Transport system, charging device, transport robot, and method for inducing transport robot

Abstract

The invention provides a transport system, a charging device, a transport robot, and a method for inducing the transport robot. The purpose of the present disclosure is to connect a power-receiving connection unit and a power-feeding connection unit even when the position or orientation of a charging device is shifted. A charging device according to the present disclosure includes a charging circuit portion that charges a battery of a transport robot. The charging device further comprises: a power supply connection unit electrically connected to the charging circuit unit; and a guide portion. The guide portion is provided with a guide member. The guide member provides guide information for guiding the transport robot to a connection position of the transport robot when the power receiving connection portion and the power supply connection portion are electrically connected. The transport robot also has a detection unit for detecting the guide member. When the detection unit detects the guide member, the control unit controls the travel mechanism so that the transport robot moves to the connection position on the basis of the guide information acquired from the guide member.

Description

Technical Field

[0001] The present disclosure relates to a transport system, a charging device, a transport robot, and a method for guiding the transport robot. More specifically, the present disclosure relates to a transport system including a charging device for charging the transport robot, a charging device, a transport robot, and a method for guiding the transport robot. Background Art

[0002] Document 1 (International Publication No. 2001 / 124721) discloses a charging system comprising a transport robot and a charging device for charging the transport robot. When the remaining charge in the transport robot's power storage unit decreases, the transport robot moves to the location of the charging device. The charging device then connects its power supply connector to the power receiving connector of the transport robot to charge the transport robot's power storage unit.

[0003] The transport robot, for example, stores an electronic map that registers the location of the charging device and moves to the location of the charging device based on the electronic map. If a person, object, or other object comes into contact with the charging device, causing the location or orientation of the charging device to deviate from that shown on the electronic map, the receiving and power supply connectors may not be connected even if the transport robot moves to the location registered on the electronic map. Summary of the Invention

[0004] The present disclosure aims to provide a transport system, a charging device, a transport robot, and a method for guiding the transport robot that can connect a power receiving connection portion and a power supply connection portion even when the position or orientation of the charging device is misaligned.

[0005] A transport system according to one embodiment of the present disclosure includes: a transport robot that operates with power stored in a battery; and a charging device having a charging circuit unit that charges the battery of the transport robot. The transport robot includes: a traveling mechanism; a power receiving connection unit electrically connected to the battery; and a control unit that controls the traveling mechanism. The charging device also includes: a power supply connection unit electrically connected to the charging circuit unit; and a guide unit provided with a guide member. The guide member provides guidance information for guiding the transport robot to a connection position of the transport robot when the power receiving connection unit and the power supply connection unit are electrically connected. The transport robot also includes a detection unit for detecting the guide member. If the detection unit detects the guide member, the control unit controls the traveling mechanism based on the guidance information obtained from the guide member so that the transport robot moves to the connection position.

[0006] A charging device according to one embodiment of the present disclosure includes a charging circuit unit, a power supply connection unit, and a guide unit. The charging circuit unit charges a battery of a transport robot. The transport robot includes: the battery; a travel mechanism that operates using the power stored in the battery; a power receiving connection unit electrically connected to the battery; and a control unit that controls the travel mechanism. The power supply connection unit is electrically connected to the charging circuit unit. A guide member is provided in the guide unit. The guide member provides guidance information for guiding the transport robot to the connection position of the transport robot when the power receiving connection unit and the power supply connection unit are electrically connected.

[0007] A transport robot according to one embodiment of the present disclosure includes: a battery; a travel mechanism; a power receiving connection electrically connected to the battery; a control unit that controls the travel mechanism; and a detection unit for detecting a guide member. The guide member is provided on a guide unit provided by a charging device that charges the battery. The guide member provides guidance information for moving to a connection position when the power receiving connection is electrically connected to a power supply connection of the charging device. When the detection unit detects the guide member, the control unit controls the travel mechanism based on the guidance information obtained from the guide member to move the robot to the connection position.

[0008] A method for inducing a transport robot according to one embodiment of the present disclosure is a method for inducing a transport robot provided by the transport system. The method for inducing a transport robot includes a first travel control step, a detection step, and a second travel control step. In the first travel control step, the travel mechanism is controlled so that the transport robot moves to a position where the detection unit can detect the guide member. In the detection step, the detection unit detects the guide member. In the second travel control step, the travel mechanism is controlled based on the guidance information obtained from the guide member so that the transport robot moves to the connection position.

[0009] Effects of the Invention

[0010] According to the present disclosure, a transport system, a charging device, a transport robot, and a method for guiding the transport robot can be provided, which can connect the power receiving connection portion and the power supply connection portion even when the position or orientation of the charging device is misaligned. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a plan view showing a state in which a transport robot included in the transport system of the present disclosure has moved to the vicinity of the installation position of the charging device.

[0012] Figure 2 This is a schematic system configuration diagram of the same transport system.

[0013] Figure 3 It is a plan view showing the positional relationship between the transport robot and the charging device when the detector included in the transport robot detects the guide member of the charging device.

[0014] Figure 4 This is a plan view showing a state in which the transport robot and the charging device are facing each other at a position where a detector included in the transport robot detects a guide member of the charging device.

[0015] Figure 5 This is a plan view showing the positional relationship between the transport robot and the charging device when the transport robot moves to the connection position.

[0016] Figure 6 This is a side view showing the positional relationship between the transport robot and the charging device when the transport robot moves to the connection position.

[0017] Figure 7 This is a three-dimensional diagram of the appearance of the charging device as above.

[0018] Figure 8 It is a side view of the charging device as above.

[0019] Figure 9 This is a three-dimensional image of the appearance of the same delivery robot.

[0020] Figure 10 It is a side view of the same delivery robot.

[0021] Figure 11 This is a sequence diagram illustrating the operation of the same transport system.

[0022] Figure 12 This is a diagram showing an example of an object to be transported by the transport robot described above.

[0023] Figure 13 This is a plan view showing a state in which a transport robot included in the transport system of Modification 1 has moved to the vicinity of the installation position of the charging device.

[0024] Figure 14 This is a schematic system configuration diagram of a transport system according to Modification 2.

[0025] Description of Reference Signs

[0026] 1 Delivery Robot

[0027] 2 Charging device

[0028] 7 Parts supply assembly

[0029] 8. Component mounting machine (manufacturing equipment)

[0030] 10. Control Unit

[0031] 12 Power receiving connection

[0032] 14 Batteries

[0033] 16 Detection Department

[0034] 17 Traveling Mechanism

[0035] 22 Power supply connection

[0036] 23 Charging circuit

[0037] 26 Drive unit

[0038] 40 main body

[0039] 41, 41A guide section

[0040] 42 guide components

[0041] 223 Terminal cover

[0042] 412, 412A extension

[0043] 421 Medium

[0044] 422 Induction Zone

[0045] A1 Delivery System

[0046] G1 Move Face

[0047] X1 Transported object. DETAILED DESCRIPTION

[0048] The following describes in detail the charging device, transport robot, and transport system involved in the embodiments with reference to the accompanying drawings. The figures described in the following embodiments are schematic diagrams, and the size and other dimensional ratios of the components are not necessarily limited to reflect the actual dimensional ratios. Furthermore, the structure described in the following embodiments is merely an example of the present disclosure. The present disclosure is not limited to the following embodiments, and various changes can be made to the design, etc., as long as the effects of the present disclosure are achieved.

[0049] (Implementation Method)

[0050] (1) Summary

[0051] like Figure 1 as well as Figure 2 As shown, the transport system A1 of this embodiment includes a transport robot 1 and a charging device 2 .

[0052] The transport robot 1 operates with the power stored in the battery 14 .

[0053] The charging device 2 includes a charging circuit unit 23 that charges the battery 14 of the transport robot 1 .

[0054] The transport robot 1 includes a travel mechanism 17 , a power receiving connection unit 12 electrically connected to a battery 14 , and a control unit 10 that controls the travel mechanism 17 .

[0055] The charging device 2 further includes a power supply connection portion 22 electrically connected to the charging circuit portion 23 , and a guide portion 41 .

