Carrying device, carrying system, control device, control method, and control program

Abstract

This invention relates to a transport device, a transport system, a control device, a control method, and a control program. One embodiment of the transport device includes a detection unit, a moving mechanism, a setting unit, an action planning unit, and a movement control unit. The detection unit is capable of detecting information about the surrounding environment of the transport device. The moving mechanism moves the transport device. The setting unit sets parameters required to create an action plan that enables the transport device to move autonomously, based on the type of object being transported. The action planning unit uses the detection results from the detection unit and the parameters set by the setting unit to create an action plan. The movement control unit controls the moving mechanism according to the action plan created by the action planning unit.

Description

Technical Field

[0001] The embodiments of the present invention relate to a handling device, a handling system, a control device, a control method, and a control program. Background Technology

[0002] In logistics, distribution, and other settings, robots are being introduced to address labor shortages. One type of such robot is the Autonomous Mobile Robot (AMR). This AMR utilizes sensing technology such as cameras or sensors to automatically explore paths, automatically avoiding people or obstacles while traveling to its destination. Patent Document 1 discloses an AMR that tows and moves an object.

[0003] Previous autonomous transport robots were designed with specific objects in mind and their movement plans were designed accordingly, making it difficult for them to drive autonomously appropriately based on the objects being transported.

[0004] Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2019-117431 Summary of the Invention

[0005] The problem to be solved by the present invention is to provide a handling device, handling system, control device, control method and control program that can drive autonomously according to the object being handled.

[0006] One embodiment of the transport device includes a detection unit, a moving mechanism, a setting unit, an action planning unit, and a movement control unit. The detection unit detects information about the surrounding environment of the transport device. The moving mechanism moves the transport device. The setting unit sets parameters necessary to create an action plan that enables the transport device to move autonomously, based on the type of object being transported. The action planning unit uses the detection results from the detection unit and the parameters set by the setting unit to create an action plan. The movement control unit controls the moving mechanism according to the action plan created by the action planning unit. Attached Figure Description

[0007] Figure 1 This is a side view showing the structure of the conveying device according to the first embodiment.

[0008] Figure 2 This is a perspective view showing the structure of the transport device according to the first embodiment.

[0009] Figure 3 This is a functional block diagram of the conveying device according to the first embodiment.

[0010] Figure 4 This is a flowchart illustrating the control method of the first embodiment.

[0011] Figure 5 This is a diagram used to illustrate the calculation method for the approximate shape in the first embodiment.

[0012] Figure 6A This is a diagram used to illustrate the calculation method of the rotation center, minimum approach distance, and minimum rotation radius in the first embodiment.

[0013] Figure 6B This is a diagram used to illustrate the calculation method of the rotation center, minimum approach distance, and minimum rotation radius in the first embodiment.

[0014] Figure 6C This is a diagram used to illustrate the calculation method of the rotation center, minimum approach distance, and minimum rotation radius in the first embodiment.

[0015] Figure 7A This is a diagram used to illustrate the calculation method of the rotation center, minimum approach distance, and minimum rotation radius in the first embodiment.

[0016] Figure 7B This is a diagram used to illustrate the calculation method of the rotation center, minimum approach distance, and minimum rotation radius in the first embodiment.

[0017] Figure 7C This is a diagram used to illustrate the calculation method of the rotation center, minimum approach distance, and minimum rotation radius in the first embodiment.

[0018] Figure 8A This is a diagram used to illustrate the calculation method of the rotation center, minimum approach distance, and minimum rotation radius in the first embodiment.

[0019] Figure 8B This is a diagram used to illustrate the calculation method of the rotation center, minimum approach distance, and minimum rotation radius in the first embodiment.

[0020] Figure 8C This is a diagram used to illustrate the calculation method of the rotation center, minimum approach distance, and minimum rotation radius in the first embodiment.

[0021] Figure 9A This is a diagram used to illustrate the calculation direction of the autonomous driving path in the first embodiment.

[0022] Figure 9B This is a diagram used to illustrate the calculation direction of the autonomous driving path in the first embodiment.

[0023] Figure 9CThis is a diagram used to illustrate the calculation direction of the autonomous driving path in the first embodiment.

[0024] Figure 10 This is a side view showing the structure of the transport device according to the second embodiment.

[0025] Figure 11 This is a functional block diagram of the conveying device according to the second embodiment.

[0026] Figure 12 This is a flowchart illustrating the control method of the second embodiment.

[0027] Figure 13 This is a functional block diagram of the transport device according to the third embodiment.

[0028] Figure 14 This is a flowchart illustrating the control method of the third embodiment.

[0029] Figure 15A This is a diagram used to illustrate the margin set in the third embodiment.

[0030] Figure 15B This is a diagram used to illustrate the margin set in the third embodiment.

[0031] Figure 16 This is a functional block diagram of the transport device according to the fourth embodiment.

[0032] Figure 17 This is a block diagram of a transport system including the transport device of the fifth embodiment.

[0033] Explanation of reference numerals in the attached figures 1A~1E…Transportation device; 110…Detection unit; 120…Moving mechanism; 140…Control device; 143…Setting unit; 144…Motion planning unit; 145…Motion control unit; 146…Weight calculation unit; 150…Acquisition unit; 160…Measuring unit; 170…Communication unit; 200…Management device; CD…Code; D…Transported object; OL…Approximate shape; PR…Parameter; R1…Minimum rotation radius; R2…Minimum approach distance; SY…Transportation system. Detailed Implementation

[0034] Hereinafter, the transport device, transport system, control device, control method, and control program of the embodiments will be described with reference to the accompanying drawings. As the transport device of this embodiment, for example, an autonomous transport robot can be used. Specifically, as the transport robot, an unmanned transport vehicle such as an Autonomous Mobile Robot (AMR) or an Automated Guided Vehicle (AGV) can be used. Furthermore, the transport device of this embodiment is configured, for example, to transport objects in logistics or manufacturing work sites, or in distribution work sites such as shop backyards where goods or merchandise are loaded.

[0035] (First Implementation) Figure 1 This is a side view showing the structure of the conveying device according to the first embodiment. Figure 2 This is a perspective view showing the structure of the conveying device according to the first embodiment. (Example) Figure 1 and Figure 2 As shown, the transport device 1A transports the object D. The object D is, for example, a basket-type trolley. In a basket-type trolley, for example, a trolley with a platform surrounded by a mesh or lattice-shaped steel frame and wheels installed under the platform for movement can be used. The object D includes, for example, a rectangular plate-shaped base D1, multiple wheels C provided on the lower surface of the base D1, and a frame D2 provided on the upper surface of the base D1. The multiple wheels C are an example of the drive unit for the object D.

[0036] The transport device 1A moves the transport object D by activating its drive unit. For example, the transport device 1A moves a basket-type trolley by rotating its multiple wheels C on the ground E. Furthermore, for example, for each or any one of the multiple wheels C, a rotating body (rotating member) capable of rotating 360° or within a specified range of rotation centered on an axis intersecting the ground E can be used, as needed. Additionally, for example, for each or any one of the multiple wheels C, a member fixed without rotating around an axis intersecting the ground E can be used, as needed. The wheels C can be members with a caster-like structure.

