Autonomous travel-type transporting robot and load transporting system

Abstract

To provide an autonomous travel-type transporting robot capable of automatically performing unloading and automatically performing loading.SOLUTION: The autonomous travel-type transporting robot comprises: autonomously travelable travel means T; a cargo handling device 2 that is mounted on a robot body 1 having a load chamber 1S; and a control unit C that performs cargo handling processing. The cargo handling device 2 includes: a fork 3 that enables a load N to hold a pallet P; a lift 4 that liftably moves the fork 3; and a forward / backward moving part 5 that moves the lift 4 back and forth between a storage position (FA) and a taking-out position (FB). The robot is configured to be able to perform, by operating the fork 3, the lift 4, and the forward / backward moving part 5 by the control unit C, loading processing for storing the pallet P held by the fork 3 in the load chamber 1S and unloading processing for shipping the pallet P held by the fork 3 from the load chamber 1S to a transport destination space.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an autonomous mobile robot (AMR), and more particularly to an autonomous mobile transport robot and a transport system that can automatically load and unload luggage at a destination. [Background technology]

[0002] The number of parcels has increased sharply in recent years due to the spread and expansion of electronic commerce (EC) and the special demand for EC caused by the COVID-19 pandemic, and the parcel delivery market is booming. However, the increase in parcels has increased the burden on parcel delivery drivers, and labor shortages have become a problem in the logistics industry.

[0003] As one response to the increase in parcels delivered, the growing burden on delivery drivers, and labor shortages, domestic trials are underway to reduce the workload of delivery drivers by entrusting part of the work to autonomous mobile robots (AMRs) for automatic delivery, and practical application overseas is progressing (see non-patent document 1 below).

[0004] Furthermore, as a response to the increasing workload of delivery drivers, labor shortages, and the demand for non-contact delivery, a demonstration experiment is underway in which the task of leaving parcels at a designated location (a delivery method in which the delivery person does not hand the parcel directly to the recipient but leaves it at the designated location) of delivery drivers is entrusted to an autonomous robot, which automatically leaves the parcel at the destination (see Non-Patent Document 2 below). As the delivery person does not hand the parcel over, but leaves it at a designated location whether the recipient is at home or not, this also contributes greatly to improving work efficiency (delivery efficiency) by effectively eliminating the effort and time required for redelivery. In order to solve the above-mentioned problems, the applicant has devised an autonomous delivery robot capable of performing drop-off and delivery processing, and has already filed a patent application (Patent Document 1 below). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2023-000779 A [Non-patent literature]

[0006] [Non-Patent Document 1] “Delivery robot DeliRo”, [online], [searched June 15, 2023], Internet,<URL:https: / / www.zmp.co.jp / products / lrb / deliro> [Non-Patent Document 2] “Amoeba Energy, Japan Post / Succeeds in Continuous Delivery Using Robots”, [online], [Retrieved June 15, 2023], Internet,<URL:https: / / www.lnews.jp / 2020 / 01 / m0130401.html> Summary of the Invention [Problem to be solved by the invention]

[0007] When using the delivery robot described in Non-Patent Document 1, the recipient of the package can collect the package by removing it from the delivery robot's box. However, if the recipient is not at the delivery address, the robot must either wait at the delivery address for a certain period of time or return to the base and then redelive the package.

[0008] Furthermore, the delivery robot described in Non-Patent Document 2 and the autonomous delivery robot described in Patent Document 1 can automatically leave and deliver the parcel by themselves, so even if the recipient is absent, it is possible to avoid situations where the robot continues to wait at the delivery destination for a certain period of time or has to return to the base and then redeliver the parcel. However, these delivery robots require human labor when loading the parcel onto the robot, and the operational efficiency of the robot decreases when the sender is busy and unable to respond.

[0009] The present invention has been made with an eye on such problems, and its main objective is to provide an autonomous transport robot that is capable of automatically unloading and automatically loading cargo, and a luggage transport system using said robot. [Means for solving the problem]

[0010] In other words, the autonomously traveling transport robot of the present invention comprises a traveling means capable of autonomous traveling, a robot body having a portion of its internal space set as a cargo compartment, a loading device mounted on the robot body, and a control unit that executes at least a loading process, and the loading device comprises a fork section having a fork body that can be inserted into and removed from an insertion portion of a cargo rack on which cargo is loaded, a lifting section that supports the fork section so that it can be raised and lowered, and a forward and backward moving section that moves the lifting section forward and backward between a storage position where it stores the lifting section together with the fork section in the cargo compartment and an unloading position where it is taken out to the outside of the cargo compartment, by operating the fork section, the lifting section, and the forward and backward moving section, so as to be capable of executing a loading process in which the cargo rack held by the fork section with the fork body inserted into the insertion portion is stored in the cargo compartment from a collection destination or the like, and an unloading process in which the cargo rack held by the fork section with the fork body inserted into the insertion portion is transported from the cargo compartment to a destination such as a transport destination or collection destination. The loading process and the unloading process are each specific processing of the loading and unloading process performed by the control unit.

[0011] Here, an example of a "luggage rack" in this invention can be a pallet for transportation and logistics, but it can also be something other than a pallet so long as it is capable of carrying luggage and has an insertion portion (hole, notch, etc.) through which the fork body of the fork part can be inserted and removed.

[0012] Such an autonomous transport robot according to the present invention can perform not only unloading but also loading by performing an advancing / retreating movement function of moving the lifting unit together with the fork unit between a storage position and a take-out position by the advancing / retreating movement unit, a fork height adjustment function of adjusting the height position of the fork unit by the lifting unit, and a luggage rack holding function of holding a luggage rack such as a pallet by the fork unit. In other words, the luggage (to be transported luggage) stored in the luggage room can be moved to the destination such as the destination or collection destination by taking out the fork unit holding the luggage rack on which the luggage is loaded from the luggage room to the outside of the luggage room and adjusting the height position of the fork unit according to the height position of the destination such as the transport destination or collection destination and placing the luggage rack on the destination such as the transport destination or collection destination. In addition, the luggage rack on which the luggage is loaded can be picked up by the fork unit and storing the fork unit and the lifting unit together with the luggage rack in the luggage room, thereby storing the luggage to be collected on the luggage rack in the luggage room.