[0056] The guide portion 41 is provided with a guide member 42. The guide member 42 provides guide information for guiding the transport robot 1 to a connection position of the transport robot 1 when the power receiving connection portion 12 and the power supply connection portion 22 are electrically connected.

[0057] The transport robot 1 also has a detection portion 16 for detecting the guide member 42 .

[0058] When the detector 16 detects the guide member 42 , the control unit 10 controls the travel mechanism 17 based on the guide information obtained from the guide member 42 so that the transport robot 1 moves to the connection position.

[0059] Here, the guidance information provided by the guide member 42 is information for guiding the position of the transport robot 1 when the transport robot 1 detects the guide member 42 from the detector 16 (hereinafter, this position may be referred to as the guidance start position) to the connection position.

[0060] The guidance information is, for example, first information which is position information indicating the connection position, or second information which indicates a movement path from the guidance start position to the connection position.

[0061] The first information is position information indicating the connection position, and includes information indicating the relative positional relationship between the guidance start position and the connection position. The first information includes, for example, at least information related to the distance from the guidance start position to the connection position and the direction from the guidance start position toward the connection position. When the guidance information is the first information, the guide member 42 is, for example, a medium 421 (see FIG. 1 ) on which a barcode (two-dimensional barcode, etc.) representing the first information is printed. Figure 1 ) etc. The detection unit 16 is a barcode reader capable of reading a barcode printed on the medium 421. When the detection unit 16 detects the medium 421, it reads the first information from the medium 421. Based on the first information read from the medium 421 by the detection unit 16, the control unit 10 moves the transport robot 1 from the guidance start position to the connection position.

[0062] When the guidance information is the second information, the guide member 42 is, for example, a guide tape provided on the guide portion 41. The guide tape is a magnetic tape arranged along the movement path, or a reflective tape arranged along the movement path that reflects light. If the guide tape is a magnetic tape, the detector 16 is a magnetic sensor capable of detecting magnetism. If the guide tape is a reflective tape, the detector 16 is an optical sensor capable of detecting the reflective tape. If the detector 16 detects the guide tape, the control unit 10 moves the transport robot 1 along the guide tape based on the second information provided by the guide tape, thereby moving the transport robot 1 from the guidance start position to the connection position.

[0063] Thus, the guide member 42 can include either a medium 421 printed with a barcode representing positional information indicating the connection position, or a guide tape indicating the movement path to the connection position. In the following embodiments, the guide member 42 is described as a medium 421 printed with a barcode representing first information (e.g., a two-dimensional barcode).

[0064] In the transport system A1 of this embodiment, the transport robot 1 moves until it reaches the vicinity of the charging device 2. When the detector 16 detects the guide member 42, it can obtain guidance information from the guide member 42. Then, when the detector 16 obtains the guidance information from the guide member 42, the control unit 10 controls the travel mechanism 17 based on the guidance information to move the transport robot 1 to the connection position. Therefore, even if the position or orientation of the charging device 2 deviates from that shown on the electronic map due to contact with a person or object, the transport robot 1 can be moved to the connection position and the power receiving connection unit 12 and the power supply connection unit 22 can be connected. As a result, the transport robot 1 can be reliably charged by the charging device 2.

[0065] (2) Details

[0066] Below, reference Figures 1 to 12 The transport robot 1 , the charging device 2 , and the transport system A1 including these according to this embodiment will be described in detail.

[0067] In the following description, unless otherwise specified, Figure 1 The X-axis direction is defined as the front-back direction, the Y-axis direction is defined as the left-right direction, and the Z-axis direction (reference Figure 6 ) is defined as the vertical direction. Furthermore, the positive direction in the X-axis direction is defined as the front, the positive direction in the Y-axis direction is defined as the right side, and the positive direction in the Z-axis direction is defined as the top. These directions are examples and are not intended to limit the directions in which the charging device 2 and the transport robot 1 are used. The arrows indicating the directions in the drawings are for illustrative purposes only and do not represent entities.

[0068] (2.1) Delivery system

[0069] First, the overall configuration of the transport system A1 according to this embodiment will be described.

[0070] like Figure 2 As shown, the transport system A1 according to the present embodiment includes one or more transport robots 1 and one or more charging devices 2 .

[0071] The transport robot 1 is an autonomous mobile robot (AMR) used in transport operations in facilities such as factories, logistics centers (including distribution centers), office buildings, stores, schools, and hospitals. It can be an AGV (Automatic Guided Vehicle). The transport robot 1 moves on a moving surface G1 (reference Figure 1 as well as Figure 6 The moving surface G1 is the surface on which the transport robot 1 moves. When the transport robot 1 moves within a facility, the floor surface of the facility, etc., serves as the moving surface G1. When the transport robot 1 moves outdoors, the ground, etc., serves as the moving surface G1.

[0072] The charging device 2 charges the transport robot 1 in a state where the power supply connection portion 22 is electrically connected to the power receiving connection portion 12 of the transport robot 1. The transport system A1 may include a plurality of transport robots 1. The transport system A1 may include a plurality of charging devices 2.

[0073] The transport system A1 of this embodiment also includes a host system 5 that instructs the transport robot 1 on transport operations, and a relay device 3. The relay device 3 relays communications between the transport robot 1 and the charging device 2, and the host system 5. Furthermore, each of the transport robot 1, the charging device 2, and the host system 5 is assigned a unique network ID (e.g., an IP address or MAC address), enabling communication between the transport robot 1, the charging device 2, and the host system 5 using the network ID.

[0074] The transport robot 1, the charging device 2, and the host system 5 are configured to be able to communicate with each other. In the present disclosure, the so-called "able to communicate" means that information is transmitted and received directly through an appropriate communication method such as wired communication or wireless communication, or indirectly through a communication network 4 and a relay device 3. In other words, the transport robot 1, the charging device 2, and the host system 5 are able to transmit and receive information with each other. In this embodiment, the transport robot 1, the charging device 2, and the host system 5 are able to communicate with each other in a two-way manner, and can both send information from the host system 5 to the transport robot 1 and the charging device 2, and send information from the transport robot 1 and the charging device 2 to the host system 5.

[0075] (2.2) Upper system

[0076] The host system 5 includes a control unit 50 and a communication unit 51 .

[0077] The control unit 50 is primarily composed of a computer system having one or more processors and memory. The functions of the control unit 50 are realized by the computer system's processor executing a program stored in the computer system's memory. The program may be stored in the memory, provided via a telecommunications link such as the Internet, or stored on a non-transitory recording medium such as a memory card.

[0078] The communication unit 51 communicates with the relay device 3 via the communication network 4. The communication unit 51 communicates with the transport robot 1 and the charging device 2 respectively via the communication network 4 and the relay device 3. Here, the communication network 4 is not limited to the Internet, and a local communication network within the work area where the transport robot 1 performs the transport operation or within the operating company of the work area may also be used. As a communication method between the communication unit 51 and the relay device 3, an appropriate communication method of wireless communication or wired communication is adopted. For example, the communication unit 51 obtains information such as the storage capacity of the battery 14 (for example, information on the charging voltage of the battery 14) from the transport robot 1 by communicating with the transport robot 1 periodically (for example, in a period of several seconds to tens of seconds). In addition, Figure 2 In the embodiment, the number of relay devices 3 is one, but the number of relay devices 3 is not limited to one and can be changed as appropriate.

[0079] The control unit 50 monitors the charge level of the battery 14 of the transport robot 1 based on the charge level information obtained by the communication unit 51. For example, if the charge level of the battery 14 in a transport robot 1 drops below a predetermined threshold, the control unit 50 transmits a charge command from the communication unit 51 to the transport robot 1, instructing the battery 14 to be charged.

[0080] (2.3) Delivery Robot

[0081] The transport robot 1 autonomously travels on a flat moving surface G1 constituted by, for example, a floor surface of a facility.

