle body 2. The first detection unit 20 is attached, for example, to the front end of the vehicle body 2. The first detection unit 20 detects the shape of the travel path R(R1, R2) in the direction of travel of the vehicle body 2. The travel path R includes a flat travel path R1 and a travel path R2 with steps, for example, stairs. The shape of the travel path R includes the height of the stairs, the depth of the stairs, and the angle of the stairs.

[0036] The first detection unit 20 is a camera. The camera includes an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) and a lens. The first detection unit 20 may include at least one of various sensors, such as a solid-state LiDAR (light detection and ranging), a multi-color laser coaxial displacement meter, or other sensors. The first detection unit 20 may also include a MoPU (Motion Processing Unit). The MoPU is a unit that detects motion using a high-resolution camera. The MoPU outputs motion information indicating the movement of an object from an image of the object taken at a frame rate of, for example, 1000 frames per second or more, at a frame rate of, for example, 1000 frames per second or more. Furthermore, it outputs vector information of the movement of a point indicating the location of the object along a predetermined coordinate axis as motion information. In other words, the motion information output from the MoPU does not include the information necessary to identify what the captured object is (for example, whether it is a person or an obstacle), but only information indicating the movement (direction of movement and speed of movement) along the coordinate axes (x-axis, y-axis, z-axis), such as the center point (or center of gravity) of the object.

[0037] The second detection unit 21 detects movement of the tip of the arm 4. The second detection unit 21 is attached to the arm 4, for example. For example, the second detection unit 21 is attached to the tip of the arm 4.

[0038] The second detection unit 21 is a camera. The second detection unit 21 may include at least one of a solid-state LiDAR, a multi-color laser coaxial displacement sensor, or various other sensors. The second detection unit 21 may also include a MoPU.

[0039] The detection unit 6 constitutes the drive stop unit for the wheel 12. In the first embodiment, the detection unit 6 is a rotation speed sensor 61 (see Figure 6). The rotation speed sensor 61 detects the rotation speed of the wheels 12 provided on multiple second axles 11. The rotation speed sensor 61 detects the rotation speed of each of the multiple wheels 12. The configuration of the drive stop unit for the wheel 12, including the detection unit 6 (rotation speed sensor 61), will be described later with reference to Figure 6.

[0040] As shown in Figure 2, the information processing device 7 comprises an information acquisition unit 30, a control unit 31, a determination unit 32, and an information storage unit 33. Figure 2 is a control system block diagram of the information processing device 7 according to the first embodiment.

[0041] The information acquisition unit 30 acquires information detected by the first detection unit 20 and the second detection unit 21. The information acquisition unit 30 acquires signals transmitted from a control center or the like that instructs the operation of the cart robot 1. The signals transmitted from the control center or the like include information about the travel path of the cart robot 1. The information acquisition unit 30 also acquires the rotation speed of each wheel 12 detected by the rotation speed sensor 61.

[0042] The control unit 31 controls the operation of the arm 4 and the vehicle body 2 based on signals transmitted from the control center or the like and acquired by the information acquisition unit 30. The control unit 31 also controls the operation of the arm 4 and the vehicle body 2 based on the detection results from the first detection unit 20 and the second detection unit 21. The control unit 31 controls the operation of the vehicle body 2 by controlling the drive units 13 to 15 and the lock units 16 and 17 of the drive mechanism 3.

[0043] The control unit 31 determines, based on the detection results from the first detection unit 20, whether the travel path R on which the cart robot 1 travels is a flat travel path R1 or a step, for example, stairs (hereinafter referred to as R2). The control unit 31 uses the detection results from the first detection unit 20 and, for example, AI (Artificial Intelligence) to determine whether the travel path R on which the cart robot 1 travels is a flat travel path R1 or a step, for example, stairs R2.

[0044] The control unit 31 controls the restriction by the first locking unit 16. The control unit 31 switches the rotation state of the second axle 11 in the circumferential direction of the first axle 10. The control unit 31 switches between the locked state and the unlocked state by the first locking unit 16.

