Unmanned transport system

Abstract

To reduce costs while relaxing restrictions on the weight capacity of transported objects.SOLUTION: The unmanned transport system includes an unmanned transport vehicle, a cart having a cart body capable of carrying transported objects and capable of accommodating the unmanned transport vehicle under the cart body, a connecting means for connecting the unmanned transport vehicle and the cart, and a travel control unit for controlling the travel of the unmanned transport vehicle. The unmanned transport vehicle includes a plurality of freely movable driving wheels that allow the unmanned transport vehicle to move in any direction, forward / backward, left / right or diagonally, without changing its attitude or while changing its attitude, and a drive control unit that controls the operation of the plurality of freely movable driving wheels. The cart is provided with a plurality of free idler wheels that allow the cart body to travel in any direction, forward / backward, left / right and diagonally, without changing its attitude or while changing its attitude, and at least one opening on an underside of the cart body through which the unmanned transport vehicle can enter. The connecting means connects the unmanned transport vehicle and the cart so that their mutual attitudes are maintained.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an unmanned transport system.

Background Art

[0002] Conventionally, a guided path travel control method, an unguided path travel control method, and an autonomous travel control method are known as unmanned transport systems.

[0003] In the guided path travel control method, markers such as tapes are installed on the path, and the unmanned transport vehicle is made to travel along the markers. In the unguided path travel control method, a map of the area to travel is created in advance, a planned travel route is specified on the map, and the unmanned transport vehicle is made to travel along the specified planned travel route. In the autonomous travel control method, the unmanned transport vehicle determines the travel route while detecting surrounding information in real time.

[0004] In any of the above control methods, in order to control operations for causing the unmanned transport vehicle to perform so-called movements and posture changes such as forward movement, backward movement, left and right movement, diagonal movement, and rotational movement, wheels driven by a drive unit such as an electric motor are mounted. And each of the above operations is realized by controlling the rotational speed of the wheels.

[0005] An unmanned transport vehicle with an unguided path travel control method capable of performing such movements and posture changes is known (see, for example, Patent Document 1 below). This unmanned transport vehicle has a drive unit provided with a pair of drive wheels rotatable in a horizontal plane at the bottom of the carriage body. Further, the unmanned transport vehicle is provided with a pair of omnidirectional wheels on the front side and the rear side of the bottom of the carriage body, respectively. Thereby, right and left turning movements in the front-rear direction and rotational movement are realized in the minimum movable range including the differential between the inner and outer wheels.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] However, in the conventional automated guided vehicle disclosed in Patent Document 1 above, a drive unit and casters are provided at the bottom of the cart body on which the conveyed object is loaded. For this reason, the load-carrying capacity of the cart body must be set in consideration of not only the load-carrying capacity of the casters but also the load-carrying capacity of the drive wheels. Therefore, there may be a limitation in the load-carrying capacity as compared with the case of using the cart body alone.

[0008] In addition, when a plurality of the above-described automated guided vehicles are provided to form an automated guided vehicle system, and a plurality of conveyed objects such as devices connected to production equipment and collaborative robots are respectively loaded on the cart bodies of the respective automated guided vehicles, and each automated guided vehicle is moved to a predetermined position to install the conveyed objects, the cart body and the drive unit are necessarily required for each conveyed object to be installed. Therefore, there is a limit to further reducing the operation cost of the automated guided vehicle system.

[0009] The present invention has been made in view of the above circumstances, and an object thereof is to provide an automated guided vehicle system that can operate while reducing costs while relaxing the limitation on the load-carrying capacity of the conveyed object.

Means for Solving the Problems

[0010] The unmanned transport system according to the present invention includes an unmanned transport vehicle, a cart body capable of loading a transported object, a cart capable of accommodating the unmanned transport vehicle below the cart body, a connecting means for connecting the unmanned transport vehicle and the cart, and a travel control unit for controlling the travel of the unmanned transport vehicle. The unmanned transport vehicle includes a plurality of omnidirectional drive wheels capable of moving the unmanned transport vehicle in any direction of front, rear, left, right, and diagonal without changing its posture and operating to change its posture, and a drive control unit for controlling the operation of the plurality of omnidirectional drive wheels. The cart includes a plurality of omnidirectional driven wheels capable of moving the cart body in any direction of front, rear, left, right, and diagonal without changing its posture and running to change its posture, and at least one opening through which the unmanned transport vehicle can enter below the cart body. The connecting means connects the unmanned transport vehicle and the cart so that their postures are maintained.

[0011] In one embodiment of the present invention, the plurality of omnidirectional drive wheels are Mecanum wheels (registered trademark) having a plurality of rollers whose rotation axes are inclined with respect to the main axis, and the plurality of omnidirectional driven wheels are Omni wheels (registered trademark) having a plurality of rollers whose rotation axes are orthogonal to the main axis.

[0012] In another embodiment of the present invention, the unmanned transport vehicle includes a sensor unit capable of measuring the surrounding environment in a predetermined range extending across both left and right sides including at least the front around the unmanned transport vehicle. The connecting means connects the unmanned transport vehicle to the cart body so that the sensor unit is located outside the outer shape area of the cart.

[0013] In still another embodiment of the present invention, the connecting means includes a connecting mechanism provided on the upper part of the unmanned transport vehicle and having a plurality of movable connecting parts provided at a predetermined interval in the front-rear direction of the unmanned transport vehicle, and a plurality of connected parts provided on the cart body and provided at an interval corresponding to the arrangement interval of the movable connecting parts. At least two of the plurality of movable connecting parts and at least two of the plurality of connected parts can be connected so that the connecting position of the unmanned transport vehicle with respect to the cart body can be variable.