[0037] An object to be transported (not shown) is placed on the upper surface of the base plate D1. A frame D2 is provided on the upper surface of the base plate D1 to surround the object being transported. The frame D2 is formed to surround the upper and surrounding sides of the base plate D1 on all four sides. At least one of the four sides of the frame D2 is formed as a door that can be opened and closed freely. Alternatively, the frame D2 may be left open on one side without a door.

[0038] Four wheels C are arranged at the four corners of the lower surface of the base plate D1. These wheels C allow the base plate D1 to move relative to the ground E. On the lower surface of the base plate D1, two pairs of wheels C are positioned relative to... Figure 1 The direction P is separated and arranged at a specified interval. Two pairs of wheels C are the first set of wheels C and the second set of wheels C. Wheels C can be fixed wheels or free wheels. For example, one pair of wheels C in one set can be fixed wheels, and the other pair of wheels C in the other set can be free wheels. Alternatively, both pairs of wheels C can be free wheels. Based on the above structure, the object D is transported, for example, by moving along... Figure 1 An external force is applied in the direction P, causing the object to move relative to the ground E. The object being transported, D, is transported to its target location by the transport device 1A.

[0039] The transport device 1A includes, for example, a mobile carriage 2 for transporting the object D, and multiple sensing units installed on the mobile carriage 2. The multiple sensing units include a first sensing unit 10, a second sensing unit 11, and a third sensing unit 12. The mobile carriage 2 includes, for example, a platform 3 on which a base plate D1 is mounted. Multiple wheels 6 are provided on the lower surface of the platform 3. The wheels 6 constitute a moving mechanism 120 as described later (see reference). Figure 3 It is part of the platform 3. The platform 3 can be driven on the ground E by wheels 6.

[0040] Wheel 6 is driven to move using a typical two-wheel independent drive system. Therefore, the conveying device 1A can move freely in the direction of the target. Wheel 6, for example, is relative to... Figure 1 The direction P is separated by two pairs of wheels 6 arranged at a specified interval. The number of wheels 6 can be less than three or more. In addition, the wheels 6 can also be special wheels such as omnidirectional wheels or Mecanum wheels, which can drive the vehicle to move in all directions.

[0041] By using omnidirectional wheels, Mecanum wheels, etc. as wheels 6, the conveying device 1A can move in all directions. The conveying device 1A can move the conveyed object D in accordance with the movements of various conveyed objects D.

[0042] The platform 3 is set to a height between the base plate D1 of the transported object D and the ground E. A height-adjustable lifter 4 is installed on the upper surface of the platform 3. The lifter 4 is controlled by a control device 140 (see below). Figure 2The lifting device 4 operates by raising the height of the platform 3 when it is inserted between the base plate D1 and the ground E, thus supporting the object D from below. The transport device 1A moves while the object D is supported from below by the lifting device 4 of the platform 3, transporting the object D. At this time, the transport device 1A supports the lower part of the object D, and multiple wheels C rotate and move on the ground E. Thus, the transport device 1A transports the object D. The platform 3 can also transport the object D by friction between the lower surface of the base plate D1 and the upper surface of the lifting device 4. Alternatively, the trolley 2 can be used without the platform 3 and lifting device 4, using pins or the like to traction the object D while it is hooked. In this way, the object D is transported as an integral part of the transport device 1A.

[0043] A housing 7 is provided on the platform 3, for example, at a position slightly forward relative to direction P. The housing 7 houses the control device 140, which will be described later. The housing 7 is rectangular in shape. The housing 7 is erected upright from the top surface side on the front side of the platform 3. A rotating light K is provided on the top surface side of the housing 7 to notify the surrounding area of ​​the approach of the moving trolley 2. The rotating light K rotates, for example, so that it can be visually confirmed by nearby workers, drawing attention to the approach of the moving trolley 2.

[0044] A support member 8 formed of rods is also provided on the upper surface of the housing 7. The support member 8 is configured to be erected upwards. For example, the support member 8 is frame-shaped when viewed along the direction P. In detail, the support member 8 is composed of multiple rod-shaped members. Specifically, two rod-shaped members (erecting members) extending upwards are erected from the housing 7. One rod-shaped member (crossing member) is connected to the two rod-shaped members in a manner that intersects with these two rod-shaped members. To prevent vibration, the support member 8 may also be configured as a truss structure that is strengthened to increase bending rigidity in the front-rear direction. To prevent vibration, the support member 8 may also be configured with other structures.

[0045] In the transport device 1A, the first detection unit 10 is positioned at a higher position relative to the ground E to sense surrounding information. The first detection unit 10 is positioned higher than the second detection units 11 and 12, with the ground E as a reference. By using the first detection unit 10 at this higher position, the transport device 1A can accurately sense surrounding information such as the presence of objects that may obstruct movement.

[0046] A first detection unit 10 for detecting surrounding objects and a rotating lamp K are provided at the upper end of the support member 8. The first detection unit 10 is, for example, an LRF (Laser Range Finder). The first detection unit 10 scans the laser beam, receives reflected light from objects, and measures the distance to the object's surface based on the phase difference and time difference of arrival of the reflected light. The first detection unit 10 detects first data obtained by scanning a first range around the moving trolley 2. For example, the first detection unit 10 scans a predetermined angular range in the horizontal direction around itself and detects the first data of the distance between itself and the surfaces of surrounding objects at multiple points.

[0047] In direction P, a second detection unit 11 is provided on the front side of the housing 7 to detect second data obtained by scanning a second range around the mobile trolley 2. The second detection unit 11 is, for example, an LRF (Light Detection and Ranging) laser beam. The second detection unit 11 scans the laser beam, receives reflected light from the object, and measures the distance to the surface of the object based on the phase difference and time difference of arrival of the reflected light. For example, the second detection unit 11 scans a predetermined angular range in the horizontal direction in front of itself and detects the second data of the distance between itself and the surface of the object in front of it at multiple points.

[0048] A third detection unit 12 is provided on the rear side of the stage 3 in direction P. The third detection unit 12 detects third data related to the position of the wheel C located on the lower part of the transported object D. The third detection unit 12 is, for example, an LRF (Light Detection Unit). The third detection unit 12 is installed at a lower position for detecting the wheel 6. The third detection unit 12 scans the laser beam, receives the reflected light reflected from the wheel 6, and measures the distance to the surface of the wheel 6 based on the phase difference and time difference of the reflected light.

[0049] The third detection unit 12, for example, scans a predetermined angle range in the horizontal direction of the laser scanning direction and detects third data at multiple points regarding the distance between itself and the surface of the wheel C in front of it. Based on the third data detected by the third detection unit 12, the positions of the multiple wheels C supporting the transported object D can be detected, and the stage 3 can be inserted between a pair of wheels C arranged opposite each other in the direction P. The third detection unit 12 is not limited to LRF; it can also be a depth camera capable of acquiring distance information, or it can be composed of multiple infrared distance sensors.

[0050] Figure 3 This is a functional block diagram of the conveying device according to the first embodiment. For example... Figure 3 As shown, the conveying device 1A includes a detection unit 110, a moving mechanism 120, a storage device 130, and a control device 140. The detection unit 110 is equipped with a... Figure 1 and Figure 2The first detection unit 10, the second detection unit 11, and the third detection unit 12 described herein are capable of detecting information surrounding the transport device 1A.

[0051] The moving mechanism 120 is a drive mechanism that moves the conveying device 1A. The moving mechanism 120 includes an electric motor (not shown) controlled by the control device 140. Figure 1 and Figure 2 The wheel 6 shown and the transmission mechanism that transmits the driving force of the electric motor to the wheel 6 are also shown.

