Transport robots

Abstract

The present invention provides a transport robot comprising: a main body capable of carrying transported objects; drive wheels disposed on the main body; a memory and a processor connected to the memory, the processor being capable of controlling the drive wheels such that the extension direction of a travel path guide extending along a travel path is consistent with the travel direction of the transport robot, the travel path being a path set along the wall surface of a wall section erected within a building.

Description

Technical Field

[0001] This disclosure relates to a transport robot. Background Technology

[0002] Japanese Patent Application Publication No. 2021-33581 disclosed an invention related to a delivery system.

[0003] This delivery system includes a user terminal, a delivery management device, and delivery robots (transportation robots). The delivery management device notifies the user terminal of cargo-related information, accepts delivery instructions from the notified user terminal, searches for a path to the destination of the cargo for which the delivery instruction has been received, and uses the information from the searched path to enable the delivery robot to perform the delivery.

[0004] However, in order for delivery robots to move to their destinations, they need to be capable of autonomous movement. This necessitates the installation of GPS (Global Positioning System) to determine the robot's location, as well as various sensors to detect obstacles around the robot, thus complicating the robot's structure and control.

[0005] On the other hand, limiting the movement range of the delivery robot to the interior of a building simplifies its structure and control. Specifically, if markers are placed along the delivery robot's path on the building's interior surface and the robot follows these markers, then controls related to the robot's location acquisition and path setting are unnecessary, thus simplifying the robot's structure and control.

[0006] However, it can be assumed that when markings are placed on the ground inside buildings, the markings can be damaged by people and objects moving on them. Therefore, maintaining the driving path of delivery robots remains an issue. Summary of the Invention

[0007] This disclosure takes into account the above facts and obtains a transport robot that can easily maintain its travel path while simplifying its structure and control.

[0008] The first technical solution of this disclosure discloses a transport robot comprising: a main body capable of carrying transported items; drive wheels disposed on the main body; a memory and a processor connected to the memory. The processor is capable of controlling the drive wheels such that the extension direction of a travel path guide extending along a travel path is consistent with the travel direction of the transport robot, the travel path being a path set along the wall surface of a wall erected within a building.

[0009] According to the first technical solution, the conveying robot has a main body and drive wheels provided on the main body, and is able to convey the conveyed object while the main body is loaded with the conveyed object.

[0010] Furthermore, this disclosure includes a processor connected to a memory, which controls the drive wheel so that the extension direction of the travel path guide extending along the travel path of the transport robot is consistent with the travel direction of the transport robot.

[0011] Therefore, without performing controls related to the acquisition of the robot's position or the setting of the robot's travel path, the robot can be made to travel along the travel path.

[0012] However, it can be assumed that when a driving path guide is installed on the ground inside a building, the driving path guide will be damaged by people or objects moving on it.

[0013] In this disclosure, the processor can control the drive wheels based on the extending direction of the travel path guide that extends along the wall surface erected within the building. Therefore, the travel path of the transport robot can be controlled without configuring the travel path guide on the ground within the building. As a result, damage to the travel path guide caused by the movement of people or objects within the building can be suppressed.

[0014] The second technical solution of this disclosure provides a transport robot that, in addition to the first technical solution, includes: a rotating part that is guided along a railing of the building serving as a travel path guide and is supported relative to the main body in a manner capable of rotating about a height axis of the main body; and a rotation angle sensor that detects the rotation angle of the rotating part relative to the travel direction based on the position of the rotating part when the extending direction is aligned with the travel direction. The processor is capable of controlling the drive wheel to make the rotation angle 0 degrees.

[0015] According to the second technical solution, the transport robot further includes a rotating part that can be guided along a railing that serves as a travel path guide, and is supported relative to the main body of the transport robot in a manner that allows it to rotate about the height axis of the main body.

[0016] Therefore, when the extension direction of the railing is inconsistent with the travel direction of the transport robot during its operation, that is, when the travel direction deviates from the travel path of the transport robot, the rotating part rotates around the height axis of the main body.

[0017] In addition, the transport robot is equipped with a rotation angle sensor, which detects the rotation angle of the rotating part relative to the direction of travel by using the position of the rotating part when the extension direction of the railing is consistent with the travel direction of the transport robot as a reference.

[0018] Furthermore, the processor controls the drive wheels to make the rotation angle of the rotating part 0 degrees, that is, the extension direction of the railing is consistent with the travel direction of the transport robot, thus enabling the transport robot to travel along the railing.

[0019] The third technical solution of this disclosure provides a conveying robot that, in the second technical solution, has a handrail provided on the main body, and the handrail has a gripping part that can be held by a pedestrian.

[0020] According to the third technical solution, the transport robot, as described above, travels along railings installed inside a building.

[0021] However, as the transport robot moves along the railing, a section of the railing near the robot becomes difficult for pedestrians to use.

[0022] In this disclosure, a handrail is provided on the main body, and the handrail has a gripping part that can be held by a pedestrian. Therefore, in this invention, pedestrians can use the handrail provided on the transport robot instead of a railing near the transport robot.

[0023] The fourth technical solution of this disclosure provides a transport robot that, in addition to the first technical solution, also includes a camera capable of detecting the travel path guide. A decorative panel is provided on the lower side of the main body, the decorative panel being housed in a through-hole of the ceiling within the building and forming part of the ceiling surface. At least the outer periphery of the drive wheel is composed of a magnet. The magnet is configured to attract the travel plate, enabling the drive wheel to move in the vertical direction. The travel plate, forming part of the wall, is composed of a ferromagnetic material and extends vertically on the lower side of the through-hole. The processor detects the travel path, which serves as the travel path guide, using the camera. Viewed horizontally, the travel path extends vertically on the lower side of the through-hole. The processor can control the drive wheel to ensure that the azimuth angle between the transport robot's travel direction and the extension direction of the travel path is 0 degrees, based on the assumption that the transport robot's travel direction aligns with the extension direction of the travel path.