[0014] In still another embodiment of the present invention, the unmanned transport system includes a map information creation unit that creates map information including coordinate information of the standby position of the cart in the travelable area of the unmanned transport vehicle, a storage unit that stores the map information, a route information creation unit that creates route information indicating a planned travel route of the unmanned transport vehicle defined by coordinate information based on the map information, and a connection mechanism control unit that controls the operation of the connection mechanism of the unmanned transport vehicle. The route information includes a route to reach the standby position of the cart from the self-position of the unmanned transport vehicle. When the unmanned transport vehicle reaches the standby position of the cart, the connection mechanism control unit operates the connection mechanism and connects the connection mechanism to the connected portion of the cart body to connect the unmanned transport vehicle to the cart.

Effects of the Invention

[0015] According to the present invention, it is possible to operate while suppressing costs while relaxing the limitation on the transportable weight of the transported object.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Best Mode for Carrying Out the Invention

[0017] Hereinafter, with reference to the accompanying drawings, an unmanned transport system according to an embodiment of the present invention will be described in detail. However, the following embodiments do not limit the invention according to each claim, and not all combinations of features described in the embodiments are essential for the solution means of the invention.

[0018] Also, in the following embodiments, the same or corresponding components are denoted by the same reference numerals and redundant descriptions are omitted. Also, in the embodiments, when the arrangement, scale, dimensions, etc. of each component are exaggerated or minimized and shown in a state not matching the actual ones, and when the description of some components is omitted and shown.

[0019] [Configuration of Unmanned Transport System] FIG. 1 is a configuration diagram schematically showing an unmanned transport system according to an embodiment of the present invention. FIG. 2 is a plan view schematically showing an unmanned transport vehicle in the unmanned transport system. FIG. 3 is a view schematically showing a cart in the unmanned transport system, where FIG. 3(a) shows the top surface and FIG. 3(b) shows the side surface.

[0020] Also, FIG. 4 is a view schematically showing an unmanned transport vehicle in the unmanned transport system, where FIG. 4(a) shows the top surface and FIG. 4(b) shows the front surface. FIG. 5 is a view for schematically explaining the connection between the unmanned transport vehicle and the cart. FIG. 6 is an explanatory view schematically showing an example of a planned travel route of the unmanned transport vehicle in the unmanned transport system. FIG. 7 is an explanatory view showing another operation example of the unmanned transport vehicle on the planned travel route of FIG. 6.

[0021] As shown in FIG. 1, an unmanned transport system 100 according to an embodiment of the present invention includes an operation management device 10, a remote operation device 20, an automatic guided vehicle (AGV) 30, and a cart 50. In this unmanned transport system 100, for example, under the operation management control of the operation management device 10, the AGV 30 automatically travels along a planned travel route C1 (see FIG. 6, the same applies hereinafter) in a state of being connected to the cart 50 by a trackless travel control method. Here, for example, as shown in FIG. 6, the planned travel route C1 can be set as a route along which the AGV 30 travels through a start point I1, a right turn point J1, a left turn point K1, a right turn point L1, and a goal point M1, for example.

[0022] The operation management device 10 manages the operation related to the automatic travel of the AGV 30 and controls various operations. The operation management device 10 can be configured by, for example, a microcomputer or a personal computer (PC). The operation management device 10 includes, for example, a control unit 11, a storage unit 16, a communication unit 17, and an operation input unit 18. The remote operation device 20 is configured to be able to remotely operate the AGV 30 via a communication unit 37 described later, for example.

[0023] The AGV 30 can be classified as an automatic transport robot that automatically travels along the planned travel route C1 from the operation management device 10 and automatically transports the transported object (cargo) loaded on the cart 50 from the movement start point (start point I1) to the movement destination (goal point M1). The AGV 30 includes, for example, a control unit 31, a self-position estimation module (self-position acquisition unit) 33, a drive module (drive control unit) 34, an obstacle detection module 35, a connection module (connection mechanism control unit) 43, a communication unit 37, and a storage unit 40, each of which is configured by a device such as the above-described microcomputer.

[0024] In addition, the automated guided vehicle 30 includes an operation input unit 41, a laser sensor (two-dimensional positioning sensor) 36, a plurality of drive motors 38, mecanum wheels (registered trademark) 38a which are a plurality of omnidirectional drive wheels, an obstacle sensor 39, and a coupling mechanism 44. The operation input unit 41 can be constituted by an input device such as a touch panel and a joystick, for example.

[0025] As shown in FIG. 2, the laser sensor 36 constitutes a sensor unit capable of measuring the peripheral environment in a predetermined range extending across both left and right sides including at least the front in the vicinity of the automated guided vehicle 30. Therefore, the laser sensor 36 is disposed, for example, at the front center of the automated guided vehicle 30. Note that the laser sensor 36 may also be disposed at the rear center of the automated guided vehicle 30. In addition, a plurality of obstacle sensors 39 which constitute a sensor unit capable of detecting an object (obstacle) are disposed, for example, two in total, one on the left front side and one on the right rear side of the automated guided vehicle 30.

[0026] A plurality of drive motors 38 are mounted, for example, four in number so as to be individually drivable for mecanum wheels 38a provided in two each on the left and right side surfaces of the automated guided vehicle 30. The mecanum wheel 38a has a plurality of rollers whose rotation axes are inclined with respect to the main axis. Thereby, the automated guided vehicle 30 can slide in any direction of front, rear, left, right, and diagonal without changing the posture (attitude) of its own vehicle, and can also change its posture by a rotation operation or the like. Therefore, as shown in FIG. 7, the automated guided vehicle 30 can move from a start point I1 to a goal point M1 via respective points J1, K1, and L1 without changing its posture on a planned travel route C1 shown in FIG. 6. Note that the number and arrangement mode of the laser sensor 36 and the obstacle sensor 39 are not limited thereto.