[0052] Storage device 130 stores various types of data. For example, storage device 130 stores various parameters PR required by control device 140 to control conveying device 1A. The parameters PR stored in storage device 130 are described below, for example.

[0053] [1] The conveying device 1A and the parameters representing the shape of the conveyed object D [2] Parameters of the conveying device 1A and the wheel structure representing the conveyed object D The parameters stored in storage device 130 are not limited to those described above.

[0054] The storage device 130 stores parameters representing the shape and wheel structure of the object being transported, according to the type of object D.

[0055] Parameters indicating the shape of the conveying device 1A and the conveyed object D include, for example, parameters indicating the longitudinal, transverse, and height dimensions of the conveying device 1A and the conveyed object D.

[0056] The parameters representing the wheel structure of the conveying device 1A and the conveyed object D include, for example, the following parameters.

[0057] [2A] indicates whether the wheel 6 installed on the conveying device 1A and the wheel C installed on the conveyed object D are fixed wheels or free wheels. [2B] indicates the parameter representing the mounting position of wheel 6 relative to platform 3 of conveying device 1A. [2C] represents the parameter indicating the mounting position of wheel C relative to the base plate D1 of the object being transported, D. The parameters representing the wheel structure of the conveying device 1A and the conveyed object D are not limited to those described above in [2A], [2B], and [2C].

[0058] In addition to the aforementioned parameter PR, the storage device 130 may also store, for example, the following information.

[0059] [3] Various programs used in the control device 140 [4] Information relating to the surrounding environment, such as walls or fixed equipment. [5] The detection results of the detection unit 110 and the information required by the control device 140 to enable the transport device 1A to drive autonomously (e.g., path information). The storage device 130 is implemented using storage media such as RAM (Random Access Memory), ROM (Read Only Memory), HDD (Hard Disk Drive), or SSD (Solid State Drive). The storage media is an example of a computer-readable non-volatile storage medium storing a control program. The control program controls the transport device 1A.

[0060] Storage device 130 is housed in the housing 7 of transport device 1A, for example, in the same manner as control device 140. Furthermore, storage device 130 is not necessarily located within transport device 1A. For example, storage device 130 may be located outside transport device 1A. In this case, storage device 130 may also be a device communicatively connected to control device 140 of transport device 1A.

[0061] The control device 140 includes a sensor control unit 141, a sensor processing unit 142, a setting unit 143, an action planning unit 144, and a movement control unit 145. The sensor control unit 141 controls the detection unit 110 to start or stop the measurement of surrounding information of the transport device 1A. In addition, the sensor control unit 141 acquires the detection results output from the detection unit 110.

[0062] The sensor processing unit 142 obtains the detection result from the detection unit 110 from the sensor control unit 141 and performs prescribed processing on the detection result. For example, the sensor processing unit 142 performs noise removal processing on the detection result of the detection unit 110. For example, the sensor processing unit 142 applies a mid-range filter to the detection result of the detection unit 110 to remove noise. Alternatively, the sensor processing unit 142 may perform processing other than noise removal on the detection result of the detection unit 110.

[0063] The setting unit 143 sets the parameters required to create an action plan that enables the transport device 1A to move autonomously. The setting unit 143 reads and sets the parameters required to create the aforementioned action plan from the storage device 130. For example, when the transport device 1A is not transporting the transported object D (only the transport device 1A is moving), the setting unit 143 only reads and sets parameters related to the transport device 1A. Parameters related to the transport device 1A include, for example, parameters indicating the shape of the transport device 1A, parameters indicating the wheel structure of the transport device 1A, etc.

[0064] In contrast, when the transport device 1A transports the transport object D, the setting unit 143 reads and sets parameters related to the transport object D, in addition to parameters related to the transport device 1A. Parameters related to the transport object D include, for example, parameters indicating the shape of the transport object D, parameters indicating the wheel structure of the transport object D, etc. Furthermore, the setting unit 143 can also set parameters related to the transport device 1A by default, and change the set parameters according to the type of transport object D being transported.

[0065] The motion planning unit 144 uses the detection results from the detection unit 110 processed by the sensor processing unit 142 and the parameters set by the setting unit 143 to create a motion plan that enables the transport device 1A to move autonomously. For example, the motion planning unit 144 calculates the path required to transport the transport object D to the target location. At this time, the motion planning unit 144 calculates a path that can transport the transport object D in a manner that does not hinder its movement by people, obstacles, etc., regardless of the type of transport object D. Here, "people" refers to operators or the like located in logistics, distribution, or manufacturing sites. "Obstacles" refers to other transport devices and other transport objects in such a work site. Other obstacles are objects that are defined as inherent to the environment. Examples of other obstacles include surrounding walls and columns or fixed equipment in such a site.

[0066] Based on parameters set by the setting unit 143, the motion planning unit 144 calculates, for example, the approximate shape and rotation center of the transport object D supported by the lifting device 4 of the transport device 1A and the transport device 1A and the transport object D being integrated. The rotation center also serves as the control center when controlling the movement of the transport device 1A. Based on the calculated approximate shape and rotation center, the motion planning unit 144 calculates the minimum approach distance and minimum rotation radius of the transport device 1A in its integrated state with the transport object D. Then, considering the calculated minimum approach distance and minimum rotation radius, the motion planning unit 144 calculates a path that allows the transport object D to be transported without being hindered by obstacles or other obstructions.

[0067] Here, the minimum approach distance is the distance between the transport device 1A (including the transport device 1A in a state integrated with the transported object D) and the obstacle; it is the closest distance at which the transport device 1A can approach the obstacle without interfering with it. The minimum rotation radius is the smallest rotation radius at which the transport device 1A (including the transport device 1A in a state integrated with the transported object D) can rotate without interfering with the obstacle.

[0068] The motion control unit 145 controls the motion mechanism 120 according to the motion plan generated by the motion planning unit 144, thereby controlling the movement of the conveying device 1A. The motion control unit 145 calculates the motion control value, for example, using the Dynamic Window Approach or the Elastic band method. Alternatively, the motion control unit 145 may also calculate the motion control value using other methods.

[0069] The control device 140 is, for example, a device (computer) equipped with a processor and memory, capable of executing programs. The various functions of the control device 140 are implemented, for example, by one or more processors such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) executing programs stored in program memory. That is, the control device 140 is implemented through the cooperation of software and hardware resources.

[0070] However, all or part of the functions of the control device 140 can also be implemented using hardware (e.g., circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), and PLD (Programmable Logic Device). Alternatively, all or part of the aforementioned functions can also be implemented through a combination of software and hardware.

[0071] Figure 4 This is a flowchart illustrating the control method of the first embodiment. Figure 4 The process shown in the flowchart begins each time the transport device 1A transports the object D. Furthermore, for the sake of simplicity, it is assumed here that the object D is supported by the lift 4 of the transport device 1A, and that the transport device 1A and the object D are integrated.

[0072] (Step S11) The control device 140 first determines the type of the object D to be transported. For example, information indicating the type of the object D to be transported is pre-stored in the storage device 130. The control device 140 determines the type of the object D to be transported based on the information stored in the storage device 130.