[0024] According to the fourth technical solution, the transport robot has a decorative panel on the lower side of the main body. The decorative panel is accommodated in the through part of the ceiling installed in the building and can form part of the ceiling surface.

[0025] Furthermore, at least the outer periphery of the drive wheel is made of magnets, and a travel plate extends vertically below the through-section of the ceiling. This travel plate forms part of the wall and is constructed containing ferromagnetic material. Therefore, in this invention, the transport robot can travel along the wall by attracting the travel plate with the drive wheel.

[0026] Furthermore, the transport robot is equipped with a camera that can detect the travel path extending vertically below the through-section of the ceiling when viewed horizontally. The processor can control the drive wheels so that the azimuth angle between the transport robot's direction of travel and the direction of the travel path is 0 degrees. Therefore, in this invention, the direction of travel of the transport robot can be set to the vertical direction.

[0027] As a result, in this disclosure, the object to be transported, placed on the main body, can be accommodated inside the ceiling without compromising its aesthetic design under normal circumstances. Furthermore, when an object needs to be transported, the object can be moved from inside the ceiling by moving the transport robot downwards in the vertical direction.

[0028] As explained above, the first technical solution's transport robot has the excellent effect of easily maintaining its travel path while simplifying its structure and control.

[0029] The second technical solution's transport robot has the excellent advantage of being able to use existing railings within the building to set its travel path.

[0030] The third technical solution's transport robot has the excellent effect of assisting pedestrians while transporting goods.

[0031] The fourth technical solution's transport robot has the excellent effect of utilizing dead space within a building for the containment and transport of objects. Attached Figure Description

[0032] The preferred embodiments are described in detail with reference to the following figures, wherein:

[0033] Figure 1 This is a side view schematically showing the structure of the transport robot according to the first embodiment;

[0034] Figure 2 This is a top view schematically showing the structure of the transport robot according to the first embodiment;

[0035] Figure 3 This is a schematic front view showing the structure of the rotating part of the transport robot according to the first embodiment;

[0036] Figure 4 This is a block diagram showing the hardware structure of the transport robot according to the first embodiment;

[0037] Figure 5 This is a block diagram showing the functional structure of the control device mounted on the transport robot according to the first embodiment;

[0038] Figure 6 This is a schematic front view showing the structure of the door device that forms part of the conveying system according to the first embodiment;

[0039] Figure 7 This is a flowchart illustrating the control process of the transport robot performed by the control device mounted on the transport robot according to the first embodiment;

[0040] Figure 8 This is a top view schematically showing the relationship between the rotating part and the railing of the transport robot according to the first embodiment during its movement;

[0041] Figure 9 This is a side view schematically showing the structure of the transport robot according to the second embodiment;

[0042] Figure 10 This is a schematic front view showing the structure of the transport robot according to the second embodiment;

[0043] Figure 11 This is a block diagram illustrating the hardware structure of the transport robot according to the second embodiment;

[0044] Figure 12 This is a block diagram showing the functional structure of the control device mounted on the transport robot according to the second embodiment;

[0045] Figure 13 This is a flowchart illustrating the control process of the transport robot performed by the control device mounted on the transport robot according to the second embodiment. Detailed Implementation

[0046] The following uses Figures 1-8 A first embodiment of the transport robot disclosed herein will be described. For example... Figure 1 As shown, the "transfer robot 10" involved in this embodiment and the "door device 12" described later (see reference) Figure 6 Together, they form part of the transport system 14.

[0047] like Figure 2 As shown in the diagram, the transport robot 10 has a "main body 16", a pair of "drive wheels 18", a pair of casters 20, "handrails 22", a direction control device 24 and a tray 26, and is able to travel in the passageway 30 within the "building 28".

[0048] Furthermore, the transport robot 10 has a symmetrical structure in its front-back direction. However, for ease of explanation, arrow FR in each figure represents the front side of the transport robot 10 in the front-back direction, arrow UP represents the upper side of the transport robot 10 in the height direction, and arrow LH represents the left side of the transport robot 10 in the width direction. Additionally, unless otherwise specified below, the front-back direction refers to the front-back direction of the transport robot 10, the height direction refers to the height direction of the transport robot 10, and the width direction refers to the width direction of the transport robot 10.

[0049] The main body 16 is a cuboid with its length as the front-to-back direction, and the "transfer object 32" can be placed on its upper surface. In addition, the transfer object 32 can be various items packed in cardboard boxes, for example.

[0050] Furthermore, drive wheels 18 are provided on both sides of the width direction of the central portion in the front-rear direction of the main body 16. Each drive wheel 18 is connected to a motor 34 (see reference 16) via a drive shaft (not shown) that provides driving force to the drive wheel 18. Figure 4 On the other hand, casters 20 are respectively provided in the center of the width direction of the portions on both sides of the main body 16 in the front-rear direction.

[0051] Furthermore, such as Figure 4 As shown, a pair of motor drivers 36 and a control device 38 are mounted on the main body 16. The motor drivers 36 are electrically connected to their respective motors 34 and control devices 38. Furthermore, power is supplied from a battery (not shown) mounted on the main body 16 to the motors 34 and other electronic devices mounted on the transport robot 10.

[0052] On the other hand, the handrail 22 is located on the right side of the central part of the main body 16 in the front-rear direction, and its main part is made of a U-shaped tube that is bent open from the width direction to the lower side in the height direction.