[0045] The control unit 31 controls the restriction by the second locking unit 17. The control unit 31 switches the rotation state of the wheel 12. The control unit 31 switches between the locked state and the unlocked state by the second locking unit 17.

[0046] The control unit 31 controls the rotational speed of the first axle 10 in the first drive unit 13. The control unit 31 can control the rotational speed of each first axle 10 individually. For example, the control unit 31 can control the rotational speed of at least one of the first axles 10 to be different from that of the other first axles 10. The control unit 31 can control the rotational direction of each first axle 10 individually.

[0047] The control unit 31 controls the rotational speed of the wheels 12 in the second drive unit 14. The control unit 31 can control the rotational speed of each wheel 12 individually. For example, the control unit 31 can control the rotational speed of at least one wheel 12 to be different from that of the other wheels 12.

[0048] The control unit 31 controls the expansion and contraction of the second axle 11 in the radial direction of the first axle 10. The control unit 31 controls the expansion and contraction of the second axle 11 in the radial direction of the first axle 10 by controlling the third drive unit 15. The control unit 31 can control the expansion and contraction of each second axle 11 individually. For example, the control unit 31 can control the length of at least one second axle 11 of each second axle 11 to be a different length from the other second axles 11.

[0049] For example, as shown in Figure 3, the control unit 31 (see Figure 2) locks the first locking unit 16 (see Figure 1) to prevent the first axle 10 from rotating when the travel path R on which the cart robot 1 travels is a flat travel path R1. Figure 3 shows the state in which the cart robot 1 is traveling on a flat travel path R1. The control unit 31 adjusts the rotational position of the first axle 10 so that two of the multiple wheels 12 provided on one first axle 10 are in contact with the road surface, and then fixes the first axle 10 so that it does not rotate.

[0050] Furthermore, the control unit 31 unlocks the second locking unit 17 (see Figure 1) when the travel path R on which the cart robot 1 travels is a flat travel path R1. The control unit 31 moves the cart robot 1 by controlling the rotation speed of the wheels 12 by the second drive unit 14.

[0051] For example, as shown in Figure 4, the control unit 31 (see Figure 2) locks the second locking unit 17 (see Figure 1) when the travel path R on which the cart robot 1 travels is a staircase R2, preventing the wheels 12 from rotating relative to the second axle 11. Figure 4 shows the state in which the cart robot 1 is traveling up the staircase R2.

[0052] Furthermore, the control unit 31 unlocks the first locking unit 16 (see Figure 1) if the travel path R on which the cart robot 1 travels is a staircase R2. The control unit 31 controls the rotational speed of the first axle 10 by the first drive unit 13, thereby rotating the first axle 10, the second axle 11, and the wheels 12 together to move the cart robot 1.

[0053] When the cart robot 1 travels up the stairs R2, the wheels 12 are fixed to the second axle 11 without rotating, and the second axle 11 and the wheels 12 rotate together, allowing the cart robot 1 to ascend and descend the stairs R2.

[0054] The control unit 31 extends or retracts the second axle 11 according to the shape of the stairs R2 (height, depth, and angle of the stairs R2) when the travel path R on which the cart robot 1 travels is a staircase R2. Specifically, the control unit 31 adjusts the length of the second axle 11 to match the shape of the stairs R2. This allows the cart robot 1 to maintain a stable posture while traveling on the stairs R2. Furthermore, the cart robot 1 can ascend and descend stairs R2 of different shapes.

[0055] The control unit 31 controls the movement of the arm 4 according to the detection result from the second detection unit 21, and delivers the package. The delivery of the package includes taking out the package.

[0056] The control unit 31 controls the movement of the arm 4, allowing the cart robot 1 to move between different floors using an elevator. Based on the detection results from the second detection unit 21, the control unit 31 controls the arm 4 and uses the arm 4 to press the elevator's destination floor button. This allows the cart robot 1 to move between floors in a building with an elevator without using stairs R2.