[0073] (Step S12) Next, the control device 140 sets parameters corresponding to the transported object D. Specifically, the setting unit 143 of the control device 140 reads the parameters of the transported object D based on the type of the transported object D determined in step S11, and sets the parameters required to create an action plan that enables the transport device 1A to move autonomously. For example, the setting unit 143 sets parameters representing the shape of the transport device 1A and the transported object D, and parameters representing the wheel structure of the transport device 1A and the transported object D, as parameters required to create an action plan that enables the transport device 1A to move autonomously.

[0074] (Step S13) Next, the control device 140 performs a so-called self-position estimation, initiating autonomous movement while observing its surroundings. Specifically, the sensor control unit 141 of the control device 140 controls the detection unit 110 to begin measuring the surrounding information of the transport device 1A, acquiring the detection results output from the detection unit 110. Furthermore, the sensor processing unit 142 of the control device 140 acquires the detection results from the detection unit 110 from the sensor control unit 141 and performs prescribed processing on the detection results. For example, the sensor processing unit 142 performs noise removal processing on the detection results from the detection unit 110.

[0075] (Step S14) Next, the control device 140 generates an autonomous movement plan. Specifically, the movement planning unit 144 of the control device 140 uses the detection results from the detection unit 110 processed by the sensor processing unit 142 and the parameters set by the setting unit 143 to generate an autonomous movement plan for the transport device 1A. For example, the movement planning unit 144 calculates a path that can transport the transport object D to the target position without being hindered by obstacles or other obstructions.

[0076] At this time, the motion planning unit 144, based on parameters set by the setting unit 143, calculates, for example, the approximate shape and rotation center of the transport object D supported by the lifting device 4 of the transport device 1A and the transport device 1A integrated with the transport object D. Furthermore, based on the calculated approximate shape and rotation center, the motion planning unit 144 calculates the minimum approach distance and minimum rotation radius of the transport device 1A in its integrated state with the transport object D. Then, considering the calculated minimum approach distance and minimum rotation radius, the motion planning unit 144 calculates a path that allows the transport object D to be transported without being hindered by obstacles or other obstructions.

[0077] Figure 5 This is a diagram used to illustrate the calculation method for the approximate shape in the first embodiment. Figure 5This is a schematic top-view diagram of the integrated transport device 1A and the transported object D, shown from above, intersecting their directions of travel. Figure 5 The diagram schematically illustrates the planar shape of the integrated transport device 1A and the transported object D.

[0078] Here, the integrated transport device 1A and the transported object D are considered in two scenarios: the transported object D is directly or indirectly placed on the transport device 1A, or the transport device 1A directly or indirectly connects the two for the purpose of traction and transport of the transported object D. In the former case, the transported object D is a basket-type trolley or the like. In the latter case, the transported object D is a dolly, a handcart, or the like.

[0079] The motion planning unit 144 uses parameters representing the shape of the transport device 1A and the shape of the transported object D, set by the setting unit 143, to determine the approximate shape OL of the transport device 1A and the transported object D in an integrated state. For example, the motion planning unit 144 determines the smallest rectangular shape that includes the approximate shape of the transport device 1A and the transported object D in an integrated state when viewed from above, as the approximate shape OL of the transport device 1A and the transported object D in an integrated state.

[0080] Here, based on the base plate D1 of the object being transported, D (refer to...) Figure 1 The entry status of the platform 3 between the base plate D1 of the transport object D and the ground E, and the approximate shape OL of the integrated transport device 1A and the transport object D can be changed. Therefore, for example, the entry status of the platform 3 between the base plate D1 of the transport object D and the ground E can be detected using the detection results of the third detection unit 12, and the approximate shape OL of the integrated transport device 1A and the transport object D can be determined by taking into account the detection results.

[0081] Figures 6A to 8C This is a diagram illustrating the calculation method for the rotation center, minimum approach distance, and minimum rotation radius in the first embodiment. Additionally, Figures 6A to 8C This is a schematic top-view diagram illustrating the integrated transport device 1A and the transported object D from above.

[0082] also, Figures 6A to 6C This is an illustration of the case where the front wheel W1 of the object being transported, and the rear wheel W2, is a fixed wheel. Figures 7A to 7C This is an illustration of the case where the front wheel W1 and rear wheel W2 of the object being transported, D, are freewheels. Figures 8A to 8C This is an illustration of the case where the front wheel W1 of the object being transported, D, is a free wheel and the rear wheel W2 is a fixed wheel.

[0083] like Figure 6A As shown, when the front wheel W1 of the object being transported D is a fixed wheel and the rear wheel W2 is a free wheel, the motion planning unit 144, for example, determines the midpoint of the fixed wheel of the object being transported D, i.e., the front wheel W1, as the rotation center Q. Figure 6B As shown, the motion planning unit 144, with the rotation center Q as the center, calculates the radius of the circumcircle CR1 of the approximate shape OL of the integrated transport device 1A and the transported object D, as the minimum rotation radius R1. Additionally, as... Figure 6C As shown, the motion planning unit 144 calculates the radius of the inscribed circle IR1 in the left and right directions of the approximate shape OL of the integrated transport device 1A and the transported object D, with the rotation center Q as the center, and uses it as the minimum approach distance R2.

[0084] like Figure 7A As shown, when the front wheel W1 and rear wheel W2 of the object being transported D are freewheels, the motion planning unit 144, for example, calculates the point where the line passing through the midpoint of the front wheel W1 and the midpoint of the rear wheel W2 of the object being transported D intersects the front end of the object being transported D, and uses this point as the rotation center Q. Figure 7B As shown, the motion planning unit 144, with the rotation center Q as the center, calculates the radius of the circumcircle CR1 of the approximate shape OL of the integrated transport device 1A and the transported object D, as the minimum rotation radius R1. Additionally, as... Figure 7C As shown, the motion planning unit 144 calculates the radius of the inscribed circle IR1 in the left and right directions of the approximate shape OL of the integrated transport device 1A and the transported object D, with the rotation center Q as the center, and uses it as the minimum approach distance R2.

[0085] like Figure 8A As shown, when the front wheel W1 of the object being transported D is a free wheel and the rear wheel W2 is a fixed wheel, the motion planning unit 144, for example, determines the midpoint of the fixed wheel of the object being transported D, i.e., the rear wheel W2, as the rotation center Q. Figure 8B As shown, the motion planning unit 144, with the rotation center Q as the center, calculates the radius of the circumcircle CR1 of the approximate shape OL of the integrated transport device 1A and the transported object D, as the minimum rotation radius R1. Additionally, as... Figure 8C As shown, the motion planning unit 144 calculates the radius of the inscribed circle IR1 in the left and right directions of the approximate shape OL of the integrated transport device 1A and the transported object D, with the rotation center Q as the center, and uses it as the minimum approach distance R2.

[0086] Figures 9A to 9CThis is a diagram used to illustrate the calculation direction of the autonomous driving path in the first embodiment. Furthermore, here, we will take the case of calculating the path from the relatively wide passage A1 to the relatively narrow passage A2, which bends 90 degrees relative to passage A1, as an example for explanation.

[0087] like Figure 9A As shown, the motion planning unit 144, for example, uses information related to environmental features stored in the storage device 130 to set a restricted area B1 with a width of a minimum approach distance R2 from the wall WL towards the inside of the passages A1 and A2. Environmental features refer to surrounding walls or fixed equipment, etc. Such a restricted area B1 is set because if the rotation center Q, which is the control center for controlling the movement of the transport device 1A, passes through the restricted area B1, the wall WL will obstruct the movement of the transport device 1A.