[0053] In addition, a rubber handle 40 extending in the front-back direction is installed on the upper part of the handrail 22 in the height direction, forming a "holding part 22A" that can be held by pedestrians (not shown).

[0054] On the other hand, such as Figures 1-3 As shown, the direction control device 24 includes a "rotation unit 42", a support rod 44 that supports the rotation unit 42, and a "rotation angle sensor 46" that serves as a rotation angle detection unit.

[0055] The rotating part 42 includes a top plate 48, a pair of guide parts 50 mounted on the top plate 48, and a support shaft 52. Furthermore, unless otherwise specified, the following description assumes that the rotating part 42 is in a reference position.

[0056] The top plate 48 forms the upper part of the rotating part 42 in the height direction, and is rectangular in shape when viewed from above, with its length direction being the same as its width direction. On this top plate 48, slits 54 extending in the width direction are provided on its left side and its central portion in the width direction. Furthermore, these slits 54 are located on the same straight line extending in the width direction.

[0057] The guide section 50 includes a roller 56, a support bracket 58, a bolt 60, and a nut 62. The roller 56 is made of rubber and is cylindrical in the height direction, and is supported on the support bracket 58 by the bolt 60 and the nut 62.

[0058] In detail, the support bracket 58 comprises an upper wall portion 58A extending in the width direction with the thickness direction as the height direction, a lower wall portion 58B disposed parallel to the upper wall portion 58A in the height direction below the upper wall portion 58A with the thickness direction as the height direction, and a side wall portion 58C connecting the ends of the upper wall portion 58A and the lower wall portion 58B in the height direction. Furthermore, insertion portions (not shown) are formed in the upper wall portion 58A and the lower wall portion 58B.

[0059] Furthermore, with the roller 56 positioned between the upper wall portion 58A and the lower wall portion 58B of the support bracket 58, and the bolt 60 inserted from the lower wall portion 58B downwards in the height direction to the inserted portions of the upper wall portion 58A and the lower wall portion 58B, the roller 56, and the slit portion 54, the nut 62 is tightened to the bolt 60, thereby the guide portion 50 is mounted on the top plate 48.

[0060] The pair of guide sections 50, configured as described above, are arranged such that the rollers 56 are opposite each other in the width direction. Furthermore, the pair of rollers 56 clamp the "railing 66" which serves as a guide section for the travel path in the width direction. The "railing 66" extends along the "wall surface 64A" of the "wall section 64" erected within the building 28.

[0061] Furthermore, the railing 66 is cylindrical and extends along the passageway 30 through which the transport robot 10 travels. It is supported from the lower side of the building by a support 68, which is provided on the wall 64A with a predetermined gap in the extension direction of the passageway 30.

[0062] The support shaft 52 is a cylindrical shape extending in the height direction, extending downward in the height direction from the right end of the top plate 48 in the width direction. Furthermore, the lower part of the support shaft 52 in the height direction is supported by the strut portion 44.

[0063] The strut part 44 is a covered square tube, and an insertion part (not shown) is formed on its upper wall part 44A. Furthermore, the support shaft 52 is inserted into the insertion part of the upper wall part 44A from the upper side in the height direction, and is supported by the strut part 44 in a manner that allows it to rotate about an axis in the height direction via a bearing (not shown) fixed to the lower side of the upper wall part 44A in the height direction.

[0064] Furthermore, when viewed from the width direction, the support shaft 52 is configured such that the rotation axis of the support shaft and the rotation center of the drive wheel 18 are located on the same straight line extending in the height direction.

[0065] A rotation angle sensor 46 is disposed on the upper side of the inner side of the support rod portion 44 in the height direction, and is configured to detect the rotation angle of the rotating portion 42 relative to the support rod portion 44. In addition, the rotation angle sensor 46 can output an angle signal based on the rotation angle of the rotating portion 42 relative to a reference position to the control device 38.

[0066] The pallet 26 is a box-shaped structure that opens upwards in the height direction and is mounted on the support rod 44 so that it rests on the main body 16. This pallet 26 is capable of carrying relatively light items such as documents.

[0067] In this embodiment, the first feature is that the extension direction of the railing 66 is aligned with the travel direction of the transport robot 10 by controlling a pair of drive wheels 18 via the control device 38 and the direction control device 24. Furthermore, the second feature is that the travel direction of the transport robot 10 can be switched by the control device 38 and various other devices. Hereinafter, the structure of the various devices used in controlling the pair of drive wheels 18 will be described, focusing on the control device 38.

[0068] like Figure 4 As shown, the control device 38 comprises a CPU (Central Processing Unit) 38A (as an example of a processor), a ROM (Read Only Memory) 38B, a RAM (Random Access Memory) 38C, a memory 38D, and an input / output (I / F) 38E. Furthermore, the CPU 38A, ROM 38B, RAM 38C, memory 38D, and I / F 38E are interconnected via a bus 38F in a manner enabling mutual communication.

[0069] CPU 38A is a central processing unit capable of executing various programs related to the control of the transport robot 10. Specifically, CPU 38A can read programs from ROM 38B and execute programs using RAM 38C as its working area. Furthermore, by reading and executing the executable programs stored in ROM 38B by CPU 38A, the control device 38 can perform various functions as described later.

[0070] The storage device 38D consists of either an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various programs, including the operating system, and various data.

[0071] The input / output I / O 38E is an interface for communication between the control device 38 and the various devices mounted on the transport robot 10. Furthermore, the control device 38 is connected to the devices described later via the input / output I / O 38E in a manner enabling mutual communication. Additionally, these devices can also be directly connected to the bus 38F.