[0057] The determination unit 32 determines whether the wheels 12 are in contact with the road R1 when the road R on which the cart robot 1 is traveling is a flat road R1, based on the detection results of the rotation speed sensor 61 acquired by the information acquisition unit 30. The determination unit 32 determines for each wheel 12 whether it is in contact with the road R1 or not, based on the difference in rotation speed detected by the corresponding rotation speed sensor 61 for each wheel 12.

[0058] The control unit 31 detects the wheels 12 that are not in contact with the travel path R1 based on the determination result of the determination unit 32. When the control unit 31 detects the wheels 12 that are not in contact with the travel path R1, it stops the second drive unit 14 that applies driving force to the detected wheels 12. The control of stopping the drive of the wheels 12 by the control unit 31 will be described later with reference to Figure 7.

[0059] The information storage unit 33 is implemented by a storage medium such as a semiconductor memory element like RAM (Random Access Memory) or flash memory. The information storage unit 33 stores various programs executed by the control unit 31. The information storage unit 33 also stores information acquired by the information acquisition unit 30.

[0060] Next, the process for switching the driving state of the cart robot 1 according to the embodiment will be explained using the flowchart in Figure 5. Figure 5 is a flowchart illustrating the process for switching the driving state of the cart robot 1 according to the first embodiment.

[0061] The information processing device 7 acquires the detection result from the first detection unit 20 (S100). Based on the acquired detection result, the information processing device determines whether the travel path R on which the cart robot 1 travels is a flat travel path R1 (S101).

[0062] If the travel path R on which the cart robot 1 travels is a flat travel path R1 (S101: Yes), the information processing device 7 locks the first locking unit 16 and unlocks the second locking unit 17 (S102).

[0063] If the travel path R on which the cart robot 1 travels is not a flat travel path R1 (i.e., it is stairs R2) (S101: No), for example, if the travel path R on which the cart robot 1 travels is stairs R2, the information processing device 7 will delock the first locking unit 16 and lock the second locking unit 17 (S103).

[0064] The cart robot 1 comprises a vehicle body 2, a first axle 10, a plurality of second axles 11, wheels 12, a first drive unit 13, a second drive unit 14, a third drive unit 15, a first locking unit 16, a second locking unit 17, and an information processing device 7. The first axle 10 is provided on the vehicle body 2. The plurality of second axles 11 extend radially from the tip of the first axle 10 and are extendable and retractable in the radial direction. The wheels 12 are provided on the tip of each of the plurality of second axles 11. The first drive unit 13 rotates the plurality of second axles 11 in the circumferential direction of the first axle 10. The second drive unit 14 rotates the wheels 12 relative to the second axles 11. The third drive unit 15 extends and retracts the second axles 11 radially relative to the first axle 10. The first locking mechanism 16 can restrict the rotation of the second axle 11 in the circumferential direction of the first axle 10. The second locking mechanism 17 can restrict the rotation of the wheel 12. The information processing device 7 controls the extension and retraction of the second axle 11, the restriction by the first locking mechanism 16, and the restriction by the second locking mechanism 17.

[0065] As a result, the cart robot 1 can ascend and descend stairs R2, even if the travel path R on which the cart robot 1 travels is, for example, stairs R2. For example, when the first locking part 16 is unlocked and the second locking part 17 is locked, the cart robot 1 can ascend and descend stairs R2.

[0066] Furthermore, the extension and retraction of the second axle 11 allows the cart robot 1 to travel stably up the stairs R2. Also, by extending and retracting the second axle 11 to match the shape of the stairs R2, the cart robot 1 can ascend and descend stairs R2 in accordance with various types of stairs R2.

[0067] The cart robot 1 includes a first detection unit 20. The first detection unit 20 detects the shape of the travel path R in the direction of travel of the vehicle body 2. The information processing device 7 controls the extension and retraction of the second axle 11, the restriction by the first locking unit 16, and the restriction by the second locking unit 17 according to the shape of the travel path R detected by the first detection unit 20.

