Transportation system, transportation method, and computer-readable storage medium

Abstract

The present disclosure relates to a transport system, a transport method, and a computer-readable storage medium. The transport system includes a transport robot that transports a load adjacent to an obstacle by approaching the load in a predetermined control target direction, entering under the load, and moving while the load is lifted by a lifting device. The transport system acquires information about a control error indicating a deviation in a yaw direction of a moving direction of the transport robot relative to the control target direction when the transport robot enters under the load, determines whether the load interferes with the obstacle when the transport robot starts moving in a state where the load is lifted, based on the acquired control error information, and corrects the control target direction used when the transport robot enters under the load to reduce the control error when it is determined that the load interferes with the obstacle.

Description

TECHNICAL FIELD

[0001] The present application relates to a transport system, a transport method, and a computer-readable storage medium that transport a load. BACKGROUND

[0002] A known transport system includes a transport robot that transports a load by entering under the load and moving in a state in which the load is lifted by a lifting device (see, for example, Japanese Patent No. 6247796). SUMMARY

[0003] When the transport robot enters under the load, a control error can occur in which the moving direction of the transport robot is shifted in the yaw direction with respect to a predetermined control target direction. Due to this control error, when the transport robot starts moving in a state in which the load is lifted by the lifting device, the load can interfere with an obstacle.

[0004] The present application provides a transport system that is capable of suppressing interference between a load and an obstacle due to a control error of a transport robot, and the present application also provides a transport method and a computer-readable storage medium.

[0005] A first aspect of the present invention relates to a transport system including a transport robot configured to transport a load by approaching the load in a predetermined control target direction relative to the load adjacent to an obstacle, entering under the load, and moving in a state where the load is lifted by a lifting device, the transport system including: an error acquisition unit that acquires information about a control error indicating a yaw in a direction of movement of the transport robot relative to the predetermined control target direction when the transport robot enters under the load; a determination unit that determines whether the load interferes with the obstacle when the transport robot starts moving in the state where the load is lifted by the lifting device, based on the information about the control error acquired by the error acquisition unit; and a correction unit that corrects the predetermined control target direction used when the transport robot enters under the load to reduce the control error when the determination unit determines that the load interferes with the obstacle. In the first aspect, the correction unit can correct the predetermined control target direction to reduce the control error when the predetermined control target direction used when the transport robot enters under the load is parallel to the obstacle. In the first aspect, the determination unit can determine that the load interferes with the obstacle when the determination unit determines that the load and the obstacle are close to each other when the transport robot starts moving in the state where the load is lifted by the lifting device. In the first aspect, the determination unit can determine that the load interferes with the obstacle when the determination unit determines that the load and the obstacle are close to each other and a gap between the load and the obstacle is equal to or smaller than a predetermined value when the transport robot starts moving in the state where the load is lifted by the lifting device.A second aspect of the present application relates to a method of transporting a load adjacent to an obstacle, which transports the load by causing a transport robot to approach the load in a predetermined control target direction with respect to the load, enter under the load, and move in a state where the load is lifted by a lifting device, the method including: a step of acquiring information about a control error indicating a yaw direction deviation of a moving direction of the transport robot with respect to the predetermined control target direction when the transport robot enters under the load; a step of determining whether the load interferes with the obstacle, based on the acquired information about the control error, determining whether the load interferes with the obstacle when the transport robot starts moving in the state where the load is lifted by the lifting device; and a step of correcting the predetermined control target direction used when the transport robot enters under the load, correcting the predetermined control target direction used when the transport robot enters under the load to reduce the control error when it is determined that the load interferes with the obstacle. A third aspect of the present application relates to a computer-readable storage medium storing a program for transporting a load adjacent to an obstacle, which transports the load by causing a transport robot to approach the load in a predetermined control target direction with respect to the load, enter under the load, and move in a state where the load is lifted by a lifting device. The program causes a computer to execute the following steps: a step of acquiring information about a control error indicating a yaw direction deviation of a moving direction of the transport robot with respect to the predetermined control target direction when the transport robot enters under the load; a step of determining whether the load interferes with the obstacle, based on the acquired information about the control error, determining whether the load interferes with the obstacle when the transport robot starts moving in the state where the load is lifted by the lifting device; and a step of correcting the predetermined control target direction used when the transport robot enters under the load, correcting the predetermined control target direction used when the transport robot enters under the load to reduce the control error when it is determined that the load interferes with the obstacle.