[0082] like Figure 2 As shown, the transport robot 1 has: a battery 14; a traveling mechanism 17; a power receiving connection portion 12 electrically connected to the battery 14; a control unit 10 that controls the traveling mechanism 17; and a detection unit 16 for detecting a guide member 42. The guide member 42 is provided in a guide portion 41 provided in a charging device 2 that charges the battery 14, and provides guidance information for moving the transport robot 1 to a connection position when the power receiving connection portion 12 is electrically connected to the power supply connection portion 22 of the charging device 2. If the detection unit 16 detects the guide member 42, the control unit 10 controls the traveling mechanism 17 based on the guidance information obtained from the guide member 42 so as to move to the connection position. In addition, as Figure 2 As shown, the transport robot 1 further includes a communication unit 11, an opening and closing element 13, a distance measuring sensor 15, and a connecting unit 18. In addition, the transport robot 1 includes a main body 30 (see FIG. 1 ) on which the control unit 10, the communication unit 11, the power receiving connection unit 12, the opening and closing element 13, the battery 14, the distance measuring sensor 15, the detection unit 16, the travel mechanism 17, and the connecting unit 18 are mounted. Figure 1 、 Figure 9 as well as Figure 10 ).

[0083] like Figure 1 、 Figure 9 as well as Figure 10 As shown in the figure, the main body 30 is a rectangular parallelepiped having a dimension in the X-axis direction longer than that in the Y-axis direction. Figure 1 The right side of the middle) is equipped with a Figure 12 ) is connected to a connecting portion 18. The transport object X1 is, for example, a component supply unit 7 having a plurality of wheels 71 provided on the lower portion of the main body 70. The transport robot 1, while connected to the transport object X1 by the connecting portion 18, can transport the transport object X1 from one location within the work area to another. Furthermore, when the transport robot 1 is transporting the transport object X1, it travels with the transport robot 1 and the transport object X1 aligned side by side in the direction of travel. For example, the transport robot 1 may travel with the transport object X1 at the lead position, pulling the transport object X1, or with the transport robot 1 pushing the transport object X1 from behind.

[0084] A plurality of (for example, two in this embodiment) driving wheels 31 and at least one (for example, one in this embodiment) auxiliary wheel 32 (see FIG. Figure 10 as well as Figure 12 ).

[0085] A plurality of drive wheels 31 are arranged at intervals in the longitudinal direction (X-axis direction) center of the main body 30 on both sides in the transverse direction of the main body 30. The plurality of drive wheels 31 rotate by receiving driving force from, for example, a motor.

[0086] At least one auxiliary wheel 32 is positioned in the center of the main body 30 in the longitudinal direction, at a position different from the drive wheel 31 in the transverse direction of the main body 30. The at least one auxiliary wheel 32 is a freewheel, the rotation axis of which is rotatable 360 degrees within a plane parallel to the movement plane G1. The auxiliary wheel 32 can rotate independently without receiving driving force from a motor or the like.

[0087] The travel mechanism 17 controls the rotation direction and rotation speed of the motor that rotates each of the plurality of drive wheels 31 based on a control command input from the control unit 10 , thereby independently controlling the rotation direction and rotation speed of each of the plurality of drive wheels 31 , thereby causing the main body 30 to travel in a desired direction.

[0088] The connecting unit 18 includes, for example, a connecting arm that grips a connected portion provided on the object X1 to be transported. The connecting unit 18 grips the connected portion with the connecting arm in response to a control command input from the control unit 10, thereby coupling the object X1 to the main body 30. Furthermore, the connecting unit 18 releases the grip of the connected portion with the connecting arm in response to a control command input from the control unit 10, thereby releasing the connection between the object X1 and the main body 30.

[0089] The communication unit 11 communicates with the host system 5 (specifically, the communication unit 51 of the host system 5) via the relay device 3 and the communication network 4. The communication unit 11 communicates with the relay device 3 via wireless communication. In this embodiment, the communication unit 11 and the relay device 3 communicate via wireless communication using radio waves as a medium. Therefore, the transport robot 1 and the host system 5 communicate at least indirectly via the communication network 4 and the relay device 3. The communication between the communication unit 11 and the relay device 3 utilizes wireless communication that complies with standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power wireless (specific low-power wireless) that does not require a communication license.

[0090] The battery 14 is a secondary battery such as a lithium-ion battery, a nickel-metal hydride battery, or an all-solid-state battery, and is held in the main body 30 .

[0091] The power receiving connection portion 12 is arranged on a side surface along the short side direction of the main body 30 ( Figure 1 The side of the front side of the Figure 9 as well as Figure 10The power receiving connection portion 12 includes a plurality of terminals 121 and a pair of circular holes 122 into which a pair of round pins 222 of the charging device 2 are inserted. The plurality of terminals 121 include a pair of power receiving terminals for receiving power from the charging device 2 and a plurality of communication terminals for transmitting and receiving information with the charging device 2. The plurality of terminals 121 are arranged between the pair of circular holes 122.

[0092] The switching element 13 is connected between a pair of power receiving terminals provided in the power receiving connection portion 12 and the battery 14. That is, the battery 14 is connected to the pair of power receiving terminals via the switching element 13. The switching element 13 is switched between an on state and an off state by the control portion 10.

[0093] When the control unit 10 switches the switching element 13 to the ON state and the power receiving connection portion 12 is electrically connected to the power supply connection portion 22 of the charging device 2, the battery 14 is charged with power supplied from the charging device 2. On the other hand, when the control unit 10 switches the switching element 13 to the OFF state, the battery 14 is electrically disconnected from the power receiving connection portion 12, and thus charging of the battery 14 is stopped. Furthermore, when the control unit 10 switches the switching element 13 to the OFF state, the battery 14 is electrically disconnected from the power receiving connection portion 12, preventing the generation of a high voltage between the pair of power receiving terminals of the power receiving connection portion 12. Therefore, even if a user touches the power receiving connection portion 12, the possibility of electric shock, short circuit, etc. is reduced.

[0094] The distance measuring sensor 15 detects objects around the main body 30. For example, the distance measuring sensor 15 includes LiDAR (Light Detection and Ranging), which radiates light (laser) and detects light reflected by objects around the main body 30 to measure the distance to the object and the direction in which the object is located. In this embodiment, two distance measuring sensors 15 are mounted on the main body 30. One distance measuring sensor 15 is located on each side of the short side of the main body 30. Therefore, the two distance measuring sensors 15 detect the presence of objects around the main body 30. If the presence of an object is detected, the position of the object can be detected (for example, the position of the object in a two-dimensional orthogonal coordinate system with the reference point of the main body 30 as the origin).

[0095] In the present embodiment, the LiDAR is provided as the distance measuring sensor 15 for detecting an object. However, a sonar sensor, a radar (RADAR: Radio Detection and Ranging), an image sensor, or the like may be provided in place of the LiDAR.

[0096] The detection unit 16 can detect the guide member 42 provided in the guide portion 41 of the charging device 2. In this embodiment, the guide member 42 is a medium 421 printed with a barcode representing guidance information, and the detection unit 16 includes a barcode reader capable of reading the barcode. The detection unit 16 is provided on the main body 30 so as to detect the medium 421 arranged along the moving surface G1 (refer to FIG. Figure 7 ). When the detection unit 16 detects the medium 421 , the detection unit 16 outputs the guidance information read from the medium 421 to the control unit 10 .

[0097] The control unit 10 is primarily composed of a computer system having one or more processors and memory. The functions of the control unit 10 are realized by the computer system's processor executing a program stored in the computer system's memory. The program may be stored in the memory, provided via telecommunication lines such as the Internet, or stored on a non-transitory recording medium such as a memory card.

[0098] The control unit 10 monitors the amount of power stored in the battery 14 based on, for example, the charging voltage of the battery 14 , and periodically transmits information such as the amount of power stored in the battery 14 to the host system 5 from the communication unit 11 .

[0099] The control unit 10 controls the travel mechanism 17 based on control commands received from the host system 5 by the communication unit 11, for example, to move the transport robot 1 to a desired location. Furthermore, the transport robot 1's memory stores data representing an electronic map of the work area in which the transport robot 1 moves. This electronic map also includes information regarding the location of the charging device 2. The control unit 10 has the function of estimating the current location using SLAM (Simultaneous Localization and Mapping) using the ranging sensor 15 and guiding the robot to its destination.