[0013] In particular, with the autonomous transport robot of the present invention, the fork body is inserted into the receiving portion and the luggage rack is held by the fork section, thereby allowing the autonomous transport robot of the present invention to maintain a stable holding state of the luggage. Any luggage that can be placed on the luggage rack can be handled by the autonomous transport robot of the present invention, and the robot can flexibly accommodate luggage of various shapes and sizes to carry out unloading and loading processes.

[0014] If the autonomous transport robot of the present invention is equipped with a door that can open and close the opening of the cargo compartment (an opening that opens the cargo compartment in the direction of loading and unloading luggage), the cargo compartment can be made inaccessible from the outside by closing the opening with the door when loading or unloading processing is not being performed, thereby preventing the occurrence of accidents such as theft of luggage inside the cargo compartment.On the other hand, the opening can be opened with the door to allow loading and unloading of luggage to and from the cargo compartment, thereby maintaining a state in which loading or unloading processing can be performed.

[0015] In addition, the luggage transport system of the present invention is characterized in that it comprises an autonomously traveling transport robot having the above-mentioned configuration, and a luggage rack having an insertion portion into which the fork body of the autonomously traveling transport robot can be inserted and removed, and is configured so that the control unit of the autonomously traveling transport robot is capable of executing a loading process in which the luggage rack with luggage loaded thereon is stored in a luggage compartment of the autonomously traveling transport robot, and an unloading process in which the luggage rack is transported from the luggage compartment to a destination.

[0016] Such a luggage transport system according to the present invention can provide effects similar to those provided by the autonomous transport robot described above, and can automatically unload luggage loaded on a luggage rack at a destination such as a delivery destination or collection destination, and load the luggage at the collection destination. Effect of the Invention

[0017] According to the present invention, based on the novel technical idea of ​​mounting a loading device configured with a fork section and lifting section functioning as a forklift and an advancing / retreating moving section for moving the lifting section forward and backward on a robot body, it is possible to provide an autonomous transport robot and a luggage transport system that can deliver (transport) luggage (baggage to be transported) to a destination, eliminate the need for redelivery due to the absence of the recipient, and store luggage (baggage to be transported) in the luggage compartment of the robot body, thereby realizing automation of unloading and loading processes. Note that the autonomous transport robot and the luggage transport system according to the present invention are not limited to the home delivery field, but can also be used in fields such as factories, warehouses, logistics centers, retail (stores), hospitals, and hotels. [Brief description of the drawings]

[0018] [Figure 1] 1 is an overall schematic diagram of an autonomous transport robot (normal state) according to an embodiment of the present invention; [Diagram 2] 2 is a diagram illustrating the autonomous transport robot in the embodiment with the forklift device moved to a take-out position, corresponding to FIG. 1; FIG. [Diagram 3]3 is a diagram corresponding to FIG. 2 and illustrating the autonomous transport robot in a pallet holding state in the embodiment; FIG. [Figure 4] FIG. 4 is a plan view of the autonomous transport robot shown in FIG. 3. [Diagram 5] FIG. 4 is a side view of the autonomous transport robot shown in FIG. [Figure 6] 4 is a diagram showing the autonomous transport robot when the door-opening process is completed in the embodiment, corresponding to FIG. 3. [Figure 7] 4 is a schematic diagram of the entire autonomous transport robot in the embodiment with the fork portion lowered below the height position shown in FIG. 3. [Figure 8] 4 is a schematic diagram of the entire autonomous transport robot in the embodiment with the fork portion raised higher than the height position shown in FIG. 3. [Figure 9] 13 is a flowchart showing an unloading process in the embodiment. [Figure 10] 4 is a flowchart showing a loading process in the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0020] 1 and 2, the autonomous transport robot R according to this embodiment includes a traveling means T capable of autonomous travel, a robot body 1 with a part of its internal space set as a cargo compartment 1S, a cargo handling device 2 mounted on the robot body 1, and a control unit C for controlling the operation of the autonomous transport robot R. Note that Fig. 1 shows an overall external view of the autonomous transport robot R in a state in which no cargo handling process is being performed (normal state) when the robot arrives at a destination such as a transport destination (delivery destination, delivery destination, collection destination, removal destination, drop-off destination, etc.) or a collection destination or collection / delivery destination, and Fig. 2 shows an overall external view of the autonomous transport robot R in a state in which a door D described later is opened and a forklift device F is positioned at a take-out position (FB).

[0021] In this embodiment, the running means T is provided with drive wheels T1 and auxiliary wheels (casters, etc., not shown), and the running direction is determined by the rotation direction of the drive wheels T1, and the auxiliary wheels roll in response to the rotation. In the autonomous transport robot R, the part on which such running means T is provided and which supports the robot body 1 can be regarded as the dolly B. The dolly B in this embodiment is set to a size approximately the same as the planar size of the robot body 1, and two drive wheels T1 are arranged at a predetermined pitch apart in the width direction d2 of the robot body 1 at the center in the front-rear direction d1, and auxiliary wheels that can freely rotate around a vertical axis are arranged near each of the four corners of the dolly B. Note that it is also possible to adopt a configuration in which the planar size of the dolly B and the robot body 1 are not the same or approximately the same, or a configuration in which the positions and numbers of the drive wheels T1 and the auxiliary wheels are appropriately changed. The running means T, which has drive wheels T1 and auxiliary wheels, can move forward and backward in the front-to-back direction d1 of the robot body 1, and can also turn left and right and move forward and backward in the width direction d2 by changing the direction, rotation speed, and turning angle of the drive wheels T1 (swivel).

[0022] The robot body 1 is an autonomous mobile robot (AMR) that can move autonomously to a destination by a traveling means T and has a function of recognizing the surrounding situation. The robot body 1 of this embodiment is box-shaped and has a door D that can open and close the internal space. A part of the internal space of the robot body 1 is set as a luggage compartment 1S, and the luggage compartment 1S is configured to be able to store luggage N. In this embodiment, a robot body 1 having a substantially rectangular parallelepiped shape with a predetermined height dimension is applied, and an opening K formed on the front side of the robot body 1 is configured to be openable and closable by the door D. Specifically, a pair of left and right doors D are configured to be openable and closable in a double-door manner. The rotation center axis during the opening and closing operation of such left and right doors D is set at a predetermined position close to the front side on both the left and right side surfaces of the robot body 1. As a result, when the pair of left and right doors D are fully opened, an opening area continuous with the opening K formed on the front side of the robot body 1 is formed over a part of the side surface of the robot body 1, thereby expanding the opening area of ​​the opening K (see FIG. 2).