[0072] Specifically, the input / output I / O 38E is connected to the aforementioned motor driver 36, rotation angle sensor 46, a pair of upper contact sensors 70, and lower contact sensors 72. The motor driver 36 outputs control signals to the motor 34 based on command signals input from the control device 38, enabling control of the motor 34's rotational speed and direction. Furthermore, in this embodiment, by independently controlling the rotational speed and direction of the pair of motors 34 by the control device 38 and the pair of motor drivers 36 respectively, the travel direction of the transport robot 10 can be changed.

[0073] The upper contact sensor 70 is disposed on the front and rear surfaces in the front-rear direction of the support rod portion 44, respectively, on the upper part of the upper contact sensor 70 in the height direction. When the upper contact sensor 70 detects contact between an object and the upper contact sensor 70, it outputs a first contact signal to the control device 38.

[0074] The lower contact sensors 72 are respectively disposed on the front surface of the main body 16 in the front-rear direction and the rear surface of the main body 16 in the front-rear direction. When the lower contact sensor 72 detects contact between an object and the lower contact sensor 72, it outputs a second contact signal to the control device 38.

[0075] Next, use Figure 5 The functional structure of the control device 38 will be explained. The control device 38 reads the executable program stored in the ROM 38B through the CPU 38A and executes the program, thereby functioning as an assembly of the azimuth angle detection unit 74, the drive quantity control unit 76, the stop control unit 78, and the travel direction switching control unit 80.

[0076] The azimuth angle detection unit 74 detects the rotation angle θ of the rotating unit 42 relative to the reference position at predetermined intervals based on the angle signal input from the rotation angle sensor 46. Furthermore, as... Figure 8 As shown, the rotating part 42 is guided by the railing 66 during the movement of the transport robot 10. The rotation angle θ can be regarded as the angle formed by the extension direction of the railing 66 and the travel direction of the transport robot 10, i.e., the azimuth angle. In addition, the azimuth angle detection unit 74 detects the angle in the counterclockwise direction relative to the reference position as a positive value and the angle in the clockwise direction relative to the reference position as a negative value.

[0077] The drive quantity control unit 76 controls the motor driver 36, and for example, controls the drive quantity of the motor 34 so that the traveling speed of the transport robot 10 is 1 m / s. In addition, the drive quantity control unit 76 can independently control the drive quantity of a pair of motors 34 based on the rotation angle θ detected by the azimuth angle detection unit 74.

[0078] In detail, such as Figure 8 As shown, during the movement of the transport robot 10, when the passageway 30 is a straight line, the rotating part 42 is guided along the straight section 66A of the railing 66, and the extension direction of the railing 66 is consistent with the travel direction of the transport robot 10. Therefore, in the straight section 66A, the rotating part 42 will not rotate relative to the reference position.

[0079] On the other hand, when the passageway 30 is curved, the rotating part 42 is guided along the corner 66B of the railing 66, and the extension direction of the railing 66 and the travel direction of the transport robot 10 are temporarily inconsistent. At this time, the rotating part 42 rotates relative to the reference position, and the rotation angle θ is detected by the azimuth angle detection unit 74 as a value other than 0 degrees.

[0080] Furthermore, the drive quantity control unit 76 determines whether the detected rotation angle θ is 0 degrees. If the rotation angle θ is not 0 degrees, it controls the motor driver 36 to make the rotation angle θ 0 degrees, thereby controlling the drive quantity of the motor 34. That is, the drive quantity control unit 76 performs feedback control to control the drive quantity of the motor 34 based on the value of the rotation angle θ.

[0081] For example, when the transport robot 10 turns to the left along the corner 66A in the direction of travel, the drive quantity control unit 76 increases the speed of the motor 34 that drives the drive wheel 18 on the right side of the width direction and decreases the speed of the motor 34 that drives the drive wheel 18 on the left side of the width direction.

[0082] Furthermore, when the rotation angle θ is not 0 degrees, the speed of the motor 34 that drives the drive wheel 18 on the right side of the width direction is further increased, and the speed of the motor 34 that drives the drive wheel 18 on the left side of the width direction is further decreased.

[0083] Thus, in this embodiment, by controlling the drive wheel 18 with the direction control device 24 and the drive quantity control unit 76 as described above, the transport robot 10 can travel along the railing 66. That is, in this embodiment, the passage 30 is set as the travel path of the transport robot 10. Furthermore, the assembly of the direction control device 24 and the control device 38 will be referred to as the "drive control unit 82" below.

[0084] The stop control unit 78 can control the motor 34 based on the first contact signal from the upper contact sensor 70. Specifically, when the first contact signal is input during the movement of the transport robot 10, the stop control unit 78 outputs a stop signal to a pair of motor drivers 36, causing the motor 34 to stop.

[0085] On the other hand, when the first contact signal is input to the stop control unit 78 during the stop of the transport robot 10, the stop control unit 78 outputs a start signal to a pair of motor drivers 36, causing the motor 34 to be driven.

[0086] Furthermore, in this embodiment, as Figure 1 As shown, at the stop position of the transport robot 10, a stop 84 is installed on the railing 66, so that when the upper contact sensor 70 comes into contact with the stop 84 during the movement of the transport robot 10, the transport robot 10 will stop at the stop position. Alternatively, when the transport robot 10 is being moved, the user can remove the stop 84 from the railing 66 and touch the upper contact sensor 70 to restart the movement of the transport robot 10.