[0027] The laser sensor 36 disposed at the front center of the automated guided vehicle 30 irradiates laser light within an irradiation range (scan area) B1 of an angle of 270° from both side surfaces to the front surface of the automated guided vehicle 30, measures the distance to the point where the laser light hits, and can measure the two-dimensional peripheral environment.

[0028] In addition, when a laser sensor 36 is also arranged at the rear center of the automated guided vehicle 30, the laser sensor 36 arranged at the rear center irradiates a laser beam onto a scanning area (not shown) with an angle of 270° from both side surfaces to the rear surface (back surface) of the automated guided vehicle 30, and can measure the distance in the same manner as described above. The laser sensor 36 is configured to be able to freely set setting items (such as the irradiation direction, range, and measurement distance) of the scanning area B1 and the like.

[0029] The obstacle sensor 39 arranged on the front left side of the automated guided vehicle 30 can detect an object within a predetermined range of a detection area A1 with an angle of 270° extending over the left side surface and the front surface of the automated guided vehicle 30, for example. Further, the obstacle sensor 39 arranged on the rear right side of the automated guided vehicle 30 can detect an object within a predetermined range of a detection area A2 with an angle of 270° extending over the right side surface and the back surface of the automated guided vehicle 30, for example.

[0030] Each obstacle sensor 39 is composed of a laser sensor, an ultrasonic sensor, etc., and can be configured to, for example, set not to detect an obstacle under specific conditions, or freely set setting items (such as the detection direction, range, and distance) of each detection area A1, A2. The above specific conditions include, for example, when the automated guided vehicle 30 is connected to the carriage 50 and is located in the vicinity of the carriage 50, and when traveling on the planned travel route C1 and passing through a narrow section where it is clearly unnecessary to detect an object. When each obstacle sensor 39 is located in the vicinity of the carriage 50 as described above, for example, the detection ranges of each detection area A1, A2 may be set as a short-distance setting specialized for a shorter distance than the normal range.

[0031] Note that the laser sensor 36 can detect in a relatively wide range in order to measure the distance to the surrounding walls, fixed objects, etc. of the automated guided vehicle 30 and obtain coordinate information of its own position. In contrast, the obstacle sensor 39 is different in that it only detects the limited detection areas A1, A2 in the vicinity of the automated guided vehicle 30.

[0032] As shown in FIGS. 2, 4, and 5, the connecting mechanism 44 has a rectangular cover 44a that is long in the front-rear direction and is attached to the upper part of the automated guided vehicle 30. The connecting mechanism 44 also has, for example, a plurality (e.g., three or more) of movable connecting pins 45 that are provided at predetermined intervals in the front-rear direction of the automated guided vehicle 30. Each movable connecting pin 45 can be protruded and operated in the vertical direction of the automated guided vehicle 30 by a drive mechanism 44b including an actuator, a seesaw-type lifting mechanism, etc., provided inside the cover 44a whose operation is controlled via the connecting module 43. The contact portion of the movable connecting pin 45 with a connecting hole 58 described later is formed on a tapered surface.

[0033] On the other hand, the carriage 50 is connected to the automated guided vehicle 30 and is moved (towed) to a movement destination (such as the goal point M1) by the automated guided vehicle 30. As shown in FIGS. 3 and 5, the carriage 50 includes, for example, a carriage body 51 on which a conveyed object can be loaded on the upper surface, and a plurality of omnidirectional wheels (registered trademark) 53 that are a plurality of freely rotating driven wheels.

[0034] The carriage 50 also includes at least one (here, two in the front and rear) opening 54 through which the automated guided vehicle 30 can enter on the lower (bottom) side of the carriage body 51, and a connected mechanism 52 that is provided on the bottom side of the carriage body 51 and is connected to the automated guided vehicle 30 via the connecting mechanism 44. The plurality of omnidirectional wheels 53 have a plurality of rollers whose rotation axes are orthogonal to the main axis, and allow the carriage body 51 to move in any direction of front, rear, left, right, and diagonal without changing its posture and to travel while being able to change its posture. The above-described connecting mechanism 44 and the connected mechanism 52 constitute a connecting means.

[0035] The plurality of omnidirectional wheels 53 are attached to four locations in the front and rear of the carriage body 51 via a plurality (here, four) of vertical frames 57a that extend downward from the side of the carriage body 51 and a plurality (here, two) of horizontal frames 57b that extend in the front-rear direction below the vertical frames 57.

[0036] The connected mechanism 52 has a plurality (here, two) of connection holes 58 which are connected parts provided at the bottom of the carriage body 51, and a pair of guide rails 59. The plurality of connection holes 58 are provided at intervals in the front-rear direction of the carriage body 51 that match the arrangement interval of the movable connection pins 45. The pair of guide rails 59 extend from each opening 54 toward the arrangement locations of the plurality of connection holes 58, and are provided so as to narrow along the hole arrangement direction of the plurality of connection holes 58.

[0037] Since the connection mechanism 44 of the automated guided vehicle 30 and the connected mechanism 52 of the carriage 50 are configured as described above, the automated guided vehicle 30 can be connected to the carriage body 51 such that the front laser sensor 36 (or the rear laser sensor 36) is located outside (front side or rear side) of the outer shape region of the carriage 50 including the vertical frame 57a, the horizontal frame 57b, the omnidirectional wheels 53, and the carriage body 51. Also, each obstacle sensor 39 can be arranged at a position where the vertical frame 57a does not interfere.

