Automatic transport robot

Abstract

To provide an automatic transport robot capable of stably traveling, and a method for transporting an object to be transported using the automatic transport robot.SOLUTION: An automatic transport robot includes a drive mechanism, a lifting unit, a distance measuring sensor, and a control unit. The lifting unit is configured to lift an object to be transported. The distance measuring sensor is configured to detect an obstacle present in a traveling direction. The control unit is configured to control the drive mechanism, the lifting unit, and the distance measurement sensor. The control unit is further configured to set a detection range of the distance measuring sensor in the traveling direction so that it is symmetrical with respect to the roll axis of the automatic transport robot when the automatic transport robot moves straight, and to change the detection range to a shape that is asymmetric with respect to the roll axis when the automatic transport robot turns left or right.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] One embodiment of the present invention relates to an automatic transfer robot and a method for transferring an object using the automatic transfer robot. [Background technology]

[0002] In recent years, technological development of automatic guided vehicles (AGVs) has progressed, leading to the development of automatic transport robots that automatically transport material carts (hereinafter simply referred to as carts) for transporting construction materials at, for example, construction sites. For example, the automatic transport robots disclosed in Patent Documents 1 to 3 slip under the platform of the cart, lift the platform, and travel automatically in this state. By transporting materials while the automatic transport robot travels automatically, it is possible to save human resources for transporting materials. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-59460 A [Patent Document 2] JP 2023-138055 A [Patent Document 3] JP 2023-136097 A Summary of the Invention [Problem to be solved by the invention]

[0004] An object of one embodiment of the present invention is to provide an automatic transport robot having a new configuration, and a method for transporting objects such as materials using the automatic transport robot. Alternatively, an object of one embodiment of the present invention is to provide an automatic transport robot capable of stable running even when a transport path for transporting the objects is narrow, and a method for transporting the objects using the automatic transport robot. [Means for solving the problem]

[0005] One embodiment of the present invention is an automatic transfer robot. The automatic transfer robot includes a drive mechanism, a lifting unit, a distance measuring sensor, and a control unit. The lifting unit is configured to lift an object to be transferred. The distance measuring sensor is configured to detect an obstacle present in the traveling direction. The control unit is configured to control the drive mechanism, the lifting unit, and the distance measuring sensor. The control unit is further configured to set the detection range of the distance measuring sensor in the traveling direction so as to be symmetrical with respect to a roll axis of the automatic transfer robot when the automatic transfer robot moves straight, and to change the detection range to a shape asymmetrical with respect to the roll axis when the automatic transfer robot turns left or right.

[0006] One embodiment of the present invention is a method for transporting an object by an automatic transport robot, which includes setting the detection range of a distance measuring sensor that detects an obstacle located in the traveling direction of the automatic transport robot to be symmetrical with respect to a roll axis of the automatic transport robot when the automatic transport robot moves straight, and changing the detection range to an asymmetrical shape with respect to the roll axis when the automatic transport robot turns left or right. [Brief description of the drawings]

[0007] [Figure 1] 1 is a schematic perspective view of an automatic transfer robot according to an embodiment of the present invention; [Diagram 2] FIG. 1 is a functional block diagram of an automatic transfer robot according to an embodiment of the present invention. [Figure 3A] 1 is a schematic top view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 3B] 1 is a schematic side view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 4] 1 is a schematic top view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 5A]1 is a schematic side view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 5B] 1 is a schematic side view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 5C] 1 is a schematic side view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 6] 1 is a schematic top view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 7A] 1 is a schematic top view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 7B] 1 is a schematic top view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 8A] 1 is a schematic top view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 8B] 1 is a schematic top view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 8C] 1 is a schematic top view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 9] 1 is a schematic top view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 10A] 1 is a schematic top view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 10B] 1 is a schematic top view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. [Figure 10C] 1 is a schematic top view illustrating a method for transporting an object using an automatic transport robot according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, each embodiment of the present invention will be described with reference to the drawings, etc. However, the present invention can be embodied in various forms without departing from the gist of the present invention, and should not be construed as being limited to the description of the embodiments exemplified below.