[0100] In addition, the main body 30 is provided with a sensor for detecting the guide belt 200 set on the moving surface G1 along the moving path of the conveying robot 1. The guide belt 200 is, for example, a magnetic tape, and the main body 30 is provided with a magnetic sensor that can detect the guide belt as a magnetic tape. In this case, the control unit 10 can guide the conveying robot 1 to the destination along the guide belt detected by the magnetic sensor. Such an induction method is called a magnetic induction method. The control unit 10 can control the movement of the conveying robot 1 by both the SLAM method and the magnetic induction method, and can control the movement of the conveying robot 1 by appropriately changing the induction method. In addition, in the case where the position of the conveying robot 1 needs to be controlled with higher precision, such as when the conveying robot 1 is connected to the charging device 2, it is preferable to guide the conveying robot 1 by the magnetic induction method. Therefore, the guide belt 200 for guiding the conveying robot 1 is set around the installation position of the charging device 2.

[0101] When performing a transport operation of transporting the transported object X1, the control unit 10 outputs a control instruction to the driving mechanism 17 to move the transport robot 1 to the position of the transport destination of the transported object X1, for example, based on the current position estimated by the SLAM method and the position of the transport destination of the transported object X1, so that the transported object X1 is transported to the position of the transport destination.

[0102] Furthermore, when the battery 14 is being charged by the charging device 2, the control unit 10 uses a magnetic sensor to detect the guide belt 200 provided to the location where the charging device 2 is installed, and moves the transport robot 1 along the guide belt 200 until it is near the location where the charging device 2 is installed. Alternatively, the control unit 10 may use SLAM to move the transport robot 1 to the location near the charging device 2.

[0103] If charging device 2 is located at the location registered on the electronic map, detector 16 can detect guide member 42 when transport robot 1 arrives at the location. On the other hand, if charging device 2 deviates from the location registered on the electronic map, for example due to contact with a person or object, detector 16 may not be able to detect guide member 42 even if transport robot 1 arrives at the location. In this case, control unit 10 uses, for example, distance measuring sensor 15 to detect the position of guide 41 or the shape of main body 40 of charging device 2. Based on the position of guide 41 or the shape of main body 40, control unit 10 moves transport robot 1 to a position where detector 16 can detect guide member 42. When transport robot 1 moves to a position where detector 16 can detect guide member 42, detector 16 detects guide member 42 and outputs guidance information obtained from guide member 42 to control unit 10. Based on the guidance information, control unit 10 moves transport robot 1 to the connection position, connecting power receiving connection unit 12 to power supply connection unit 22. When the transport robot 1 moves to the connection position, the control unit 10 switches the opening and closing element 13 from the OFF state to the ON state, and charges the battery 14 with the power supplied from the charging device 2 .

[0104] However, the transported object X1 transported by the transport robot 1 of this embodiment is materials used for manufacturing products in a manufacturing plant, products in progress (semi-finished products), or finished products, but also includes cargo, pallets, or pallets loaded with cargo.

[0105] The transport robot 1 may be placed in a position where a component mounting machine 8 (see FIG. Figure 12) and other manufacturing equipment, and is used to transport components supply units 7 that supply components to the manufacturing equipment, or carts that can accommodate components to be mounted on substrates. In this case, the transported object X1 transported by the transport robot 1 includes at least one of the carts that can accommodate components to be mounted on substrates and the components supply unit 7 that supplies components to the manufacturing equipment that mounts the components on the substrates.

[0106] For example, the transport robot 1 is used in a component mounting system 6 (see FIG. 1 ) including at least one component mounting machine 8 for mounting components on a substrate. Figure 12 ) is used in the operation of transporting the component supply assembly 7. The component mounting system 6 includes: the component supply assembly 7; and the component mounting machine 8 that mounts the components supplied from the component supply assembly 7 on the substrate. When the conveying robot 1 is used in the component mounting system 6, the component supply assembly 7 is the transported object X1 transported by the conveying robot 1.

[0107] The component supply unit 7 is, for example, a collective replacement cart that collectively replaces multiple tape feeders that individually supply components to a component mounter 8, which serves as manufacturing equipment. Furthermore, the component mounter 8 is, for example, a machine (so-called a mounter) that mounts components onto an object such as a substrate. The component mounter 8 includes a mounting head that mounts components onto the substrate.

[0108] The transport robot 1, for example, receives control commands from the host system 5 and moves the component supply unit 7, serving as the transported object X1, to a connection position with the component mounting machine 8. Once the transport robot 1 has moved the component supply unit 7 to the connection position, the component supply unit 7 is ready to supply components to the component mounting machine 8. Furthermore, when the transport robot 1 is used in the component mounting system 6, the transported object X1 transported by the transport robot 1 is, for example, the component supply unit 7, but may also be a cart carrying components to be supplied to the component mounting machine 8.

[0109] (2.4) Charging device

[0110] like Figure 2As shown, the charging device 2 has a charging circuit unit 23, a power supply connection unit 22, and a guide unit 41. The charging circuit unit 23 charges the battery 14 of the conveying robot 1. The conveying robot 1 has: a battery 14; a traveling mechanism 17 that operates with the power stored in the battery 14; a power receiving connection unit 12 electrically connected to the battery 14; and a control unit 10 that controls the traveling mechanism 17. The power supply connection unit 22 is electrically connected to the charging circuit unit 23. A guide member 42 is provided in the guide unit 41, and the guide member 42 provides guidance information for guiding the conveying robot 1 to the connection position of the conveying robot 1 when the power receiving connection unit 12 is electrically connected to the power supply connection unit 22. In addition, the charging device 2 also has a control unit 20, a communication unit 21, and a storage unit 24. In addition, as Figure 1 、 Figure 7 as well as Figure 8 As shown, the charging device 2 further includes a main body 40 .

[0111] The main body 40 is made of metal, for example, and is formed into a rectangular parallelepiped. Four free wheels 44, which can rotate in any direction, are attached to the lower portion of the main body 40. Furthermore, four support legs 43, whose lengths can be adjusted, are attached to the lower portion of the main body 40. When the user pushes the main body 40 while shortening the support legs 43 so that the free wheels 44 are in contact with the moving surface G1, the main body 40 can be moved on the moving surface G1 using the four free wheels 44. After the main body 40 has been moved to the desired location, the length of the support legs 43 is increased so that the free wheels 44 are lifted from the moving surface G1, allowing the main body 40 to be placed at that location. The shape and size of the main body 40 can be modified as appropriate.

[0112] The main body 40 accommodates the control unit 20 , the communication unit 21 , the power supply connection unit 22 , the charging circuit unit 23 , the storage unit 24 , etc. Furthermore, a guide unit 41 is attached to the main body 40 .

[0113] The power supply connection portion 22 is arranged on the side surface of the main body 40 ( Figure 1 The side of the back side of the Figure 7 as well as Figure 8 The power supply connection portion 22 includes a plurality of terminal portions 221 and a pair of round pins 222. The plurality of terminal portions 221 include a pair of power supply terminals for supplying power to the transport robot 1 and a plurality of communication terminals for transmitting and receiving information with the transport robot 1. The plurality of terminal portions 221 are arranged between the pair of round pins 222. The round pins 222 are formed in a round rod shape and protrude from the side surface of the main body 40 in the direction normal to the side surface.

[0114] The main body 40 is provided with a terminal cover 223 so as to surround the power supply connection portion 22. Specifically, the charging device 2 includes the terminal cover 223 disposed around the power supply connection portion 22. The terminal cover 223 is formed in an inverted U-shape, covering the upper side and both left and right sides of the power supply connection portion 22. The shape of the terminal cover 223 can be modified as appropriate, and may be a cylindrical shape that surrounds the entire circumference of the power supply connection portion 22.

[0115] The terminal cover 223 is attached to the main body 40 in a state movable in the front-rear direction. The terminal cover 223 is urged rearward (outside the main body 40) by a spring or the like, for example.