[0038] That is, the connection position of the automated guided vehicle 30 to the carriage 50 is variably configured by at least two of the plurality of movable connection pins 45 and the two connection holes 58. The automated guided vehicle 30 has, among three or more movable connection pins 45 of the connection mechanism 44, the movable connection pin 45 located at the center of the automated guided vehicle 30 and the movable connection pin 45 located on the rear side of the automated guided vehicle 30 relative to this movable connection pin 45 inserted into the two connection holes 58, so as to be connected to the connected mechanism 52 of the carriage 50 such that the front laser sensor 36 is located outside (the front side protrudes).

[0039] Also, although illustration is omitted, when connected such that the rear laser sensor 36 is located outside (the rear side protrudes), among three or more movable connection pins 45 of the connection mechanism 44, the movable connection pin 45 located at the center and the movable connection pin 45 located on the front side of the automated guided vehicle 30 relative to this movable connection pin 45 are inserted into the two connection holes 58 and connected to the connected mechanism 52.

[0040] Each movable connection pin 45 is configured to be able to protrude from the cover 44a in multiple stages. Therefore, when the automated guided vehicle 30 enters the opening 54 of the carriage 50, each movable connection pin 45 protrudes in the first-stage protruding state at a height where it does not reach the plurality of connection holes 58. At this time, the automated guided vehicle 30 moves while repeatedly acquiring its own position within a range of, for example, ±20 mm and performing position estimation. The standby position of the carriage 50 can be detected by the laser sensor 36 after setting a target frame 59a (see Fig. 5(a)) corresponding to or larger than the above outer shape region in advance in consideration of such position estimation.

[0041] And since the pair of guide rails 59 of the connected mechanism 52 are provided as described above, even if the centers of the carriage 50 and the automated guided vehicle 30 enter the bottom side of the carriage body 51 in a state where they are slightly misaligned with each other, the carriage 50 and the automated guided vehicle 30 move relative to each other while the movable connection pin 45 and the guide rail 59 are in contact.

[0042] As a result, at the final connection location, the centers of the automated guided vehicle 30 and the carriage 50 can be positioned relative to each other. And finally, based on the self-position and map information of the automated guided vehicle 30, the automated guided vehicle 30 moves slightly back and forth to a position where the movable connection pin 45 and the connection hole 58 overlap in the vertical direction. Then, among the respective movable connection pins 45, two predetermined movable connection pins 45 are protruded to the second-stage protruding state at a height where they are inserted into the plurality of connection holes 58, and each movable connection pin 45 is connected to each connection hole 58. Thereby, the automated guided vehicle 30 is connected to the carriage 50 via the connection mechanism 44 and the connected mechanism 52.

[0043] The automated guided vehicle 30 transports the carriage 50 and the transported object to the goal point while being connected to the carriage 50, and then retracts each movable connection pin 45 of the connection mechanism 44 to the initial stage to release the connection, and can return to the start point. Thereby, it becomes possible to move a plurality of carriages 50 to an arbitrary point with one automated guided vehicle 30.

[0044] In the unmanned transport system 100 of this embodiment, since the unmanned transport vehicle 30 is connected to the carriage 50 as described above, for example, even if the transported item exceeds the load capacity of the unmanned transport vehicle 30, as long as it falls within the load capacity range of the carriage, it can be transported. As a result, the limitation on the load capacity of the transported item can be relaxed compared to the case of transporting only by the unmanned transport vehicle 30. In addition, since a plurality of carriages 50 can be moved to arbitrary positions by one unmanned transport vehicle 30, the operation cost of the system can be reduced compared to the conventional one. Furthermore, since the laser sensor 36 is located outside the outer shape area of the carriage 50, unnecessary interference such as in the scan area B1 does not occur, and the reliability of obtaining and estimating the self-position of the unmanned transport vehicle 30 does not decrease.

[0045] Note that the communication unit 17 of the operation management device 10 and the communication unit 37 of the unmanned transport vehicle 30 are each configured to include, for example, a communication module (not shown) capable of performing wireless communication. The communication modules of the respective communication units 17 and 37 include, for example, a communication transceiver antenna, a transmission circuit, a reception circuit, and the like. Each of the communication units 17 and 37 transmits and receives various information and various signals to and from each other according to control commands from the control unit 11 of the operation management device 10 and the control unit 31 of the unmanned transport vehicle 30 through communication via a network 42 such as the Internet and a wireless LAN (Local Area Network). Note that each of the communication units 17 and 37 may be configured to perform direct wireless communication without passing through the network 42.

[0046] In addition, each of the communication units 17 and 37 may be configured to be capable of performing wired communication instead of or together with wireless communication. In this case, the communication modules of the respective communication units 17 and 37 also include an interface such as a wired port, and a wired LAN or the like can also be assumed as the network 42. Note that other devices and apparatuses such as a host device of the unmanned transport system 100, an information terminal device such as a smartphone and a tablet terminal carried by a user may be connected to the network 42.

[0047] The control unit 11 of the operation management device 10 controls the entire operation management device 10 based on, for example, an operation input by the user from the operation input unit 18, and performs various processes related to the travel control of the automated guided vehicle 30. This control unit 11 includes, for example, a map file creation unit (map information creation unit) 12, a route file creation unit (route information creation unit) 13, a travel macro creation unit 14, and a macro setting file creation unit 15.

[0048] In the "map creation mode" described later, the map file creation unit 12 uses the self-position estimation module 33 of the automated guided vehicle 30 to file the map log data created as the automated guided vehicle 30 travels within the drivable area, and creates a map file (map information). The drivable area means the area where the automated guided vehicle 30 can travel excluding fixed objects and the like. This map file creation unit 12, in cooperation with the self-position estimation module 33, realizes a SLAM (Simultaneous Localization and Mapping) function.