[0009] In order to clarify the description, the drawings may show the width, thickness, shape, etc. of each part in a schematic manner compared to the actual embodiment, but these are merely examples and do not limit the interpretation of the present invention. In this specification and each drawing, elements having the same functions as those described in the previous drawings may be given the same reference numerals, and duplicated descriptions may be omitted.

[0010] Hereinafter, a right turn refers to turning to the right when the automatic transport robot 100 is moving or stopped. The angle of the right turn is not limited to 90° and can be selected arbitrarily. The same applies to a left turn.

[0011] 1. Configuration of the automated transport robot An automatic transport robot according to one embodiment of the present invention is a robot that can detect a guideline provided in advance on a floor and move independently while following the guideline. This automatic transport robot is configured to move independently while lifting an object to be transported. A typical application example is a case where a cart carrying construction or construction materials as the object to be transported is transported within a building such as a building or a factory. The building may be a building that has already been completed or a building under construction. For example, by utilizing the automatic transport robot during a time period when no work is being performed by workers or when the number of workers is small, the necessary materials can be automatically transported to a required location before the workers start or begin to work in earnest. This increases the work efficiency.

[0012] A schematic perspective view and a functional block diagram of an automatic transfer robot 100 according to an embodiment of the present invention are shown in Figures 1 and 2, respectively. As shown in Figure 1, the automatic transfer robot 100 includes a housing 122, a lifting unit 106, a driving mechanism 108, a distance measuring sensor 114, a tracking sensor 116, and the like. Although not shown in Figure 1, the housing 122 also includes a control unit 102 that controls the automatic transfer robot 100, as well as a memory unit 104 controlled by the control unit 102, a battery 118, a transmission / reception unit 120, and the like.

[0013] (1) Control section The control unit 102 includes a processor such as a central processing unit (CPU), and controls the storage unit 104, the lifting unit 106, the drive mechanism 108, the battery 118, the transmitting / receiving unit 120, etc., thereby controlling the entire automatic transfer robot 100. The control unit 102 may be configured as a so-called microcomputer. The control unit 102 operates according to commands of a control program for controlling the automatic transfer robot 100.

[0014] (2) Storage section The storage unit 104 may be a rewritable non-volatile memory such as a hard disk drive or a flash memory, or may be a volatile memory such as a static random access memory (SRAM) or a dynamic random access memory (DRAM). The storage unit 104 may be a combination of a non-volatile memory and a volatile memory. The storage unit 104 is configured to store a transport route transmitted from an external communication terminal (not shown). The storage unit 104 may be configured to store its own position and the destination of the transport object (i.e., the destination point) as numerical values ​​on coordinates on a floor. The control program may be incorporated in the control unit 102 or may be stored in the storage unit 104.

[0015] (3) Driving mechanism The drive mechanism 108 is a module that provides the automatic transfer robot 100 with a traveling function, and includes a pair of crawlers 110, drive wheels 112, and a motor (not shown) that rotates the drive wheels 112 with power supplied from a battery 118. Although not shown, the drive mechanism 108 may include an encoder as a sensor for grasping the number of rotations (or rotation speed) and direction of rotation of the pair of crawlers 110. Note that, in the example shown in FIG. 1, the automatic transfer robot 100 travels using the crawlers 110, but instead of the crawlers 110, a plurality of wheels that come into direct contact with the floor on which the automatic transfer robot 100 travels, a motor that rotates the plurality of wheels, and the like may be used as the drive mechanism 108.

