Providing device, carrier robot and article transport system

Abstract

To carry out transportation in a way suited for the properties of an article to carry in its entirety.SOLUTION: A system comprises a carrier robot that carries an article and a providing device that provides the carrier robot with an application. The carrier robot sends information about all of articles loaded thereon to the providing device, receives an application suited for the properties of the articles in their entirety based on the information about the articles from the providing device, and performs travel control according to the application received. The providing device selects an application suited for the properties of the articles in their entirety based on the information about all of the articles loaded on the carrier robot, out of a plurality of applications and sends the selected application to the carrier robot.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a supply device, a transport robot, and an article transport system.

Background Art

[0002] In recent years, autonomous mobile robots (AMRs) have been introduced. An AMR determines a transport route based on information on an article to be transported and data on the location of the source and the destination of the article to be transported, and performs a transport operation. For example, an AMR transports parts in a factory, food in a restaurant, and the like.

[0003] In addition, in order to prevent articles stored in a tray transported by a transport robot from spilling during transport, a technique is known in which warning information is output when the acceleration of the transport robot exceeds a threshold value (see, for example, Patent Document 1).

[0004] In addition, Citation Document 1 describes that a transport robot performs a transport operation at a speed according to a class classified according to the resistance to vibration for each article to be transported. That is, Citation Document 1 describes performing a transport operation according to the characteristics of the article to be transported.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the conventional technology, there are cases where transportation cannot be performed by a method according to the characteristics of the entire article to be transported.

[0007] For example, it is considered that the appropriate method of the conveyance operation differs between the case where one article is loaded and the case where articles are stacked. Therefore, as in the method described in Patent Document 1, it is not always possible to specify a conveyance operation according to the characteristics of the entire article, such as the type of article and the loading state, based on only one characteristic, such as the resistance to vibration.

[0008] The present invention has been made in view of the above circumstances, and an object thereof is to provide a providing device, a conveyance robot, and an article conveyance system that can perform conveyance by a method according to the characteristics of the entire article to be conveyed.

Means for Solving the Problems

[0009] The providing device according to the present invention is a providing device that provides an application and includes a controller. The controller is an application that controls the traveling of the conveyance robot, and selects an application corresponding to the characteristics of the entire article loaded on the conveyance robot from among a plurality of applications. The controller transmits the selected application to the conveyance robot.

[0010] The conveyance robot according to the present invention is a conveyance robot that conveys an article and includes a controller. When the movement of the conveyance robot has stopped, the controller transmits information regarding all the articles loaded thereon to the providing device, receives from the providing device an application corresponding to the transmitted information regarding the articles, and controls the traveling of the conveyance robot according to the received application.

[0011] The article conveying system according to the present invention includes a conveying robot for conveying articles and a providing device for providing an application to the conveying robot. The conveying robot includes a first controller. The first controller transmits information about all the articles loaded on the conveying robot to the providing device, receives from the providing device an application corresponding to the characteristics of the entire loaded articles based on the information about all the articles, and performs travel control of the conveying robot according to the received application. The providing device includes a second controller. The second controller receives information about all the articles mounted on the conveying robot from the conveying robot, selects, from among a plurality of applications, an application for controlling the travel of the conveying robot and corresponding to the characteristics of the entire articles based on the information about all the articles loaded on the conveying robot, and transmits the selected application to the conveying robot.

Advantages of the Invention

[0012] According to the present invention, conveyance can be performed in a manner corresponding to the characteristics of the entire articles to be conveyed.

Brief Description of the Drawings

[0013]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Embodiments for Carrying Out the Invention

[0014] Hereinafter, embodiments of the providing device, the transport robot, and the article transport system disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited by the embodiments shown below.

[0015] First, the transport robot will be described with reference to FIG. 1. FIG. 1 is a diagram showing the configuration of the transport robot according to the embodiment.

[0016] The transport robot 1 shown in FIG. 1 is an autonomous mobile robot (AMR). That is, the transport robot 1 can automatically select an optimal path from the start point to the goal point based on a pre-created map and move along the selected path. The transport robot 1 may start moving in response to an instruction from another device such as a PC (Personal Computer) or a tablet terminal.

[0017] Also, the transport robot 1 can detect surrounding people or obstacles by a 3D camera and a laser scanner, and automatically avoid the detected people or obstacles and move.

[0018] For example, in the area of the starting point, the item to be transported is loaded onto the transport robot 1. Also, in the area of the destination point, the item to be transported is unloaded from the transport robot 1. The transport robot 1 moves between the starting point and the destination point. Thereby, the transport robot 1 transports the item to be transported. Note that the loading and unloading may be performed by a person or by another robot or the like.

[0019] As shown in FIG. 1, the transport robot 1 includes a moving mechanism 11, a loading platform 12, a battery 13, a motor 14, a transport robot control device 15, and a sensor group 16.

[0020] The moving mechanism 11 is a mechanism for the transport robot 1 to move. The moving mechanism 11 includes wheels and a device for driving, braking, and steering the wheels. The motor 14 is a drive source for the moving mechanism 11. That is, the power output by the motor 14 is transmitted to the wheels of the moving mechanism 11.

[0021] The moving mechanism 11 is not limited to being by wheels and may be by legs or by rotary wings. However, in this embodiment, the moving mechanism 11 is by wheels. For this reason, the transport robot 1 moves by traveling. Also, the transport robot 1 is in either a traveling state or a stopped state according to the driving situation of the moving mechanism 11.

