Automatic conveyance robot for conveying object to be conveyed, truck, conveyance system, and method for conveying object to be conveyed

Abstract

To provide an automatic conveyance robot capable of safely and efficiently conveying an object to be conveyed, a truck, and an automatic conveyance system including the automatic conveyance robot and the truck.SOLUTION: This automatic conveyance robot comprises: a support table configured to lift a truck for mounting an object to be conveyed. A contour of a planar shape of the support table includes a straight line and a curve connected to both ends of the straight line. The support table is disposed such that the straight line intersects the advancing direction of the automatic conveyance robot and the straight line is positioned at the forefront in the advancing direction.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] One embodiment of the present invention relates to an automatic transport robot and a cart for transporting an object, a transport system including the automatic transport robot and the cart, and a transport method for the object using the transport system. [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 travel automatically while towing or lifting the cart. Transporting materials while the automatic transport robot travels automatically can save human resources for transporting materials. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-138055 A [Patent Document 2] JP 2023-136060 A [Patent Document 3] JP 2022-149790 A Summary of the Invention [Problem to be solved by the invention]

[0004] When the automated transport robot enters under the cart and stops at the desired position, depending on the angle at which the automated transport robot enters, it may not be able to stop at the appropriate position and will need to readjust its position. At this time, depending on the internal structure of the cart that holds the transport robot underneath, there is a risk that the support table of the transport robot may get caught and become stuck. This risk increases especially as the space under the cart is narrowed.

[0005] An object of one embodiment of the present invention is to provide an automatic transport robot and a cart having a novel structure, and an automatic transport system including the automatic transport robot and the cart. Alternatively, an object of one embodiment of the present invention is to provide an automatic transport robot and a cart that can transport an object to be transported safely and efficiently, and an automatic transport system including the automatic transport robot and the cart. Alternatively, an object of one embodiment of the present invention is to provide a method for transporting an object to be transported using the transport system. [Means for solving the problem]

[0006] One embodiment of the present invention is an automatic transfer robot. The automatic transfer robot includes a support table configured to lift a cart on which a transfer target is to be placed. The outline of the planar shape of the support table includes a straight line and curved lines connected to both ends of the straight line. The support table is disposed so that the straight line intersects with the traveling direction of the automatic transfer robot and is located at the forefront in the traveling direction.

[0007] One embodiment of the present invention is a cart. The cart includes a top plate having a rectangular planar shape, a plurality of casters under the top plate, and at least one stop plate under the top plate. The at least one stop plate is arranged such that a normal line of the at least one stop plate is parallel to a main surface of the top plate and a longitudinal direction of the at least one stop plate is parallel to one side of the rectangle.

[0008] One embodiment of the present invention is a transport system for transporting an object. The transport system includes a communication terminal, an automatic transport robot communicatively connected to the communication terminal, and a dolly configured to be transported by the automatic transport robot. The automatic transport robot includes a support table configured to lift the dolly on which the object to be transported is mounted. The outline of the planar shape of the support table includes a straight line and curved lines connected to both ends of the straight line. The support table is disposed so that the straight line intersects with the traveling direction of the automatic transport robot. The dolly includes a top plate having a rectangular planar shape, a plurality of casters below the top plate, and at least one stop plate below the top plate. The at least one stop plate is disposed so that a normal line is parallel to a main surface of the top plate and a longitudinal direction is parallel to one side of the rectangle. At least one of the automatic transport robot and the dolly has a pair of contact sensors. When the automatic transport robot has a pair of contact sensors, the support table has a flat surface whose normal line is parallel to the traveling direction, and the pair of contact sensors are provided on the flat surface. When the dolly has a pair of contact sensors, the pair of sensors are provided on the main surface of the stop plate.

[0009] One embodiment of the present invention is a method for transporting a dolly configured to mount an object to be transported by an automatic transport robot. The automatic transport robot has a support table configured to lift the dolly for mounting the object to be transported. The outline of the planar shape of the support table includes a straight line and a curved line connected to both ends of the straight line. The support table is arranged so that the straight line intersects with the traveling direction of the automatic transport robot. The dolly includes a top plate having a rectangular planar shape, a plurality of casters below the top plate, and at least one stop plate below the top plate. The at least one stop plate is arranged so that a normal line is parallel to a main surface of the top plate and a longitudinal direction is parallel to one side of the rectangle. At least one of the automatic transport robot and the dolly further has a pair of contact sensors. When the automatic transport robot has a pair of contact sensors, the support table has a flat surface whose normal line is parallel to the traveling direction, and the pair of contact sensors are provided on the flat surface. When the dolly has a pair of contact sensors, the pair of sensors are provided on the main surface of the stop plate. The above method includes positioning the automatic transport robot under the cart with the support table not in contact with at least one stopping plate, raising the support table to a height where the support table is in contact with the stopping plate but not in contact with the top plate, and advancing the automatic transport robot until both of the pair of contact sensors come into contact with at least one stopping plate if the automatic transport robot has a pair of contact sensors, or come into contact with the support table if the cart has a pair of contact sensors. Effect of the Invention

[0010] When the automatic transport robot enters under the cart at an inappropriate angle and the relative position between the automatic transport robot and the cart is readjusted, the part of the support table of the automatic transport robot that is not in the forward direction is configured as a curve, which makes it possible to prevent the automatic transport robot from getting caught on the internal structure under the cart and becoming stuck. Meanwhile, since the straight line of the support table is located at the forefront in the forward direction, the automatic transport robot can be positioned in an appropriate position relative to the cart. [Brief description of the drawings]

