Robot system

Abstract

To provide a robot system capable of precisely carrying a baggage.SOLUTION: In a robot system 1 that carries a baggage 200 to a baggage unloading site 3, a robot 100 includes: a main unit 10 that moves to a space under the baggage 200 so as to lift up the baggage 200; a distance sensor 13 that detects a distance to the baggage 200; a camera 21 that picks up the image of a marker 300; and a support member 20 that supports the camera 21 at a position higher than the main unit 10. The robot is controlled in such a way that, when the robot 100 comes close to the baggage 200, the robot 100 moves to the baggage 200 in accordance with the detection result by the distance sensor 13, and when the robot 100 comes close to the baggage unloading site 3, the robot 100 moves to the baggage unloading site 3 in accordance with the image of the marker 300.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to robotic systems. [Background technology]

[0002] Patent Document 1 discloses a moving body that transports a dolly. In the moving body of Patent Document 1, the moving body lifts up the dolly with the moving body main body inserted under the dolly. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-128197 A Summary of the Invention [Problem to be solved by the invention]

[0004] The moving body of Patent Document 1 includes an acceleration sensor, a speed sensor, or a gyro sensor. These sensors detect the behavior of the moving body. The moving body of Patent Document 1 detects the surrounding conditions of the detection area using LiDAR or radar. LiDAR detects the distance between the moving body and an object, and the direction of the object. However, when approaching the unloading position where the dolly is to be unloaded, there is a risk that the position accuracy will decrease. Therefore, there are cases where the dolly cannot be unloaded at an appropriate position.

[0005] The present disclosure has been made in consideration of such problems, and provides a robot system capable of transporting luggage with high precision. [Means for solving the problem]

[0006] A robot system according to one aspect of the present disclosure is a robot system that transports luggage to an unloading location, the robot comprising: a main body that moves under the luggage to lift the luggage; a distance sensor that detects the distance to the luggage; a camera that captures a marker image of a marker formed on the floor surface; a support member that is attached to the main body and supports the camera at a position higher than the main body; and a control unit that controls the robot so that, when the robot approaches the luggage, the robot moves to the luggage in accordance with the detection result of the distance sensor, and, when the robot approaches the unloading location, the robot moves to the unloading location in accordance with the image of the marker. Effect of the Invention

[0007] According to the present disclosure, it is possible to provide a robot system capable of transporting luggage with high precision. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing an overall configuration of a robot system. [Diagram 2] FIG. 2 is a block diagram showing a control system of the robot. [Diagram 3] FIG. 13 is a diagram for explaining the operation when loading luggage. [Figure 4] FIG. 13 is a diagram for explaining the operation during unloading. [Diagram 5] FIG. 2 is a schematic diagram for explaining the angle of view of a camera. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, specific embodiments to which the present disclosure is applied will be described in detail with reference to the drawings. However, the present disclosure is not limited to the following embodiments. In addition, in order to clarify the description, the following description and drawings are appropriately simplified. Some symbols and hatching are omitted so as not to make the drawings complicated.

[0010] Hereinafter, a robot system 1 according to an embodiment will be described with reference to the drawings. Fig. 1 is a schematic diagram showing the overall configuration of the robot system. Fig. 2 is a control block diagram showing the configuration of a robot 100.

[0011] As shown in FIG. 1, the robot system 1 includes a package 200 and a robot 100 that transports the package 200. The robot 100 is, for example, an autonomous mobile robot. The robot 100 receives an instruction to transport the package 200 from a management server (not shown). For example, the robot 100 receives information on the package to be transported, a loading location 2 for the package, and an unloading location 3 from the management server or the like by wireless communication or the like. Then, the robot 100 moves to the loading location 2 and loads the package 200. The robot 100 moves the package 200 to the unloading location 3, which is the destination. The robot 100 unloads the package 200 at the unloading location 3. This allows the robot 100 to transport the package 200 from the loading location 2 to the unloading location 3.

[0012] The robot 100 includes a main body 10, wheels 11, a distance sensor 13, and a support member 20. The main body 10 is a chassis that rotatably holds the wheels 11. The main body 10 serves as a transport cart that transports luggage 200. The main body 10 is a rectangular parallelepiped housing.