[0088] In addition, such as Figure 9B As shown, the motion planning unit 144, for example, uses information about environmental features stored in the storage device 130 to define a notice area B2 with a width of minimum rotation radius R1 from the wall surface WL towards the inner side of the passageways A1 and A2. This notice area B2 is defined because if the rotation center Q, which is the control center for controlling the movement of the transport device 1A, passes through the notice area B2, the wall surface WL will obstruct the movement of the transport device 1A depending on its posture. This notice area B2 includes the prohibited area B1. Furthermore, in Figure 9B In the example shown, the width of path A2 is narrower than twice the width of the minimum rotation radius R1, so path A1 as a whole is set as the attention area B2.

[0089] Motion Planning Department 144 uses Figure 9A The prohibited area shown is B1. Figure 9B The attention area B2 shown is, for example, calculated. Figure 9C The path PT is shown. Specifically, the motion planning unit 144 calculates a path where the rotation center Q, which is the control center for controlling the movement of the transport device 1A, does not pass through the prohibited area B1. When the calculated path (the path of the rotation center Q) passes through the attention area B2, the motion planning unit 144 sets the posture of the transport device 1A in a manner that does not obstruct passage by the wall WL. When this setting is performed, information indicating the integrated state of the transport device 1A and the approximate shape OL of the transported object D can also be used.

[0090] Assuming that the wall WL obstructs passage, the motion planning unit 144 calculates a path for the rotation center Q that does not pass through the prohibited area B1 and is different from the previously calculated path. Then, if the calculated path (the path of the rotation center Q) passes through the attention area B2, the motion planning unit 144 sets the posture of the conveying device 1A so that the wall WL does not obstruct passage. By performing such processing, for example, it calculates... Figure 9C The path PT is shown.

[0091] (Step S15) Next, the control device 140 drives the transport device 1A according to the action plan. Specifically, the movement control unit 145 of the control device 140 controls the movement mechanism 120 according to the action plan generated by the action planning unit 144, thereby moving the transport device 1A. During this movement of the transport device 1A, the posture of the transport device 1A is controlled according to the aforementioned action plan. The movement control unit 145 calculates the movement control value, for example, using methods such as the Dynamic Window Approach or the Elastic band method.

[0092] (Step S16) Next, the control device 140 determines whether the destination has been reached. If the destination has not been reached ("No"), the control device 140 repeats steps S14 and S15. Conversely, if the destination has been reached ("Yes"), the process proceeds to step S17.

[0093] (Step S17) The control device 140 terminates autonomous movement. The control device 140 can also notify its surroundings that autonomous movement has ended. For example, the control device 140 can notify its surroundings that autonomous movement has ended by illuminating the rotating light K.

[0094] The transport device 1A of this embodiment includes a detection unit 110, a moving mechanism 120, a setting unit 143, an action planning unit 144, and a movement control unit 145. The detection unit 110 detects information about the surrounding environment of the transport device 1A. The moving mechanism 120 moves the transport device 1A. The setting unit 143 sets parameters required to create an action plan for autonomous movement of the transport device 1A based on the type of the object being transported, D. The action planning unit 144 uses the detection results from the detection unit 110 and the parameters set by the setting unit 143 to create an action plan. The movement control unit 145 controls the moving mechanism 120 according to the action plan created by the action planning unit 144. Therefore, autonomous movement can be performed appropriately according to the object being transported, D.

[0095] As described above, according to this embodiment, an autonomous transport robot can be used as a transport device to flexibly handle and transport different types of transport objects. For example, in situations where basket trolleys of different sizes or wheel structures (fixed wheels, free wheels) are used, the robot can transport any type of basket trolley without being hindered by obstacles.

[0096] Furthermore, in this embodiment, the wheel structure of the object being transported, D, can be used not only in the case of a four-wheel structure (a structure with four wheels C), but also in the case of a three-wheel structure or a structure with five or more wheels. In this embodiment, when the object being transported, D, has a three-wheel structure or a structure with five or more wheels, the same effect as when using the four-wheel structure can be obtained by following the order and approach described above.

[0097] (Second Implementation) Figure 10 This is a side view showing the structure of the conveying device according to the second embodiment. Furthermore, in Figure 10 In the middle, to and Figure 1 as well as Figure 2 The structures shown are equivalent in their corresponding reference numerals. For example... Figure 10 As shown, the conveying device 1B in this embodiment is... Figure 1 and Figure 2 The conveying device 1A shown has an added reading device 20. Such a conveying device 1B has the following structure: it automatically acquires information (first information) indicating the type of the object D being conveyed, and based on the acquired information, automatically sets parameters required to create an action plan that enables the conveying device 1B to move autonomously.

[0098] The reading device 20, for example, includes a barcode reader or a camera, to read (identify) a code CD. The code CD that the reading device 20 can read can be a one-dimensional barcode or a two-dimensional barcode. The code CD contains an identifier for identifying the type of transported object D, and is affixed to the transported object D of the type identified by the identifier.

[0099] The reading device 20 is preferably positioned to read the code CD affixed to the transport object D. For example, the reading device 20 may be positioned at the upper end of the support member 8 of the transport device 1B to read the code CD affixed to the transport object D, which is integrated with the transport device 1B. However, this positioning is merely one example; the reading device 20 can be positioned at any location on the transport device 1B as long as it can read the code CD affixed to the transport object D.

[0100] Figure 11 This is a functional block diagram of the conveying device according to the second embodiment. Furthermore, in Figure 11In the middle, to and Figure 3 The structures shown are equivalent in their corresponding reference numerals. For example... Figure 11 As shown, the conveying device 1B in this embodiment is a Figure 3 The conveying device 1A shown is equipped with an additional acquiring unit 150. The acquiring unit 150 includes... Figure 10 The reading device 20 shown acquires the information read by the reading device 20 and outputs it to the setting unit 143.

[0101] Based on the information output from the acquisition unit 150, the setting unit 143 reads from the storage device 130 and sets the parameters required to create an action plan that enables the transport device 1B to move autonomously. Furthermore, the parameters read by the setting unit 143 from the storage device 130 are the same as those read by the setting unit 143 from the storage device 130 in the first embodiment.

[0102] Figure 12 This is a flowchart illustrating the control method of the second embodiment. Furthermore, in Figure 12 In the middle, to and Figure 4 The steps in the flowchart shown are labeled with the same reference numerals as the steps in the accompanying drawings. Figure 12 The flowchart shown has the following: Figure 4 The flowchart shown is replaced with step S21. Furthermore, for the sake of simplicity, it is assumed that the object D is supported by the lifting device 4 of the transport device 1B, and that the transport device 1B and the object D are integrated.

[0103] (Step S21) The control device 140 first controls the acquisition unit 150 to read the code CD. The acquisition unit 150 causes the reading device 20 to read the code CD of the transport object D, which is attached to the transport device 1B, and acquires the information read by the reading device 20. The acquisition unit 150 outputs the acquired information to the setting unit 143.

[0104] (Step S12) Next, the control device 140 sets parameters corresponding to the object being transported, D. Specifically, the setting unit 143 of the control device 140 reads from the storage device 130 and sets parameters necessary for creating an action plan that enables the transport device 1B to move autonomously, based on information output from the acquisition unit 150. These parameters are related to the object being transported, D, as determined by the information read by the reading device 20.