[0011] [Figure 1] 1 is a conceptual diagram of a transport system according to an embodiment of the present invention. [Diagram 2] 1 is a schematic perspective view of an automatic transfer robot according to an embodiment of the present invention; [Figure 3A] 1 is a schematic side view of an automatic transfer robot according to an embodiment of the present invention; [Figure 3B] 1 is a schematic top view of an automatic transfer robot according to an embodiment of the present invention; [Figure 4] FIG. 1 is a functional block diagram of an automatic transfer robot according to an embodiment of the present invention. [Figure 5A] FIG. 1 is a schematic perspective view of a dolly according to an embodiment of the present invention. [Figure 5B] FIG. 1 is a schematic perspective view of a dolly according to an embodiment of the present invention. [Figure 6A] FIG. 2 is a schematic diagram showing a relationship between an automatic transport robot and a cart according to an embodiment of the present invention. [Figure 6B] FIG. 2 is a functional block diagram of a control device for a bogie according to an embodiment of the present invention. [Figure 7A] 1A to 1C are schematic top views illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 7B] 1 is a schematic side view illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 8A] 1A to 1C are schematic top views illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 8B] 1 is a schematic side view illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 9A] 1A to 1C are schematic top views illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 9B] 1A to 1C are schematic top views illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 10A] 1 is a schematic side view illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 10B] 1 is a schematic side view illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 10C] 1A to 1C are schematic top views illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 11A] 1A to 1C are schematic top views illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 11B] 1A to 1C are schematic top views illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 11C] 1A to 1C are schematic top views illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 12] 1 is a schematic side view illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 13] 1A to 1C are schematic top views illustrating a method for transporting an object according to an embodiment of the present invention. [Figure 14] 1 is a schematic perspective view of an automatic transfer robot according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] 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 the present invention should not be interpreted as being limited to the description of the embodiments exemplified below.

[0013] 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.

[0014] First Embodiment In this embodiment, a transport system for transporting an object according to one embodiment of the present invention and a transport method for the object using this transport system will be described.

[0015] 1.Transportation system This transport system is a system for automatically transporting a cart on which an object to be transported is mounted or which can be mounted with an object to be transported, using an automatic transport robot. The automatic transport robot is configured to move on a floor by itself with the cart lifted. A typical application example is a case where a cart on which building or construction materials are mounted as objects to be transported is transported within a structure such as a building or a factory. The structure may be a structure that has already been completed or a structure under construction. For example, by utilizing the automatic transport robot during a time period when no work is being performed by workers or when there are few workers, it is possible to automatically transport the necessary materials to the required location before the workers start or begin to work in earnest. This increases the work efficiency.

[0016] 1, this transfer system 100 includes a communication terminal 102, an automatic transfer robot 110, and a cart 150. The automatic transfer robot 110 and the cart 150 are wirelessly connected to the communication terminal 102. The wireless communication connection is established via a network 104. The network 104 may be a wide area network such as the Internet, or an internal network such as a LAN (Local Area Network). The configuration of these components will be described in detail below.

[0017] 1-1.Communication terminals The communication terminal 102 is a computing device having a calculation function and a communication function, and may be, for example, a stationary personal computer or server, or a portable communication terminal such as a tablet or a smartphone.

[0018] The communication terminal 102 is loaded with a program for operating the transfer system 100 to control the automatic transfer robot 110, or is configured to operate the program stored on the web. The communication terminal 102 is configured to transmit the positions or coordinates of the automatic transfer robot 110 and the dolly 150 on the floor to the automatic transfer robot 110 according to the instructions of the program. This allows the control unit 114 of the automatic transfer robot 110, which will be described later, to grasp its own position and the position of the dolly 150. The communication terminal 102 is also configured to transmit the position or coordinates of the transfer destination (i.e., the destination point) of the dolly 150 to the automatic transfer robot 110 according to the instructions of the program. Therefore, the automatic transfer robot 110 can automatically transfer the corresponding dolly 150 to the destination point. The program may be configured to transmit not only the above-mentioned information but also the transfer start date and time of the automatic transfer robot 110, the transfer route, the moving route after transfer, the orientation of the dolly 150 on the floor, and the like to the automatic transfer robot 110.

[0019] Although details will be described later, the communication terminal 102 is further configured to receive a signal from a control device provided on the cart 150. The signal from this control device is a signal including a voltage or current value obtained from a contact sensor described later (hereinafter, a sensor signal). The communication terminal 102 is further configured to transmit a command corresponding to the sensor signal to the automatic transfer robot 110 according to a program command upon receiving the sensor signal from the control device of the cart 150.

[0020] 1-2.Automatic transport robot The automatic transfer robot 110 is a robot that can lift the cart 150 and travel automatically in this state. The automatic transfer robot 110 may be configured to detect guidelines that are set up in advance on the floor and travel independently while following the guidelines, or may be configured to travel independently according to a transfer route transmitted from the communication terminal 102 without relying on the guidelines.

[0021] 2, 3A, and 3B are schematic perspective views, side views, and top views of the automatic transfer robot 110, respectively, and FIG. 4 is a functional block diagram. As shown in these figures, the automatic transfer robot 110 includes a housing 112, a lifting unit 120, and a drive mechanism 130. The automatic transfer robot 110 may further include a distance measuring sensor 140, a tracking sensor 142, and the like. In addition to a control unit 114 that controls the automatic transfer robot 110, a memory unit 116, a transmission / reception unit 144, a battery 146, and the like that are controlled by the control unit 114 are arranged within the housing 112.