[0016] (4) Lifting unit The lifting unit 106 is a mechanism that moves up and down according to commands from the control unit 102 to lift a cart on which an object to be transported is placed. The lifting unit 106 can be composed of a support member for contacting and supporting the bottom surface of the cart, a motor or a hydraulic cylinder that operates by receiving power from a battery 118, and the like. As shown in FIG. 3A and FIG. 3B, the cart 130 includes a platform 132 on which materials and the like are placed, and a plurality of casters 134 provided under the platform 132. The automatic transport robot 100 is configured so that the height of the automatic transport robot 100 (the distance from a floor 152 on which the automatic transport robot 100 travels to the upper surface of the lifting unit 106) is lower than the lower surface of the platform 132 when the lifting unit 106 is at the lowest position. Therefore, the automatic transport robot 100 can get under the platform 132 when the lifting unit 106 is at the lowest position. When the lifting unit 106 is raised in this state, as shown in Fig. 3B, the cart 130 is lifted by the automatic transfer robot 100, and the cart 130 is suspended above the floor 152. By running the automatic transfer robot 100 in this state, the cart 130 and materials mounted on it can be transported at the same time.

[0017] (5) Transmitter / receiver The transmitting / receiving unit 120 is a module responsible for wireless communication with an external communication terminal (not shown), and is configured to receive various commands and information transmitted from the external communication terminal and transmit them to the control unit 102. The transmitting / receiving unit 120 may be configured to cooperate with the control unit 102 and transmit position information including the position of the automatic transfer robot 100 estimated by the control unit 102 to the external communication terminal. By providing the transmitting / receiving unit 120, the automatic transfer robot 100 can be remotely controlled via the external communication terminal, so that, for example, the automatic transfer robot 100 can be made to travel to an arbitrary location using the external communication terminal.

[0018] (6) Distance sensor The distance measuring sensor 114 is configured to detect obstacles and structures such as walls and pillars that exist in the traveling direction of the automatic transport robot 100. There is no limitation on the distance measuring mechanism of the distance measuring sensor 114. For example, the distance measuring sensor 114 can be configured to emit electromagnetic waves such as laser light, infrared rays, and radio waves, or ultrasonic waves, in the traveling direction of the automatic transport robot 100, and detect the electromagnetic waves or ultrasonic waves reflected on the obstacle. The presence or absence of an obstacle and the distance to the obstacle can be measured by utilizing the time it takes for the electromagnetic waves or ultrasonic waves to be emitted and reflected on the obstacle and detected by the distance measuring sensor 114. Alternatively, the distance measuring sensor 114 may be configured to calculate the distance based on the phase difference between the electromagnetic waves that are modulated and emitted and the electromagnetic waves that are reflected on the obstacle. The range (detection range) in which the distance measuring sensor 114 detects an obstacle can be set and adjusted using the control unit 102. Therefore, the size and shape of the detection range can be set and adjusted by the control unit 102. The detection range and the setting and adjustment thereof will be described in detail later.

[0019] When an obstacle is detected within the detection range, the control unit 102 stops the drive mechanism 108 in accordance with an instruction from the control program, thereby stopping the automatic transfer robot 100. This function prevents the automatic transfer robot 100, the cart 130, or the object to be transferred mounted on the cart 130 from coming into contact with the obstacle, ensuring the safety of the work and preventing damage to the automatic transfer robot 100, the cart 130, the object to be transferred, etc. Furthermore, even when the automatic transfer robot 100 detects an obstacle and stops, it may be configured to periodically determine the presence or absence of an obstacle based on information from the distance measurement sensor 114, for example, at time intervals of 1 / 60 seconds or more and 1 second or less, and to start traveling again when the obstacle is removed and no longer detected.

[0020] (7) Tracking sensor The automatic transfer robot 100 is configured to travel on guidelines that are arranged in advance on the floor 152. That is, the transfer path of the automatic transfer robot 100 is set in advance, and the guidelines are arranged on the floor 152 along this transfer path. The guidelines are formed of colored tape, magnetic tape, or the like that is fixed to the floor 152 with adhesive or fasteners such as screws. The tracking sensor 116 is provided to detect the guidelines.