[0105] After the above processing is completed, steps S13 to S17 are performed in the same manner as in the first embodiment. That is, the following processing is performed: using the parameters set in step S12, a motion plan is created to enable the transport device 1B to move autonomously, and the transport device 1B is driven according to the created motion plan, so that the transport device 1B, which is integrated with the transported object D, moves to the destination.

[0106] As described above, the transport device 1B of this embodiment, like the transport device 1A of the first embodiment, includes a detection unit 110, a moving mechanism 120, a setting unit 143, an action planning unit 144, and a movement control unit 145. Therefore, it can autonomously move according to the transported object D. Furthermore, the transport device 1B of this embodiment includes an acquisition unit 150 for acquiring information indicating the type of the transported object D. Therefore, it can automatically acquire information indicating the type of the transported object D, and based on the acquired information, automatically set the parameters required to create an action plan for autonomous movement of the transport device 1B.

[0107] (Third Implementation) Figure 13 This is a functional block diagram of the conveying device according to the third embodiment. Furthermore, in Figure 13 In the middle, to and Figure 3 or Figure 11 The structures shown are equivalent in their corresponding reference numerals. For example... Figure 13 As shown, the conveying device 1C in this embodiment is a... Figure 11 The conveying device 1B shown is equipped with a measuring unit 160. Such a conveying device 1C has the following structure: based on information indicating the type of the conveyed object D (first information) and information indicating the weight of the conveyed object D (second information), it automatically sets the parameters required to create an action plan that enables the conveying device 1C to move autonomously.

[0108] The measuring unit 160 measures the weight of the object D being transported. This measuring unit 160 is, for example, installed in... Figure 1 and Figure 2 The lifting device 4 shown measures the weight of the transported object D while it is supported by the lifting device 4. The measuring unit 160 outputs the weight measurement result of the transported object D to the setting unit 143 of the control device 140. Furthermore, the measuring unit 160 is not necessarily installed on the transport device 1C. For example, the measuring unit 160 may be installed outside the transport device 1C and communicatively connected to the control device 140 of the transport device 1C. That is, the transport device 1C may also have a structure that obtains the measurement results of the externally installed measuring unit 160 via communication.

[0109] In this embodiment, the setting unit 143 automatically sets the parameters required to create an action plan for autonomously moving the transport device 1C based on the information output from the acquisition unit 150 and the measurement results output from the measurement unit 160. The measurement results (weight of the transported object D) output from the measurement unit 160 are considered when setting the parameters to provide a margin for error when creating an action plan for autonomously moving the transport device 1C.

[0110] Depending on the weight of the object being transported, D, and the magnitude of the acceleration of the transport device 1C, slippage of the wheels 6 of the transport device 1C may occur. For example, when transporting a relatively heavy object, D, if the initial acceleration is set too high, it is assumed that the wheels 6 will slip and the transport device will be unable to move. Furthermore, if acceleration or deceleration is performed during the transport of a relatively heavy object, D, the wheels 6 will slip, and the transport device will deviate from the path calculated through the motion plan. Therefore, in this embodiment, a margin corresponding to the weight of the object being transported, D, is set. Examples of such a margin include a margin relative to the minimum rotation radius R1 or the minimum approach distance R2.

[0111] Figure 14 This is a flowchart illustrating the control method of the third embodiment. Furthermore, in Figure 14 In the middle, to and Figure 4 and Figure 12 The steps in the flowchart shown are labeled with the same reference numerals as the steps in the accompanying drawings. Figure 14 The flowchart shown has settings in Figure 12 Step S31 is between steps S21 and S12 in the flowchart shown. Furthermore, for the sake of simplicity, it is assumed that the object being transported, D, is supported by the lifting device 4 of the transport device 1C, and that the transport device 1C and the object being transported are integrated.

[0112] (Step S21) The control device 140 first controls the acquisition unit 150 to read the code CD. The acquisition unit 150 causes the reading device 20 to read the code CD of the transport object D, which is attached to the transport device 1C, and acquires the information read by the reading device 20. The acquisition unit 150 outputs the acquired information to the setting unit 143.

[0113] (Step S31) Next, the control device 140 controls the measuring unit 160 to measure the weight of the transported object D. The measuring unit 160 measures the weight of the transported object D, which is integrated with the transport device 1C and supported by the lifting device 4. The measuring unit 160 outputs the weight measurement result of the transported object D to the setting unit 143.

[0114] (Step S12) Next, the control device 140 sets parameters corresponding to the object being transported, D. Specifically, the setting unit 143 of the control device 140 reads from the storage device 130 and sets parameters necessary for creating an action plan that enables the transport device 1C to move autonomously, based on information output from the acquisition unit 150 and measurement results output from the measurement unit 160. These parameters are related to the object being transported, D, as determined by the information read by the reading device 20. Furthermore, these parameters include margins set for the minimum rotation radius R1 and the minimum approach distance R2 based on the weight of the object being transported, D.

[0115] Figure 15A as well as Figure 15B This is a diagram used to illustrate the margin set in the third embodiment. Furthermore, in Figure 15A and Figure 15B List the objects to be transported, D, where the front wheel W1 is a fixed wheel and the rear wheel W2 is a free wheel. Figures 6A to 6C Taking the transported object D as an example. In the first embodiment, if using Figure 6B As explained, the motion planning unit 144, with the rotation center Q as the center, calculates the radius of the circumcircle CR1 of the approximate shape OL of the integrated transport device 1A and the transported object D, as the minimum rotation radius R1. In contrast, in this embodiment, as... Figure 15A As shown, the motion planning unit 144, with the rotation center Q as the center, calculates the radius of the circle CR11 obtained by adding a margin m1 to the radius of the circumcircle of the approximate shape OL of the integrated transport device 1A and the transported object D, and uses this as the minimum rotation radius R1. Figure 15A In the example shown, the margin set for the minimum rotation radius R1 is a margin m1.

[0116] In addition, in the first embodiment, such as using Figure 6C As explained, the motion planning unit 144, with the rotation center Q as the center, calculates the radius of the inscribed circle IR1 in the left-right direction of the approximate shape OL of the integrated transport device 1A and the transported object D, and uses this as the minimum approach distance R2. In contrast, in this embodiment, as... Figure 15B As shown, the motion planning unit 144, with the rotation center Q as the center, calculates the radius of the circle IR11 obtained by adding a margin m2 to the radius of the inscribed circle IR1 in the left-right direction of the approximate shape OL of the integrated transport device 1C and the transported object D, and uses this as the minimum approach distance R2. Figure 15B In the example shown, the margin set for the minimum approach distance R2 is the margin m2.

[0117] After the above processing is completed, steps S13 to S17 are performed in the same manner as in the first and second embodiments. That is, the following processing is performed: an action plan for autonomous movement of the transport device 1C is created using the parameters set in step S12, and the transport device 1C is driven according to the created action plan, moving the transport device 1C, which is integrated with the transported object D, to its destination. Furthermore, when creating the above action plan, the minimum rotation radius R1 with a margin m1 and the minimum approach distance R2 with a margin m2 are used.