[0023] A sensor S1 capable of detecting, for example, images, colors, distances, etc. can be provided on the front (front face) of the upper end of the robot body 1, and the robot can be configured to determine the cargo to be loaded and the location for unloading based on the detection information of the sensor S1.

[0024] In this embodiment, a touch panel W is provided at an appropriate position on the upper end of the robot body 1, and an operator can give, for example, delivery instructions to the robot R based on operations performed on the touch panel W.

[0025] Furthermore, in this embodiment, a free space FS that is continuously open to the front and both sides is formed between the robot main body 1 and the cart B, and a sensor capable of detecting the distance, position, shape, etc. to an object (for example, an obstacle on the travel route or a wall of the road) (as a specific example, LiDAR; Light Detection and Ranging, not shown, which is capable of detecting and measuring distance using light) is arranged in the free space FS.

[0026] As shown in FIG. 2, the loading / unloading device 2 mounted on the robot body 1 includes a fork section 3, a lifting section 4 which raises and lowers the fork section 3, and a forward / backward moving section 5 which moves the fork section 3 and the lifting section 4 in the forward / backward direction d1.

[0027] The fork section 3 includes a fork body 31 extending in the front-rear direction d1, and a fork base 32 that supports the base end of the fork body 31 in a fixed state. The fork body 31 is flat and extends in the protruding direction, and the corners of the tip end (protruding end) are chamfered. In this embodiment, a plurality of fork bodies 31 (two in the illustrated example) are arranged at intervals in the width direction d2, and are set in a horizontal position at the same height. As shown in FIG. 3, in this embodiment, a loading platform (synthetic resin pallet) is used as a pallet P (corresponding to the "luggage rack" of the present invention) held by such a fork section 3, with its upper surface set as a loading surface for luggage N and having holes P1 (corresponding to the "inserted portion" of the present invention) into which the fork body 31 can be inserted (inserted) with some play, as a loading platform P (synthetic resin pallet) with its upper surface set as a loading surface for luggage N and having holes P1 (corresponding to the "inserted portion" of the present invention) into which the fork body 31 can be inserted (inserted) with some play. The material of the pallet P can be selected or changed as appropriate, and the number and shape of the holes P1 can also be selected or changed as appropriate according to the number and shape of the fork bodies 31. In addition, in the case of using a lattice-shaped pallet, the partitioned space between the vertical bars that make up the base legs is the insertion portion.

[0028] The lifting unit 4 lifts and lowers the entire fork unit 3 by moving the fork base 32 of the fork unit 3 in the height direction d3. In this embodiment, the lifting unit 4 is mainly composed of a mast 41 that functions as a rail for moving the fork base 32 up and down, and uses support frames 42 extending in the height direction arranged on both the left and right sides of the mast 41 and a ball screw mechanism 43 provided between the mast 41 and the fork unit 3 to lift and lower the entire fork unit 3 while maintaining the horizontal position of the fork body 31. The ball screw mechanism 43 includes an elevation ball screw 44, an elevation drive motor 45 that drives the elevation ball screw 44, a descent ball screw 46, and a descent drive motor 47 that drives the descent ball screw 46. The lifting section 4 according to this embodiment includes a pair of lifting shafts 48 on the left and right sides provided at positions sandwiching the lifting ball screw 44 in the width direction d2 (positions spaced a predetermined distance from the lifting ball screw 44 in the width direction d2), and a pair of descent shafts 49 on the left and right sides provided at positions sandwiching the descent ball screw 46 in the width direction d2 (positions spaced a predetermined distance from the descent ball screw 46 in the width direction d2). Although it is possible to provide one lifting shaft 48 and one descent shaft 49, they are provided in a pair on the left and right sides in consideration of the weight of the luggage N, etc. The lifting section 4 according to this embodiment has the lifting shafts 48 and the descent shafts 49 inserted through ball bushes (lifting ball bushing, descent ball bushing) (not shown) provided on the fork section 3 side. When the fork section 3 is moved upward by the lifting section 4, the lifting drive motor 45 is driven to rotate the lifting ball screw 44, and the lifting ball bush and the lifting shaft 48 exert their guide functions, so that the entire fork section 3 can be moved upward while the fork body 31 is kept in a horizontal or approximately horizontal position. When the fork section 3 is moved downward by the lifting section 4, the lifting drive motor 47 is driven to rotate the lifting ball screw 46, and the lifting ball bush and the lifting shaft 49 exert their guide functions, so that the entire fork section 3 can be moved upward while the fork body 31 is kept in a horizontal or approximately horizontal position.In this way, by keeping the fork body 31 in a horizontal or substantially horizontal position, it is possible to safely carry in and out the cargo N. In addition, the tilt mechanism provided in a known forklift is not necessary for the autonomous transport robot R of this embodiment.

[0029] The fork section 3 and the lifting section 4 cooperate to perform a forklift function, and the fork section 3 and the lifting section 4 can be regarded as a forklift device F. As shown in Figs. 3 to 5, the autonomous transport robot R according to this embodiment can lift the pallet P with the fork body 31 inserted into the hole P1 of the pallet P using the forklift device F. Figs. 4 and 5 are a plan view and a side view, respectively, of the autonomous transport robot R shown in Fig. 3. In this embodiment, as shown in Fig. 6, the planar size of the cargo compartment 1S in the robot body 1 is set to a size capable of accommodating one pallet P.