[0006] According to the present application, it is possible to provide a transport system, a transport method, and a computer-readable storage medium that can suppress interference between a load and an obstacle due to a control error of a transport robot. BRIEF DESCRIPTION OF DRAWINGS

[0007] Features, advantages, and technical and industrial significance of exemplary embodiments of the present application will be described below with reference to the accompanying drawings, in which like numerals denote like elements, and wherein:

[0008] Figure 1 is a schematic view of a transport system according to an embodiment;

[0009] Figure 2 is a block diagram of a transportation system according to an embodiment;

[0010] Figure 3 is a view showing a state in which a robot body enters under a load in a control target direction;

[0011] Figure 4 is a view showing a control error generated when the transportation robot enters under the load;

[0012] Figure 5 is a block diagram schematically showing a system configuration of a calculation unit according to an embodiment;

[0013] Figure 6 is a view showing a state in which a moving direction of the transportation robot is shifted in a positive direction by a control error;

[0014] Figure 7 is a view showing a case where there is a gap between the load and an obstacle;

[0015] Figure 8 is a view showing a state in which the control target direction is corrected in a positive direction;

[0016] Figure 9 is a flowchart illustrating a flow of a transportation method according to an embodiment; and

[0017] Figure 10 is a view showing a configuration of a transportation system not including a host management device. DETAILED DESCRIPTION

[0018] While the present application will be described through one embodiment of the present application, the present application defined in any one of the appended claims is not limited to the following described embodiment. For the purpose of clear illustration, the following description and drawings will be appropriately omitted or simplified. In each drawing, the same reference numerals are assigned to the same elements, and the repeated description of the elements is omitted as necessary.

[0019] Figure 1 is a schematic view of a transportation system according to an embodiment. Referring to Figure 1 A transportation system 1 according to an embodiment will be described. In the transportation system 1, a transportation robot 200 autonomously moving within a predetermined area transports a load to be transported.

[0020] Figure 1The transport system 1 shown in FIG. 1 is an example of a transport system. For example, the transport system 1 is capable of transporting a carrier on which dishes, medicine, medical supplies, and the like are placed to a predetermined location in a facility such as a hospital. The transport system 1 has a host management device 100, a transport robot 200, and an environmental camera 500 as main constituent elements.

[0021] The host management device 100 grasps the situation in the facility using the environmental camera 500 and the like, and controls the transport robot 200 to transport a load. The host management device 100 can be provided in the facility in which the transport robot 200 operates, or can be installed at a location away from the facility. The host management device 100 has a communication function, and is capable of communicating with devices in the facility such as the transport robot 200 and the environmental camera 500.

[0022] For example, the transport robot 200 is configured as an autonomous mobile robot that moves on the floor of a hospital. The transport robot 200 is capable of transporting a load such as a carrier from a given location (departure point) to another location (destination).

[0023] The configuration of the transport robot 200 will be described in detail. Figure 1 The transport robot 200 shown in FIG. 1 is an example of an autonomous mobile robot, and can take other forms.

[0024] The transport robot 200 according to the present embodiment has a robot body 210 that is substantially rectangular parallelepiped in shape, a distance sensor 220 attached to the front of the robot body 210, a lifting unit 230 provided on the top surface of the robot body 210, and wheels 213 attached to the right and left side surfaces of the robot body 210.

[0025] A wheel drive unit that drives the wheels 213 is provided in the robot body 210. Although a pair of wheels 213 is attached to the right and left side surfaces of the robot body 210, the arrangement of the wheels 213 is not limited thereto. For example, two pairs of wheels can be attached to the right and left side surfaces of the robot body 210, or a pair of wheels and an auxiliary wheel can be attached to the right and left side surfaces of the robot body 210.

[0026] The distance sensor 220 is in the form of, for example, a laser sensor, an ultrasonic sensor, a camera, or the like. The distance sensor 220 acquires distance information of obstacles and loads present around the transport robot 200. In this regard, the robot body 210 can be provided with two or more distance sensors 220, and the position at which the distance sensor 220 is provided can be selected as needed.