[0068] As a result, the cart robot 1 can suitably ascend and descend stairs R2 in accordance with various types of stairs R2.

[0069] The cart robot 1 comprises an arm 4 and a second detection unit 21. The arm 4 is attached to the vehicle body 2. The second detection unit 21 detects the movement of the tip of the arm 4. The information processing device 7 controls the arm 4 based on the detection results from the second detection unit 21.

[0070] As a result, for example, the cart robot 1 can press the destination floor button on the elevator with its arm 4 according to the detection result from the second detection unit 21. Therefore, the cart robot 1 can move between floors in a building with an elevator without using the stairs R2.

[0071] The vehicle body 2 of the cart robot 1 may have a portion that is slidable in the direction of travel (forward and backward direction). For example, the vehicle body 2 comprises a fixed part and a movable part. The first axle 10 is attached to the fixed part. The movable part is slidable in the forward and backward direction relative to the fixed part. The movable part is, for example, a tray on which cargo is placed. A portion of the first axle 10 may be attached to the movable part.

[0072] This allows the balance of the cart robot 1 to be stabilized, for example, by having the movable part slide relative to the fixed part according to the size (weight) of the load.

[0073] Next, the drive stop configuration and drive stop control for the wheels 12 not in contact with the travel path R1 in the cart robot 1 according to the first embodiment will be described with reference to Figures 6 and 7. Figure 6 is a diagram showing the drive stop configuration for the wheels 12 not in contact with the travel path R1 in the cart robot 1 according to the first embodiment. Figure 7 is a flowchart illustrating the drive stop control process for the wheels 12 not in contact with the travel path R1 in the cart robot 1 according to the first embodiment.

[0074] As shown in Figure 6, the rotation speed sensor 61, which is the detection unit 6 that constitutes the drive stop unit of the wheel 12, is provided for each wheel 12. The rotation speed sensor 61 detects the rotation speed of each wheel 12. Mechanical, optical, and magnetic types of rotation speed sensors can be used for the rotation speed sensor 61.

[0075] In the information processing device 7, when the rotation of the second axle 11 is restricted by the first locking unit 16, that is, when the cart robot 1 (see Figure 1) is traveling on a flat road R1, the information acquisition unit 30 acquires the rotation speed of the wheels 12 detected by the rotation speed sensor 61. In the information processing device 7, the determination unit 32 determines whether or not a wheel 12 is in contact with the road R1 based on the difference in rotation speeds detected by the rotation speed sensor 61 for each wheel 12.

[0076] In the information processing device 7, the control unit 31 detects the wheels 12 that are not in contact with the travel path R1 based on the determination result of the determination unit 32. The control unit 31 stops the rotational drive of the wheel 12 by the second drive unit 14 corresponding to the detected wheel 12.

[0077] As shown in Figure 7, in drive stop control, the information processing device 7 acquires the rotational speed of each wheel 12 detected by the rotational speed sensor 61 in the information acquisition unit 30 (step S201). Next, the information processing device 7 determines in the determination unit 32 whether or not each wheel 12 is in contact with the travel path R1 (step S202).

[0078] In step S202, if it is determined that the wheel 12 is in contact with the running path R1 (step S202: Yes), the control unit 31 activates the second drive unit 14 corresponding to the wheel 12 in contact with the running path R1 (step S203). In this case, because the control unit 31 activates the second drive unit 14, the second drive unit 14 rotates the corresponding wheel 12.

[0079] On the other hand, if it is determined in step S202 that the wheel 12 is not in contact with the travel path R1 (step S202: No), the control unit 31 stops the second drive unit 14 corresponding to the wheel 12 that is not in contact with the travel path R1 (step S204). In this case, because the control unit 31 stops the second drive unit 14, the rotational drive of the corresponding wheel 12 by the second drive unit 14 is stopped.