[0030] As shown in FIG. 3 and other figures, the forward / backward moving unit 5 is disposed near the ceiling surface of the luggage compartment 1S of the robot body 1, and includes a link mechanism 51 that can expand and contract in the front-rear direction d1 between the rear surface of the robot body 1 and the lifting / lowering unit 4. The autonomous transport robot R can move between a storage position (FA) in which the lifting / lowering unit 4 and the fork unit 3 are stored in the luggage compartment 1S as shown in FIG. 6, and a take-out position (FB) in which the lifting / lowering unit 4 and the fork unit 3 are moved to a space in front of the luggage compartment 1S as shown in FIG. 2 and FIG. 3, by expanding and contracting the entire link mechanism 51 using the driving force of a motor. That is, the forward / backward moving unit 5 exerts a function of moving the forklift device F forward and backward between the storage position (FA) and the take-out position (FB). The forward / backward moving unit 5 of this embodiment includes a guide rail 52 that guides the forward and backward movement of the lifting / lowering unit 4. In this embodiment, a total of four guide rails 52 (one each on the left and right sides near the ceiling surface of the luggage compartment 1S, and one each on the left and right sides near the bottom of the luggage compartment 1S) are installed, and the support frame 42 of the lifting / lowering unit 4 is supported by these guide rails 52. Each guide rail 52 has a configuration in which two slide members slide relative to each other in a single stage in the longitudinal direction, so that the longitudinal dimension of the entire guide rail 52 changes (expands and contracts). In this embodiment, the guide rail has a drawer-type slide rail structure including a member (slide member) whose one end (front end) is fixed to the support frame 42, and a rail body that is fixed to the inner surface of the robot body 1 and supports the slide member so that it can slide, and the slide member slides relative to the rail body in the front-rear direction d1 to guide the linear forward and backward movement of the lifting / lowering unit 4 along the front-rear direction d1. Note that as the guide rail, a side-mount type or under-mount type, or a multi-stage type (two-stage, three-stage, four-stage, etc.) can be applied. Also, a guide rail having a ball type or roller type retainer can be applied.

[0031] In this embodiment, when the lifting / lowering unit 4 and the fork unit 3 are set to the storage position (FA) by the forward / backward moving unit 5, the pallet P held by the fork unit 3 and the cargo N on the pallet P can also be stored in the luggage compartment 1S (see FIG. 6). When the lifting / lowering unit 4 and the fork unit 3 are moved from the storage position (FA) to the take-out position (FB) by the forward / backward moving unit 5, the pallet P held by the fork unit 3 and the cargo N on the pallet P can also be taken out to a space in front of the luggage compartment 1S (see FIG. 3). Here, the "take-out position (FB)" in this embodiment means a position taken out to a space in front of the luggage compartment 1S in the front-rear direction d1. In this embodiment, the height position of the fork unit 3 can be changed by lifting / lowering the fork unit 3 by the lifting / lowering unit 4 while maintaining the position in the front-rear direction d1 at the take-out position (FB) (see FIGS. 7 and 8). 7 by the lifting unit 4, the pallet P can be moved to a position near the floor surface, and when the fork unit 3 is raised to the position shown in Fig. 8 by the lifting unit 4, the pallet P can be moved to a position near the ceiling surface of the luggage compartment 1S, for example. The height positions of the lower limit position and the upper limit position that define the movable range of the fork unit 3 in the height direction d3 can be appropriately selected or changed depending on the thickness of the pallet P and the height dimension of the robot main body 1, etc. Also, a sensor that detects the height position of the fork unit 3 or the pallet P can be provided at an appropriate location.

[0032] Moreover, the autonomous transport robot R according to this embodiment includes a door opening / closing unit 7 that performs the function of opening and closing a door D. The door opening / closing unit 7 switches the position of the door D, which can open and close an opening K of the luggage compartment 1S, between a closed state (DA) shown in Fig. 1 and an open state (DB) shown in Fig. 2. The closed state (DA) is a state in which the luggage compartment 1S is closed so that it cannot be accessed from the outside, and the open state (DB) is a state in which the luggage compartment 1S is opened so that it can be accessed from the outside. In particular, in this embodiment, by setting the door D to the open state (DB), it becomes a state in which forward movement of the lifting / lowering unit 4 and the fork unit 3 by the forward / backward moving unit 5 is permitted.

[0033] In this embodiment, the control unit C is configured to be able to control the traveling of the cart B (operation of the traveling means T) and the operation of each unit (fork unit 3, lifting unit 4, forward / backward moving unit 5, door opening / closing unit 7). The control unit C is mounted at an appropriate position in the autonomous traveling transport robot R, and is shown diagrammatically in FIG. 1 etc.

[0034] The autonomous transport robot R of this embodiment is equipped with a loading device 2 equipped with an assembly having the above-mentioned four types of functions (fork section 3, lifting section 4, forward / backward moving section 5, door opening / closing section 7) and its control section C on a robot body 1 arranged in an area above the trolley B. Such loading device 2 exerts a function as a transfer device that delivers and transports luggage N between the luggage compartment 1S and a destination such as a delivery destination or collection destination.

[0035] The luggage transport system X according to this embodiment is a system that automatically transports luggage N using the autonomous transport robot R and pallet P having the above-mentioned configuration. Note that "luggage transport" in the present invention (this embodiment) is a concept that includes "transport, collection and delivery, transport, and collection of luggage." Therefore, it can be said that the luggage transport system X according to this embodiment is a system that automatically transports, automatically collects and delivers, automatically transports, and automatically collects luggage N using the autonomous transport robot R and pallet P having the above-mentioned configuration.

[0036] Next, the cargo handling process (baggage carrying in and out process) performed by the autonomous transport robot R in the luggage transport system X according to this embodiment will be described with reference to the flowcharts shown in Fig. 9 and Fig. 10. First, the unloading process for transporting the luggage N to the destination will be described with reference to the flowchart shown in Fig. 9. In the following, it is assumed that the luggage N is a delivery item, and the luggage N will be referred to as a luggage N to be left and delivered.

[0037] When operating the luggage transport system X using the autonomous transport robot R according to this embodiment, the luggage N to be placed and delivered needs to be placed on the pallet P held by the fork unit 3.