[0118] As described above, the transport device 1C of this embodiment, like the transport device 1A of the first embodiment and the transport device 1B of the second embodiment, includes a detection unit 110, a moving mechanism 120, a setting unit 143, an action planning unit 144, and a movement control unit 145. Therefore, it can autonomously move according to the transported object D. Furthermore, the transport device 1C of this embodiment, like the transport device 1B of the second embodiment, includes an acquisition unit 150 for acquiring information indicating the type of the transported object D. Therefore, it can automatically acquire information indicating the type of the transported object D, and based on the acquired information, automatically set the parameters required to create an action plan for autonomous movement of the transport device 1C. Furthermore, the transport device 1C of this embodiment includes a measuring unit 160 for measuring the weight of the transported object D. Therefore, it can also take into account the weight of the transported object D and automatically set the parameters required to create an action plan for autonomous movement of the transport device 1C.

[0119] (Fourth Implementation) Figure 16 This is a functional block diagram of the conveying device according to the fourth embodiment. Additionally, in Figure 16 In the middle, to and Figure 3 , Figure 11 or Figure 13 The structures shown are equivalent in their corresponding reference numerals. For example... Figure 16 As shown, the conveying device 1D in this embodiment omits [the following]. Figure 13 The measuring unit 160 of the conveying device 1C shown has a structure in which a weight calculation unit 146 (calculation unit) is provided in the control device 140. Such a conveying device 1D has a structure that calculates information (second information) representing the weight of the conveyed object D.

[0120] The weight calculation unit 146 calculates the weight of the transported object D. Specifically, the weight calculation unit 146 uses various measurement information output from the moving mechanism 120 to calculate the weight of the transported object D. For example, the weight calculation unit 146 uses the measurement result of the current flowing in an electric motor (not shown) installed in the moving mechanism 120 to calculate the torque and calculate the weight of the transported object D estimated based on that torque. Furthermore, if a torque sensor is provided to measure the torque of the electric motor (not shown) installed in the moving mechanism 120, the weight calculation unit 146 can also use the measurement result of the torque sensor to calculate the weight of the transported object D. Moreover, the method by which the weight calculation unit 146 calculates the weight of the transported object D is not limited to the methods described above, and any known method can be used.

[0121] As described above, the transport device 1D of this embodiment, like the transport device 1A of the first embodiment, the transport device 1B of the second embodiment, and the transport device 1C of the third embodiment, includes a detection unit 110, a moving mechanism 120, a setting unit 143, an action planning unit 144, and a movement control unit 145. Therefore, it can autonomously move according to the transported object D. Furthermore, the transport device 1D of this embodiment, like the transport device 1B of the second embodiment and the transport device 1C of the third embodiment, includes an acquisition unit 150 for acquiring information indicating the type of the transported object D. Therefore, it can automatically acquire information indicating the type of the transported object D, and based on the acquired information, automatically set the parameters required to create an action plan for autonomous movement of the transport device 1D. Moreover, the transport device 1D of this embodiment includes a weight calculation unit 146 for calculating the weight of the transported object D. Therefore, even without a measuring unit 160 like that of the transport device 1C of the third embodiment, the weight of the transported object D can be calculated. As a result, in this embodiment as well, the weight of the object being transported, D, can also be taken into account, and the parameters required to create an action plan that enables the transport device 1D to move autonomously can be automatically set.

[0122] (Fifth implementation method) Figure 17 This is a block diagram of a transport system including the transport device of the fifth embodiment. Furthermore, in Figure 17 In the middle, to and Figure 3 as well as Figure 11 The structures shown are equivalent in their corresponding reference numerals. For example... Figure 17 As shown, the handling system SY includes a handling device 1E and a management device 200.

[0123] The conveying device 1E in this embodiment is a replacement Figure 11The conveying device 1B shown has a structure in which the acquisition unit 150 is equipped with a communication unit 170 (acquisition unit). Such a conveying device 1E has the following structure: it acquires information (first information) indicating the type of the object D to be conveyed from the management device 200, and automatically sets the parameters required to create an action plan that enables the conveying device 1E to move autonomously based on the acquired information.

[0124] The communication unit 170 is communicatively connected to the management device 200 via a network (not shown). The communication unit 170 communicates with the management device 200 under the control of the control device 140. The communication unit 170 can be communicatively connected to the management device 200 via wireless communication or wired communication. The network (not shown) connecting the communication unit 170 and the management device 200 can be a network including both wireless communication paths and wired communication paths.

[0125] The management device 200 centrally manages the operation of the transport device 1E. For example, the management device 200 manages the operation of the transport device 1E by instructing it on the transport object D to be transported, the start position of the transport, the end position of the transport, and the transport time. As information indicating the transport object D to be transported, the management device 200, for example, indicates an identifier used to determine the type of transport object D. Furthermore, the management device 200 can also manage the parameter PR stored in the storage device 130 of the transport device 1E. By having the management device 200 manage the parameter PR, it is not necessary to store the parameters of the transport object D in each transport device 1E.

[0126] The operation of the transport device 1E in this embodiment is basically the same as that of the transport device 1B in the second embodiment. The difference between the transport device 1B in the second embodiment and the transport device 1E in this embodiment is that, for information indicating the type of the transported object D, the transport device 1B in the second embodiment obtains it by reading the code CD pasted on the transported object D, while the transport device 1E in this embodiment obtains it from the management device 200. In the flowchart illustrating the operation of the transport device 1E in this embodiment, [the following will be shown]. Figure 12 Step S21 in the flowchart shown is replaced with "obtaining information indicating the type of transported object from the management device 200". Therefore, a detailed description of the operation of the transport device 1E in this embodiment is omitted.

[0127] As described above, the transport device 1E of this embodiment, like the transport device 1A of the first embodiment, includes a detection unit 110, a moving mechanism 120, a setting unit 143, an action planning unit 144, and a movement control unit 145. Therefore, it can autonomously move according to the transported object D. Furthermore, the transport device 1E of this embodiment includes a communication unit 170 that obtains information indicating the type of the transported object D from the management device 200. Therefore, similar to the transport device 1B of the second embodiment, it can automatically obtain information indicating the type of the transported object D and automatically set parameters necessary for creating an action plan that enables the transport device 1E to move autonomously based on the obtained information.

[0128] Furthermore, in the second, third, fourth, and fifth embodiments, the wheel structure of the transported object D can be used not only in the case of a four-wheel structure (a structure with four wheels C), but also in the case of a three-wheel structure or a structure with five or more wheels. In the second, third, fourth, and fifth embodiments, when the transported object D has a three-wheel structure or a structure with five or more wheels, the same effect as the aforementioned four-wheel structure can be achieved through the steps and ideas described above.

[0129] The foregoing has described several embodiments of the present invention, but these embodiments are merely illustrative and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included within the scope and spirit of the invention, and are encompassed by the invention as described in the claims and its equivalents.

[0130] The above-described embodiments can be appropriately combined. For example, the fifth embodiment can be combined with the third or fourth embodiment. Thus, it is also possible to realize a transport device 1D, 1E that replaces the acquisition unit 150 and has a communication unit 170 and is configured to communicate with the management device 200.

[0131] In the above embodiments, the case where the object being transported, D, is a basket-type trolley was described as an example, but the object being transported, D, is not limited to a basket-type trolley. The object being transported, D, can be, for example, a trolley, a handcart, or other objects. When the object being transported, D, is a trolley or handcart, transport is performed, for example, with the transport device and the object being transported, D, connected by a connecting member (connecting device). Even if the object being transported, D, is not a basket-type trolley, as long as there are parameters indicating the shape of the transport device and the object being transported, and parameters indicating the wheel structure, the same control as the transport devices 1A to 1E in the above embodiments can be performed.