[0080] Thus, in the cart robot 1 according to the first embodiment, when the first locking unit 16 restricts the circumferential rotation of the first axle 10 of the second axle 11, the information processing device 7 detects a wheel 12 that is not in contact with the travel path R1 on which the vehicle body 2 (cart robot 1) travels, and stops the rotational drive by the second drive unit 14 corresponding to the detected wheel 12.

[0081] This makes it possible to reduce the risk of people or objects getting caught in the wheels 12 that are not in contact with the road surface R1 when the vehicle body 2 (cart robot 1) is traveling on a flat road surface R1, thereby improving safety. In addition, it reduces the waste of applying driving force to unused wheels 12, thereby saving energy. Furthermore, unnecessary operation of the second drive unit 14 is suppressed, which reduces deterioration of the second drive unit 14.

[0082] Furthermore, the cart robot 1 according to the first embodiment includes a detection unit 6 (rotation speed sensor 61) that detects the rotation speed of each of the wheels 12 provided on a plurality of second axles 11, and a determination unit 32 that determines whether or not the wheels 12 are in contact with the travel path R1 based on the difference in rotation speeds detected by the detection unit 6 (rotation speed sensor 61). The information processing device 7 detects the wheels 12 that are not in contact with the travel path R1 based on the determination result of the determination unit 32.

[0083] This makes it possible to detect which wheels 12 are not in contact with the road surface R1 based on the difference in the rotational speed of each wheel 12.

[0084] <Second Embodiment> Next, the cart robot 1 according to the second embodiment will be described with reference to Figures 8 and 9. Figure 8 is a diagram showing the drive stop configuration for the wheels 12 that do not come into contact with the travel path R1 in the cart robot 1 according to the second embodiment. Figure 9 is a flowchart illustrating the drive stop control process for the wheels 12 that do not come into contact with the travel path R1 in the cart robot 1 according to the second embodiment.

[0085] Note that the second embodiment described below differs from the first embodiment in the drive stop configuration and drive stop control of the wheel 12. For this reason, in the following description, the same reference numerals are used for parts that are the same as or equivalent to those in the first embodiment, and descriptions of parts that are the same as or equivalent to those in the first embodiment may be omitted.

[0086] As shown in Figure 8, the detection unit 6 constitutes the drive stop unit for the wheel 12. In the second embodiment, the detection unit 6 is a rotation angle sensor 62. The rotation angle sensor 62 detects the rotation angle of the first axle 10 when the rotation of the second axle 11 is restricted. That is, when the cart robot 1 (see Figure 1) travels on a flat road R1, the rotation angle sensor 62 detects the rotation angle of the first axle 10 when it is restricted by the first lock unit 16.

[0087] As shown in Figure 8, the rotation angle sensor 62, which is a detection unit 6 constituting the drive stop unit of the wheel 12, is provided on the first axle 10. The rotation angle sensor 62 detects the rotation angle of the first axle 10, which is restricted from rotation by the first lock unit 16. For example, a potentiometer can be used as the rotation angle sensor 62.

[0088] In the information processing device 7, when the rotation of the second axle 11 is restricted by the first locking unit 16, that is, when the cart robot 1 (see Figure 1) is traveling on a flat road R1, the information acquisition unit 30 acquires the rotation angle of the first axle 10 detected by the rotation angle sensor 62. In the information processing device 7, the determination unit 32 determines from the rotation angle of the first axle 10 whether or not the wheels 12 are in contact with the road R1.

[0089] In the information processing device 7, the control unit 31 detects the wheels 12 that are not in contact with the travel path R1 based on the determination result of the determination unit 32. The control unit 31 stops the rotational drive of the wheel 12 by the second drive unit 14 corresponding to the detected wheel 12.

[0090] As shown in Figure 9, in drive stop control, the information processing device 7 acquires the rotation angle of the first axle 10 using the rotation angle sensor 62 in the information acquisition unit 30 (step S301). Next, the information processing device 7 determines, for example, whether the wheels 12 are in contact with the travel path R1, for each wheel 12 in the determination unit 32 (step S302).