[0038] After the luggage N is accommodated (loaded) in the luggage compartment 1S and arrives at the transport destination (destination), the autonomous transport robot R in the normal state shown in Fig. 1 switches the door D from the closed state (DA) to the open state (DB) by operating the door opening / closing unit 7 of the luggage handling device 2 based on a signal (including information specifying the luggage N to be left and delivered) that activates the luggage handling device 2 through the control unit C (door opening process S1, see Fig. 6). Specifically, the pair of left and right doors D can be switched from the closed state (DA) to the open state (DB) by driving the door opening / closing motor (not shown) of the door opening / closing unit 7 (activating the door opening / closing unit 7). In this state, the door open state detection sensor (not shown) detects that the doors D are in the open state (DB), and based on this detection signal (a signal indicating that it has been confirmed that the door D is in the open state (DB)), the control unit C operates the forward / backward moving unit 5 to move the lifting unit 4 and the fork unit 3 from the storage position (FA) to the take-out position (FB) (take-out process S2, see Figure 3).

[0039] The take-out process S2 is a process for moving the lifting unit 4 and the fork unit 3 from the storage position (FA) to the take-out position (FB) by driving (activating) the drive motor (not shown) of the advance / withdrawal moving unit 5. In other words, it is a process for switching the forklift device F from the storage position (FA) to the take-out position (FB). In this embodiment, the link mechanism 51 of the advance / withdrawal moving unit 5 changes its position from a folded position in the front-rear direction d1 to a position extended in the front-rear direction d1 based on the driving force of the drive motor (not shown) of the advance / withdrawal moving unit 5, so that the lifting unit 4 and the fork unit 3 are moved (moved forward) to the front space of the luggage compartment 1S, and the guide rail 52 realizes smooth and appropriate sliding movement during the forward movement. In addition, it can be configured to detect the arrival of the take-out position (FB) by an appropriate detection sensor (not shown). At the time when the removal process S2 is completed, the pallet P held by the fork section 3 and the baggage N to be left and delivered on the pallet P are also removed from the luggage compartment 1S (see FIG. 3).

[0040] Following the take-out process S2, in the autonomous transport robot R according to this embodiment, the control unit C drives the lifting unit 4 to execute a process (pallet placement process S3) of placing the baggage N to be placed together with the pallet P in a predetermined baggage placement area. The pallet placement process S3 in the case where the baggage placement area is the same floor surface as the traveling surface of the autonomous transport robot R is a lift-down process in which the ball screw (specifically, the descent ball screw 46) is rotated based on the driving force of the driving motor (specifically, the descent driving motor 47) of the lifting unit 4 to lower the fork unit 3 in a direction approaching the floor surface (see FIG. 7). During the lift-down process, the bottom surface of the pallet P touches the floor surface, and further, by lowering the fork body 31 of the fork unit 3 by a predetermined distance from this state, the contact state between the fork body 31 and the hole P1 of the pallet P is released, and the pallet P in which the fork unit 3 is inserted into the hole P1 but the holding state by the fork unit 3 is released can be placed on the floor surface.

[0041] Furthermore, in the case where the luggage storage area is not on the same floor surface as the traveling surface of the autonomous transport robot R, the pallet placement process S3 is a process in which the lifting unit 4 moves the fork unit 3 up and down to a predetermined height position according to the height position of the luggage storage area. Specifically, for example, when the fork unit 3 is to be lowered to a table top or the like that is lower than the height position (see FIG. 3) at the time of completion of the take-out process S2, the fork unit 3 is lowered, and from the point where the bottom surface of the pallet P comes into contact with the upper surface of the luggage storage area, the fork unit 3 is further lowered a predetermined distance to release the contact state between the fork body 31 and the hole P1 of the pallet P, and the pallet P that has been released from the state of being held by the fork unit 3 can be placed on the upper surface of the luggage storage area.

[0042] On the other hand, when the height position of the luggage placement area, such as a shelf board of a rack, is higher than the height position at the time of completion of the take-out process S2, it is necessary to move the fork section 3 upward. In this case, the autonomous mobile transport robot R is retreated or made to wait in advance at a position where it is possible to avoid the fork section 3 interfering with the luggage placement area, such as a shelf board, during the upward movement, and the fork section 3 is moved upward at that position (see FIG. 8 as an example). The process of moving the fork section 3 upward by the lifting section 4 is a process of lifting the fork section 3 by rotating a ball screw (specifically, lifting ball screw 44) based on the driving force of the drive motor of the lifting section 4 (specifically, lifting drive motor 45). Next, the control unit C drives the travel means T (drive wheels T1) of the cart B of the autonomous transport robot R so that the entire autonomous transport robot R moves in a direction approaching the luggage storage area (forward movement), and stops traveling when it approaches a predetermined distance to the luggage storage area, and lowers the fork unit 3 so that the bottom surface of the pallet P comes into contact with the upper surface of the luggage storage area, and further lowers the fork unit 3 a predetermined distance to release the contact state between the fork body 31 and the hole P1 of the pallet P, and the pallet P, which has been released from the state of being held by the fork unit 3, can be placed on the upper surface of the luggage storage area. Also, even if the height position of the luggage storage area, such as the shelf boards of the rack, is lower than the height position at the time of completion of the take-out process S2, the fork unit 3 can be lowered and a similar process can be performed.

[0043] The pallet placement process S3 according to the height position of the luggage placement area is a process for releasing the pallet held by the fork section 3 at the luggage placement area (pallet holding state release process).

[0044] After completing the pallet placement process S3, the control unit C drives the running means T (drive wheel T1) of the trolley B to move the autonomous transport robot R a predetermined distance in a direction away from the pallet P (retreat process S4), whereby the fork body 31 completely comes out of the hole P1 in the pallet P, and the luggage N to be placed on the pallet P can be placed (unloaded) in the luggage placement area at the destination.

[0045] Next, the control unit C operates the lifting unit 4 to move the fork unit 3 not holding the pallet P from the height position at the end of the retreat process S4 to the take-out position (FB) (take-out position return process S5, see FIG. 2), and then the control unit C operates the advance / retract movement unit 5 to move the lifting unit 4 and the fork unit 3 from the take-out position (FB) to the storage position (FA) (storage position return process S6). Upon completion of the storage position return process S6, these mechanisms (advance / retract movement unit 5, lifting unit 4, fork unit 3) are stored in the internal space (luggage compartment 1S) of the robot main body 1.