[0049] In the "coordinate data acquisition mode" described later, the route file creation unit 13 actually moves the automated guided vehicle 30 with the remote operation device 20, and creates a route file (route information) of the planned travel route C1 including various information such as various work points, passing points, travel speed (moving speed) between points, settings of the laser sensor 36, and settings of the obstacle sensor 39. The route file may include the arrival route from the self-position of the automated guided vehicle 30 to the standby position of the carriage 50.

[0050] When there is, for example, some obstacle (not shown) on the planned travel route C1 created by the route file creation unit 13, the travel macro creation unit 14 creates a travel macro for generating an avoidance route by which the automated guided vehicle 30 can avoid the obstacle. Although not shown in the figure, the avoidance route can be represented by a travel route that starts from a predetermined starting point of a coordinate system having orthogonal two-dimensional defined coordinate axes, passes through a plurality of passing points different from the starting point, and automatically travels toward a predetermined end point different from the passing points.

[0051] Note that the travel macro creation unit 14 may, for example, create in advance an avoidance route in which the coordinate information of at least the starting point and a plurality of passing points is set based on the position information of the unmanned carrier 30 on which travel and stop operations are performed by remote operation from the remote operation device 20 (for example, the position information calculated by the self-position estimation module 33 described later based on the detection signal of the laser sensor 36). Regarding the end point, it is possible to calculate it from the coordinate information of the starting point and the final passing point, but it may also be set from the position information of the unmanned carrier 30.

[0052] The macro setting file creation unit 15 creates a macro setting file including setting information on the standby time (such as the detection continuation time of an obstacle) until shifting to the avoidance behavior by the execution of the travel macro (for example, until rewriting the coordinate information of the starting point), and setting information on the allowable number of times of re-avoidance processing (the number of times of detecting an obstacle) by, for example, repeatedly executing the travel macro.

[0053] The storage unit 16 stores the above-described map file, route file, travel macro, and macro setting file, etc. Note that the information of these various files and travel macro, etc. may be input from an external device, for example, and may also be stored in the storage unit 40 of the unmanned carrier 30.

[0054] The control unit 31 of the unmanned carrier 30 controls the entire unmanned carrier 30 based on, for example, the operation input by the user from the operation input unit 41, and performs various processes related to automatic travel along the planned travel route C1 (including the arrival route) and the avoidance route from the operation management device 10, for example. This control unit 31 includes, for example, a travel control unit 32.

[0055] The travel control unit 32 causes the automated guided vehicle 30 to travel along the planned travel route C1 specified by the route file created by the route file creation unit 13. Further, when the starting point coordinate information is rewritten by the execution of the travel macro created by the travel macro creation unit 14, or when the number of re-avoidance processes exceeds the allowable number, for example, the travel control unit 32 causes the automated guided vehicle 30 on the avoidance route to return to the planned travel route indicating the starting point of the avoidance route where the coordinate information was first rewritten, and causes the automated guided vehicle 30 to travel along the return route.

[0056] When the automated guided vehicle 30 travels, the travel control unit 32 outputs a control command to the drive module 34 and controls the operations of the plurality of drive motors 38 via the drive module 34. Thereby, the travel control unit 32 individually drives the plurality of mecanum wheels 38a to freely move the automated guided vehicle 30 and change its posture for traveling.

[0057] The self-position estimation module 33 can constitute a laser positioning system that acquires coordinate information of the self-position of the automated guided vehicle 30 based on, for example, depth shape data of a scene or the like obtained by measuring scattered light of laser light irradiated by a front laser sensor 36 and a map file. Examples of the laser positioning system include a positioning system using LiDAR (Light Detection And Ranging). The self-position estimation module 33 collates the coordinate information (coordinate axes) of the acquired map file with the coordinate axes of the automated guided vehicle 30 to identify the initial position, and then estimates the self-position of the automated guided vehicle 30 by calculation to acquire the coordinate information.

[0058] The obstacle detection module 35 detects, as obstacles, objects existing within the detection areas A1 and A2 around the automated guided vehicle 30 detected by a plurality of obstacle sensors 39. The obstacle detection module 35 is configured to be able to detect whether an object detected by the obstacle sensor 39 is an obstacle by appropriately referring to, for example, a map file stored in the storage unit 40, a route file, coordinate information of the self-position of the automated guided vehicle 30 acquired by the self-position estimation module 33, coordinate information of the standby position of the carriage 50, and the like. When the obstacle detection module 35 detects an object within the detection areas A1 and A2 as an obstacle, the self-position estimation module 33 is configured to be able to transmit the coordinate information of the self-position at the detection point of the detected obstacle to the operation management device 10 and the control unit 31.

[0059] Note that, although not shown in the figure, the automated guided vehicle 30 may be equipped with a bumper sensor for detecting a collision with an object in addition to the laser sensor 36 and the obstacle sensors 39 described above. Further, the automated guided vehicle 30 may be equipped with notification means such as an alarm buzzer, a rotating light, and a blinker, and switch means such as a power switch, a driving mode (automatic driving mode and manual driving mode by remote operation) changeover switch, and a mode setting changeover switch. The notification means is controlled by the control unit 31, and the switch means can be used for inputting operations to the control unit 31 together with the operation input unit 41.

[0060] Further, a remote operation device 20 (remote control) capable of remotely operating the automated guided vehicle 30 is configured to include, for example, display means such as a liquid crystal display and an organic EL display, input means such as a touch panel, operation buttons, and an operation stick. Note that the storage units 16 and 40 of the operation management device 10 and the automated guided vehicle 30 store various information (data) and various files so as to be readable and writable temporarily or permanently.