[0087] When the direction-switching control unit 80 receives a second contact signal from the lower contact sensor 72 during the movement of the transport robot 10, it outputs a reversal signal to a pair of motor drivers 36, causing the rotation of the motor 34 to reverse. Therefore, in this embodiment, when the lower contact sensor 72 contacts an obstacle such as a wall, the direction of travel is set to the opposite direction to the direction of travel before contact with the lower contact sensor 72, and the transport robot 10 travels back and forth along a predetermined path.

[0088] On the other hand, such as Figure 6 As shown, the door device 12 is disposed in the part of the wall 64 where the opening 86 is provided, and has a pair of movable bars 88 and a pair of contact sensors 90.

[0089] The movable bar 88 has a structure that is basically the same as the straight section 66A of the railing 66. Its length is set to be about half the opening width of the opening 86, and it is configured to run vertically in the normal state.

[0090] One end of the movable bar 88 is mounted to the periphery of one or the other side of the opening 86 via a support 92 and an actuator (not shown). Furthermore, the movable bar 88 rotates about the thickness of the wall portion 64 by being driven by the actuator based on a third contact signal from the contact sensor 90.

[0091] The contact sensor 90 is positioned on the wall 64 side of the straight section 66A at a predetermined distance from the opening 86. Furthermore, when the movable bar 88 is in its normal state, a third contact signal is input to the actuator when an object contacts the contact sensor 90. Under the action of the actuator, the movable bar 88 rotates 90 degrees around the thickness direction of the wall 64, thereby becoming a folded-over state aligned with the straight section 66A.

[0092] On the other hand, when the movable bar 88 is in a collapsed state, if an object comes into contact with the contact sensor 90, the third contact signal is input to the actuator, and the movable bar 88 rotates 90 degrees around the thickness direction of the wall portion 64 under the action of the actuator, becoming the normal state.

[0093] Furthermore, in the door device 12 configured as described above, when the movable bar 88 is in its normal state, by bringing the roller 56 of the rotating part 42 into contact with the contact sensor 90, the movable bar 88 is brought into a folded-down state, and the travel path of the transport robot 10 can be set at the location of the opening 86 in the wall part 64. Additionally, after the transport robot 10 passes in front of the opening 86, the movable bar 88 returns to its normal state, restoring the opening 86 to a state where people can pass through.

[0094] (The function and effects of this implementation method)

[0095] Next, the function and effects of this embodiment will be explained.

[0096] In this embodiment, such as Figure 1 As shown, the transport robot 10 has a main body 16 and drive wheels 18 provided on the main body 16, and can transport the transport object 32 with the transport object 32 placed on the main body 16.

[0097] In addition, the transport robot 10 has a drive control unit 82, and the drive wheel 18 is controlled by the drive control unit 82 so that the extension direction of the railing 66 extending along the travel path of the transport robot 10 is consistent with the travel direction of the transport robot 10.

[0098] Therefore, in this embodiment, without performing control related to obtaining the position of the transport robot 10 or setting the travel path of the transport robot 10, the transport robot 10 can be made to travel along the travel path.

[0099] However, it can be assumed that when a travel path guide is installed on the ground inside building 28 to guide the travel path of the transport robot 10, the travel path guide may be damaged by people or objects moving on the travel path guide.

[0100] In this embodiment, the drive control unit 82 can control the drive wheel 18 based on the extension direction of the railing 66 extending along the wall 64A of the wall portion 64 erected within the building 28. Therefore, without configuring a travel path guide on the ground within the building 28, the travel path of the transport robot 10 can be set. As a result, damage to the travel path guide caused by the movement of people and objects within the building 28 can be suppressed.

[0101] Therefore, in this embodiment, the structure and control of the transport robot 10 can be simplified while maintaining the travel path of the transport robot 10 easily.

[0102] In addition, in this embodiment, such as Figure 2 and Figure 3 As shown in the diagram, the drive control unit 82 includes a rotating part 42 that can be guided along the railing 66 and is supported relative to the main body 16 of the transport robot 10 in a manner that allows it to rotate about an axis in the height direction of the main body 16.

[0103] Therefore, as Figure 8 As shown, when the extension direction of the railing 66 is inconsistent with the travel direction of the transport robot 10, that is, when the travel direction deviates from the travel path of the transport robot 10, the rotating part 42 rotates around the height direction of the main body 16.

[0104] In addition, the drive control unit 82 is equipped with a rotation angle sensor 46, which detects the rotation angle θ of the rotating part 42 relative to the direction of travel based on the position of the rotating part 42 when the extension direction of the railing 66 is consistent with the travel direction of the transport robot 10.

[0105] Furthermore, in this embodiment, the drive control unit 82 controls the drive wheel 18 so that the rotation angle θ of the rotating unit 42 becomes 0 degrees, that is, the extension direction of the railing 66 is consistent with the travel direction of the transport robot 10, so that the transport robot 10 can travel along the railing 66.

[0106] The following mainly uses Figure 7 The flowchart shown illustrates an example of the control flow of the transport robot 10 implemented by the control device 38. This control flow is initiated by the CPU 38A receiving predetermined instruction signals at predetermined intervals.

[0107] When the control flow begins, in step S100, CPU38A functions as azimuth angle detection unit 74, and detects the rotation angle θ of rotation unit 42 relative to reference position based on the angle signal input from rotation angle sensor 46, and proceeds to step S101.

[0108] In step S101, CPU38A functions as the drive quantity control unit 76, determining whether the rotation angle θ is 0 degrees. If the rotation angle θ is 0 degrees (step S101: "Yes"), the control flow ends. On the other hand, if the rotation angle θ is not 0 degrees (step S101: "No"), CPU38A proceeds to step S102.

[0109] In step S102, the CPU38A functions as the drive quantity control unit 76, controlling the motor driver 36 based on the rotation angle θ detected in step S100 so that the rotation angle θ becomes 0 degrees, thus ending the control process.