[0046] The return to bring-out position process S5 is a process for returning (moving upward or downward) the fork section 3 to the bring-out position (FB) by driving the drive motor of the lifting section 4 (specifically, the ascent drive motor 45 or the descent drive motor 47), and can also be configured to detect that the fork section 3 has returned (reached) to the bring-out position (FB) by an appropriate detection sensor (not shown).

[0047] The storage position return process S6 is a process for switching the lifting / lowering unit 4 and the fork unit 3 from the bring-out position (FB) to the storage position (FA) by driving a drive motor (not shown) of the advancing / withdrawing moving unit 5. In this embodiment, the link mechanism 51 of the advancing / withdrawing moving unit 5 changes its position from an extended position in the front-rear direction d1 to a folded position in the front-rear direction d1 based on the driving force of the drive motor (not shown) of the advancing / withdrawing moving unit 5, thereby moving the lifting / lowering unit 4 and the fork unit 3 into the luggage compartment 1S (rearward movement), and smooth and appropriate sliding movement is realized by the guide rail 52 during the rearward movement. It can also be configured to detect that the lifting / lowering unit 4 and the fork unit 3 have returned (reached) to the storage position (FA) by an appropriate detection sensor (not shown).

[0048] Finally, the control unit C operates the door opening / closing unit 7 to switch the door D from the open state (DB) to the closed state (DA) (door closing process S7, state shown in FIG. 1). In this state, the door closed state detection sensor detects that the pair of left and right doors D are each in the closed state (DA), and based on this detection signal (a signal indicating that it has been confirmed that the door D is in the closed state (DA)), the control unit C outputs a signal indicating that the unloading process has been completed (a drop-off and delivery completion signal), thereby completing the unloading process. The autonomously traveling transport robot R of this embodiment starts autonomous traveling toward a predetermined return point such as a base based on the drop-off and delivery completion signal.

[0049] In this way, the autonomous transport robot R according to this embodiment can realize a fully automated unloading process in which the luggage N is placed and distributed in a luggage storage area at the destination. This unloading process can be regarded as a luggage carrying-out process because it is a process in which the luggage N stored in the luggage compartment 1S of the robot body 1 is carried out from the luggage compartment 1S to a predetermined destination. Note that in this embodiment, a suitable sensor provided at a suitable location of the cargo handling device 2 (for example, between the fork bodies 31) can be configured to detect the position of the pallet P and the distance to the pallet P, and further the position of the hole P1 in the pallet P and the distance to the hole P1.

[0050] Furthermore, the autonomous transport robot R according to this embodiment can fully automatically execute a baggage carrying-in process (loading process) in which the baggage N is automatically loaded (placed) in the luggage compartment 1S at the collection location. The baggage carrying-in process (loading process) performed by the autonomous transport robot R in the baggage transport system X will be described below with reference to the flowchart shown in Fig. 10. The baggage carrying-in process (loading process) is an example of a loading process.

[0051] When performing automatic loading processing by the autonomous transport robot R according to this embodiment, the luggage N to be collected must be placed on a pallet P at the collection location.

[0052] Then, after the luggage N is placed on the pallet P at the collection location, the control unit C drives the traveling means T (drive wheels T1) of the cart B to arrive at the collection location (destination) where the pallet P is placed. In the autonomous transport robot R according to this embodiment, the control unit C operates the door opening / closing unit 7 and the forward / backward moving unit 5 in the same manner as in the unloading process based on a signal (including information specifying the luggage N to be collected) that starts the loading device 2, and executes the door opening process S11 and the take-out process S12. Note that, at the time of starting the luggage carrying-in process, the fork unit 3 in the luggage compartment 1S does not hold the pallet P. Therefore, even at the time of moving the lifting unit 4 and the fork unit 3 to the take-out position (FB) by the take-out process S12, the fork unit 3 is naturally not holding the pallet P (the state shown in FIG. 2).

[0053] Then, following the take-out process S12, in the autonomous mobile transport robot R according to this embodiment, the control unit C drives the lifting unit 4 and the traveling means T to execute a process of holding the pallet P with the fork unit 3 (pallet holding process S13). The pallet holding process S13 can be divided into a process of adjusting the height position of the fork unit 3 to a position where the fork body 31 of the fork unit 3 can be inserted into the hole P1 of the pallet P on which the target cargo N is placed (fork height position adjustment process S131), and a process of inserting the fork body 31 into the hole P1 of the pallet P to lift up the pallet P (pallet lift-up process S132).

[0054] When the pallet P at the collection location is placed on the same floor surface as the running surface of the autonomous mobile transport robot R, the pallet holding process S13 is completed by first lowering the fork section 3 a predetermined distance by the lifting section 4 in a direction approaching the floor surface (fork height position adjustment process S131), and then moving the trolley B forward by the traveling means T to insert the fork body 31 into the hole P1 in the pallet P, and then lifting the fork body 31 a predetermined distance to lift up the pallet P (pallet lift-up process S132).

[0055] Furthermore, when the pallet P is placed on a location that is not on the same floor surface as the running surface of the autonomous mobile transport robot R, the pallet holding process S13 is completed by first driving the lifting section 4 to raise or lower the fork section 3 so that the height position of the fork body 31 is the height position of the hole P1 in the pallet P (fork height position adjustment process S131), and then moving the trolley B forward using the traveling means T to insert the fork body 31 into the hole P1 in the pallet P, and then raising the fork body 31 to lift up the pallet P (pallet lift-up process S132).

[0056] Following the pallet holding process S13, the control unit C operates the lifting unit 4 to move the fork unit 3 to the take-out position (FB) (take-out position return process S14). The take-out position return process S14 in the baggage carrying-in process is the same process as the take-out position return process S5 in the baggage carrying-out process. Note that if there is an obstacle to moving the fork unit 3 to the take-out position (FB) before the take-out position return process S14 is performed, that is, at the time when the pallet holding process S13 is completed, for example, if the fork unit 3 at the time of the completion of the pallet holding process S13 is moved (lowered) to the take-out position (FB) as it is because the shelf board is an obstacle, it is necessary for the control unit C to drive the travel means T (drive wheel T1) of the dolly B to move the autonomous transport robot R a predetermined distance in a direction away from the pallet P.