[0013] 2, the main body 10 is equipped with a battery 17, a drive mechanism 16 for the wheels 11, a control unit 30, etc. Furthermore, the main body 10 is equipped with a distance sensor 13 and a lifting mechanism 12. The battery 17 supplies power to the drive mechanism 16, the camera 21, the distance sensor 13, the lifting mechanism 12, the control unit 30, etc.

[0014] The drive mechanism 16 includes a motor for rotating the wheels 11. For example, the control unit 30 outputs a drive command to the drive mechanism 16, which causes the drive mechanism 16 to independently drive the left and right wheels 11. This enables the robot 100 to travel on the floor surface and move to the loading location 2 and the unloading location 3. The number of wheels 11 may be one, or two or more. At least one of the wheels 11 may be an auxiliary wheel.

[0015] At the loading location 2, the main body 10 moves to below the luggage 200 in order to lift the luggage 200. For example, the luggage 200 includes an object 205 to be transported and legs 201 provided on the underside of the object 205 to be transported. The object 205 is supported by the two legs 201. Since both ends of the object 205 to be transported are supported by the legs 201, a space S is formed directly below the object 205 to be transported. The main body 10 is lower than the height of the legs 201. Therefore, the main body 10 can enter the space S directly below the object 205 to be transported. The legs 201 may be provided with a reflective member 202. The reflective member 202 is, for example, a metal tape that reflects light.

[0016] An elevator mechanism 12 for loading and unloading the cargo 200 is provided on the upper portion of the main body 10. The elevator mechanism 12 is an elevator stage that is driven in the vertical direction. The elevator mechanism 12 is a lifter that lifts up and down the cargo 200, and includes a motor and a guide mechanism.

[0017] When the robot 100 loads the luggage 200 at the loading location 2, the lifting mechanism 12 rises while the main body 10 is in the space S below the luggage 200. This lifts the luggage 200 and lifts the legs 201 off the floor. The luggage 200 is placed on the main body 10, and the robot 100 can transport the luggage 200.

[0018] When the robot 100 unloads the cargo 200, the lifting mechanism 12 descends. As a result, the legs 201 come into contact with the floor surface, and the cargo 200 is lowered to the floor surface. After the robot 100 unloads the cargo 200, it moves to the next loading location 2.

[0019] A distance sensor 13 is mounted on a side of the main body 10. The distance sensor 13 is, for example, an optical sensor, and measures the distance to the luggage 200. The distance sensor 13 may be provided on four sides of the main body 10, i.e., the front, back, left and right, or may be provided on only some of the sides. The distance sensor 13 has a light source and a photosensor. The distance sensor 13 emits measurement light, for example, forward in the direction of movement. The distance sensor 13 detects reflected light reflected by the luggage 200 or the like.

[0020] For example, the distance sensor 13 is a LiDAR (Light Detection And Ranging) sensor. For example, the distance sensor 13 measures the distance to surrounding objects in the vicinity as point cloud data. The distance sensor 13 detects the distance to the surrounding objects in each direction by scanning with measurement light. The surrounding objects are not limited to the baggage 200, but also include walls, obstacles, other robots, people, etc. It is preferable that the distance sensor 13 is a two-dimensional LiDAR. For example, the distance sensor 13 scans a laser light at a certain angular interval in a horizontal plane. Point cloud data according to the shape of the baggage 200, etc. in the horizontal plane is obtained.

[0021] Furthermore, a support member 20 is attached to the main body 10. The support member 20 extends upward from the side surface of the main body 10. The support member 20 has a pole or the like that is provided along the vertical direction. The support member 20 is arranged so as not to interfere with the luggage 200 when the luggage 200 is lifted. The support member 20 serves as a support pillar or a support rod that supports the camera 21. The camera 21 is mounted on the upper part of the support member 20. The support member 20 supports the camera 21 at a position higher than the main body 10.

[0022] Camera 21 is disposed facing diagonally downward so as to capture an image of the floor surface. Camera 21 is disposed facing forward in the direction of movement. Camera 21 captures an image of marker 300 provided at unloading location 3. This allows camera 21 to acquire a marker image. Marker 300 is a sticker, tape, sheet, or the like affixed to the floor surface. Marker 300 may also be painted or printed on the floor surface.

[0023] The marker 300 has a pattern that can be recognized by image processing. The marker 300 may be a pattern such as a two-dimensional barcode. Furthermore, when a plurality of unloading locations 3 are provided, the marker 300 may be a unique pattern for identifying each of the unloading locations 3. Furthermore, the unloading location 3 may be provided with a border to prevent a user or the like from placing other objects thereon. In other words, the unloading location 3 may be an area surrounded by a border or the like.