[0061] [Operation Example of Automated Guided Vehicle System] Next, an operation example including the connection process of the automated guided vehicle 30 and the carriage 50 of the automated guided vehicle system 100 will be described. The figure is a flowchart showing the operation process of an operation example including the connection process of the automated guided vehicle and the carriage in the automated guided vehicle system.

[0062] Prior to the operation of the unmanned transport system 100, the travel macro for controlling the travel of the unmanned transport vehicle 30, the map file, the route file, the macro setting file, and their creation methods will be described. Here, the user of the unmanned transport vehicle 30 operates the operation input units 18 and 41 and the remote operation device 20 to switch the operation mode to the manual travel mode and operate the unmanned transport vehicle 30.

[0063] Thereby, for example, three modes, namely, the "avoidance operation teaching mode" for creating a travel macro, the "map creation mode" for creating a map file, and the "coordinate information acquisition mode" for creating a route file, are executed. Note that, unless otherwise specified, the acquisition of the coordinate information of the unmanned transport vehicle 30 and the like are performed by the self-position estimation module 33 when the user presses the operation buttons of the remote operation device 20. Also, the connection and disconnection of the unmanned transport vehicle 30 and the carriage 50 and the like are performed by the connection module 43 via the control unit 31 when the user presses the operation buttons of the remote operation device 20.

[0064] First, the "avoidance operation teaching mode" for creating a travel macro will be described. The travel macro is created by changing the mode setting switch to the avoidance operation teaching mode. In the avoidance operation teaching mode, first, with the unmanned transport vehicle 30 stopped, the coordinate information of the start point of the travel macro is acquired. Next, the unmanned transport vehicle 30 is moved along a desired avoidance route by the remote operation device 20, and the coordinate information of the passing point of the travel macro to be passed through is acquired. These coordinate information are defined as the coordinate information in the defined coordinate system of the travel macro.

[0065] In the avoidance motion teaching mode, for example, the automated guided vehicle 30 operates by sliding and moving in the left - right direction without changing its posture. Various settings such as the traveling speed at this time and the sensing ranges of the respective sensors 36, 39 can be arbitrarily set by the user for each passing point, for example. The coordinate information of the avoidance path including the start point and passing points of the above - mentioned traveling macro can be freely set in this mode, and the coordinate values can be appropriately set in consideration of the size and shape of the assumed obstacles, etc.

[0066] When the acquisition of all coordinate information for specifying the avoidance path, the settings of the respective sensors 36, 39, and the settings of the moving direction, traveling speed, etc. between each point are completed, these data are sent from the automated guided vehicle 30 to the operation management device 10. Then, in the traveling macro creation unit 14 of the operation management device 10, a traveling macro is created based on the sent data and stored (remembered) in the storage unit 16.

[0067] Next, the "map creation mode" for creating a map file will be described. The map file is created by changing the mode - setting changeover switch of the automated guided vehicle 30 to the map creation mode and moving the automated guided vehicle 30 with the remote operation device 20 while using the above - mentioned SLAM function.

[0068] That is, in the map creation mode, the automated guided vehicle 30 is moved within the range where a map is to be created. The distance between fixed objects such as walls and carts 50, etc. existing in the front 270° field - of - view range as described above is measured by the laser sensor 36 arranged on the front side of the automated guided vehicle 30. The measurement result of this distance (front depth - shape data) changes in time series as the automated guided vehicle 30 moves.

[0069] This time - series - changing front depth - shape data (positioning data of the surrounding environment) is acquired as map log data and sent to the operation management device 10. In the operation management device 10, the map file creation unit 12 files the map log data to create a map file. Then, the created map file is stored in the storage unit 16 of the operation management device 10.

[0070] Next, the "coordinate information acquisition mode" for creating a path file will be described. First, change the mode setting changeover switch of the automated guided vehicle 30 to the coordinate information acquisition mode. The operation management device 10 transfers the map file stored in the storage unit 16 to the automated guided vehicle 30. The automated guided vehicle 30 executes initial position identification for aligning the coordinate axes of the map file with the coordinate axes of the automated guided vehicle 30 by the self-position estimation module 33.

[0071] After this initial position identification, use the remote operation device 20 to move the automated guided vehicle 30 along the planned travel route (including the arrival route) where it is desired to move. Then, acquire the coordinate information of any passing points on the planned travel route and the standby position of the carriage 50 by operating the remote operation device 20. That is, in the coordinate information acquisition mode, while moving the automated guided vehicle 30, the coordinate information of the coordinates (passing points) through which the automated guided vehicle 30 is to pass and the coordinates (work points including the standby position of the carriage 50) at which it is to stop during actual operation is acquired by the laser positioning system of the self-position estimation module 33. Therefore, this planned travel route may include the arrival route from the self-position of the automated guided vehicle 30 to the standby position of the carriage 50, but the coordinate information may also be acquired and created as described above for the arrival route as a separate planned travel route.

[0072] Then, when the coordinate information of all the points (passing points and work points) used during actual operation has been acquired by operating the remote operation device 20 as described above, the data of the coordinate information is sent from the automated guided vehicle 30 to the operation management device 10. The sent data of the coordinate information is stored in the storage unit 16 and input to the path file creation unit 13.

[0073] The path file creation unit 13 creates a path file of the planned travel route C1 including various information such as the above-described various work points, passing points, travel speed between points, travel method between points (forward movement, backward movement, slide movement, etc.), and settings of the laser sensor 36 and the obstacle sensor 39. This path file also includes setting information on whether to execute a travel macro when the automated guided vehicle 30 detects an obstacle.