[0110] Thus, in this embodiment, the existing railings 66 within the building 28 can be used to set the travel path of the transport robot 10.

[0111] return Figure 1 In this embodiment, a handrail 22 is provided on the main body 16, and the handrail 22 has a gripping part 22A that can be held by a pedestrian. Therefore, in this embodiment, pedestrians can use the handrail 22 provided on the transport robot 10 instead of the railing 66 near the transport robot 10. Therefore, in this embodiment, it is possible to assist pedestrians in walking while transporting the transported item 32.

[0112] <Second Implementation>

[0113] The following uses Figures 9-13 The "transfer robot 100" according to the second embodiment of the present invention will be described. Furthermore, components identical to those in the first embodiment described above will be assigned the same numbers, and their descriptions will be omitted.

[0114] like Figure 9 and Figure 10As shown, the transport robot 100, together with the wireless controller 102 described later, constitutes part of the transport system 104. Furthermore, the transport robot 100 includes a "main body 106", four "drive wheels 108", a "decorative panel 110", a "first camera 112" serving as a detection unit, a "second camera 114" serving as a detection unit, an upper contact sensor 116, and a lower contact sensor 118.

[0115] Furthermore, in each figure, arrow FR indicates the front side of the transport robot 100 in the forward-backward direction, arrow UP indicates the upper side of the transport robot 100 in the height direction, and arrow LH indicates the left side of the transport robot 100 in the width direction. Additionally, unless otherwise specified below, the forward-backward direction refers to the forward-backward direction of the transport robot 100, the height direction refers to the height direction of the transport robot 100, and the width direction refers to the width direction of the transport robot 100.

[0116] The main body 106 includes a body section 120 and a mounting platform 122. The body section 120 is a cuboid with its length direction as the front-rear direction, and the mounting platform 122 is provided on the upper surface of the body section 120 in the height direction.

[0117] The mounting platform 122 comprises a base plate 124 and a pair of braces 126. The base plate 124 is a plate extending upward in the height direction from the rear end in the front-rear direction of the vehicle body 120, and is mounted to the vehicle body 120 by a mounting member (not shown). On the other hand, the braces 126 are arranged with a gap between each other in the width direction, and are plates with the thickness direction as the width direction. The front end of the base plate 124 is connected to the front end in the front-rear direction of the vehicle body 120.

[0118] The drive wheels 108 are arranged at intervals on both sides of the vehicle body 120 in the width direction, and at least the outer periphery of the drive wheels 108 is made of magnets. Furthermore, in this embodiment, the drive wheels 108 can be made to fit closely to the "wall 128" of the building 28.

[0119] In detail, the wall portion 128 includes a "travel plate portion 130" that forms part of it, and the travel plate portion 130 is disposed on the wall surface 128A side of the wall portion 128. This travel plate portion 130 is composed of a plate-shaped component including a ferromagnetic material such as iron, and extends in the building height direction, i.e., the vertical direction, with the plate thickness direction set in the thickness direction of the wall portion 128. That is, the transport robot 100 can travel along the wall surface 128A in the building height direction by attracting the travel plate portion 130 with the drive wheels 108.

[0120] In addition, in this embodiment, with the drive wheel 108 in close contact with the wall 128, the front side of the transport robot 100 in the forward and backward direction becomes the upper side of the building. Therefore, the transported item 32 can be placed on the base plate 124 of the aforementioned platform 122.

[0121] Furthermore, the upper part of the driving platform 130 is supported by a support member 132 on a ceiling beam 134, and the lower part of the driving platform 130 is supported by a support member 132 on a ground beam (not shown). Additionally, an inner wall fabric 136 for interior decoration is affixed to the surface of the driving platform 130.

[0122] In addition, such as Figure 11 As shown, each drive wheel 108 is connected to a motor 34 via a drive shaft (not shown) that provides driving force to the drive wheel 108. Furthermore, the body section 120 is equipped with four motor drivers 36 and a control device 138. Each motor driver 36 is electrically connected to its corresponding motor 34 and control device 138, and can control the rotational speed of the motor 34 based on signals input from the control device 138. Additionally, power is supplied from a battery (not shown) mounted on the body section 120 to the motors 34 and other electronic devices mounted on the transport robot 100.

[0123] return Figure 9 A decorative panel 110 is provided on the rear side of the main body 106 in the front-rear direction. The decorative panel 110 is mounted to the main body 106 by a mounting component not shown. The decorative panel 110 is made of the same material as the ceiling material 144 that constitutes the "ceiling surface 142A" in the "ceiling 142" of the building 28. Furthermore, the thickness direction of the panel is set in the front-rear direction, and when viewed from the rear side in the front-rear direction, it is a rectangular panel that can cover most of the main body 106 and the drive wheel 108.

[0124] On the other hand, a "through section 146" for accommodating the decorative panel section 110 is formed at a position adjacent to the wall section 128 in the ceiling 142. That is, when the transport robot 100 is located at a predetermined position on the wall surface 128A, the decorative panel section 110 can form part of the ceiling surface 142A.

[0125] like Figure 10 As shown, the first camera 112 and the second camera 114 are mounted on the vehicle body 120 and are arranged with a gap between them in the front-rear direction. Furthermore, the first camera 112 and the second camera 114 are capable of capturing images of the lower side of the transport robot 100 in the vertical direction, and, as... Figure 11 The ground is electrically connected to the control device 138, and the data of the images captured by the first camera 112 and the second camera 114 are sent to the control device 138.