[0116] When no external force is applied to the terminal cover 223 , the terminal cover 223 covers both left and right sides and the upper side of the power supply connection portion 22 , thereby reducing the possibility of a person's hands or the like touching the power supply connection portion 22 .

[0117] On the other hand, when the transport robot 1 approaches the charging device 2 to connect the power receiving connection portion 12 to the power supply connection portion 22, the main body 30 of the transport robot 1 comes into contact with the terminal cover 223. When the terminal cover 223 is pushed forward (inside the main body 40) by the main body 30, it moves forward and is pulled into the inside of the main body 30. When the terminal cover 223 is pushed forward by the main body 30, the pair of round pins 222 of the power supply connection portion 22 are inserted into the pair of round holes 122 of the power receiving connection portion 12. Furthermore, since the front ends of the pair of round pins 222 are located further rearward than the terminal portion 221, the pair of round pins 222 are inserted into the pair of round holes 122 before the terminal portion 121 is connected to the terminal portion 221. Here, since funnel-shaped guide surfaces 123 are provided around circular hole 122, main body 30 is moved so that round pins 222 are guided along guide surfaces 123 into circular hole 122, thereby aligning main body 30 of transport robot 1 with main body 40 of charging device 2. With the pair of round pins 222 inserted into the pair of circular holes 122, and terminal portion 121 of power receiving connector 12 positioned to connect with terminal portion 221 of power supply connector 22, transport robot 1 moves closer to charging device 2, thereby electrically connecting terminal portion 121 of power receiving connector 12 with terminal portion 221 of power supply connector 22.

[0118] The guide portion 41 is attached to the side surface of the main body 40 where the power supply connection portion 22 is provided. The guide portion 41 is formed by, for example, bending a metal plate. The guide portion 41 is not limited to being made of metal and may also be a molded product of synthetic resin.

[0119] The guide portion 41 includes a fixing piece 411, an extension portion 412, and a retaining piece 413. The fixing piece 411 is in the shape of a flat plate, and the upper end portion of the fixing piece 411 is fixed to the side surface of the main body 40. The fixing piece 411 protrudes downward along the side surface of the main body 40. The extension portion 412 protrudes from the lower end portion of the fixing piece 411 toward the rear (in a direction perpendicular to the side surface of the main body 40) along the moving surface G1. The extension portion 412 is formed in a shape in which the width dimension of the extension portion 412 in the left and right directions becomes smaller as it is away from the main body 40. The front end of the extension portion 412 is connected to the retaining piece 413 in the shape of a rectangular plate. In addition, the shape of the extension portion 412 can be appropriately changed, and can also be formed in a shape in which the width dimension of the middle portion in the X-axis direction is smaller than the width dimension of the two end portions in the X-axis direction.

[0120] In this embodiment, the fixing piece 411 , the extending portion 412 , and the holding piece 413 are formed as a single component.

[0121] A medium 421 printed with a two-dimensional barcode is attached to the upper surface of the retaining sheet 413 using adhesive tape or the like. The retaining sheet 413 is positioned along the moving surface G1, with the surface provided with the medium 421 facing upward. In other words, the guide member 42 is positioned along the moving surface G1, along which the transport robot 1 moves. In other words, since the medium 421 serving as the guide member 42 is positioned close to the moving surface G1, the transport robot 1 can travel over the guide member 42, reducing the possibility that the guide member 42 will become an obstacle to the movement of the transport robot 1.

[0122] Furthermore, the guide portion 41 has a first direction ( Figure 1 The extension portion 412 protrudes in the X-axis direction (in the X-axis direction). The width of the extension portion 412 decreases in the third direction (Y-axis direction), which is perpendicular to the second direction (Z-axis direction) and the first direction, which are both parallel to the normal line of the movement plane G1, as well as the first direction, as the distance from the main body 40 of the charging device 2 increases. Since the width of the extension portion 412 decreases in the third direction as the distance from the main body 40 increases, the likelihood of the transfer robot 1 running over the extension portion 412 is reduced, compared to a case where the width of the extension portion 412 is fixed, and the likelihood of deformation or damage to the extension portion 412 is reduced.

[0123] The control unit 20 is primarily comprised of a computer system comprising one or more processors and memory. The functions of the control unit 20 (e.g., the functions of the charging control unit 25) are implemented by the computer system's processor executing a program stored in the computer system's memory. The program may be stored in memory, provided via telecommunication lines such as the Internet, or stored on a non-transitory storage medium such as a memory card.

[0124] The communication unit 21 communicates with the host system 5 (communication unit 51 of the host system 5) via the relay device 3 and the communication network 4. The communication unit 21 communicates with the relay device 3 via wireless communication. In this embodiment, the communication unit 21 and the relay device 3 communicate via wireless communication using radio waves. Therefore, the charging device 2 and the host system 5 communicate indirectly via at least the communication network 4 and the relay device 3. The communication between the communication unit 21 and the relay device 3 utilizes wireless communication that complies with standards such as Wi-Fi, Bluetooth, ZigBee, or low-power wireless (specific low-power wireless) that does not require a communication license.

[0125] The charging circuit unit 23 converts an AC voltage input from an AC power source such as a commercial power supply into a DC voltage and outputs the converted DC voltage. When the power supply connection unit 22 is electrically connected to the power receiving connection unit 12, the charging circuit unit 23 charges the battery 14 by passing a charging current through the power supply connection unit 22.

[0126] The storage unit 24 includes, for example, an electrically rewritable, nonvolatile memory such as an EEPROM (Electrically Erasable and Programmable Read-Only Memory). The storage unit 24 stores at least past history information of the electrical characteristic values of the battery 14. This history information includes information on the electrical characteristic values of the battery 14 when the charger 2 previously charged the battery 14, for example, information regarding at least one of the output voltage of the battery 14 and the charging current supplied to the battery 14. Specifically, the history information includes, for example, the electrical characteristic values when the charger 2 successfully charged the battery 14.

[0127] The charging control unit 25 controls the charging operation of the battery 14 performed by the charging circuit unit 23. For example, the charging control unit 25 controls the charging operation of the battery 14 performed by the charging circuit unit 23 by controlling at least one of the charging current supplied to the battery 14 by the charging circuit unit 23 and the voltage applied to the battery 14 by the charging circuit unit 23. The charging control unit 25 can control the charging operation of the battery 14 based on the electrical characteristic values of the battery 14 stored in the storage unit 24.

[0128] (2.5) Action description

[0129] In the transport system A1 of this embodiment, regarding the operation of connecting the transport robot 1 to the charging device 2 to charge the battery 14, refer to Figure 11 In addition, Figure 11 In the sequence diagrams shown, the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0130] The control unit 10 of the transport robot 1 regularly monitors the charge level of the battery 14 and transmits this information from the communication unit 11 to the host system 5. Upon receiving the battery 14 charge level information from the transport robot 1, the control unit 10 compares the battery 14 charge level with a predetermined threshold. The threshold is used to determine whether charging of the battery 14 is necessary. If the battery 14 charge level falls below the threshold, the control unit 50 determines that charging of the battery 14 is necessary.

[0131] Here, when the charge level of battery 14 of transport robot 1 drops below a threshold (S1), control unit 50 of host system 5 detects this drop below the threshold based on information on the charge level of battery 14 transmitted from transport robot 1 (S2). Upon detecting this drop below the threshold, control unit 50 transmits a charge command from communication unit 51 to transport robot 1, instructing the transfer of battery 14 (S3). Furthermore, if transport robot 1 is currently performing a transport operation, control unit 50 may transmit the charge command to transport robot 1 after the transport operation is completed.

[0132] When the communication unit 11 of the transport robot 1 receives a charging command from the host system 5, the control unit 10 controls the travel mechanism 17 to move the transport robot 1 to the location where the charging device 2 is installed. A guide belt 200 is provided around the location where the charging device 2 is installed to guide the transport robot 1 to the charging device 2. The control unit 10 of the transport robot 1 moves the transport robot 1 along the guide belt 200 until it reaches the location where the charging device 2 is installed (S4).