[0022] (1) Control section The control unit 114 includes a processor such as a central processing unit (CPU), and controls the storage unit 116, the lifting unit 120, the drive mechanism 130, the transmitting / receiving unit 144, the battery 146, and the like, thereby controlling the entire automatic transfer robot 110. The control unit 114 may be configured as a so-called microcomputer. The control unit 114 operates according to commands of a control program for controlling the automatic transfer robot 110.

[0023] (2) Storage section The storage unit 116 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 116 may be a combination of a non-volatile memory and a volatile memory. The storage unit 116 is configured to store the transport route transmitted from the communication terminal 102 or the guideline to be used. The storage unit 116 may be configured to store its own position and the destination of the transport object as numerical values ​​on the coordinates on the floor. The control program may be incorporated in the control unit 114 or may be stored in the storage unit 116.

[0024] (3) Driving mechanism The drive mechanism 130 is a module that provides the automatic transfer robot 110 with a traveling function, and includes, in the housing 112, a pair of crawlers 132, drive wheels 134, and a motor (not shown) that rotates the drive wheels 134 with power supplied from a battery 146. Although not shown, the drive mechanism 130 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 132. Note that, in the example shown in Figs. 2 to 3B, the automatic transfer robot 110 travels using the crawlers 132, but instead of the crawlers 132, a plurality of wheels that directly contact the floor on which the automatic transfer robot 110 travels, a motor that rotates the plurality of wheels, and the like may be used as the drive mechanism 130.

[0025] (4) Lifting unit Lifting unit 120 is a mechanism that moves up and down according to commands from control unit 114, and lifts cart 150 on which an object to be transported is placed. Lifting unit 120 includes a support table 122 that functions as a support member for supporting the cart, and one or more pillars 124 for raising and lowering support table 122. Pillars 124 are configured to move up and down by motors, hydraulic cylinders, or the like that operate upon receiving power supply from battery 146 (see the white arrow in FIG. 3A).

[0026] The support table 122 overlaps with the pillar 124 in the axial direction of the pillar 124 and is fixed to the upper part of the pillar 124. Here, as shown in FIG. 2 and FIG. 3B, the support table 122 has a shape obtained by cutting a disk along a plane parallel to its normal line. More specifically, the planar shape of the support table 122, that is, the shape of the support table 122 in a top view when the automatic transfer robot 110 is placed on the floor, is set so that its contour substantially includes one straight line and a curved line connecting both ends of the straight line. The contour of the planar shape may be composed of one straight line and one curved line. This curved line is preferably a part of a circumference, that is, an arc. Therefore, the support table 122 has a flat side surface 122a parallel to the normal line of the main surface (the surface having the largest area, the same applies below) of the support table 122. This side surface 122a (i.e., the above-mentioned straight line) is located at the forefront of the support table 122 in the traveling direction of the automatic transfer robot 110.

[0027] The support table 122 is disposed so that the above-mentioned straight line intersects with the direction of travel (indicated by the white arrow in FIG. 3B) when the automatic transfer robot moves straight (FIG. 3B). Therefore, the automatic transfer robot 110 moves back and forth with the side surface 122a perpendicular to the direction of travel.

[0028] (5) Transmitter / receiver The transmitting / receiving unit 144 is a module responsible for communication with the communication terminal 102, and is configured to receive various commands and information transmitted from the communication terminal 102 and transmit them to the control unit 114. The transmitting / receiving unit 144 may be configured to cooperate with the control unit 114 and transmit position information including the position of the automatic transfer robot 110 estimated by the control unit 114 to the communication terminal 102. By providing the transmitting / receiving unit 144, the automatic transfer robot 110 can be remotely controlled via the communication terminal 102, so that, for example, the automatic transfer robot 110 can be made to travel to an arbitrary location using the communication terminal 102.

[0029] (6) Distance sensor The distance measuring sensor 140, which is an arbitrary configuration, is configured to detect obstacles present in the traveling direction of the automatic transport robot 110, and structures such as walls and pillars. There is no limitation on the distance measuring mechanism of the distance measuring sensor 140. For example, the distance measuring sensor 140 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 110, and detect the electromagnetic waves or ultrasonic waves reflected on the obstacle. By utilizing the time it takes for the electromagnetic waves or ultrasonic waves to be emitted and the electromagnetic waves or ultrasonic waves reflected on the obstacle to be detected by the distance measuring sensor 140, it is possible to measure the presence or absence of an obstacle and the distance to the obstacle. Alternatively, the distance measuring sensor 140 may be configured to calculate the distance based on the phase difference between the electromagnetic waves emitted after being widened and modulated and the electromagnetic waves reflected on the obstacle.

[0030] When an obstacle is detected within the detection range, the control unit 114 stops the drive mechanism 130 in accordance with an instruction from the control program, and stops the automatic transfer robot 110. This function prevents the automatic transfer robot 110, the cart 150, or the object to be transferred mounted on the cart 150 from coming into contact with the obstacle, ensuring the safety of the work and preventing damage to the automatic transfer robot 110, the cart 150, the object to be transferred, etc. Furthermore, even when the automatic transfer robot 110 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 140, 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.

[0031] (7) Tracking sensor When the automatic transfer robot 110 travels on a guideline arranged on the floor in advance, a tracking sensor 142 is provided. The guideline is formed of a colored tape, a magnetic tape, or the like, and is fixed to the floor along the transfer path of the automatic transfer robot 110.