[0024] The unloading area 3 is usually an empty space where nothing is placed. The marker 300 is preferably formed inside the unloading area 3. This makes it possible to reduce the footprint since no extra space is required for providing the marker 300. This allows the space to be used efficiently.

[0025] The control unit 30 controls the movement to the loading location 2 and the unloading location 3. Specifically, the control unit 30 has a CPU (Central Processing Unit) 31, a memory 32, an interface unit (I / F) 33, and the like. The CPU 31, the memory 32, and the interface unit 33 are connected to each other via a data bus or the like. The control unit 30 may be equipped with a microcomputer for control.

[0026] The memory 32 stores control programs, calculation programs, etc. executed by the CPU 31. The CPU 31 executes these programs to perform various control processes, calculation processes, etc. Furthermore, the memory 32 stores control parameters, map data, etc. for autonomous movement. The interface unit 33 inputs and outputs signals to and from the outside. The interface unit 33 receives detection data from the camera 21 and the distance sensor 13. The interface unit 33 also outputs control signals, drive commands, etc. to the drive mechanism 16 and the lift mechanism 12.

[0027] For example, when the robot 100 receives position information indicating the coordinates of the loading location 2, the unloading location 3, etc. on the map data, the control unit 30 searches for a route from the loading location 2 to the unloading location 3. The control unit 30 controls the drive mechanism 16 so that the robot 100 moves autonomously along the route. Since a known odometry or the like can be used for the autonomous movement, a detailed explanation is omitted. In addition, the control unit 30 performs the following control so that the robot moves with high positional accuracy around the loading location 2 and the unloading location 3. The loading and unloading procedure will be explained below with reference to the drawings.

[0028] Control in the vicinity of the loading location 2 will be described with reference to Fig. 3. Fig. 3 is a side view that typically illustrates the operation during loading. In Fig. 3, the upper part shows a state in which the robot 100 is approaching the luggage 200. In Fig. 3, the lower part shows a state in which the lifting mechanism 12 is ascending. In other words, the lower part of Fig. 3 illustrates a state in which the lifting mechanism 12 is lifting up the luggage 200 after the main body 10 has moved under the luggage 200.

[0029] When the robot 100 approaches the luggage 200, the control unit 30 controls the robot 100 to move to the luggage 200 according to the detection result of the distance sensor 13. That is, the control unit 30 controls the drive mechanism 16 so that the robot 100 approaches the luggage 200 according to the distance D detected by the distance sensor 13. The robot 100 gradually approaches the luggage 200 and can enter the space S directly below the luggage 200. In this way, the robot 100 can move to the loading site 2 with high positional accuracy.

[0030] Specifically, during movement to the loading location 2, the control unit 30 performs position control based on the measurement results of the distance sensor 13. The distance sensor 13 measures the distance D from the distance sensor 13 to the luggage 200. In this way, it is possible to measure the relative positional relationship of the luggage 200 with respect to the robot 100. The distance sensor 13 may also measure the shape of the luggage 200 using point cloud data or the like.

[0031] Moreover, it is preferable that the distance sensor 13 is provided at the height of the leg 201. For example, the distance sensor 13 emits a measurement light forward in the movement direction and detects the reflected light reflected by the leg 201 of the baggage 200. This allows the distance sensor 13 to detect the distance to the leg 201. Furthermore, the distance sensor 13 can specify the direction to the leg 201 by scanning the measurement light. Therefore, the robot 100 can move between the two legs 201.

[0032] When the distance sensor 13 is a two-dimensional LiDAR, the distance sensor 13 can accurately measure the shape and direction of the leg 201. For example, point cloud data or the like according to the shape of the leg 201 in a horizontal plane is obtained. The robot 100 can move to a position according to the shape of the leg 201. Therefore, the relative position of the luggage 200 in the front-rear and left-right directions can be accurately detected. Based on the position of the luggage 200 obtained from the point cloud data, the control unit 30 feedback controls the rotation speed, number of rotations, etc. of the wheels 11.