[0133] Figure 1 The diagram shows a state in which the transport robot 1 has moved to the vicinity of the installation position of the charging device 2 . Figure 1 This indicates a state where charging device 2 is located at a position deviated from its pre-set position, such as due to contact with a person or object. Charging device 2 is located at a position deviated from the end of guide belt 200 and is positioned at an angle relative to the transport robot 1 moving along guide belt 200. Therefore, if transport robot 1 moves straight along guide belt 200, there is a possibility that the power receiving connector 12 of transport robot 1 will not connect with the power supply connector 22 of charging device 2.

[0134] In this embodiment, when the transport robot 1 moves to the vicinity of the installation position of the charging device 2, the control unit 10 of the transport robot 1 moves the transport robot 1 to a position where the detection unit 16 can detect the guide member 42 based on the detection result of the distance sensor 15, etc.

[0135] Figure 3 This shows a state where the transport robot 1 has moved to a position (guidance start position) where the guide member 42 is detected by the detector 16. The detector 16 then obtains guidance information from the guide member 42 (S5). In this embodiment, the guide member 42 is a medium 421 printed with a barcode representing the first information, which is the guidance information. The detector 16 obtains the first information from the medium 421 as the guidance information.

[0136] If the detector 16 obtains the guidance information, the control unit 10 moves the transport robot 1 to the connection position based on the guidance information (first information) obtained by the detector 16 (S6). The first information includes, for example, at least information related to the distance from the guidance start position to the connection position and the direction from the guidance start position to the connection position. Figure 4 As shown in FIG. 1 , the control unit 10 adjusts the orientation of the transport robot 1 so that the power receiving connection portion 12 faces the power supply connection portion 22. Figure 5 as well as Figure 6 As shown, the transport robot 1 is moved to the connection position by bringing it close to the charging device 2 .

[0137] Once the transport robot 1 reaches the connection position, the power supply connection unit 22 is electrically connected to the power receiving connection unit 12 ( S7 ), enabling the charging device 2 to charge the transport robot 1 . At this point, the control unit 10 switches the switching element 13 from the off state to the on state, electrically connecting the battery 14 to the power receiving connection unit 12 .

[0138] When the transport robot 1 moves to the connection position, the control unit 10, for example, causes the communication unit 11 to transmit notification information indicating the movement to the connection position to the host system 5. When the communication unit 51 of the host system 5 receives the notification information from the transport robot 1, the control unit 50 causes the communication unit 51 to transmit a charge start command to the charging device 2 to initiate charging. When the communication unit 21 of the charging device 2 receives the charge start command, the charging control unit 25 controls the charging circuit unit 23 to initiate power supply to the battery 14, thereby charging the battery 14 (S8). Alternatively, when the power supply connection unit 22 is electrically connected to the power reception connection unit 12, the control unit 10 of the transport robot 1 may directly transmit a charge start command to the charging device 2 to initiate charging. In this case, the charging device 2 only needs to have a communication function for communicating with the transport robot 1, and the communication unit 21 for communicating with the host system 5 can be omitted as appropriate.

[0139] Thus, in this embodiment, when the transport robot 1 moves near the location of the charging device 2, it moves to a position (the guidance start position) where the detector 16 can detect the guide member 42 provided on the charging device 2. The control unit 10 then moves the transport robot 1 from the guidance start position to the connection position based on the guidance information obtained by the detector 16 from the guide member 42. Therefore, even if the charging device 2 is located away from its pre-set location due to, for example, contact with a person or object, the control unit 10 can still move the transport robot 1 to the connection position based on the guidance information obtained from the guide member 42. Consequently, even if the position or orientation of the charging device 2 is misaligned, the power receiving connector 12 and the power supply connector 22 can be reliably connected, allowing the transport robot 1 to be charged by the charging device 2.

[0140] Furthermore, if charging device 2 is located at a location registered on the electronic map, when transport robot 1 moves to the location of charging device 2 registered on the electronic map, detector 16 of transport robot 1 will detect guide member 42. In this case, control unit 10 also moves transport robot 1 from the guidance start position to the connection position based on the guidance information obtained by detector 16 from guide member 42, thereby connecting power receiving connection unit 12 to power supply connection unit 22.

[0141] When charging of the battery 14 is complete, the control unit 10 of the transport robot 1 controls the travel mechanism 17 to move the transport robot 1 to a predetermined standby position or to perform a new task (e.g., transport). Furthermore, when charging of the battery 14 is complete, the control unit 10 switches the switching element 13 from the on state to the off state, electrically disconnecting the battery 14 from the power receiving connection unit 12. This reduces the possibility of short circuits, etc. Furthermore, the control unit 10 causes the communication unit 11 to transmit a completion notification message indicating the completion of charging to the host system 5. When the communication unit 51 of the host system 5 receives the completion notification message, the control unit 50 causes the communication unit 51 to transmit a charge completion command to the charging device 2 to terminate charging. When the communication unit 21 of the charging device 2 receives the charge completion command, the charging control unit 25 stops the output of the charging circuit unit 23.

[0142] (3) Modification

[0143] The above embodiment is only one of the various embodiments of the present disclosure. As long as the purpose of the present disclosure can be achieved, various changes can be made to the above embodiment corresponding to the design, etc. In addition, the same function as that of the transport system A1 can be embodied by the induction method of the transport robot 1, a computer program, or a non-temporary recording medium that records the program. The induction method of the transport robot 1 involved in one embodiment is the induction method of the transport robot 1 possessed by the transport system A1. The induction method of the transport robot 1 includes a first travel control step, a detection step, and a second travel control step. In the first travel control step, the travel mechanism 17 is controlled so that the transport robot 1 moves to a position where the detection unit 16 can detect the guide member 42. In the detection step, the detection unit 16 detects the guide member 42. In the second travel control step, the travel mechanism 17 is controlled based on the guidance information obtained from the guide member 42 so that the transport robot 1 moves to the connection position. The (computer) program involved in one embodiment is a program for causing a computer system to execute the induction method of the transport robot 1.

[0144] The following lists variations of the above-mentioned embodiment. The variations described below can be combined and used as appropriate. In addition, the above-mentioned embodiment may also be referred to as a basic example below.

[0145] The transport robot 1, charging device 2, and host system 5 in the present disclosure include a computer system. The computer system mainly comprises a processor and a memory as hardware. The functions of the transport robot 1, charging device 2, and host system 5 in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program can be pre-recorded in the memory of the computer system, provided via an electrical communication line, or recorded on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive readable by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits such as IC or LSI mentioned here are called different names depending on the degree of integration, including integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, FPGAs (Field-Programmable Gate Arrays) that can be programmed after LSI manufacturing, or logic devices that can reconfigure the internal connection relationships or circuit divisions of an LSI, can also be used as processors. Multiple electronic circuits can be integrated into a single chip or distributed across multiple chips. Multiple chips can be integrated into a single device or distributed across multiple devices. The computer system mentioned here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including semiconductor integrated circuits or large-scale integrated circuits.

[0146] Furthermore, consolidating multiple functions within the transport robot 1 within a single housing (main body 30) is not a requirement for the transport robot 1; the components of the transport robot 1 may be dispersed across multiple housings. Similarly, consolidating multiple functions within the charging device 2 within a single housing (main body 40) is not a requirement for the charging device 2; the components of the charging device 2 may be dispersed across multiple housings. Furthermore, consolidating multiple functions within the host system 5 within a single housing is not a requirement for the host system 5; the components of the host system 5 may be dispersed across multiple housings. Furthermore, at least some of the functions of the transport robot 1, the charging device 2, or the host system 5 may be implemented via the cloud (cloud computing), etc.

[0147] (3.1) Modification 1

[0148] refer to Figure 13 The transport system A1 according to the first modification will be described.

[0149] In Modification 1, the charging device 2 differs from the basic example in that it includes a guide portion 41A having a guide belt 422 as the guide member 42. Components common to the basic example are denoted by the same reference numerals, and their descriptions are omitted.

[0150] The extending portion 412A of the guide portion 41A is provided with a guide tape 422 as the guide member 42. The guide tape is, for example, a magnetic tape and is provided on the extending portion 412A along the movement path when the transport robot 1 moves from the guide start position to the connection position.