[0027] The lifting unit 230 is one specific example of a lifting device. The lifting unit 230 generally refers to an arrangement that rises and falls with respect to the robot body 210, and is composed of a plate 211 on which a load is placed, a lifting mechanism that raises and lowers the plate 211, and the like.

[0028] The transport robot 200 advances toward a load along a predetermined control target direction (which will be referred to as a "control target direction"), and enters under the load on the basis of distance information of the load acquired by the distance sensor 220 and route planning information that will be described later. Then, after entering under the load, the transport robot 200 lifts the load by the lifting unit 230, and transports the load by moving in a state in which the load is lifted up.

[0029] Next, the configuration of the transport system 1 will be described with reference to Figure 2 The system configuration of the transport system 1 will be described in detail. Figure 2 is a block diagram of the transport system 1 according to an embodiment. The transport system 1 has a host management device 100, a transport robot 200, and environmental cameras 501 to 50n.

[0030] First, the host management device 100 will be described. The host management device 100 has a computing unit 110, a storage unit 120, and a communication unit 140. The storage unit 120 stores a floor map 121, robot information 122, robot control parameters 123, and route planning information 124.

[0031] The computing unit 110 is, for example, a processor (such as a central processing unit (CPU)) that can execute a program, and it can execute the processes described later via a load transport program.

[0032] The computing unit 110 gives an operation command to the transport robot 200 in accordance with a preset schedule. At this time, the computing unit 110 issues the operation command to the transport robot 200 via the communication unit 140.

[0033] When the operation command is issued, the computing unit 110 grasps a departure point and a destination of the transport robot 200 with reference to the floor map 121, and sends a movement program to the transport robot 200 with reference to the route planning information 124. Also, the computing unit 110 determines an operation condition of the computing unit 110 with reference to the robot information 122 and the robot control parameters 123, and sends the operation condition thus determined to the transport robot 200 via the communication unit 140.

[0034] As one of the operation conditions, for example, the computing unit 110 sets a control target direction used when the transport robot 200 enters under a load. The computing unit 110 sends the control target direction thus set to the transport robot 200 via the communication unit 140.

[0035] The communication unit 140 is an interface communicably connected to the transport robot 200, and is composed of, for example, a circuit that modulates or demodulates a signal transmitted via an antenna pair, or the like. The communication unit 140 is connected to the computing unit 110, and provides a given signal received from the transport robot 200 via wireless communication to the computing unit 110. The communication unit 140 transmits a given signal received from the computing unit 110 to the transport robot 200. The communication unit 140 is also configured to be able to perform wireless communication with the environment cameras 501 to 50n.

[0036] Next, the transport robot 200 will be described. The transport robot 200 has a control processor 240, a sensor 250, a wheel drive unit 252, a storage unit 260, and a communication unit 270.

[0037] The control processor 240, which is an information processing unit having a processor such as a CPU, acquires information from respective components of the transport robot 200, and transmits commands to the respective components. The control processor 240 controls the operation of the wheel drive unit 252 and the lift unit 230.

[0038] The sensor 250 generally refers to various sensors of the transport robot 200. The sensor 250 includes a distance sensor 220, a posture sensor, a rotary encoder, and the like. The sensor 250 is connected to the control processor 240, and provides a detected signal to the control processor 240.

[0039] The wheel drive unit 252 includes a motor driver of a motor for driving the wheels 213, and the like. The lift unit 230 includes a motor driver of a motor for driving the lift mechanism, and the like. The wheel drive unit 252 and the lift unit 230 are connected to the control processor 240, and are driven in response to a command from the control processor 240.

[0040] The storage unit 260 includes a non-volatile memory, and stores a floor map and an operation parameter. The floor map is a database required for autonomous movement of the transport robot 200, and includes the same information as at least a part of the floor map stored in the storage unit 120 of the host management apparatus 100. The floor map can include position information of obstacles and carried objects. The operation parameter includes a control target direction transmitted from the computing unit 110 of the host management apparatus 100.

[0041] For example, the transport robot 200 transports a carried object adjacent to an obstacle. The carried object adjacent to the obstacle refers not only to a carried object in contact with the obstacle, but also to a carried object not in contact with the obstacle but located in the vicinity of the obstacle. One example of the carried object adjacent to the obstacle is a carried object such as a shelf placed against a wall.