[0033] Furthermore, the leg 201 includes a reflective member 202. The reflective member 202 is a reflective tape or the like having a high light reflectance. This can increase the amount of return light detected by the distance sensor 13. This can improve the detection accuracy of the distance sensor 13. The reflective member 202 is not limited to tape. For example, the leg 201 may be painted or printed with a material having a high reflectance. The leg 201 may be formed from a metal material, a resin material, or the like having a high reflectance.

[0034] When the main body 10 moves to the space S below the luggage 200, the lifting mechanism 12 rises. This enables the main body 10 to lift the luggage 200. In other words, the legs 201 are lifted off the floor surface F. Since the robot 100 moves to the loading location 2 with high positional accuracy, the main body 10 can reliably lift the luggage 200. Since positional deviations in the left-right and front-back directions can be reduced, the main body 10 can stably lift the luggage 200.

[0035] Next, control in the vicinity of the unloading place 3 will be described with reference to Fig. 4. Fig. 4 is a side view that shows a schematic diagram of the operation during unloading. Fig. 4 shows a state in which the robot 100 is moving to the unloading place 3. The unloading place 3 is located in front of a wall W. Therefore, the robot 100 heading toward the unloading place 3 is moving so as to approach the wall W. Also, at the unloading place 3, a marker 300 is formed on the floor surface F.

[0036] When the robot 100 approaches the unloading site 3, the control unit 30 controls the robot 100 to move to the unloading site 3 according to the image of the marker 300 captured by the camera 21. That is, the control unit 30 calculates the relative position of the marker 300 with respect to the robot 100 based on the marker image. The control unit 30 controls the drive mechanism 16 according to the relative position of the marker 300 so that the robot 100 approaches the unloading site 3.

[0037] Specifically, while the robot 100 is moving to the unloading place 3, the camera 21 captures an image of the floor surface F. The camera 21 is disposed facing diagonally downward and forward of the robot 100. Therefore, when the marker 300 enters the viewing angle A of the camera 21, the camera 21 captures an image of the floor surface F including the marker 300. When the robot 100 is in a position away from the unloading place 3, the camera 21 can capture the marker image.

[0038] When the image of the camera 21 includes the marker 300, the control unit 30 performs position control based on the marker image. The control unit 30 performs image processing to identify the position of the marker 300 in the image. This allows the control unit 30 to accurately detect the relative position of the unloading site 3 with respect to the robot 100. The control unit 30 can accurately detect the position of the unloading site 3 in the left-right and front-rear directions. Therefore, based on the position of the marker 300 obtained from the marker image, the control unit 30 feedback controls the rotational speed and number of rotations of the wheels 11.

[0039] In this way, the robot 100 can move to the unloading site 3 with high positional accuracy. Furthermore, there is no need to provide a structure that allows the distance sensor 13 to detect the distance inside or around the unloading site 3. This allows for effective use of space. In particular, the unloading site 3 is often provided near a wall W. Since the wall W is usually a flat surface along the vertical direction, it is difficult to identify the position in the left-right direction using LiDAR or the like. By forming a marker 300 having a predetermined pattern on the floor surface F, the positional accuracy can be improved. Furthermore, since the space can be used efficiently, the efficiency of transportation can be improved.

[0040] The camera 21 is fixed to the support member 20 so as to be positioned higher than the main body 10. The camera 21 is installed on the support member 20 facing diagonally downward and forward. This allows the camera 21 to capture a marker image before the robot 100 moves to the unloading site 3. In other words, even if the camera 21 is some distance away from the unloading site 3, the marker 300 will be included in the angle of view of the camera 21. Then, when the marker 300 is included in the image of the camera 21, the control unit 30 controls the position of the robot 100 based on the marker image. Thus, the control unit 30 can appropriately control the movement of the robot 100.

[0041] Also, when the lifting mechanism 12 descends and drops the baggage 200 at the unloading location 3, the robot 100 retreats. As a result, the baggage 200 is transported to the unloading location. At this time, the control unit 30 controls the movement of the robot 100 based on the detection result of the distance sensor 13. That is, after the baggage 200 is dropped off, the marker 300 is hidden by the baggage 200, and the camera 21 cannot capture the marker 300. Therefore, the control unit 30 controls the position of the robot 100 according to the distance to the baggage 200 detected by the distance sensor 13. As in the control of movement to the loading location 2, the robot 100 moves according to the distance measured by the distance sensor 13. That is, the robot 100 moves away from the unloading location 3 in the opposite procedure to the approach to the loading location 2. As a result, the robot 100 can move out of the space of the baggage 200. The robot 100 can move away from the unloading location 3 appropriately.