[0021] When the guideline is a color tape, a digital optical camera can be used as the tracking sensor 116. The image acquired by the tracking sensor 116 is analyzed by the control unit 102, and the guideline is detected by recognizing and extracting a specific color area from the image. The control unit 102 calculates the position of the guideline relative to the automatic transfer robot 100 and the angle between the guideline and the moving direction, and controls the driving mechanism 108 so that the guideline overlaps with the center of the automatic transfer robot 100 and the angle between the moving direction and the guideline is maintained at 0°. When the guideline is a magnetic tape, a magnetic sensor can be used as the tracking sensor 116. In this case, the control unit 102 judges whether the magnetic force detected by the tracking sensor 116 exceeds a predetermined value. When the detected magnetic force exceeds a predetermined value, it is judged that a guideline exists in that area, and the driving mechanism 108 is controlled so that the automatic transfer robot 100 travels along the guideline, thereby allowing the automatic transfer robot 100 to travel accurately along the guideline.

[0022] (8) Battery The battery 118 is a module that supplies power for operating the automatic transfer robot 100. As the battery 118, a rechargeable secondary battery such as a lithium ion battery, a lead storage battery, a nickel metal hydride battery, or a nickel cadmium battery can be used. Although not shown, the automatic transfer robot 100 may be configured so that the battery 118 is detachable from the housing 122.

[0023] (9) Other configurations The automatic transfer robot 100 may be configured to estimate the position of the automatic transfer robot 100 using odometry. In this case, the control unit 102 constantly monitors the number of rotations and the rotation direction of the pair of crawlers 110 or wheels based on information from an encoder provided in the drive mechanism 108. For example, the control unit 102 acquires the number of rotations and the rotation direction of the crawlers 110 or wheels from the drive mechanism 108 at regular time intervals (for example, 1 / 60 seconds or more and 1 second or less). The acquired number of rotations and the rotation direction may be stored in the storage unit 104 as running data. Furthermore, the control unit 102 calculates the direction of the automatic transfer robot 100 with respect to the running start position and the distance from the position based on the acquired data on the number of rotations and the rotation direction. In this way, by using odometry, the position, orientation, and running direction of the automatic transfer robot 100 can be constantly grasped. This information may also be stored in the storage unit 104 at regular time intervals (for example, 1 / 60 seconds or more and 1 second or less), or may be transmitted to an external communication terminal using the transmission / reception unit 120.

[0024] Although not shown, the automatic transport robot 100 may be provided with other components such as a speaker and a warning light. The speaker may be configured to output a warning sound according to a command from the control unit 102 when the control unit 102 detects an obstacle in the detection range. The speaker may also be configured to output a sound different from the warning sound when the robot is traveling. The warning light may be configured to turn on according to a command from the control unit 102 when the control unit 102 detects an obstacle in the detection range. The warning light may also be configured to flash when the robot is traveling. Furthermore, the automatic transport robot 100 may have a lighting device configured to irradiate the guideline with light. When the guideline is provided as a color tape, an optical camera is provided as the tracking sensor 116 for detecting the guideline, but by using a lighting device, the guideline can be reliably detected by the tracking sensor 116 regardless of the surrounding brightness.

[0025] 2.Transportation of objects using automatic transport robots The following describes a method for transporting an object using the automatic transport robot 100. The following also describes how to set and adjust the detection range of the distance measuring sensor 114.

[0026] First, the cart 130 carrying the transport object such as materials is placed on the guideline 150, and the automatic transport robot 100 is placed under the cart 130 (FIG. 4). For example, the positions of the automatic transport robot 100 and the cart 130 (or the coordinates of the cart 130 on the floor 152) are transmitted to the automatic transport robot 100. This allows the control unit 102 of the automatic transport robot 100 to grasp its own position and the position of the cart 130. After that, the control unit 102 uses information from the tracking sensor 116 to control the drive mechanism 108 so that the automatic transport robot 100 automatically travels along the guideline 150 to the position of the cart 130. This allows the automatic transport robot 100 to slip under the cart 130. Alternatively, the automatic transport robot 100 may be operated using an external communication terminal to move it under the cart 130. Alternatively, the automatic transport robot 100 may be manually placed under the cart 130. Alternatively, the automatic transport robot 100 may first be placed on the guide line 150, and then the dolly 130 may be placed so as to overlap with the automatic transport path robot.