[0042] The control processor 240 controls the wheel drive unit 252 based on the distance information of the obstacle detected by the distance sensor 220 and the distance information of the transported object of the adjacent obstacle, so that the transport robot 200 moves under the transported object.

[0043] The control processor 240 can control the wheel drive unit 252 based on the location information of obstacles and transported objects in the floor map 121, so that the transport robot 200 can move under the transported objects. In addition, the control processor 240 can control the wheel drive unit 252 based on the image information of obstacles and transported objects captured by the environmental camera 500, so that the robot body 210 can move under the transported objects.

[0044] like Figure 3 As shown in (1), the control processor 240 controls the wheel drive unit 252 based on the route planning information 124 and the distance information of the transported object X relative to the nearby obstacle Y obtained by the distance sensor 220, so that the transport robot 200 approaches the transported object X along the control target direction and enters under the transported object X. For example, if the transported object X is rectangular when viewed from above, the control target direction is perpendicular to one side of the rectangular object X.

[0045] When the control processor 240 determines that the transport robot 200 is below the transported object X relative to the nearby obstacle Y based on the distance information detected by the distance sensor 220, the control processor 240 controls the lifting unit 230 to lift the transported object X. Then, as... Figure 3 As shown in (2), the control processor 240 controls the wheel drive unit 252, so that the transport robot 200 moves along the direction P while the transported object X is lifted by the lifting unit 230, and transports the transported object X to the destination.

[0046] Meanwhile, when the transport robot moves under the object being transported, a control error may occur where the movement direction P deviates from the target control direction in the yaw direction. Typically, when the transport robot begins to move while the object being transported is being lifted by the lifting unit, the object and obstacles may interfere with each other due to control errors.

[0047] For example, such as Figure 4 As shown, when the transport robot 200 enters under the transported object X, a control error α may occur where the movement direction P deviates counterclockwise relative to the control target direction. In the following description, the direction of deviation is positive when the movement direction P deviates clockwise relative to the control target direction, and negative when the movement direction P deviates counterclockwise relative to the control target direction.

[0048] In this case, when the transport robot 200 starts moving in the direction of the arrow P in a state where the load is lifted by the lifting unit 230, the transport robot 200 moves in a direction in which the load X and the obstacle Y are brought close to each other; therefore, the load X and the obstacle Y interfere with each other. In Figure 4 In the present embodiment, for easier understanding, the offset angle of the control error a is expressed so as to appear larger than the actual case.

[0049] In addition, as Figure 4 shown, when the control target direction used when the transport robot 200 enters under the load X is parallel to the obstacle Y, as described above, due to the control error a, when the transport robot 200 starts moving, the load X interferes with the obstacle Y.

[0050] On the other hand, when the transport system 1 according to the present embodiment determines that the load X interferes with the obstacle Y, it corrects the control target direction used when the transport robot 200 enters under the load X, thereby reducing or eliminating the control error a. Therefore, the control target direction is corrected to reduce or eliminate the control error a, thereby suppressing the interference between the load X and the obstacle Y due to the control error a.

[0051] Figure 5 is a block diagram schematically showing the system configuration of the calculation unit according to the present embodiment. The calculation unit 110 according to the present embodiment has an error acquisition unit 111 that acquires a control error a of the transport robot 200, a determination unit 112 that determines whether a load X interferes with an obstacle Y, and a correction unit 113 that corrects a control target direction.

[0052] The error acquisition unit 111 acquires information on the control error a of the moving direction P with respect to the control target direction when the transport robot 200 enters under the load X.

[0053] The control error a is a value determined by the characteristics of the mechanisms and sensors of each part of the transport robot 200, and can be acquired empirically in advance. The information on the control error a includes an offset angle in the yaw direction with respect to the control target direction and a positive / negative direction with respect to the control target direction.

[0054] For example, information regarding the control error α of the transport robot 200 can be preset in the robot information 122 stored in the storage unit 120. The error acquisition unit 111 acquires information regarding the control error α relative to the control target direction from the robot information 122 stored in the storage unit 120. The information regarding the control error α can be set as operating parameters in the storage unit 260 of the transport robot 200. In this case, the error acquisition unit 111 can acquire information regarding the control error α from the storage unit 260 of the transport robot 200. The error acquisition unit 111 outputs the acquired information regarding the control error α to the determination unit 112.