[0151] On the other hand, the transport robot 1 includes a magnetic sensor as the detection unit 16 that can detect the guide tape 422 which is a magnetic tape.

[0152] In variant example 1, when the transport robot 1 moves to the vicinity of the installation position of the charging device 2, the control unit 10 of the transport robot 1 moves the transport robot 1 to a position where the magnetic sensor can detect the guide belt 422 based on the detection result of the distance sensor 15, for example.

[0153] Then, when the magnetic sensor detects the guiding tape 422, the control unit 10 moves the transport robot 1 to the connection position based on the guidance information obtained from the guiding tape 422 by the magnetic sensor, i.e., the detection unit 16. Specifically, the control unit 10 moves the transport robot 1 along the guiding tape 422 detected by the magnetic sensor until it reaches the connection position, thereby connecting the power receiving connection unit 12 to the power supply connection unit 22.

[0154] In addition, in the first modification, the width dimension of the extension portion 412A in the third direction (Y-axis direction) is fixed, but as in the basic example, the width dimension can be formed to be smaller as it is farther away from the main body 40, and the shape of the extension portion 412A can be appropriately changed.

[0155] In Modification 1, the guide tape 422 is a magnetic tape, but the guide tape 422 may be a reflective tape that reflects light. If the guide tape 422 is a reflective tape, the detector 16 may be an optical sensor that can detect the reflective tape.

[0156] (3.2) Modification 2

[0157] refer to Figure 14 A conveyance system A1 according to Modification 2 will be described.

[0158] In Modification 2, the charging device 2 includes a driving unit 26, which is different from the basic example or Modification 1. Components common to the basic example or Modification 1 are denoted by the same reference numerals, and their description is omitted.

[0159] The drive unit 26 moves the guide unit 41 between a first position in which the guide member 42 is located outside the charging unit 2 when the charging unit 2, which is arranged on the movement surface G1 on which the transport robot 1 moves, is viewed from above, and a second position in which the guide unit 41 is located below the charging unit 2. The drive unit 26 includes an actuator, such as a pneumatic cylinder, to move the guide unit 41 between the first and second positions. While it is preferred that at least the portion of the guide unit 41 where the guide member 42 is located is located outside the charging unit 2 in the first position, the entire guide unit 41 may also be located outside the charging unit 2.

[0160] Then, in a state where the driving unit 26 has moved the guide unit 41 to the first position, the transport robot 1 moves to the connection position in order to charge the battery 14 .

[0161] Here, when the transport robot 1 moves to the installation position of the charging device 2 , the driving unit 26 may move the guide portion 41 from the second position to the first position.

[0162] When the transport robot 1 is not being charged, the control unit 20 of the charging device 2 controls the drive unit 26 to move the guide portion 41 from the first position to the second position. Specifically, since the guide portion 41 is located below the charging device 2, the possibility of the guide portion 41 being stepped on by people, objects, the transport robot 1, etc. is reduced.

[0163] When the transfer robot 1's battery 14 is being charged, if the transfer robot 1 arrives at the location of the charging device 2, the control unit 10 of the transfer robot 1 causes the communication unit 11 to transmit an arrival notification signal to the host system 5, notifying the host system 5 of the arrival. If the communication unit 51 receives the arrival notification signal, the control unit 50 of the host system 5 causes the communication unit 51 to transmit the arrival notification signal to the charging device 2. If the communication unit 21 of the charging device 2 receives the arrival notification signal, the control unit 20 controls the drive unit 26 to move the guide unit 41 from the second position to the first position. At this time, since the guide member 42 is located outside the charging device 2, the detector 16 of the transfer robot 1 can detect it. Based on the guidance information obtained by the detector 16, the control unit 10 can move the transfer robot 1 from the guidance start position to the connection position.

[0164] (Summary)

[0165] Based on the above-described embodiments and the like, the following aspects are disclosed.

[0166] The first mode of the transport system (A1) comprises: a transport robot (1) that operates with the power stored in a battery (14); a charging device (2) having a charging circuit unit (23) for charging the battery (14) of the transport robot (1). The transport robot (1) comprises: a travel mechanism (17); a power receiving connection unit (12) electrically connected to the battery (14); and a control unit (10) for controlling the travel mechanism (17). The charging device (2) further comprises: a power supply connection unit (22) electrically connected to the charging circuit unit (23); and a guide unit (41, 41A) provided with a guide member (42). The guide member (42) provides guidance information for guiding the transport robot (1) to the connection position of the transport robot (1) when the power receiving connection unit (12) and the power supply connection unit (22) are electrically connected. The transport robot (1) further comprises a detection unit (16) for detecting the guide member (42). If the detection unit (16) detects the guide member (42), the control unit (10) controls the travel mechanism (17) based on the guide information obtained from the guide member (42) so that the transport robot (1) moves to the connection position.

[0167] According to this method, if the detection unit (16) detects the guide member (42) and obtains the guidance information from the guide member (42), the control unit (10) controls the travel mechanism (17) based on the guidance information so that the transport robot (1) moves to the connection position. Therefore, even if a person, object, etc. comes into contact with the charging device (2) and the position or orientation of the charging device (2) changes, the transport robot (1) can be moved to the connection position and the power receiving connection unit (12) and the power supply connection unit (22) can be connected. Therefore, the transport robot (1) can be reliably charged by the charging device (2).

[0168] In a second embodiment of the transport system (A1), in the first embodiment, the charging device (2) further includes a drive unit (26). The drive unit (26) moves the guide unit (41, 41A) between a first position and a second position, wherein, when the charging device (2) disposed on a moving surface (G1) on which the transport robot (1) moves is viewed from above, the first position is a position where the guide member (42) is located outside the charging device (2), and the second position is a position where the guide unit (41) is located below the charging device (2). When the drive unit (26) moves the guide unit (41, 41A) to the first position, the transport robot (1) moves to the connection position in order to charge the battery (14).

[0169] According to this method, when there is no need to guide the transport robot (1) to the connection position, the guide part (41, 41A) is moved to the second position by the drive part (26), thereby reducing the possibility of the guide part (41, 41A) being stepped on by the transport robot (1), people, etc.

[0170] In the third mode of the transport system (A1), in the second mode, when the transport robot (1) moves to the installation position of the charging device (2), the drive unit (26) moves the guide unit (41, 41A) from the second position to the first position.

[0171] According to this method, when the transport robot (1) moves to the installation position of the charging device (2), the drive unit (26) moves the guide unit (41, 41A) from the second position to the first position, thereby achieving a state in which the guide member (42) can be detected by the detection unit (16).

[0172] In the transport system (A1) of the fourth embodiment, in any one of the first to third embodiments, the guide member (42) includes either a medium (421) printed with a bar code representing position information indicating a connection position, or a guide belt (422) indicating a movement path to the connection position.

[0173] According to this method, the detection unit (16) can obtain guidance information from the barcode or the guidance tape (422) printed on the medium (421).

[0174] In the transport system (A1) of the fifth aspect, in any one of the first to fourth aspects, the guide member (42) is arranged along a movement surface (G1) on which the transport robot (1) moves.

[0175] According to this embodiment, since the guide member (42) is arranged along the movement surface (G1), the possibility that the guide member (42) becomes an obstacle to the movement of the transport robot (1) can be reduced.

[0176] In a sixth embodiment of the transport system (A1), in the fifth embodiment, the guide portion (41, 41A) includes an extension portion (412, 412A) that protrudes from a main body (40) of the charging device (2) along a first direction parallel to a moving surface (G1). The further away from the main body (40) of the charging device (2), the smaller the width of the extension portion (412, 412A) in a third direction perpendicular to a second direction parallel to a normal line of the moving surface (G1) and the first direction.

[0177] According to this method, since the width of the extension portion (412, 412A) decreases as the extension portion (412, 412A) becomes farther away from the main body (40) of the charging device (2), the possibility of the transport robot (1) driving onto the extension portion (412, 412A) can be reduced compared to a case where the width of the extension portion (412, 412A) is fixed.