[0057] Following the take-out position return process S14, the control unit C operates the advance / retract movement unit 5 to move the lifting unit 4 and the fork unit 3 from the take-out position (FB) to the storage position (FA) (storage position return process S15). The storage position return process S15 in the luggage carrying-in process is the same process as the storage position return process S6 in the luggage unloading process. Upon completion of the storage position return process S15, the advance / retract movement unit 5, the lifting unit 4, and the fork unit 3 are stored in the internal space (luggage compartment 1S) of the robot main body 1, and the luggage N on the pallet P held by the fork unit 3 is also stored in the luggage compartment 1S (see FIG. 6).

[0058] Finally, the control unit C operates the door opening / closing unit 7 to switch the door D from the open state (DB) to the closed state (DA) (door closing process S16). In this state (the state shown in FIG. 1), the door closed state detection sensor detects that the pair of left and right doors D are each in the closed state (DA), and based on this detection signal (a signal indicating that it has been confirmed that the door D is in the closed state (DA)), the control unit C outputs a signal indicating that the baggage carrying-in process (loading process) has been completed (collection completion signal), thereby completing the baggage carrying-in process (loading process).

[0059] In this way, the autonomous transport robot R according to this embodiment can realize full automation of the baggage carrying-in process (loading process). The autonomous transport robot R according to this embodiment starts autonomous travel toward the baggage storage area of ​​the baggage carrying-out destination (unloading destination) based on the collection completion signal, and can carry (deliver) the baggage N stored in the luggage compartment 1S to the baggage storage area of ​​the destination by the above-mentioned baggage carrying-out process (unloading process).

[0060] In particular, according to the autonomous transport robot R of this embodiment, the loading / unloading device 2 is equipped with a forklift device F (fork section 3, lifting section 4) and an advancing / retreating moving section 5 for moving the forklift device F back and forth between a storage position (FA) for storing the forklift device F in the cargo room 1S and a take-out position (FB) for taking the forklift device F out to the space in front of the cargo room 1S. By appropriately operating the forklift device F (fork section 3, lifting section 4) and the advancing / retreating moving section 5 by the control section C, the baggage N on the pallet P can be automatically placed (unloaded) at the destination together with the pallet P and collected from the collection point. In addition to automating the placement (unloading), the collection can also be automated. By performing the collection process even when a worker is unable to perform the collection process, the operational efficiency of the robot and, ultimately, the efficiency of baggage transport by the autonomous transport robot R is dramatically improved compared to a mode in which the collection process is dependent on a worker.

[0061] In addition, the autonomous transport robot R of this embodiment is equipped with a door D that can open and close the opening K of the cargo room 1S, so that the cargo room 1S can be made inaccessible from the outside by closing the opening K with the door D in a closed state (DA), and the opening K can be opened with the door D in an open state (DB) to allow the loading and unloading of luggage N into the cargo room 1S.

[0062] Furthermore, according to the autonomous transport robot R of this embodiment, the forward and backward movement section 5 is provided with a link mechanism 51 that is arranged in the internal space of the robot body 1 and moves the lifting section 4 forward and backward by expanding and contracting operations. This allows the entire link mechanism 51 to be stored in a compact state even in the limited narrow space within the internal space of the robot body 1, and enables smooth and reliable forward and backward movement of the lifting section 4.

[0063] In addition, according to the autonomous transport robot R of this embodiment, the forward / backward moving part 5 is provided with a guide rail 52 that is arranged in the internal space of the robot body 1 and has a slide rail structure that guides the forward / backward movement of the lifting / lowering part 4, so that the guide rail 52 can achieve smooth and appropriate sliding movement of the lifting / lowering part 4.

[0064] Furthermore, by applying a pallet P having holes P1 that are slightly larger than the thickness and width of the fork bodies 31 of the fork section 3, it becomes possible to insert the fork bodies 31 into the holes P1, and in the inserted state, the fork sections 3 can be moved upward to lift and hold the pallet P. Also, by bringing the fork sections 3 holding the pallet P closer to the ground or a shelf, the floor surface of the pallet P can be placed on the ground or a shelf, and by further moving the fork sections 3 downward, the state in which the pallet P is held by the fork sections 3 can be released, and the pallet P with the cargo N placed on it can be placed on the ground or a shelf.

[0065] According to the autonomous transport robot R of this embodiment, the position of the hole P1 in the pallet P is detected using sensors mounted on the cart B and the robot body 1, and the position adjustment in the left-right width direction d2 relative to the position of the hole P1 can be performed by the traveling means T, and the position adjustment in the height direction d3 relative to the position of the hole P1 can be performed by the lifting unit 4, making it possible to accurately position the fork unit 3 relative to the hole P1. In particular, since the loading device 2 is mounted together with each sensor and the traveling means T, it is possible to reduce the number of parts and save space at low cost compared to a configuration in which the loading device 2 alone exerts similar functions (sensing function, autonomous traveling function).

[0066] In addition, the autonomous transport robot R of this embodiment is configured to transport (handle) the luggage N loaded on the pallet P together with the pallet P using the fork section 3, so that it can flexibly handle luggage of various sizes and shapes.

[0067] The present invention is not limited to the above-described embodiment. For example, in the above-described embodiment, the number and shape of the fork bodies of the fork part can be changed or selected as appropriate, and the cross-sectional shape of the fork body does not have to be a rectangular parallelepiped, but may be an L-shape (a cross-sectional shape that is open upward and on one side) or a U-shape (a cross-sectional shape that is open on one side), or a hollow shape (a square shape) having an internal space that is closed in the top, bottom, and both sides.

[0068] The direction in which luggage is carried in and out is not limited to the front-rear direction of the robot body, but may be the left-right width direction or the rear direction.

[0069] In the present invention, instead of the ball screw system, a link mechanism, a linear motor, or a linear motion system such as pneumatic or hydraulic may be used as the drive system for the lifting unit. In addition, when the lifting unit is equipped with a slide movement mechanism that moves the fork unit in the height direction, a linear motion mechanism such as a linear guide, a slide rail, a linear bush, or an oil-free bush may be used as the slide movement mechanism.