[0055] The determination unit 112 determines whether the transport robot 200 interferes with the obstacle Y when the transported object X starts to move in the state where the transported object X is lifted by the lifting unit 230, based on the floor map 121 and route planning information 124 stored in the storage unit 120 and the information about the control error α obtained by the error acquisition unit 111.

[0056] For example, when the transport robot 200 begins to move along direction P while the transported object X is lifted by the lifting unit 230, the determination unit 112 deviates from its determined movement direction P in the negative direction by a control error α, and the transported object X and the obstacle Y approach each other (e.g.) Figure 4 In the case shown), it is determined that the transported object X interferes with the obstacle Y.

[0057] On the other hand, when the transport robot 200 begins to move along direction P while the transported object X is lifted by the lifting unit 230, the determination unit 112 determines that its movement direction P has deviated in the positive direction by a control error α, and the transported object X and the obstacle Y are moving away from each other (e.g., Figure 6 In the case shown), it is determined that the transported object X does not interfere with the obstacle Y.

[0058] In this regard, for example, Figure 7 As shown, when there is a gap “d” between the transported object X and the obstacle Y, taking into account the size of the gap “d” between the transported object X and the obstacle Y and the above-mentioned determination that the transported object X and the obstacle Y approach each other when the transport robot 200 starts to move, the determination unit 112 can determine the interference between the transported object X and the obstacle Y.

[0059] This is because if the gap “d” between the transported object X and the obstacle Y is equal to or greater than a certain size, the transport robot 200 can move while avoiding interference between the transported object X and the obstacle Y, even when the transported object X and the obstacle Y are close to each other at the beginning of the movement, due to the gap d.

[0060] More specifically, when the transport robot 200 starts moving in a state where the load X is lifted by the lifting unit 230, the determination unit 112 determines that the load X and the obstacle Y interfere with each other in a case where it determines that the load X and the obstacle Y are close to each other, and also determines that the gap "d" between the load X and the obstacle Y is equal to or smaller than a predetermined value. Thus, the interference can be determined with a higher accuracy according to the size of the gap "d" between the load X and the obstacle Y.

[0061] The optimal value acquired in advance according to experience can be set in the determination unit 112 as the predetermined value. In addition, the determination unit 112 can calculate the gap "d" between the load X and the obstacle Y based on the position information of the floor map stored in the storage unit 260, or the distance information of the load X and the obstacle Y acquired by the distance sensor 220.

[0062] When the determination unit 112 determines that the load X and the obstacle Y interfere with each other as described above, it outputs an interference signal indicating the determination to the correction unit 113.

[0063] When the determination unit 112 determines that the load X and the obstacle Y interfere with each other, the correction unit 113 corrects the control target direction used when the transport robot 200 enters under the load X, so as to reduce or eliminate the control error a. Thus, by correcting the control target direction so as to reduce or eliminate the control error a, the interference between the load X and the obstacle Y due to the control error a can be suppressed.

[0064] For example, when the determination unit 112 determines that the moving direction P of the transport robot 200 is shifted in the negative direction by the control error a based on the information about the control error a acquired by the error acquisition unit 111 (as shown in FIG. 6), the correction unit 113 corrects the control target direction to the positive direction so as to reduce or eliminate the control error a. Figure 4

[0065] For example, the correction amount of the control target direction is set to an amount that cancels the shift of the control error a completely. However, the correction amount is not limited to this amount, but can be greater or smaller than it. In addition, an optimal value acquired in advance according to experience can be set in the correction unit 113 as the correction amount of the control target direction.

[0066] The correction unit 113 of the calculation unit 110 transmits the control target direction corrected as described above (which will be referred to as "corrected control target direction") to the transport robot 200 via the communication unit 140. The transport robot 200 advances with respect to the load X along the corrected control target direction transmitted from the correction unit 113, and enters under the load X.