[0126] return Figure 10 A "driving route 148" extending in the vertical direction is provided on the wall surface 128A of the wall portion 128 as a driving path guide. The driving route 148 is made of black insulating tape and black paint, and is located on the lower side of the building of the through portion 146 when viewed from the thickness direction of the wall portion 128, i.e., the horizontal direction.

[0127] Furthermore, viewed from the thickness direction of the wall 128, the transport robot 100 is configured relative to the wall 128A such that the first camera 112 and the second camera 114 are located on the travel route 148.

[0128] The upper contact sensor 116 is disposed at the front end of the vehicle body 120 in the longitudinal direction, and, as Figure 11 As shown in the diagram, it is electrically connected to the control device 138, and when contact between an object and the upper contact sensor 116 is detected, it outputs a first contact signal to the control device 138.

[0129] On the other hand, the lower contact sensor 118 is disposed at the rear end of the body section 120 in the front-rear direction and is electrically connected to the control device 138. When contact between an object and the lower contact sensor 118 is detected, a second contact signal is output to the control device 138. In addition, an insertion part (not shown) is formed in the trim panel section 110 for the lower contact sensor 118 to be inserted, and the lower contact sensor 118 is partially exposed at the rear end of the trim panel section 110 in the front-rear direction.

[0130] In this embodiment, the feature is that the transport robot 100 can travel along a predetermined travel path on the wall 128A by controlling the four drive wheels 108 via the control device 138. The structure of the control device 138 will be described in detail below.

[0131] like Figure 11 As shown, the control device 138 includes a CPU 138A, a ROM 138B, a RAM 138C, a memory 138D, an input / output I / F 138E, and a bus 138F. It has basically the same structure as the control device 38, but it differs from the control device 38 in that it has a communication I / F 138G.

[0132] In addition, as described above, the input / output I / F138E is connected to a motor driver 36, a first camera 112, a second camera 114, an upper contact sensor 116, and a lower contact sensor 118.

[0133] The communication I / F138G is the interface used in the communication between the control device 138 and the wireless device. The control device 138 can communicate with the wireless controller 102 via the communication I / F138G.

[0134] On the other hand, such as Figure 10 As shown, a wireless controller 102 is disposed on the wall surface 128A of the wall portion 128, and includes an up switch 102A, a down switch 102B, and a stop switch 102C. Furthermore, when the up switch 102A is pressed, the wireless controller 102 sends an up indication signal to the control device 138; when the down switch 102B is pressed, it sends a down indication signal to the control device 138; and when the stop switch 102C is pressed, it sends a stop indication signal to the control device 138.

[0135] And, as Figure 12 As shown, the control device 138 reads and executes the executable program stored in the ROM 138B through the CPU 138A, thereby functioning as a combination of the communication unit 150, the azimuth detection unit 152, the drive quantity control unit 154, the stop control unit 156, and the travel direction switching control unit 158.

[0136] The communication unit 150 receives various signals sent from the wireless controller 102 and sends these signals to the stop control unit 156 and the travel direction switching control unit 158.

[0137] The azimuth detection unit 152 compares the images of the driving route 148 captured by the first camera 112 and the images of the driving route 148 captured by the second camera 114. At predetermined intervals, it detects the angle formed by the extension direction of the driving route 148 and the travel direction of the transport robot 100, i.e., the azimuth angle, based on the different points in these images.

[0138] The drive quantity control unit 154 controls the motor driver 36. For example, it controls the drive quantity of the motor 34 to make the travel speed of the transport robot 100 0.5 m / s. In addition, the drive quantity control unit 154 determines whether the azimuth angle detected by the azimuth angle detection unit 152 is 0 degrees. If the azimuth angle is not 0 degrees, it controls the drive quantity of each motor 34 by independently controlling the four motor drivers 36 to make the azimuth angle 0 degrees.

[0139] For example, when the travel direction of the transport robot 100 deviates from the width direction relative to the travel route 148, the drive quantity control unit 154 increases the speed of the motor 34 that drives the drive wheel 108 on the width direction side and decreases the speed of the motor 34 that drives the drive wheel 108 on the other width direction side.

[0140] Thus, in this embodiment, as described above, the drive wheel 108 is controlled by the first camera 112, the second camera 114, and the drive quantity control unit 154, thereby enabling the transport robot 100 to travel along the travel path 148. That is, in this embodiment, the portion of the wall surface 128A of the wall portion 128 along the travel path 148 is defined as the travel path of the transport robot 100. Furthermore, hereinafter, the assembly of the first camera 112, the second camera 114, and the control device 138 will be referred to as the "drive control unit 160".

[0141] When the stop control unit 156 receives at least one of the first contact signal, the second contact signal, and the stop indication signal while the transport robot 100 is in motion, it outputs a stop signal to each motor driver 36, and the motor driver 36 stops the drive of the motor 34.

[0142] More specifically, in this embodiment, such as Figure 9 As shown, a stop 162 is provided on the upper side of the building of the travel plate 130. When the transport robot 100 rises, the motor 34 stops when the upper contact sensor 116 contacts the stop 162.

[0143] On the other hand, when the transport robot 100 descends, the motor 34 stops when the lower contact sensor 118 contacts the ground (not shown). Additionally, in this embodiment, by pressing the stop switch 102C, the motor 34 can be stopped when the transport robot 100 is at the user's desired height.

[0144] When a rising instruction signal is input, the travel direction switching control unit 158 ​​controls each motor driver 36 to raise the transport robot 100, and when a falling instruction signal is input, controls each motor driver 36 to lower the transport robot 100.

[0145] (The function and effects of this implementation method)

[0146] Next, the function and effects of this embodiment will be explained.