[0042] Fig. 5 is a schematic diagram for explaining the angle of view A of the camera 21. Specifically, Fig. 5 typically shows images P1 and P2 captured by the camera 21. Image P1 in Fig. 5 shows a captured image of the robot 100 approaching the unloading site 3. In image P1, the robot 100 is moving upward so as to approach the wall W. Image P2 shows a captured image of the lifting mechanism 12 descending. In other words, image P2 shows the state at the time when the robot 100 has finished moving to the unloading site 3.

[0043] The images P1 and P2 include the marker 300. The images P1 and P2 include the main body 10 and a part of the luggage 200. The main body 10 and the luggage 200 are shown at the lower end of the images P1 and P2. Since the positional relationship between the camera 21, the main body 10, and the luggage 200 is constant during transportation of the luggage 200, the positions of the main body 10 and the luggage 200 in the images P1 and P2 are constant. The angle of view A of the camera 21 is set so as to include a part of the front side of the main body 10. The camera 21 is installed on the support member 20 facing diagonally downward and forward so as to slightly include the main body 10. In this way, the position of the marker 300 can be detected with high accuracy.

[0044] Specifically, the control unit 30 counts the number of pixels from the main body unit 10 to the marker 300. The control unit 30 can measure the distance from the main body unit 10 to the marker 300 based on the number of pixels. The control unit 30 can convert the number of pixels in the horizontal and vertical directions in the images P1 and P2 into distances in the front-rear and left-right directions. Since the distance from the main body unit 10 to the marker 300 can be accurately measured, the position accuracy can be improved. The angle of view A may include not only the main body unit 10 but also a part of the luggage 200. Of course, depending on the mounting position of the luggage 200 and the size of the luggage 200, the angle of view A of the camera 21 may include only the luggage 200 without including the main body unit 10. In this case, the distance from the luggage 200 to the marker 300 can be calculated according to the number of pixels.

[0045] As shown in Fig. 5, the end of the unloading site 3 closer to the robot 100 is the near end NE, and the end of the unloading site 3 farther from the robot 100 is the far end FE. In Fig. 5, since the robot 100 is moving upward, the lower end of the unloading site 3 is the near end NE, and the upper end is the far end FE.

[0046] The marker 300 is preferably formed at the far end FE of the unloading location 3. In this way, the marker 300 can be imaged for a longer period of time. This improves the positioning accuracy. In other words, the camera 21 can image the marker 300 until the end of the movement to the unloading location or until just before the unloading location. On the other hand, if the marker 300 is formed at the near end NE, the marker 300 will be hidden by the main body 10 and the luggage 200 during movement. Therefore, the camera 21 will not be able to image the marker 300. In this way, the marker 300 is preferably formed at the far end FE of the unloading location 3.

[0047] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit of the present disclosure. Furthermore, the present disclosure can be realized by having a processor such as a CPU (Central Processing Unit) execute a computer program for part or all of the control processing in the robot system 1. For example, the control unit 30 can be implemented as a device capable of executing a program, such as a central processing unit of a computer. Various functions can also be realized by a program. [Explanation of symbols]

[0048] 1. Robot System 2. Loading area 3 Unloading area 100 Robots 10 Main body 11 wheels 12 Lifting mechanism 13 Distance Sensor 20 Support member 21 Camera 200 Baggage 201 Legs 202 Reflective material 300 Markers S space F Floor

Claims

1. A robot system for transporting luggage to an unloading location, comprising: The robot a main body portion that moves under the load to lift the load; A distance sensor for detecting a distance to the luggage; a camera for capturing an image of a marker formed on a floor surface; a support member attached to the main body and supporting the camera at a position higher than the main body; a control unit that controls the robot so that, when the robot approaches a load, the robot moves to the load in accordance with the detection result of the distance sensor, and, when the robot approaches an unloading location, the robot moves to the unloading location in accordance with the image of the marker.

2. The robotic system of claim 1 , wherein the marker is formed inside the unloading area.

3. The robot system according to claim 2 , wherein the marker is formed at an end of the unloading area farther from the robot.

4. 4. The robot system according to claim 1, wherein the load is supported by legs that are higher than the main body.

5. The robot system according to claim 4 , wherein the leg includes a reflective member that reflects light.

Images