[0032] When the guideline is a color tape, a digital optical camera can be used as the tracking sensor 142. The image acquired by the tracking sensor 142 is analyzed by the control unit 114, and the guideline is detected by recognizing and extracting a specific color area from the image. The control unit 114 calculates the position of the guideline relative to the automatic transfer robot 110 and the angle between the guideline and the moving direction, and controls the driving mechanism 130 so that the guideline overlaps with the center of the automatic transfer robot 110 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 142. In this case, the control unit 114 judges whether the magnetic force detected by the tracking sensor 142 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 130 is controlled so that the automatic transfer robot 110 travels along the guideline, thereby allowing the automatic transfer robot 110 to travel accurately along the guideline.

[0033] (8) Battery The battery 146 is a module that supplies power for operating the automatic transfer robot 110. As the battery 146, 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 110 may be configured so that the battery 146 is detachable from the housing 112.

[0034] (9) Other configurations The automatic transfer robot 110 may be configured to estimate the position of the automatic transfer robot 110 using odometry. In this case, the control unit 114 constantly monitors the number of rotations and the rotation direction of the pair of crawlers 132 or wheels based on information from an encoder provided in the drive mechanism 130. For example, the control unit 114 acquires the number of rotations and the rotation direction of the crawlers 132 or wheels from the drive mechanism 130 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 116 as running data. Furthermore, the control unit 114 calculates the direction of the automatic transfer robot 110 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 110 can be constantly grasped. This information may also be stored in the storage unit 116 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 144.

[0035] Although not shown, the automatic transport robot 110 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 114 when the control unit 114 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 114 when the control unit 114 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 110 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 142 for detecting the guideline, but by using a lighting device, the guideline can be reliably detected by the tracking sensor 142 regardless of the surrounding brightness.

[0036] 1-3. Cart The dolly 150 is configured to carry an object to be transported. Schematic perspective views of the dolly 150 are shown in Fig. 5A and Fig. 5B. Fig. 5A is a schematic view of the dolly 150 seen obliquely from above, and Fig. 5B is a schematic view of the dolly 150 seen obliquely from below. As shown in these figures, the dolly 150 includes a top plate 152, a plurality of casters 154, at least one stopping plate 156, and a control device 160. A pair of contact sensors 158 are arranged on the main surface of the at least one stopping plate 156.

[0037] (1) Tabletop and casters The top plate 152 is configured to provide a flat surface on which the transport object is placed, and includes wood, metal such as stainless steel or aluminum, or resin such as polypropylene. The resin may be fiber-reinforced plastic. Although not shown, the cart 150 may be provided with a fence or net to prevent the transport object from shifting. The planar shape of the top plate 152 is substantially rectangular, and the shape and size (ratio of long side to short side, area, etc.) may be appropriately set depending on the transport object.

[0038] A plurality of casters 154 are provided under the top plate 152, and the number of casters is typically four. By providing the casters 154, the dolly 150 can be moved in any direction. Adjacent casters 154 are disposed at an interval that allows the automatic transport robot 110 to pass between them.

[0039] (2) Stop plate and contact sensor At least one stopping plate 156 is also provided under the top plate 152. The stopping plate 156 is provided so that the normal line of its main surface is parallel to the main surface of the top plate 152 and its longitudinal direction is parallel to one of the sides of the rectangular top plate 152. The stopping plate 156 is also provided so as not to come into contact with the support table 122 when the support table 122 is positioned at its lowest by the lifting unit 120 of the automatic transfer robot 110. Furthermore, the stopping plate 156 is provided so as to come into contact with the support table 122 when the support table 122 is raised by the lifting unit 120.

[0040] The at least one stop plate 156 may include a plurality of stop plates 156, and in the example shown in FIG. 5B, the carriage 150 has four stop plates 156 (a first stop plate 156-1, a second stop plate 156-2, a third stop plate 156-3, and a fourth stop plate 156-4). In this case, the first stop plate 156-1 and the second stop plate 156-2 face each other and are parallel. Similarly, the third stop plate 156-3 and the fourth stop plate 156-4 face each other and are parallel. However, the first stop plate 156-1 and the second stop plate 156-2 are arranged such that their longitudinal directions are perpendicular to the longitudinal directions of the third stop plate 156-3 and the fourth stop plate 156-4.

[0041] When a plurality of stopping plates 156 are arranged, as shown in FIG. 6A, the distance D between a pair of opposing stopping plates 156 is 1 is the maximum length of the support table 122 (the maximum length in a direction parallel to the main surface of the support table 122) L 1 However, preferably, the distance D 1 is the length L 1 The distance D is 1.5 times, 1.3 times, or 1.2 times. 1 By setting the multiple stopping plates 156, when the automatic transport robot 110 lifts the cart 150, the multiple stopping plates 156 can confine the support table 122 of the automatic transport robot 110 within the space surrounded by the multiple stopping plates 156 and function as a guide to adjust the direction.

[0042] Furthermore, it is preferable to arrange the multiple stopping plates 156 so that the midpoints of the opposing stopping plates 156 vertically overlap the center (or center of gravity) of the top plate 152. By adopting such an arrangement, the automatic transfer robot 110 can be arranged so that the support table 122 is located at or near the center (or center of gravity) of the top plate 152. As a result, when the automatic transfer robot 110 lifts the cart 150, proper balance can be ensured, and collapse of the load can be prevented.