[0027] Then, using an external communication terminal, the coordinates of the destination point of the guideline 150 are transmitted to the automatic transfer robot 100. Then, using information from the tracking sensor 116, the control unit 102 controls the drive mechanism 108 to travel along the guideline 150 to the transmitted coordinates of the destination point. This allows the object to be transferred on the cart 130 to be automatically transferred to the target location.

[0028] During automatic transportation, information obtained from the distance measurement sensor 114 is used to detect obstacles. Specifically, the control unit 102 determines whether or not there is an obstacle or structure within the detection range based on the information sent from the distance measurement sensor 114, and when an obstacle or structure is detected within the detection range, the control unit 102 stops the drive mechanism 108 according to the command of the control program. At this time, a warning sound may be generated or a warning light may be activated. Also, the control unit 102 is configured to resume traveling when the obstacle is removed from the detection range.

[0029] The detection range of the distance measuring sensor 114 is set by the control unit 102 in the moving direction of the automatic transfer robot 100. As shown in FIG. 4 and FIG. 5, the distance measuring sensor 114 irradiates electromagnetic waves or ultrasonic waves in a certain space in the moving direction of the automatic transfer robot 100 and detects the reflected electromagnetic waves or ultrasonic waves, and the control unit 102 selectively processes information obtained from the certain range among the information obtained by the distance measuring sensor 114. This certain range is the detection range 140. For example, the detection range 140 may be a three-dimensional shape (e.g., a hexahedron) that is in contact with or separated from the floor 152 in the space in which the electromagnetic waves or ultrasonic waves of the distance measuring sensor 114 spread (FIG. 5A). Alternatively, the detection range 140 may be a surface parallel to the floor 152. In this case, the detection range 140 may be in contact with the floor 152 (FIG. 5B) or separated from the floor 152 (FIG. 5C).

[0030] The shape of the detection range 140 as viewed in the vertical direction (i.e., the shape of the projection surface of the detection range 140 on the floor 152) can also be determined arbitrarily, and may be, for example, a polygon including a triangle or a rectangle, an ellipse, or a circle. Alternatively, the outline of the projection surface may be composed of multiple straight lines, or may be composed of multiple straight lines and one or more curves. Alternatively, the outline of the detection range 140 may be composed only of curves.

[0031] The maximum width W1 of the detection range 140 (the maximum length in the direction perpendicular to the traveling direction of the automatic transfer robot 100) is set to be equal to or greater than the width of the transport object, i.e., at least the width of the loading platform 132. This allows the automatic transfer robot 100 to reliably detect obstacles that impede the travel of the automatic transfer robot 100. The maximum width W1 may be set in a range of 1 to 4 times the width of the loading platform 132. For example, the maximum width W1 may be selected from a range of 50 cm to 200 cm. By setting the detection range 140 to a width greater than the width of the loading platform 132, even if there is an object to be transported that protrudes from the loading platform 132, it is possible to detect an obstacle that interferes with the object to be transported. The maximum length L1 of the detection range 140 (the maximum length in the traveling direction of the automatic transfer robot 100) depends on the size of the dolly 130, the traveling speed and braking distance of the automatic transfer robot 100, the weight and length of the object to be transported, the state of the transport path, and the like, but may be set, for example, from a range of 30 cm to 3 m, or 30 cm to 1 m. By setting the length L1 within the above range, a sufficient braking distance can be ensured, and collision between the automatic transfer robot 100 or the transfer target and an obstacle can be avoided.

[0032] When the automatic transfer robot 100 moves straight, the control unit 102 sets the detection range 140 so that it is symmetrical with respect to the roll axis Ax of the automatic transfer robot 100. More specifically, the detection range 140 is set so that the projection plane of the detection range 140 on the floor 152 is symmetrical (line symmetrical) with respect to the axis when the roll axis Ax is projected on the floor 152 in the vertical direction (see FIG. 4). Alternatively, when the automatic transfer robot 100 moves straight, the control unit 102 sets the detection range 140 so that it is symmetrical (plane symmetrical) with respect to a plane on which the roll axis Ax exists and whose normal is parallel to the horizontal direction. Note that when the automatic transfer robot 100 moves straight exactly on the guide line 150, the roll axis Ax overlaps with the guide line 150.