[0067] Generally, for example, as shown in FIG. 7, the transport robot 200 is controlled so as to move in the direction of the control target direction. Thus, when the control target direction is shifted in the negative direction by the control error a, the transport robot 200 moves in the direction of the control target direction, and the moving direction P is shifted in the negative direction by the control error a. Figure 4 ​As shown, a control error a in which the moving direction P is offset in the negative direction with respect to the control target direction when the transport robot 200 enters under the carried object X can occur. In this case, according to the present embodiment, the correction unit 113 corrects the control target direction to the positive direction to reduce or eliminate the control error a. In this case, for example, as shown in Figure 8 As shown, the transport robot 200 enters under the carried object X with the control target direction corrected. Therefore, after entering under the carried object X, the transport robot 200 causes the lifting unit 230 to lift the carried object X, and moves in the direction P with the carried object X lifted. At this time, the carried object X and the obstacle Y are spaced apart from each other, and do not interfere with each other.

[0068] Subsequently, the transport method according to the present embodiment will be described. Figure 9 is a flowchart illustrating a flow of the transport method according to the embodiment.

[0069] The error acquisition unit 111 of the calculation unit 110 acquires information on a control error a of the moving direction P with respect to the control target direction when the transport robot 200 enters under the carried object X, and outputs the acquired information on the control error a to the determination unit 112 (step S101).

[0070] The determination unit 112 determines whether the carried object X interferes with the obstacle Y when the transport robot 200 starts moving with the carried object X lifted by the lifting unit 230, on the basis of the information on the control error a received from the error acquisition unit 111 (step S102).

[0071] When the determination unit 112 determines that the carried object X interferes with the obstacle Y (step S102, Yes), the correction unit 113 corrects the control target direction used when the transport robot 200 enters under the carried object X to a corrected control target direction to reduce or eliminate the control error a (step S103). On the other hand, when the determination unit 112 determines that the carried object X does not interfere with the obstacle Y (step S102, No), the correction unit 113 ends the routine.

[0072] The correction unit 113 of the calculation unit 110 transmits the corrected control target direction to the transport robot 200 via the communication unit 140 (step S104). The transport robot 200 advances along the corrected control target direction transmitted from the correction unit 113, and enters under the carried object X (step S105).

[0073] After entering under the carried object X, the transport robot 200 causes the lifting unit 230 to lift the carried object X, and transports the carried object X by moving the carried object X in the lifted state (step S106).

[0074] Therefore, the transportation system 1 according to this embodiment includes an error acquisition unit 111, a determination unit 112, and a correction unit 113. The error acquisition unit 111 acquires information about control error, which indicates the offset in the lateral direction of the movement direction relative to the control target direction when the transport robot 200 enters under the transported object. Based on the information about control error acquired by the error acquisition unit 111, the determination unit 112 determines whether the transported object interferes with an obstacle when the transport robot 200 starts moving while the transported object is lifted by the lifting unit 230. When the determination unit 112 determines that the transported object interferes with an obstacle, the correction unit 113 corrects the control target direction used when the transport robot 200 enters under the transported object in order to reduce or eliminate the control error.

[0075] According to this embodiment, the control target direction is corrected to reduce or eliminate control error, thereby enabling the suppression or prevention of interference between the transported object and the obstacle due to control error.

[0076] In the transportation system 1 according to this embodiment, the functions provided in the host management device 100 and the transportation robot 200 can be installed on one of the devices according to usage. The computing unit 110, storage unit 120, and other functions of the host management device 100 can be installed on the transportation robot 200 side.

[0077] For example, such as Figure 10 As shown, the transportation system 10 may not include the host management device 100. In addition to the configuration described in the above embodiment, the transportation robot 300 also includes a computing unit 110. Furthermore, the transportation system 10 may consist only of the transportation robot 300, excluding the environmental camera 500.

[0078] While some embodiments of the invention have been described, these embodiments are merely exemplary and not intended to limit the scope of the invention. Novel embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the principles of the invention. Embodiments and variations thereof are included within the scope or principles of the invention and are included in the invention and its equivalents as described in the appended claims.

[0079] According to the present invention, for example, it is possible to execute a computer program by causing a processor to execute the program. Figure 9 The example shown.