[0043] A pair of contact sensors 158 is provided on the main surface of the stopping plate 156. The pair of contact sensors 158 is provided toward the center of the top plate 152 with respect to the stopping plate 156 on which it is provided. Therefore, when at least one stopping plate 156 includes a plurality of stopping plates 156 facing each other, two pairs of contact sensors 158 are sandwiched between the two stopping plates 156 in the normal direction of the main surface of the stopping plate 156. The pair of contact sensors 158 is provided so as to be spaced apart from each other. The distance D between the pair of contact sensors 158 is 2 is the length L of the side surface 122a of the support table 122 of the automatic transfer robot 110. 2 (See Figure 3B.) 2 is the length L 2 By providing the pair of contact sensors 158 so that the distance between the side surface 122a and the contact sensor 158 is smaller than the distance between the side surface 122a and the contact sensor 158, the side surface 122a can come into contact with the pair of contact sensors 158 at the same time.

[0044] A known structure can be adopted as the structure of the contact sensor 158, and therefore a detailed description thereof will be omitted. Briefly, the contact sensor 158 has a first electrode and one or more second electrodes that face each other via a spacer, and the first electrode and the second electrode are insulated by the spacer when no physical force is applied to bring the first electrode and the second electrode closer to each other. On the other hand, when a physical force is applied, the first electrode and the second electrode come into contact with each other and become conductive. Therefore, by utilizing the current flowing between the first electrode and the second electrode or the voltage between them, it is possible to detect whether or not some object has come into contact with the first electrode and the second electrode.

[0045] (3) Control device The control device 160 is provided under the top plate 152 so as not to interfere with the object to be transported. Although not shown, the control device 160 may be provided on one of the casters 154. The control device 160 is connected to the contact sensors 158, and is configured to receive the state of each contact sensor 158 as a sensor signal based on the current flowing between the first electrode and the second electrode or the voltage between them, and transmit the sensor signal to the communication terminal 102. Therefore, for example, as shown in the functional block diagram of FIG. 6B, the control device 160 can be configured by a control unit 162, a transceiver unit 164 controlled by the control unit 162, a battery 166 that supplies power to drive the control device 160, and the like.

[0046] 2. Method of transporting objects A method for transporting the cart 150 by the automatic transport robot 110 using the above-described transport system 100 will be described below.

[0047] 2-1. Placement of automatic transport robots First, the dolly 150 is placed on the floor. After that, in order for the automatic transfer robot 110 to lift the dolly 150, the automatic transfer robot 110 is moved under the dolly 150 (FIGS. 7A and 7B). Specifically, the position and orientation of the dolly 150 are transmitted from the communication terminal 102 to the automatic transfer robot 110, and the automatic transfer robot 110 is caused to automatically travel to that position. Taking into account the orientation of the dolly 150, the automatic transfer robot 110 enters under the dolly 150 from a direction perpendicular to the long side or short side of the top plate 152.

[0048] At this time, the height of the support table 122 is adjusted using the lifting unit 120 so that the support table 122 and the stop plate 156 do not interfere with each other. 0 is the vertical distance D from the floor to the stop plate 156 3The height of the support table 122 is adjusted so that the height is smaller than the height of the support table 122. Preferably, the lifting unit 120 is operated so that the support table 122 is at the lowest position. As described above, the interval between the adjacent casters 154 is set so that the automatic transfer robot 110 can pass between them. Therefore, as shown in FIG. 7A and FIG. 7B, the automatic transfer robot 110 can pass between the two casters 154 and get under the top plate 152. By setting the center position of the top plate 152 as the position of the dolly 150 transmitted from the communication terminal 102, the automatic transfer robot 110 can automatically travel so that the support table 122 is located as close as possible to the center of the top plate 152. In addition, by using odometry, the automatic transfer robot 110 can travel to the position of the dolly 150 more accurately (FIG. 8A, FIG. 8B).

[0049] 2-2.Adjusting the direction of travel of the automatic transport robot and the roll axis of the cart When the automatic transfer robot 110 travels to under the dolly 150, it is preferable that the traveling direction of the automatic transfer robot 110 is parallel to one side, preferably the long side, of the top plate 152. By lifting and moving the dolly 150 in a state where the traveling direction is parallel to one side of the top plate 152, as shown in FIG. 9A, the area of ​​the cross section (cross section perpendicular to the traveling direction) of the trajectory of the dolly 150 or the object to be transported is small, and the dolly 150 can be moved even in a narrow space. On the other hand, if the traveling direction of the automatic transfer robot 110 deviates from one side of the top plate 152 by an angle greater than 0° and less than 90°, the dolly 150 is transported in a state where the top plate 152 or the object to be transported rotates around the yaw axis of the dolly 150 (FIG. 9B). As a result, the cross-sectional area of ​​the trajectory of the dolly 150 or the object to be transported increases, and the dolly 150 or the object to be transported comes into contact with structures such as obstacles and walls on a narrow transport path. This not only reduces the efficiency of transportation, but also causes damage to the cart 150 or the object to be transported, or collapse of the load, increasing the danger of the transportation work.

[0050] For this reason, in the transfer method using the transfer system 100, a stopping plate 156 and a pair of contact sensors 158 provided on the stopping plate 156 are used to align the moving direction of the automatic transfer robot 110 with the roll axis of the dolly 150. First, after the automatic transfer robot 110 travels to under the dolly 150, the pillar 124 and the support table 122 are moved upward by using the lifting unit 120. Specifically, the pillar 124 and the support table 122 are moved upward so that the support table 122 does not come into contact with the top plate 152 and the support table 122 overlaps with the stopping plate 156 in the normal direction of the main surface of the stopping plate 156. That is, the height H of the upper surface of the support table 122 is 1 is the distance D 3 and the distance D from the floor to the bottom surface of the top plate 152 4 In this state, the support table 122 does not contact the top plate 152, but contacts the stop plate 156.