[0033] However, even when the automatic transfer robot 100 travels along the guideline 150 that is set in a straight line, it does not necessarily travel in a straight line. For example, the travel direction may deviate from the guideline 150 due to various causes such as a deviation in the angle between the guideline 150 and the automatic transfer robot 100 caused by the detection accuracy of the tracking sensor 116, a change in the travel direction due to temporary free rotation of the drive mechanism 108, a tilt of the floor surface, and a change in the travel direction due to running over a small foreign object that was not detected as an obstacle. The control unit 102 controls the drive mechanism 108 based on the information obtained from the tracking sensor 116 so that the automatic transfer robot 100 always eliminates the deviation from the guideline 150 and travels accurately on the guideline 150. For this reason, as shown in FIG. 6, the automatic transfer robot 100 may repeatedly turn right or left on the guideline 150 and travel in a meandering manner (see the curved arrow). If the transport path of the automatic transfer robot 100 is given a sufficient width and there are no structures such as walls or pillars near the transport path, such meandering does not cause a major problem.

[0034] However, when the conveying path is not wide enough and structures such as walls and pillars are present near the conveying path, as shown in FIG. 7A, structures 154 such as walls that do not qualify as obstacles when the automatic conveying robot 100 moves straight along the guideline 150 will enter the detection range 140 when the automatic conveying robot 100 meanders (see the solid circle in the figure). As a result, the structure 154 is recognized as an obstacle, and the automatic conveying robot 100 is stopped by a command from the control unit 102. Also, as shown in FIG. 7B, even if the conveying path is such that the automatic conveying robot 100, the loading platform 132, and the conveying object itself can turn without coming into contact with the structure 154, if the conveying path is not wide enough, the structure 154 located on the opposite side of the turning direction may enter the detection range 140 (see the solid circle in the figure). Even in this case, the structure 154, which is not an obstacle to the automatic transfer robot 100, the platform 132, or the object to be transferred, is recognized as an obstacle, leading to the stop of the automatic transfer robot 100. If the automatic transfer robot 100 stops frequently in this way, it will lead to a significant decrease in transfer efficiency.

[0035] Therefore, the control unit 102 is configured to adjust the detection range 140 when the automatic transfer robot 100 turns right or left. Specifically, as shown in FIG. 8A, when the automatic transfer robot 100 moves straight, the shape is maintained to be line-symmetrical with respect to the roll axis Ax, regardless of the angle between the guide line 150 and the traveling direction. In contrast, when following a guide line 150 that turns to the right, or when turning right to follow a linear guide line 150, the shape of the detection range 140 is changed to be asymmetric with respect to the roll axis Ax, as shown in FIG. 8B. Similarly, when turning left, the shape of the detection range 140 is changed to be asymmetric with respect to the roll axis Ax, as shown in FIG. 7C.

[0036] FIG. 9 is a schematic diagram illustrating a method of changing the shape of the detection range 140 when turning right. As shown in FIG. 9, the shape of the detection range 140 may be changed by removing a part of the detection range 140 in the left front direction of the traveling direction of the automatic transfer robot 100, which is indicated by a single arrow. Therefore, the leftmost end of the detection range 140 after the shape change is located closer to the automatic transfer robot 100 than the rightmost end. The ratio (W2 / W1) of the maximum width W2 to the maximum width W1 of the removed part may be selected, for example, from a range of 0.3 to 0.7. In addition, the ratio (L2 / L1) of the maximum length L2 to the maximum length L1 of the removed part may be selected, for example, from a range of 0.3 to 0.7. Alternatively, the shape may be changed so that the length (L1-L2) of the part remaining after the shape change is 20 cm to 50 cm. By changing the shape in this way, a sufficient braking distance can be ensured even if an obstacle is detected on the left side in the traveling direction. Although a detailed description will be omitted, the same applies when turning left, and the change in the detection range 140 can be performed by removing a part of the detection range 140 in the right front in the traveling direction of the automatic transport robot 100. Therefore, when turning left, the rightmost end of the detection range 140 after the shape change is located closer to the automatic transport robot 100 than the leftmost end.