[0070] Furthermore, instead of a link mechanism, a ball screw, a linear motor, or a linear motion system such as pneumatic or hydraulic may be used as a drive system for the advancing / retreating part. In addition, when the advancing / retreating part is provided with a slide movement mechanism that moves the fork part and the lifting part in a predetermined advancing / retreating direction, a linear motion mechanism such as a linear guide, a slide rail, a linear bush, or an oil-free bush may be used as the slide movement mechanism.

[0071] The size of the interior space of the robot body and the luggage compartment in the present invention can be changed as appropriate depending on the specifications, etc. Also, the size of the opening of the luggage compartment that opens in the direction of loading and unloading luggage can be changed as appropriate. In particular, in the above-mentioned embodiment, an opening that fully opens the front of the robot body is set, and the opening is opened and closed by a door is exemplified, but an opening may be set on each of the two side surfaces of the robot body depending on the interior space of the robot body and the size of the luggage compartment, etc., and each opening may be opened and closed by a door. In this case, if the lifting unit and the fork unit are configured to be able to move between the storage position and the take-out position by the forward and backward moving unit through each opening, the options for the loading and unloading direction of luggage are increased, which is expected to contribute to the efficiency of unloading and loading operations. Also, an opening may be set on the back of the robot body, and the opening may be opened and closed by a door.

[0072] In addition, the door that opens and closes the opening of the cargo compartment is not limited to a double-door type door, and may be a shutter-type door, a foldable door, or a door that can be switched to an open state by rotating around an actuation rotation shaft that is provided in a horizontal position at the upper end of the door when it is closed (upper-type door). Furthermore, the present invention also includes a mode in which the robot body does not have a door. Furthermore, the robot body may be configured not to be box-shaped, but to have pillars erected at the four corners, with the space surrounded by these pillars (the internal space of the robot body) open to the outside, or the robot body may be box-shaped and have an internal space of the robot body that is open only in the front-rear direction.

[0073] Furthermore, in the above embodiment, the robot body 1 is equipped with the control unit C, the sensor S1, the touch panel W, etc., but a configuration in which all or part of these are mounted on the cart B may also be adopted.

[0074] A camera may be mounted on the robot body or the loading device to take a photograph as evidence that the unloading or loading process has been completed. If the photograph is delivered to the recipient or the person requesting collection, the recipient or the person requesting collection can also know the status of the completion of the delivery (unloading) or the completion of the collection, and can use the luggage transport system using the autonomous transport robot according to the present invention with peace of mind.

[0075] Furthermore, it is possible to provide a pallet identification code detector (e.g., a camera capable of reading identification codes) capable of reading the identification number code of a pallet at a predetermined position on the fork section, thereby enabling a configuration capable of executing individual identification processing of the pallet to be handled in the unloading and loading processes. Also, by setting an identification number code at the transport destination (destination) and reading the code with a camera or the like, unloading and loading can be performed with high positioning accuracy.

[0076] By mounting a camera on the robot body or on the loading device and configuring it to take pictures and record images of the cargo compartment and its surrounding areas while the robot is traveling autonomously, transporting luggage, and loading luggage, it will be possible for the delivery company to remotely monitor the condition of luggage and watch for theft.

[0077] Furthermore, the specific specifications (configurations) and locations of the various sensors in the above embodiments can be appropriately selected and changed, and some of the sensors can be omitted.

[0078] The autonomous transport robot according to the present invention includes a configuration in which a robot body is equipped with a plurality of loading devices, and a configuration in which a loading device is equipped on each of a plurality of robot bodies. With such a configuration, it is possible to deal with an increase in the number of transport destinations and collection destinations (an increase in packages to be delivered and collected) by increasing the number of loading devices. In addition, the destination (unloading destination) when performing unloading processing in the present invention may be the transport destination, the collection destination, or the collection and delivery destination. In addition, the point where loading of packages begins when performing loading processing in the present invention may be the collection destination, or a point other than the collection destination.

[0079] In addition, in the above-described embodiment, a pallet is used as an example of a "luggage rest", but the present invention also includes an embodiment in which a container (cage, basket, etc.) having space capable of accommodating luggage and an insertion portion (hole, notch, hook portion, etc.) into which the fork portion can be inserted and removed is used as a luggage rest instead of a pallet.

[0080] Furthermore, the specific configuration of each part is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the present invention. [Explanation of symbols]

[0081] 1. Robot body 1S…Luggage compartment 2. Cargo handling equipment 3…Fork section 31…Fork body 4…Lifting section 5…Advance / retreat moving part C…Control unit P…Pallet R…Autonomous transport robot T…Travel means X: Baggage transport system

Claims

1. An autonomous transport robot including: a traveling means capable of autonomous traveling; a robot body having an internal space partially set as a cargo compartment; a cargo handling device mounted on the robot body; and a control unit that executes at least a cargo handling process; The loading device includes: a fork unit having a fork body that can be inserted into and removed from an insertion portion of a luggage rack on which luggage is loaded; A lifting section that supports the fork section so that the fork section can be lifted and lowered; a forward and backward movement unit that moves the lifting unit together with the fork unit forward and backward between a storage position where the lifting unit is stored in the luggage compartment and a take-out position where the lifting unit is taken out to the outside of the luggage compartment, an autonomous transport robot configured to operate the fork section, the lifting section, and the forward / backward moving section via a control unit to execute a loading process in which the luggage rack held by the fork section with the fork body inserted into the receiving section is stored in the luggage compartment, and an unloading process in which the luggage rack held by the fork section with the fork body inserted into the receiving section is transported from the luggage compartment to a destination.

2. The autonomous transport robot according to claim 1 , further comprising a door that can be opened and closed to open the luggage compartment in the direction of loading and unloading luggage.

3. 3. An autonomous transport robot according to claim 1 or 2, and a luggage rack having an insertion portion into which the fork body of the autonomous transport robot can be inserted and removed, A luggage transport system characterized in that the control unit of the autonomously traveling transport robot is configured to be able to execute a loading process in which the luggage rack with luggage loaded on it is stored in a luggage compartment of the autonomously traveling transport robot, and an unloading process in which the luggage rack is transported from the luggage compartment to a destination.

Images