[0178] In the transport system (A1) of the seventh aspect, in any one of the first to sixth aspects, the charging device (2) further includes a terminal cover (223) arranged around the power supply connection portion (22).

[0179] According to this method, the possibility of people and objects coming into contact with the power supply connection portion (22) can be reduced by using the terminal cover (223).

[0180] In the transport system (A1) of the eighth embodiment, in any one of the first to seventh embodiments, the transported object (X1) transported by the transport robot (1) includes at least one of a carriage capable of accommodating components to be mounted on a substrate and a component supply unit (7). The component supply unit (7) supplies the components to a manufacturing device (8) that mounts the components on the substrate.

[0181] According to this embodiment, a transport object (X1) including at least one of a trolley and a component supply assembly (7) can be transported by a transport robot (1).

[0182] The charging device (2) of the ninth embodiment comprises a charging circuit unit (23), a power supply connection unit (22), and a guide unit (41, 41A). The charging circuit unit (23) charges the battery (14) of the transport robot (1). The transport robot (1) comprises: a battery (14); a travel mechanism (17) that operates with the power stored in the battery (14); a power receiving connection unit (12) electrically connected to the battery (14); and a control unit (10) that controls the travel mechanism (17). The power supply connection unit (22) is electrically connected to the charging circuit unit (23). A guide member (42) is provided in the guide unit (41, 41A). The guide member (42) provides guidance information for guiding the transport robot (1) to the connection position of the transport robot (1) when the power receiving connection unit (12) and the power supply connection unit (22) are electrically connected.

[0183] According to this method, a guide member (42) provided in a guide portion (41, 41A) of a charging device (2) can provide guidance information to a transport robot (1). Therefore, the transport robot (1) can move to a connection position based on the guidance information obtained from the guide member (42), and can connect the power receiving connection portion (12) and the power supply connection portion (22). Therefore, the transport robot (1) can be reliably charged by the charging device (2).

[0184] The conveying robot (1) of the tenth embodiment comprises: a battery (14); a traveling mechanism (17); a power receiving connection portion (12) electrically connected to the battery (14); a control unit (10) for controlling the traveling mechanism (17); and a detection unit (16) for detecting a guide member (42). The guide member (42) is provided on a guide portion (41, 41A) provided on a charging device (2) for charging the battery (14). The guide member (42) provides guidance information for moving the conveying robot (1) to a connection position when the power receiving connection portion (12) is electrically connected to the power supply connection portion (22) of the charging device (2). If the detection unit (16) detects the guide member (42), the control unit (10) controls the traveling mechanism (17) based on the guidance information obtained from the guide member (42) so that the conveying robot (1) moves to the connection position.

[0185] According to this method, the detection unit (16) of the transport robot (1) can obtain guidance information from the guide member (42) provided in the guide unit (41, 41A) of the charging device (2). The control unit (10) of the transport robot (1) can move to the connection position based on the guidance information, and can connect the power receiving connection unit (12) and the power supply connection unit (22). Therefore, the transport robot (1) can be reliably charged by the charging device (2).

[0186] The induction method of the transport robot (1) of the 11th embodiment is a method for inducing the transport robot (1) provided in the transport system (A1) of any one of the 1st to 8th embodiments. The induction method of the transport robot (1) includes a first travel control step, a detection step, and a second travel control step. In the first travel control step, the travel mechanism (17) is controlled so that the transport robot (1) moves to a position where the detection unit (16) can detect the guide member (42). In the detection step, the detection unit (16) detects the guide member (42). In the second travel control step, the travel mechanism (17) is controlled based on the guidance information obtained from the guide member (42) so that the transport robot (1) moves to the connection position.

[0187] According to this method, if the detection unit (16) obtains guidance information from the guide member (42) in the detection step, the travel mechanism (17) is controlled based on the guidance information in the second travel control step so that the transport robot (1) moves to the connection position. Therefore, even if the position or orientation of the charging device (2) changes due to a person, object, etc. coming into contact with the charging device (2), the transport robot (1) can be moved to the connection position and the power receiving connection unit (12) and the power supply connection unit (22) can be connected. Therefore, the transport robot (1) can be reliably charged by the charging device (2).

[0188] The various structures (including variations) of the transport system (A1) according to the above-mentioned embodiment are not limited to the above-mentioned embodiment and can be embodied by a method for guiding the transport robot (1), a (computer) program, or a non-temporary recording medium recording the program.

[0189] The configurations according to the second to eighth aspects are not essential to the transport system (A1) and can be omitted as appropriate.

Claims

1. A transport system comprising: a transport robot that operates with power stored in a battery; and a charging device having a charging circuit portion for charging the battery of the transport robot; The transport robot has: Traveling mechanism; a power receiving connection portion electrically connected to the battery; and a control unit that controls the travel mechanism, The charging device also has: a power supply connection portion electrically connected to the charging circuit portion; and a guide portion provided with a guide member for providing guide information for guiding the transport robot to a connection position of the transport robot when the power receiving connection portion is electrically connected to the power supply connection portion; The delivery robot also has: a detection portion for detecting the guide member, When the detection unit detects the guide member, the control unit controls the travel mechanism based on the guide information acquired from the guide member so that the transport robot moves to the connection position.

2. The conveying system according to claim 1, wherein: The charging device further comprises: a driving unit that moves the guide unit between a first position and a second position, wherein, when the charging device disposed on a moving surface on which the transport robot moves is viewed from above, the first position is a position where the guide member is located outside the charging device, and the second position is a position where the guide unit is located below the charging device. In a state where the driving unit moves the guide unit to the first position, the transport robot moves to the connection position to charge the battery.

3. The conveying system according to claim 2, wherein: When the transport robot moves to the installation position of the charging device, the drive unit moves the guide unit from the second position to the first position.

4. The transport system according to any one of claims 1 to 3, wherein: The guide member includes either a medium printed with a barcode representing position information indicating the connection position, or a guide tape indicating a movement path to the connection position.

5. The transport system according to any one of claims 1 to 4, wherein: The guide member is arranged along a movement surface on which the transport robot moves.

6. The conveying system according to claim 5, wherein: The guide portion has: an extension portion protruding from the main body of the charging device along a first direction parallel to the moving surface, The farther away from the main body of the charging device, the smaller the width of the extending portion in a third direction perpendicular to the second direction parallel to the normal line of the moving surface and the first direction.

7. The transport system according to any one of claims 1 to 6, wherein: The charging device also has: A terminal cover is arranged around the power supply connection portion.

8. The transport system according to any one of claims 1 to 7, wherein: The transported object transported by the transport robot includes at least one of a carriage capable of accommodating components to be mounted on a substrate and a component supply unit that supplies the components to a manufacturing device that mounts the components on the substrate.

9. A charging device comprising: The charging circuit part charges the battery of the transport robot, wherein: The transport robot includes the battery, a travel mechanism operated by the power stored in the battery, a power receiving connection portion electrically connected to the battery, and a control portion that controls the travel mechanism; a power supply connection portion electrically connected to the charging circuit portion; and The guide unit includes a guide member that provides guide information for guiding the transport robot to a connection position of the transport robot when the power receiving connection unit is electrically connected to the power supply connection unit.

10. A delivery robot comprising: batteries; Traveling mechanism; a power receiving connection portion electrically connected to the battery; a control unit that controls the traveling mechanism; and a detection unit provided in a guide unit of a charging device for charging the battery, for detecting a guide member that provides guidance information for moving to a connection position when the power receiving connection unit is electrically connected to the power supply connection unit of the charging device; When the detection unit detects the guide member, the control unit controls the travel mechanism based on the guide information acquired from the guide member so as to move to the connection position.

11. A method for guiding a transport robot, the method being a method for guiding a transport robot provided in the transport system according to claim 1, comprising: a first travel control step of controlling the travel mechanism so that the transport robot moves to a position where the detection unit can detect the guide member; a detecting step in which the detecting portion detects the guide member; and The second travel control step controls the travel mechanism based on the guide information acquired from the guide member so that the transport robot moves to the connection position.

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