[0037] As described above, the shape of the projection surface of the detection range 140 on the floor 152 is not limited to a rectangle. For example, as shown in FIG. 10A, the shape of the projection surface of the detection range 140 may be a part of a sector or a trapezoid. In this case, too, the shape of the detection range 140 is changed by removing a part of the front right side in the traveling direction of the automatic transfer robot 100 when turning left, and removing a part of the front left side in the traveling direction of the automatic transfer robot 100 when turning right. The shape of the removed part on the projection surface is also not limited to a rectangle, and may be a triangle (FIG. 10B), and although not shown, part or all of the contour of the shape of the removed part on the projection surface may be formed by a curve. In addition, as shown in FIG. 10C, the shape of the detection range 140 may be changed so that a part of the dolly 130 does not overlap with the detection range 140 in the traveling direction.

[0038] In this way, by changing the shape of the detection range 140 when turning left or right, as shown in Fig. 8B or 8C, even when the transport path is not wide enough, it is possible to prevent the automatic transport robot 100 from erroneously detecting a structure as an obstacle, and to allow the automatic transport robot 100 to travel stably without stopping. In addition, when turning left or right, the maximum length L1 of the detection range 140 is maintained on the left front and right front of the travel direction, respectively, so that it is possible to ensure sufficient detection capability for detecting obstacles. This makes it possible to transport the transport object efficiently while ensuring safety.

[0039] The various embodiments of the present invention described above can be combined as appropriate as long as they are not mutually inconsistent. Any embodiment in which a person skilled in the art appropriately adds or deletes components or modifies the design based on each embodiment is also included in the scope of the present invention as long as it includes the gist of the present invention.

[0040] Even if there are other effects and advantages different from those brought about by the respective embodiments described above, those which are clear from the description in this specification or which can be easily predicted by a person skilled in the art are naturally understood to be brought about by the present invention. [Explanation of symbols]

[0041] 100: automatic transport robot, 102: control unit, 104: memory unit, 106: lifting unit, 108: drive mechanism, 110: crawler, 112: drive wheel, 114: distance measurement sensor, 116: tracking sensor, 118: battery, 120: transmitter / receiver, 122: housing, 130: dolly, 132: loading platform, 134: caster, 140: detection range, 150: guideline, 152: floor, 154: structure

Claims

1. Drive mechanism, A lifting unit configured to lift the object to be transported; A distance measuring sensor configured to detect an obstacle present in the traveling direction; and an automatic transport robot including a control unit configured to control the drive mechanism, the lifting unit, and the distance measuring sensor, The control unit further When the automatic transport robot moves straight, the detection range of the distance measuring sensor is set in the moving direction so as to be symmetrical with respect to a roll axis of the automatic transport robot; and The automatic transport robot is configured to change the detection range to an asymmetric shape with respect to the roll axis when the automatic transport robot turns left or right.

2. The automatic transport robot according to claim 1 , wherein the change in the detection range when the automatic transport robot turns left is performed by excluding a part of a right front part in the traveling direction from the detection range.

3. The automatic transport robot according to claim 1 , wherein the change in the detection range when the automatic transport robot turns right is performed by excluding a part of the detection range on the left front side in the traveling direction.

4. 2. The automatic transport robot according to claim 1, wherein the detection range is set on a floor on which the automatic transport robot moves, or apart from the floor and parallel to the floor.

5. The automatic transfer robot according to claim 1 , wherein the detection range before the change is a rectangle.

6. The automatic transfer robot according to claim 1 , wherein the changed detection range is a hexagon.

7. The automated transport robot according to claim 1 , further comprising a tracking sensor that detects a guideline located on a floor along which the automated transport robot moves.

8. The automated transport robot according to claim 1 , wherein the drive mechanism includes a crawler.

9. The automated transport robot according to claim 1 , wherein the drive mechanism includes a plurality of wheels that come into contact with a floor on which the automated transport robot moves.

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