[0132] In the above embodiment, the smallest rectangular shape, including the approximate shape of the integrated transport devices 1A-1E and the transported object D, is determined as the approximate shape OL of the integrated transport devices 1A-1E and the transported object D. However, it is not necessary to determine the smallest rectangular shape as the approximate shape OL. For example, a rectangular shape with a margin relative to the smallest rectangular shape can also be determined as the approximate shape OL. When the transported object D is a trolley or a handcart, for example, the approximate shape is also calculated including the aforementioned connecting structure (connecting device).

[0133] Regarding the above-described embodiments, the following notes are disclosed as an aspect of the invention and as optional features.

[0134] (Note 1) A conveying device, configured to convey an object and capable of autonomous movement, comprising: The detection unit is capable of detecting information surrounding the conveying device; A moving mechanism that moves the conveying device; The setting unit sets the parameters required to create an action plan that enables the transport device to move autonomously, based on the type of the object being transported. The motion planning unit uses the detection results from the detection unit and the parameters set by the setting unit to create the motion plan; and The motion control unit controls the motion mechanism according to the motion plan created by the motion planning unit.

[0135] (Appendix 2) The conveying device described in Appendix 1 may also be, It also has: The acquisition unit acquires first information indicating the type of the object being transported. The setting unit sets the parameters based on the first information obtained by the acquisition unit.

[0136] (Appendix 3) The conveying device described in Appendix 2 may also be, The setting unit sets the parameters based on the first information obtained by the acquisition unit and the second information indicating the weight of the object being transported.

[0137] (Appendix 4) The conveying device described in Appendix 3 may also be, have: The measuring unit measures the weight of the object being transported and obtains the second information.

[0138] (Appendix 5) The conveying device described in Appendix 3 may also be, have: The calculation unit calculates the second information based on the transport status of the transported object.

[0139] (Note 6) In any of the conveying devices described in Notes 3 to 5, it may also be that... The acquisition unit obtains the first information by recognizing the identifier attached to the transported object.

[0140] (Note 7) In any of the conveying devices described in Notes 3 to 5, it may also be that... The acquisition unit acquires the first information sent from the management device that manages the conveying device.

[0141] (Note 8) The conveying device described in any one of Notes 1 to 7 may also be, The motion planning unit uses the parameters set by the setting unit to calculate: The approximate shape of the object being transported and the transport device being integrated; The minimum approach distance relative to the obstacle when the object to be transported is integrated with the transport device; and The minimum rotation radius of the object to be transported, in a state where the transport device is integrated with the object being transported. To create the aforementioned action plan.

[0142] (Appendix 9) A material handling system comprising: The conveying device as described in any one of Appendices 1 to 7; and The management device sends information to the transport device indicating the type of the object being transported.

[0143] (Appendix 10) A control device, configured as a transport device capable of transporting and moving an object autonomously, comprises: The setting unit sets the parameters required to create an action plan that enables the transport device to move autonomously, based on the type of the object being transported. The motion planning unit uses the detection results from the detection unit, which can detect information about the vicinity of the conveying device, and the parameters set by the setting unit to create the motion plan; and The movement control unit controls the movement mechanism that moves the conveying device according to the movement plan created by the movement planning unit.

[0144] (Appendix 11) A control method is a control method for a conveying device configured to convey and move autonomously, wherein in this control method, The setting unit sets the parameters required to create an action plan that enables the transport device to move autonomously, based on the type of object being transported. The motion planning unit uses the detection results from the detection unit, which can detect information about the vicinity of the conveying device, and the parameters set by the setting unit to create the motion plan. The movement control unit controls the movement mechanism that moves the conveying device according to the movement plan created by the movement planning unit.

[0145] (Postscript 12) A control program is a control program for a transport device configured to transport objects and move autonomously. This control program enables the computer to: Based on the type of object being transported, set the parameters required for the motion plan that enables the transport device to move autonomously. The motion plan is created using the detection results from the detection unit, which can detect information about the surroundings of the conveying device, and the set parameters. According to the established action plan, control the moving mechanism that moves the conveying device.

Claims

1. A conveying device, configured to convey an object and capable of autonomous movement, comprising: The detection unit is capable of detecting information surrounding the conveying device; A moving mechanism that moves the conveying device; The setting unit sets the parameters required to create an action plan that enables the transport device to move autonomously, based on the type of the object being transported. The motion planning unit uses the detection results from the detection unit and the parameters set by the setting unit to create the motion plan; and The motion control unit controls the motion mechanism according to the motion plan created by the motion planning unit.

2. The conveying device according to claim 1, wherein, It also has: The acquisition unit acquires first information indicating the type of the object being transported. The setting unit sets the parameters based on the first information obtained by the acquisition unit.

3. The conveying device according to claim 2, wherein, The setting unit sets the parameters based on the first information obtained by the acquisition unit and the second information indicating the weight of the object being transported.

4. The conveying device according to claim 3, wherein, have: The measuring unit measures the weight of the object being transported and obtains the second information.

5. The conveying device according to claim 3, wherein, have: The calculation unit calculates the second information based on the transport status of the transported object.

6. The conveying device according to claim 2, wherein, The acquisition unit obtains the first information by recognizing the identifier attached to the transported object.

7. The conveying device according to claim 2, wherein, The acquisition unit acquires the first information sent from the management device that manages the conveying device.

8. The conveying device according to claim 1, wherein, The motion planning unit uses the parameters set by the setting unit to calculate: The approximate shape of the object being transported and the transport device being integrated; The minimum approach distance relative to the obstacle when the object to be transported is integrated with the transport device; as well as The minimum rotation radius of the object to be transported, in a state where the transport device is integrated with the object being transported. To create the aforementioned action plan.

9. A material handling system, comprising: The conveying device according to any one of claims 1 to 8; and The management device sends information to the transport device indicating the type of the object being transported.

10. A control device, configured as a transport device capable of transporting and moving an object autonomously, comprising: The setting unit sets the parameters required to create an action plan that enables the transport device to move autonomously, based on the type of the object being transported. The motion planning unit uses the detection results from the detection unit, which can detect information about the vicinity of the conveying device, and the parameters set by the setting unit to create the motion plan; and The movement control unit controls the movement mechanism that moves the conveying device according to the action plan generated by the action planning unit.

11. A control method for a conveying device configured to convey and move autonomously, wherein in this control method, The setting unit sets the parameters required to create an action plan that enables the transport device to move autonomously, based on the type of object being transported. The motion planning unit uses the detection results from the detection unit, which can detect information about the vicinity of the conveying device, and the parameters set by the setting unit to create the motion plan. The movement control unit controls the movement mechanism that moves the conveying device according to the movement plan created by the movement planning unit.

12. A control program for a conveying device configured to convey and move autonomously, comprising a conveying object. This control program enables the computer to: Based on the type of object being transported, set the parameters required for the motion plan that enables the transport device to move autonomously. The motion plan is created using the detection results from the detection unit, which can detect information about the surroundings of the conveying device, and the set parameters. According to the established action plan, control the moving mechanism that moves the conveying device.

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