[0091] In step S302, if it is determined that the wheel 12 is in contact with the running path R1 (step S302: Yes), the control unit 31 activates the second drive unit 14 corresponding to the wheel 12 in contact with the running path R1 (step S303). In this case, since the control unit 31 activates the second drive unit 14, the second drive unit 14 rotates the corresponding wheel 12.

[0092] On the other hand, if it is determined in step S302 that the wheel 12 is not in contact with the travel path R1 (step S302: No), the control unit 31 stops the second drive unit 14 corresponding to the wheel 12 that is not in contact with the travel path R1 (step S304). In this case, since the control unit 31 stops the second drive unit 14, the rotational drive of the corresponding wheel 12 by the second drive unit 14 is stopped.

[0093] Thus, in the cart robot 1 according to the second embodiment, when the first locking unit 16 restricts the circumferential rotation of the first axle 10 of the second axle 11, the information processing device 7 detects a wheel 12 that is not in contact with the travel path R1 on which the vehicle body 2 (cart robot 1) travels, and stops the rotational drive by the second drive unit 14 corresponding to the detected wheel 12.

[0094] This makes it possible to reduce the risk of people or objects getting caught in the wheels 12 that are not in contact with the road surface R1 when the vehicle body 2 (cart robot 1) is traveling on a flat road surface R1, thereby improving safety. In addition, it reduces the waste of applying driving force to unused wheels 12, thereby saving energy. Furthermore, unnecessary operation of the second drive unit 14 is suppressed, which reduces deterioration of the second drive unit 14.

[0095] Furthermore, the cart robot 1 according to the second embodiment includes a detection unit 6 (rotation angle sensor 62) that detects the rotation angle of the first axle 10 when the rotation of the second axle 11 in the circumferential direction of the first axle 10 is restricted, and a determination unit 32 that determines whether or not the wheel 12 is in contact with the travel path R1 based on the rotation angle detected by the detection unit 6 (rotation angle sensor 62). The information processing device 7 detects the wheel 12 that is not in contact with the travel path R1 based on the determination result of the determination unit 32.

[0096] As a result, the rotation of the first axle 10 by the second axle 11 in the circumferential direction is restricted, and the rotation angle of the restricted first axle 10 makes it possible to detect wheels 12 that are not in contact with the road surface R1. In other words, since the wheels 12 are arranged in a predetermined configuration on the outer circumference of the first axle 10, the rotation angle of the first axle 10 can be detected to identify wheels 12 that are not in contact with the road surface R1.

[0097] In the above embodiment, the detection unit 6 for detecting the wheels 12 that are not in contact with the roadway R1 uses either a rotation speed sensor 61 for detecting the rotation speed of each wheel 12, or a rotation angle sensor 62 for detecting the rotation angle of the first axle 10. However, other sensors can also be used.

[0098] As the detection unit 6, for example, a pressure sensor can be used to detect the pressure applied to the second axle 11 or the wheel 12. When a pressure sensor is used, a wheel 12 with a pressure above a predetermined level is detected as a wheel 12 in contact with the roadway R1, and a wheel 12 with a pressure below a predetermined level is detected as a wheel 12 not in contact with the roadway R1.

[0099] Figure 10 is a schematic diagram showing an example of the hardware configuration of a computer 1200 that functions as an information processing device 7. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the device according to this embodiment, or to cause the computer 1200 to execute operations associated with the device according to this embodiment or such one or more "parts", and / or to cause the computer 1200 to execute a process or a stage of such process according to this embodiment. Such a program may be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0100] The computer 1200 according to this embodiment includes a CPU 1212, RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive and a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive and a solid-state drive, etc. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0101] The CPU 1212 operates according to programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 and stores it in a frame buffer provided in RAM 1214 or within itself, so that the image data is displayed on the display device 1218.