[0051] Thereafter, when the automatic transfer robot 110 is caused to move further straight, the flat side surface 122a of the support table 122 comes into contact with the stopping plate 156 (FIGS. 10B and 10C). As described above, the side surface 122a of the support table 122 is perpendicular to the moving direction. Therefore, when the moving direction of the automatic transfer robot 110 coincides with the roll axis of the dolly 150, the stopping plate 156 located on the moving direction side comes into contact with the support table 122 as shown in FIG. 10C. Also, when the distance D between the pair of contact sensors 158 becomes 2 is the length L of the side surface 122a 2 (see FIG. 6A), the side surface 122a comes into contact with both of the pair of contact sensors 158 (FIG. 11A). Therefore, based on the sensor signal transmitted from the control device 160, the communication terminal 102 can grasp that the side surface 122a has come into contact with both of the pair of contact sensors 158 provided on one stopping plate 156 (the first stopping plate 156-1 in the example of FIG. 11A), that is, that the traveling direction of the automatic transfer robot 110 (the white arrow in the figure) is perpendicular to the longitudinal direction of the first stopping plate 156-1.

[0052] In contrast, when the traveling direction of the automatic transfer robot 110 does not coincide with the roll axis of the cart 150, as shown in Fig. 11B, a part of the side surface 122a of the support table 122 comes into contact with the first stopping plate 156-1 located in the traveling direction of the automatic transfer robot 110, but cannot come into contact with both of the pair of contact sensors 158. Therefore, the communication terminal 102 can grasp, based on the sensor signal, that the traveling direction of the automatic transfer robot 110 is not perpendicular to the longitudinal direction of the stopping plate 156 in contact with the support table 122.

[0053] In this case, the communication terminal 102 does not transmit a stop command to the automatic transfer robot 110 and continues to allow it to move straight. If the weight of the dolly 150 or the object to be transferred mounted on the dolly 150 is sufficiently large compared to the weight of the automatic transfer robot 110, even if the automatic transfer robot 110 continues moving straight and collides with the stop plate 156, the dolly 150 hardly moves. On the other hand, the automatic transfer robot 110 rotates around the contact point between the side surface 122a and the stop plate 156 as a fulcrum by continuing to press the stop plate 156 (see the solid arrow in FIG. 11B). In addition, the stop plates 156 (here, the third stop plate 156-3 and the fourth stop plate 156-4) that are not on the moving direction (white arrow in the figure) work as guides to correct the moving direction of the automatic transfer robot 110 to the normal direction of the main surface of the first stop plate 156-1, and assist the rotation of the automatic transfer robot 110 while repeatedly colliding with the automatic transfer robot 110. As a result, the automatic transfer robot 110 gradually changes its moving direction relative to the cart 150, and finally, its moving direction coincides with the roll axis of the cart 150 (FIG. 11A).

[0054] Conversely, when the weight of the dolly 150 or the transport object mounted on the dolly 150 is sufficiently small compared to the weight of the automatic transport robot 110, even if the automatic transport robot 110 continues moving straight and collides with the stop plate 156, the direction of travel of the automatic transport robot 110 hardly changes, and the dolly 150 rotates around the contact point between the side surface 122a and the stop plate 156 as a fulcrum (see the dotted arrow in FIG. 11B). In addition, the third stop plate 156-3 and the fourth stop plate 156-4, which are not on the direction of travel, act as guides, and rotate the dolly 150 while repeatedly colliding with the automatic transport robot 110. As a result, the dolly 150 rotates around the contact point between the side surface 122a and the stop plate 156 as a fulcrum (see the dotted arrow in FIG. 11B), so that the roll axis of the dolly 150 gradually changes and finally coincides with the direction of travel of the automatic transport robot 110 (FIG. 11C).

[0055] When the automatic transfer robot 110 enters under the dolly 150 or when the automatic transfer robot 110 and the dolly 150 rotate relatively, a portion of the support table other than the side surface 122a, i.e., a portion that is not in the traveling direction of the automatic transfer robot 110 (non-traveling direction portion) may interfere with the internal structure of the dolly 150. For example, it may interfere with a stopping plate 156 other than the stopping plate (here, the first stopping plate 156-1) that is intended to collide with the side surface 122a. At this time, if the side surface of the non-traveling direction portion is flat, it may get caught on another stopping plate (for example, the second stopping plate 156-2 to the fourth stopping plate 156-4) or another internal structure and get stuck. However, as described above, the side surface 122a is located at the front of the support table 122 in the traveling direction of the automatic transfer robot 110, and the side surface of the non-traveling direction portion is configured with a curve. Therefore, even if contact occurs between the non-traveling direction part and the cart 150, the resulting stuckness is prevented, and as a result, the automatic transport robot 110 enters under the cart 150, enabling relative rotation between the automatic transport robot 110 and the cart 150 until the roll axis of the cart 150 coincides with the traveling direction of the automatic transport robot 110.

[0056] Through the above process, the traveling direction of the automatic transport robot 110 and the roll axis of the cart 150 coincide with each other, so that the cross-sectional area of ​​the trajectory of the cart 150 and the transport object can be minimized.