[0074] Once such a route file is created, the macro setting file creation unit 15 creates a macro setting file including, for example, setting information on the waiting time until shifting to the avoidance behavior by the execution of the driving macro and setting information on the allowable number of times of re-avoidance processing during repeated execution, according to the settings by the user's operation input. The created macro setting file is stored in the storage unit 16.

[0075] After the map file, the route file, and the macro setting file are thus created, the automatic driving setup of the automated guided vehicle 30 is executed. At the time of setup, first, the route file and the macro setting file are transferred from the operation management device 10 to the automated guided vehicle 30 and stored in the storage unit 40. The control unit 31 of the automated guided vehicle 30 executes the automatic driving setup of the automated guided vehicle 30 using the stored map file and route file according to the operation input at the operation input unit 41.

[0076] Then, when the automatic driving setup is completed and the operation management device 10 issues an instruction for automatic driving, an instruction for executing operation control is transmitted from the control unit 11 of the operation management device 10 to the control unit 31 of the automated guided vehicle 30, and the automatic driving along the planned travel route C1 of the automated guided vehicle 30 is started under the control of the control unit 31. While automatically driving, the automated guided vehicle 30 can perform automatic driving while monitoring whether there are any obstacles in the detection areas A1 and A2 around the vehicle by the obstacle sensor 39.

[0077] When there is an obstacle on the route while the automated guided vehicle 30 is traveling along the planned travel route C1, for example, it temporarily stops before the detection point where the obstacle enters the detection area A1 of the obstacle sensor 39. The control unit 31 refers to the setting of the execution of the driving macro in the route file stored in the storage unit 40. If the setting is to execute the driving macro, the control unit 31 reads the macro setting file stored in the storage unit 40.

[0078] The control unit 31 waits for the above standby time set in the macro setting file. If the obstacle sensor 39 detects an obstacle at that time, it instructs the operation management device 10 to execute an avoidance operation according to the travel macro. At this time, the control unit 31 acquires the coordinates of the current position (the start position of the travel macro) on the planned travel route C1 from the self-position estimation module 33. The control unit 31 transmits the acquired coordinate information to the operation management device 10.

[0079] Upon receiving the instruction to execute the travel macro, the operation management device 10 uses the coordinates of the start position of the received travel macro in the control unit 11 to execute the travel macro. After that, the travel control unit 32 executes the avoidance operation according to the travel macro, and the automated guided vehicle 30 travels along an avoidance route passing through the starting point, a plurality of passing points, and the end point. Thereby, it returns to the planned travel route C1 that should originally be traveled and travels toward the goal point M1. At the standby position of the carriage 50 on the planned travel route C1, the automated guided vehicle 30 is connected to the carriage 50 and travels together with the carriage 50 to the work point or the goal point M1. When it arrives at the target work point or the goal point M1, the automated guided vehicle 30 is disconnected from the carriage 50.

[0080] [Connection operation process] Hereinafter, in the automated guided vehicle 30 that travels as described above, for example, the operation process of the automated guided vehicle 30 including the connection at the standby position of the carriage 50 on the planned travel route C1 and the disconnection from the carriage 50 at the goal point M1 will be described. Since the processing entities of the operation process are the operation management device 10 and the control units 11 and 31 of the automated guided vehicle 30 and each unit 12 to 15, 32, etc. included therein, the description thereof will be omitted unless otherwise specified. FIG. 8 is a flowchart showing the operation process including the connection operation of the automated guided vehicle.

[0081] As shown in FIG. 8, first, a map file based on the depth shape data including the standby position of the carriage 50 (the position of the connected mechanism 52) is created in the above-described "map creation mode" (step S10), and the planned travel route C1 including the start point I1, the goal point M1, the arrival route, etc. of the automated guided vehicle 30 is created in the "coordinate information acquisition mode" (step S11).

[0082] When the automated guided vehicle 30 receives an instruction for autonomous driving from the operation management device 10, it starts autonomous driving along the planned travel route C1 under the control of the control unit 31 (step S12). During autonomous driving, for example, in the automated guided vehicle system 100, while the automated guided vehicle 30 is traveling on the arrival route, the map file including the coordinate information of the self-position of the automated guided vehicle 30 is compared with the map file stored in the storage unit 40 at every predetermined interpolation period. Then, the deviation of the self-position and attitude of the automated guided vehicle 30 on the arrival route is detected. In this way, the detected deviation of the self-position and attitude is repeatedly corrected according to the arrival route (self-position correction) until at least the standby position of the carriage 50 is reached.

[0083] When the automated guided vehicle 30 reaches the standby position of the carriage 50, for example, the remote operation device 20 is operated to raise and project a plurality of predetermined movable coupling pins 45 according to the coupling mode of the automated guided vehicle 30 (whether the front side or the rear side comes out) under the control of the coupling module 43, and the automated guided vehicle 30 is coupled to the carriage 50 (step S13).

[0084] Then, the automated guided vehicle 30 is continuously automatically driven together with the carriage 50 to an arbitrary separation position (work point, goal point M1, etc.) (step S14). During autonomous driving after coupling, for example, the above self-position correction is not performed. When the separation position is reached, for example, the remote operation device 20 is operated to lower the predetermined movable coupling pin 45 projected by the control of the coupling module 43, and the automated guided vehicle 30 is separated from the carriage (step S15).