[0102] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0103] The ROM 1230 stores boot programs and / or hardware-dependent programs of the computer 1200, which are executed by the computer 1200 upon activation. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0104] The program is provided on a computer-readable storage medium such as a DVD-ROM or IC card. The program is read from the computer-readable storage medium and installed on a storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the operation or processing of information in accordance with the use of the computer 1200.

[0105] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as RAM 1214, storage device 1224, DVD-ROM, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area provided on the recording medium.

[0106] Furthermore, the CPU 1212 may read all or necessary parts of a file or database stored on an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), or an IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording medium.

[0107] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to RAM 1214. The CPU 1212 may also retrieve information in files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may search among the multiple entries for an entry that matches the specified condition for the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies the predetermined condition.

[0108] The program or software module described above may be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0109] In this embodiment, blocks in the flowchart and block diagram may represent a stage in a process in which an operation is performed or a "part" of a device that has the role of performing an operation. A particular stage and "part" may be implemented by a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits, such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, exclusive OR, negated AND, negated OR, and other logical operations, flip-flops, registers, and memory elements.

[0110] A computer-readable storage medium may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, a computer-readable storage medium having instructions stored therein will comprise a product that includes instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital multipurpose disc (DVD), Blu-ray® disc, memory stick, integrated circuit card, etc.

[0111] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and traditional procedural programming languages ​​such as the C programming language or similar programming languages.

[0112] Computer-readable instructions may be provided to a general-purpose computer, a special-purpose computer, or a programmable circuit, either locally or via a wide area network (WAN) such as a local area network (LAN) or the internet, so that the computer-readable instructions may be executed by the processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, in order to generate means for performing operations specified in a flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

[0113] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0114] It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods described in the claims, specifications, and drawings is not explicitly stated as "before" or "prior to," and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," and "next," for convenience, this does not mean that it is essential to perform the operations in that order. [Explanation of Symbols]

[0115] 1. Cart Robot 2. Running vehicle 3. Drive mechanism 4 Arms 5. Detection Unit 6. Detection Unit 7. Information Processing Equipment (Control Device) 10 1st axle 11 2nd axle 12 wheels 13 First drive unit 14. Second drive unit 15 Third drive unit 16. First Rock Section 17. Second Rock Section 20 First detection unit 21 Second detection unit 30 Information acquisition department 31 Control Unit 32 Judgment section 33 Information Storage Unit 61. Rotation speed sensor 62 Rotation Angle Sensor

Claims

1. A cart robot capable of switching between driving modes when the driving path is flat and when there are steps, A vehicle body traveling on the aforementioned road, The first axle provided on the vehicle body, A plurality of second axles extending radially from the tip of the first axle and being expandable and contractible in the radial direction, Wheels provided at the ends of each of the aforementioned multiple second axles, A first drive unit that rotates the plurality of second axles in the circumferential direction of the first axle, A second drive unit that rotates the wheel is provided with respect to the second axle, A third drive unit that extends and retracts the second axle in the radial direction, A first locking mechanism capable of restricting the rotation of the second axle in the circumferential direction, A second locking mechanism capable of restricting the rotation of the aforementioned wheel, A control device that controls the extension and retraction of the second axle, the restriction by the first locking part, and the restriction by the second locking part, A rotation angle sensor for detecting the rotation angle of the first axle when the rotation of the second axle in the circumferential direction is restricted by the first locking part, and Equipped with, The control device, when the travel path is flat and the first locking unit restricts the rotation of the second axle in the circumferential direction, detects a wheel that is not in contact with the travel path on which the vehicle body travels based on the rotation angle detected by the rotation angle sensor, and stops the rotational drive by the second drive unit corresponding to the detected wheel, in a cart robot.

2. A determination unit that determines whether or not the wheel is in contact with the running path based on the rotation angle detected by the rotation angle sensor. Equipped with, The cart robot according to claim 1, wherein the control device detects the wheels that are not in contact with the travel path based on the determination result of the determination unit.

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