[0147] In this embodiment, such as Figure 10 As shown, a travel path 148 for guiding the travel path of the transport robot 100 is provided along the wall surface 128A of the wall portion 128, thereby suppressing damage to the travel path 148 caused by the movement of people and objects within the building 28.

[0148] In addition, in this embodiment, such as Figure 9As shown, a decorative panel 110 is provided on the lower side of the main body 106. The decorative panel 110 is accommodated in the through portion 146 of the ceiling 142 provided in the building 28, and can form part of the ceiling surface 142A of the ceiling 142.

[0149] Furthermore, at least the outer periphery of the drive wheel 108 is made of magnets, and on the other hand, a travel plate portion 130, which forms part of the wall portion 128 and includes ferromagnetic material, extends vertically below the through portion 146 of the ceiling 142. Therefore, in this embodiment, by causing the drive wheel 108 to attract the travel plate portion 130, the transport robot 100 can travel along the wall portion 128.

[0150] Furthermore, the drive control unit 160 includes a first camera 112 and a second camera 114, which are capable of detecting the travel path 148 extending vertically below the through section 146 when viewed from the horizontal direction. Therefore, in this embodiment, the travel direction of the transport robot 100 can be set to the vertical direction.

[0151] The following mainly uses Figure 13 The flowchart shown illustrates an example of the control flow of the transport robot 100 implemented by the control device 138. This control flow is initiated by the CPU 138A receiving predetermined instruction signals at predetermined intervals.

[0152] When the control flow begins, in step S200, CPU138A functions as azimuth detection unit 152, and detects the azimuth by comparing the image of the driving route 148 captured by the first camera 112 and the image of the driving route 148 captured by the second camera 114, and then proceeds to step S201.

[0153] In step S201, CPU 138A functions as the drive quantity control unit 154, determining whether the azimuth angle is 0 degrees, that is, whether the travel direction of the transport robot 100 is the extension direction of the travel route 148. If the azimuth angle is 0 degrees (step S201: "Yes"), the control flow ends. On the other hand, if the azimuth angle is not 0 degrees (step S201: "No"), CPU 138A proceeds to step S202.

[0154] In step S202, the CPU138A functions as the drive quantity control unit 154, controlling each motor driver 36 based on the azimuth angle detected in step S200 to make the azimuth angle 0 degrees, and ending the control process.

[0155] Thus, in this embodiment, as Figure 9As shown, the transported item 32 placed on the main body 106 can be accommodated inside the ceiling without compromising the appearance of the ceiling 142 under normal conditions. In addition, when it is necessary to transport the transported item 32, the transported item 32 can be moved out of the ceiling by moving the transport robot 100 downward in the vertical direction.

[0156] Therefore, in this embodiment, the dead space within the building 28 can be utilized for the transport of the transported object 32.

[0157] <Supplementary Explanation of the Above Embodiments>

[0158] (1) In the first embodiment described above, an angle signal from the rotation angle sensor 46 is output to the control device 38, and the control device 38 controls the motor driver 36 based on the angle signal, but is not limited thereto. For example, if the structure is made such that the angle signal from the rotation angle sensor 46 is directly output to the motor driver 36, and the motor driver 36 controls the motor 34 based on the angle signal, the structure of the transport robot 100 can be further simplified.

[0159] (2) Furthermore, in the first embodiment described above, the drive wheel 18 is controlled using a rotation angle sensor 46 to ensure that the extension direction of the railing 66 is consistent with the travel direction of the transport robot 10, but this is not a limitation. For example, similar to the second embodiment described above, a travel path can be set along the travel path of the transport robot 10 on the upper part of the railing 66, and a pair of cameras capable of capturing the travel path can be mounted on the transport robot 10. Based on the images of the travel path captured by these cameras, the drive wheel 18 is controlled to ensure that the extension direction of the travel path is consistent with the travel direction of the transport robot 10. With such a structure, even structures where it is difficult to clamp the railing provided on the wall 64 can have their travel path set.

[0160] (3) In addition, in the second embodiment described above, the travel path is made of black insulating tape and black paint, but it is not limited to this. For example, by providing a groove in the wall and using the groove as the travel path, damage to the travel path can be further suppressed.

[0161] (4) Moreover, in the second embodiment described above, a conveying system 104 is provided relative to the wall 128 and ceiling 142 of the building 28, but it is not limited to this. For example, the conveying system 104 may also be provided in an elevator installed in the building 28, and the conveyed item 32 may be housed in the ceiling of the elevator.

Claims

1. A transport robot, characterized in that, The transport robot has the following features: The main body, which is capable of carrying and transporting goods; A drive wheel is disposed on the main body. The memory and the processor connected to the memory; and The handrail, located on the main body, has a gripping part that pedestrians can hold onto. The processor can control the drive wheels so that the extension direction of the travel path guide, which extends along the travel path, is consistent with the travel direction of the transport robot. The travel path is a path set along the wall surface of the wall section erected inside the building. The transport robot also has the following features: A rotating part, which is guided along the railing of the building as a guide part for the travel path, and is supported relative to the main body in a manner that allows it to rotate about the height direction axis of the main body, the rotating part having a top plate, a pair of guide parts and a support shaft, the pair of guide parts being mounted on the top plate and configured such that a pair of rollers are opposite each other to clamp the railing in the extension direction of the railing, and the support shaft extending in the height direction; The strut portion supports the portion of the support shaft located below it in the height direction, thereby supporting the rotating portion; and A rotation angle sensor is provided, which can detect the rotation angle of the rotating part relative to the traveling direction, based on the position of the rotating part when the extending direction is consistent with the traveling direction. The processor can control the drive wheel so that the rotation angle is 0 degrees.

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