[0057] 2-3.Transportation of objects When the communication terminal 102 determines based on the sensor signal that the traveling direction of the automatic transfer robot 110 and the roll axis of the dolly 150 are aligned, it transmits a command to the automatic transfer robot 110 to raise the pillars 124 and the support table 122. Upon receiving this command, the automatic transfer robot 110 raises the pillars 124 and the support table 122 and lifts the dolly 150 (FIG. 12). The automatic transfer robot 110 then transports the dolly 150 according to the transport route received in advance. After arriving at the transport destination, the automatic transfer robot 110 lowers the pillars 124 and the support table 122 and places the dolly 150 on the floor. This completes the transport of the dolly 150. In addition, when the center of the support table 122 is significantly shifted in the direction of travel from the center of the top plate 152 when the side surface 122a of the support table 122 and a pair of contact sensors of one of the stopping plates 156 are in contact with each other, the automatic transport robot 110 may be appropriately moved backward so that the center of the support table 122 vertically overlaps with the center of the top plate 152 before lifting the cart 150.

[0058] 2-4. Changing the conveying direction As described above, it is preferable to transport the object so that the cross section of the trajectory is minimized in order to avoid interference with obstacles on the transport path. However, when the dolly 150 turns right or left, it may be difficult to rotate the dolly 150 if the transport path is narrow. In this case, when turning right or left, the traveling direction may be changed without changing the orientation of the dolly 150. For example, when changing the traveling direction by 90°, first, the support table 122 is lowered and the dolly 150 is placed on the floor. However, the height H of the upper surface of the support table 122 after the lowering 1 is the distance D 3 and the distance D 4The pillars 124 and the support table 122 are lowered so that the distance between the pillars 124 and the support table 122 is smaller than the distance between the pillars 124 and the support table 122 (see FIG. 10A). After that, the automatic transfer robot 110 is moved backward to avoid interference with a stopping plate (here, the first stopping plate 156-1) that is positioned in the traveling direction when the automatic transfer robot 110 turns. The moving backward is performed so that the support table 122 does not come into contact with a stopping plate (here, the second stopping plate 156-2) that faces the first stopping plate 156-1.

[0059] Thereafter, the automatic transfer robot 110 is rotated 90° using the drive mechanism 130, and then the automatic transfer robot 110 is caused to move straight ahead, so that the stopping plate (here, the fourth stopping plate 156-4) located in the moving direction after the rotation comes into contact with the support table 122. The moving direction of the automatic transfer robot and the roll axis of the dolly thereafter can be adjusted in the same manner as described above. As a result, even after the moving direction is changed, the object to be transferred can be transferred with the moving direction of the automatic transfer robot 110 and the roll axis of the dolly 150 aligned.

[0060] As described above, in the transport system 100 for transporting an object according to one embodiment of the present invention, the traveling direction of the automatic transport robot 110 and the roll axis of the cart 150 can be easily aligned, and the object can be transported in this state. Therefore, even on a narrow transport path, transport is possible while avoiding contact with obstacles such as walls, and efficient transport can be achieved while ensuring safety during transport.

[0061] <Second embodiment> In this embodiment, a modified example of the transport system 100 described in the first embodiment will be described. Descriptions of configurations that are the same as or similar to the configuration described in the first embodiment may be omitted.

[0062] In the transfer system 100 according to this embodiment, unlike the first embodiment, a pair of contact sensors 158 are provided on a side surface 122a of a support table 122 of an automatic transfer robot 110 (FIG. 14). 5is smaller than the length of the stopping plate 156. Therefore, similarly to the first embodiment, one stopping plate 156 can contact a pair of contact sensors 158 simultaneously. A sensor signal obtained by using the contact sensors 158 is processed by the control unit 114 of the automatic transfer robot 110, and this enables the automatic transfer robot 110 itself to know whether or not its traveling direction coincides with the roll axis of the dolly 150. Note that the automatic transfer robot 110 may be configured to transmit the sensor signal from the transmission / reception unit 144 to the communication terminal 102.

[0063] Therefore, in this embodiment, it is not necessary to place the contact sensor 158 on the stopping plate 156 of the cart 150. It is also not necessary to provide the control device 160 on the cart 150. Therefore, the cart 150 can be provided at a lower cost, and the cost of constructing the conveyance system 100 can be reduced.

[0064] Although a detailed explanation is omitted, in this modified example, the travel direction of the automatic transfer robot 110 and the roll axis of the cart 150 can be adjusted in the same manner as in the first embodiment. Therefore, the travel direction of the automatic transfer robot 110 and the roll axis of the cart 150 can be easily aligned, realizing highly efficient and safe transfer.

[0065] 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.

[0066] 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]

[0067] 100: transport system, 102: communication terminal, 104: network, 110: automatic transport robot, 112: housing, 114: control unit, 116: memory unit, 120: lifting unit, 122: support table, 122a: side, 124: pillar, 130: drive mechanism, 132: crawler, 134: drive wheel, 138: contact sensor, 140: distance measurement sensor, 142: tracking sensor, 144: transmitter / receiver, 146: battery, 150: dolly, 152: top plate, 154: caster, 156: stop plate, 156-1: first stop plate, 156-2: second stop plate, 156-3: third stop plate, 156-4: fourth stop plate, 158: contact sensor, 160: control device, 162: control unit, 164: transmitter / receiver, 166: battery

Claims

1. An automatic transport robot including a support table configured to lift a cart on which an object to be transported is mounted, a contour of a planar shape of the support table includes a straight line and curved lines connected to both ends of the straight line, The support table is positioned so that the straight line intersects with a traveling direction of the automatic transport robot and is positioned at the forefront in the traveling direction.