[0080] The program can be stored by using various types of non-transitory computer-readable media and can be provided to a computer. The non-transitory computer-readable media can be selected from various types of tangible storage media. Examples of the non-transitory computer-readable media include a magnetic recording medium (e.g., a floppy disk, a magnetic tape, a hard disk drive), a magneto-optical recording medium (e.g., a magneto-optical disk), a CD-ROM (Read Only Memory), a CD-R, a CD-R / W, and a semiconductor memory (e.g., a mask ROM, a PROM (Programmable ROM), an EPROM (Erasable PROM), a flash ROM, a RAM (Random Access Memory)).

[0081] The program can be provided to a computer via various types of transitory computer-readable media. Examples of the transitory computer-readable media include an electrical signal, an optical signal, and an electromagnetic wave. The transitory computer-readable media can provide the program to a computer via a wired communication path (e.g., an electric wire and an optical fiber) or a wireless communication path.

[0082] The respective portions of the computing unit 110 of the transportation system 1 according to the above-described embodiments are not only implemented by the program but also can be partially or entirely implemented by a dedicated hardware (e.g., an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array)).

Claims

1. A transportation system comprising a transportation robot configured to transport a transported object by approaching the object relative to an adjacent obstacle in a predetermined control target direction, entering beneath the object, and moving while the object is lifted by a lifting device, the transportation system comprising: An error acquisition unit acquires information about control error, which indicates the offset in the yaw direction of the transport robot relative to the predetermined control target direction when the transport robot enters under the transported object. The determination unit determines, based on the information about the control error obtained by the error acquisition unit, whether the transport robot interferes with the obstacle when the transported object starts to move in the state where the transported object is lifted by the lifting device; as well as The correction unit corrects the predetermined control target direction used when the determination unit determines that the transported object interferes with the obstacle, so as to reduce the control error; Specifically, when the determination unit determines that the transport robot begins to move when the transported object is lifted by the lifting device, and the transported object and the obstacle are close to each other and the gap between the transported object and the obstacle is equal to or less than a predetermined value, the determination unit determines that the transported object interferes with the obstacle.

2. The transportation system according to claim 1, wherein, When the predetermined control target direction used by the transport robot when it enters under the transported object is parallel to the obstacle, the correction unit corrects the predetermined control target direction to reduce the control error.

3. The transportation system according to claim 1 or 2, wherein, When the determination unit determines that the transported object and the obstacle are close to each other when the transport robot starts to move in the state where the transported object is lifted by the lifting device, the determination unit determines that the transported object and the obstacle are interfering with each other.

4. A method for transporting a transported object near an obstacle, comprising transporting the object by causing a transport robot to approach the object in a predetermined control target direction, move under the object, and move while the object is lifted by a lifting device, the method comprising: Information about control error is obtained, the control error indicating the offset in the yaw direction of the transport robot relative to the predetermined control target direction when the transport robot enters under the transported object; Based on the information obtained regarding the control error, it is determined whether the transport robot interferes with the obstacle when the transported object begins to move in the state where the transported object is lifted by the lifting device; as well as When it is determined that the transported object interferes with the obstacle, the predetermined control target direction used when the transport robot enters under the transported object is corrected to reduce the control error; The method further includes: When the transport robot begins to move in the state where the transported object is lifted by the lifting device, and the transported object and the obstacle are close to each other and the gap between the transported object and the obstacle is equal to or less than a predetermined value, it is determined that the transported object interferes with the obstacle.

5. A computer-readable storage medium storing a program for transporting a transported object near an obstacle, the program transporting the object by causing a transport robot to approach the object in a predetermined control target direction, move under the object, and move while the object is lifted by a lifting device, the program causing a computer to perform the following steps: Information about control error is obtained, the control error indicating the offset in the yaw direction of the transport robot relative to the predetermined control target direction when the transport robot enters under the transported object; Based on the information obtained regarding the control error, it is determined whether the transport robot interferes with the obstacle when the transported object begins to move in the state where the transported object is lifted by the lifting device; as well as When it is determined that the transported object interferes with the obstacle, the predetermined control target direction used when the transport robot enters under the transported object is corrected to reduce the control error; The program further causes the computer to perform the following steps: When the transport robot begins to move in the state where the transported object is lifted by the lifting device, and the transported object and the obstacle are close to each other and the gap between the transported object and the obstacle is equal to or less than a predetermined value, it is determined that the transported object interferes with the obstacle.

Images