[0085] Thereafter, the automated guided vehicle 30 is, for example, automatically driven to the goal point M1, returned to the start point I1, or returned to the original standby position of the carriage 50, etc., to end a series of processes according to this flowchart. When a plurality of carriages 50 are prepared, the above-described processes are repeated each time to move the carriage 50 by the automated guided vehicle 30. Therefore, according to the automated guided vehicle system 100 of the present embodiment, it is possible to operate while suppressing costs while relaxing the limit on the loadable weight of the conveyed object.

[0086] As described above, the embodiments of the present invention have been explained. However, these embodiments are presented as examples and are not intended to limit the scope of the invention. This novel embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalent scope thereof.

[0087] For example, in the above embodiment, the unmanned transport system 100 in which the unmanned transport vehicle 30 automatically travels under the operation control of the operation management device 10 to move the carriage 50 has been described. On the contrary, for example, by mounting the functions of each part such as the control unit 11 of the operation management device 10 on the unmanned transport vehicle 30 itself, the unmanned transport vehicle 30 can automatically travel alone to move the carriage 50, and may be configured to perform unmanned transport.

[0088] Also, in the above embodiment, for example, the mode in which the unmanned transport vehicle 30 operates the movable connection pin 45 of the connection mechanism 44 and connects to the connection hole 58 of the connected mechanism 52 of the carriage 50 has been described as an example. On the contrary, a configuration in which the connected mechanism 52 is provided on the unmanned transport vehicle 30 and the connection mechanism 44 is provided on the carriage 50 may be used. The connection mode of the unmanned transport vehicle 30 and the carriage 50 is not limited to these, and various modes can be adopted as long as the structure is such that the carriage 50 can be moved (pulled) by the unmanned transport vehicle 30 and connected.

[0089] Also, in the above embodiment, the example in which the unmanned transport vehicle 30 connected to the carriage 50 travels on the planned travel route C1 by automatic driving has been described. However, without performing automatic driving, for example, the unmanned transport vehicle 30 is remotely operated by the remote operation device 20, traveled to the standby position of the carriage 50 and connected, traveled to the movement destination, and then the connection is released, and manual driving may be performed to perform unmanned transport.

Explanation of Reference Numerals

[0090] 10 Operation management device 11, 31 Control Unit 12 Map File Creation Unit 13 Route File Creation Unit 14 Travel Macro Creation Unit 15 Macro Setting File Creation Unit 16, 40 Memory Unit 17, 37 Communication Unit 20 Remote Control Device 30 Automated Guided Vehicle (AGV) 32 Travel Control Unit 33 Self-Position Estimation Module 34 Drive Module 35 Obstacle Detection Module 36 Laser Sensor 38 Drive Motor 38a Mecanum Wheel 39 Obstacle Sensor 42 Network 43 Connection Module 44 Connection Mechanism 45 Movable Connection Pin 50 Cart 51 Cart Body 52 Connected Part 53 Omni Wheel 54 Opening 59 Guide Rail 100 Automated Guided Vehicle System

Claims

1. An automated guided vehicle, a cart having a cart body capable of loading a load, and a cart capable of accommodating the automated guided vehicle below the cart body, connecting means for connecting the automated guided vehicle and the cart, a travel control unit for controlling the travel of the automated guided vehicle, An automated guided vehicle system comprising: The automated guided vehicle, a plurality of omnidirectional drive wheels capable of moving the automated guided vehicle in any direction of front, rear, left, right, and diagonal without changing its posture and operating to change its posture, a drive control unit for controlling the operation of the plurality of omnidirectional drive wheels, Comprising, The cart, a plurality of omnidirectional driven wheels capable of moving the cart body in any direction of front, rear, left, right, and diagonal without changing its posture and traveling to change its posture, at least one opening through which the automated guided vehicle can enter below the cart body, Comprising, The connecting means connects the automated guided vehicle and the cart so that their postures are maintained, Automated guided vehicle system.

2. The plurality of omnidirectional drive wheels are Mecanum wheels (registered trademark) having a plurality of rollers whose rotation axes are inclined with respect to the main axle, The plurality of omnidirectional driven wheels are omni wheels (registered trademark) having a plurality of rollers whose rotation axes are orthogonal to the main axle, The automated guided vehicle system according to claim 1.

3. The automated guided vehicle includes a sensor unit capable of measuring the surrounding environment in a predetermined range extending across both left and right sides including at least the front around the automated guided vehicle, The connecting means connects the automated guided vehicle to the cart body so that the sensor unit is located outside the outer shape area of the cart, The automated guided vehicle system according to claim 1.

4. The connecting means, a connecting mechanism provided on the upper part of the automated guided vehicle and having a plurality of movable connecting parts provided at a predetermined interval in the front-rear direction of the automated guided vehicle, a plurality of connected parts provided on the cart body and provided at an interval corresponding to the arrangement interval of the movable connecting parts, At least two of the plurality of movable connecting parts and at least two of the plurality of connected parts can be connected so as to be able to vary the connecting position of the automated guided vehicle with respect to the cart body, The automated guided vehicle system according to claim 3.

5. The automated guided vehicle system, a map information creation unit for creating map information including coordinate information of the standby position of the cart in the travelable area of the automated guided vehicle, a storage unit for storing the map information, A route information creation unit that creates route information indicating a planned travel route of the automated guided vehicle defined by coordinate information based on the map information; A coupling mechanism control unit that controls the operation of the coupling mechanism of the automated guided vehicle; Comprising: The route information includes a route from the self-position of the automated guided vehicle to the standby position of the carriage; When the automated guided vehicle reaches the standby position of the carriage, the coupling mechanism control unit operates the coupling mechanism and couples the coupling mechanism to the connected portion of the carriage body to couple the automated guided vehicle to the carriage. The automated guided vehicle system according to claim 4.

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