2. The automatic transfer robot according to claim 1 , wherein the contour is made up of the straight lines and the curved lines.

3. The automated transport robot according to claim 1 , wherein the curve is a circular arc.

4. Further comprising a pair of contact sensors; the support table has a flat surface whose normal is parallel to the traveling direction, The automatic transfer robot according to claim 1 , wherein the pair of contact sensors are provided on the flat surface.

5. A top plate having a rectangular planar shape; A plurality of casters under the top plate; and At least one stop plate is provided under the top plate, A cart, wherein the at least one stopping plate is arranged such that a normal line of the at least one stopping plate is parallel to a main surface of the top plate and a longitudinal direction of the at least one stopping plate is parallel to one side of the rectangle.

6. The at least one stop plate is 6. The cart according to claim 5, further comprising a support table for lifting the cart, and configured such that when an automatic transport robot configured to transport the cart is positioned under the top plate, the support table does not come into contact with the support table when it is in its lowest position, but comes into contact with the support table when it is raised.

7. The dolly of claim 5 , further comprising a pair of contact sensors provided on a main surface of the stopping plate.

8. The cart according to claim 7 , wherein the contact sensor is disposed toward a center of the top plate with respect to the at least one stopping plate.

9. The dolly of claim 7, further comprising a control device connected to the pair of contact sensors and configured to transmit signals acquired from the pair of contact sensors to an external communication terminal.

10. the at least one stop plate includes a first stop plate, a second stop plate, a third stop plate, and a fourth stop plate; The dolly of claim 5 , wherein the first and second stopping plates are disposed parallel to each other and perpendicular to the third and fourth stopping plates.

11. Communication terminal, an automatic transfer robot communicatively connected to the communication terminal; and A cart configured to be transported by the automatic transport robot, The automatic transport robot includes a support table configured to lift a cart on which an object to be transported is mounted, a contour of a planar shape of the support table includes a straight line and curved lines connected to both ends of the straight line, the support table is disposed so that the straight line intersects with a traveling direction of the automatic transfer robot, The cart is A top plate having a rectangular planar shape; A plurality of casters under the top plate; and At least one stop plate is provided under the top plate, The at least one stopping plate is arranged so that a normal line is parallel to the main surface of the top plate and a longitudinal direction is parallel to one side of the rectangle, At least one of the automatic transport robot and the cart has a pair of contact sensors, When the automatic transfer robot has the pair of contact sensors, the support table has a flat surface whose normal is parallel to the traveling direction, The pair of contact sensors are provided on the flat surface, A transport system for transporting an object to be transported, wherein when the cart has the pair of contact sensors, the pair of sensors are provided on a main surface of the stopping plate.

12. The at least one stop plate is The system of claim 11, wherein the automatic transport robot is configured such that when the automatic transport robot is positioned below the top plate, the automatic transport robot does not contact the support table when the support table is at its lowest position, and contacts the support table when the support table is raised.

13. The system according to claim 11 , wherein when the cart has the pair of contact sensors, the contact sensors are positioned toward a center of the top plate relative to the at least one stopping plate.

14. The system of claim 11 , wherein when the dolly has the pair of contact sensors, the dolly further has a control device connected to the pair of contact sensors and configured to transmit signals obtained from the pair of contact sensors to the communication terminal.

15. the at least one stop plate includes a first stop plate, a second stop plate, a third stop plate, and a fourth stop plate; The system of claim 11 , wherein the first and second stopping plates are disposed parallel to each other and perpendicular to the third and fourth stopping plates.

16. A method for transporting a cart configured to carry an object to be transported by an automatic transport robot, The automatic transport robot has a support table configured to lift a cart on which an object to be transported is mounted, a contour of a planar shape of the support table includes a straight line and curved lines connected to both ends of the straight line, the support table is disposed so that the straight line intersects with a traveling direction of the automatic transfer robot, The cart is A top plate having a rectangular planar shape; A plurality of casters under the top plate; and At least one stop plate is provided under the top plate, The at least one stopping plate is arranged so that a normal line is parallel to the main surface of the top plate and a longitudinal direction is parallel to one side of the rectangle, At least one of the automatic transport robot and the cart further includes a pair of contact sensors; When the automatic transfer robot has the pair of contact sensors, the support table has a flat surface whose normal is parallel to the traveling direction, The pair of contact sensors are provided on the flat surface, When the carriage has the pair of contact sensors, the pair of sensors are provided on a main surface of the stopping plate, The method comprises: disposing the automatic transport robot under the carriage in a state in which the support table is not in contact with the at least one stopping plate; Raising the support table to a height where the support table comes into contact with the stop plate but does not come into contact with the top plate; and the method includes advancing the automated transport robot until both of the pair of contact sensors contact the at least one stopping plate if the automated transport robot has the pair of contact sensors, or until both of the pair of contact sensors contact the support table if the carriage has the pair of contact sensors.

17. The method according to claim 16, further comprising moving the automatic transport robot until a center of the support table and a center of the top plate vertically overlap after both of the pair of contact sensors contact the support table or the at least one stopping plate.

18. The method of claim 16 , further comprising: further raising the support table to lift the carriage after both of the pair of contact sensors contact the support table or the at least one stopping plate.

19. After lifting the dolly, lower the support table to separate the support table from the top plate; Retracting the automated transport robot; and The method of claim 18 , further comprising rotating the automated transport robot 90 degrees.

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