[0022] The loading platform 12 is a part for loading goods. The item to be transported loaded thereon is loaded on the loading platform 12. Also, the item to be transported loaded on the loading platform 12 is unloaded. Also, the item to be transported being loaded onto the transport robot 1 shall mean the item to be transported being loaded on the loading platform 12. The loading platform 12 is an example of a loading part. The loading part is not limited to the loading platform and may be, for example, a hook capable of hanging the item to be transported.

[0023] Also, the battery 13 supplies power to the motor 14. For example, the battery 13 is a rechargeable lithium-ion battery.

[0024] The transport robot control device 15 is a computer for controlling the transport robot 1. For example, the transport robot control device 15 is a microcomputer, an ECU (Electronic Control Unit), or a VCU (Vehicle Control Unit). The VCU is an ECU that integrates functions such as vehicle power control, driving force control, and body control.

[0025] The sensor group 16 includes a plurality of sensors. The sensor group 16 includes at least a sensor for acquiring information for determining whether the transport robot 1 is stopped, and a sensor for acquiring information regarding the article to be transported loaded on the transport robot 1.

[0026] The sensor for acquiring information for determining whether the transport robot 1 is stopped is, for example, a speed sensor or an acceleration sensor. The sensor for acquiring information regarding the article to be transported loaded on the transport robot 1 is a weight sensor or a camera. Note that not all of the sensor group 16 is mounted in the illustrated box. For example, the camera may be mounted on the top of the transport robot 1 so as to overlook the loading platform 12.

[0027] The sensor group 16 includes a 3D camera and a laser scanner for detecting surrounding people or obstacles.

[0028] The configuration of the transport robot control device 15 will be described with reference to FIG. 2. FIG. 2 is a diagram showing the configuration of the transport robot control device according to the embodiment. As shown in FIG. 2, the transport robot control device 15 has an interface 151, a communication unit 152, a controller 153, and a memory 154.

[0029] The interface 151 performs input / output of data between the transport robot control device 15 and other devices. For example, the interface 151 is a port corresponding to USB (Universal Serial Bus), CAN (Controller Area Network), Ethernet (registered trademark), or the like.

[0030] The interface 151 is connected to the battery 13, the motor 14, the drive device 111, the brake device 112, the steering device 113, and the sensor group 16. The drive device 111, the brake device 112, and the steering device 113 are included in the moving mechanism 11.

[0031] The drive device 111 transmits the power of the motor 14 to the wheels to accelerate the transport robot 1. The brake device 112 decelerates the transport robot 1 by means of brakes. The steering device 113 changes the traveling direction of the transport robot 1.

[0032] The communication unit 152 is a communication module for performing wired or wireless communication. For example, the communication unit 152 is a NIC (Network Interface Card), a WiFi (registered trademark) module, a Bluetooth (registered trademark) module, or the like.

[0033] The controller 153 reads and executes the program stored in the memory 154. The controller 153 is a CPU (Central Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), a GPU (Graphics Processing Unit), an SoC (System on a Chip), or the like.

[0034] The controller 153 may be a single processor. The controller 153 may have a multiprocessor configuration. Further, the controller 153 may have a multi-core configuration in which a plurality of cores are provided in a single chip connected by a single socket.

[0035] The controller 153 controls the battery 13, the motor 14, the drive device 111, the brake device 112, and the steering device 113 via the interface 151. Further, the controller 153 collects data from the sensor group 16 via the interface 151.

[0036] The memory 154 is a storage medium such as a flash memory. The memory 154 functions as a ROM (Read Only Memory) or a RAM (Random Access Memory).

[0037] The configuration of the server 31 will be described with reference to FIG. 3. FIG. 3 is a diagram showing the configuration of the server according to the embodiment. The server 31 is an example of a providing device that provides an application to the transport robot control device 15. As shown in FIG. 3, the server 31 includes an interface 311, a communication unit 312, a controller 313, and a memory 314.

[0038] The interface 311 inputs and outputs data between the server 31 and other devices. For example, the interface 311 is a port corresponding to USB, Ethernet, etc.

[0039] The communication unit 312 is a communication module for performing wired or wireless communication. For example, the communication unit 312 is a NIC, a WiFi (registered trademark) module, a Bluetooth (registered trademark) module, etc.

[0040] The controller 313 reads and executes a program stored in the memory 314. The controller 313 is a CPU, a DSP, an FPGA, a GPU, an SoC, etc.

[0041] The controller 313 may be a single processor. The controller 313 may have a multiprocessor configuration. Also, the controller 313 may have a multi-core configuration in which a plurality of cores are included in a single chip connected by a single socket.

[0042] The memory 314 is a storage medium such as a flash memory. The memory 314 functions as a ROM or a RAM.

[0043] Using FIG. 4, the processing procedure of the controller 153 of the transfer robot control device 15 will be described. FIG. 4 is a flowchart showing the processing procedure of the controller of the transfer robot. As shown in FIG. 4, the controller 153 starts processing along with the start of operation of the transfer robot control device 15 (for example, power-on), and executes so-called initialization processing for device startup, such as power supply to each part and initialization of the memory, etc. (step S101).

[0044] The controller 153 determines whether or not the transfer robot 1 is stopped based on the sensor value of the speed sensor included in the sensor group 16 (step S102). That is, when the speed sensor indicates that the speed of the transfer robot 1 is 0, the controller 153 determines that the transfer robot 1 is stopped.

[0045] When the transfer robot 1 is running (step S103, No), the controller 153 proceeds to step S115. When the controller 153 ends the operation of the transfer robot 1 (step S115, Yes), the processing ends. When the controller 153 does not end the operation of the transfer robot 1 (step S115, No), it returns to step S102 and repeats the processing.

[0046] Using FIG. 5, the configuration of the system including the transfer robot 1 will be described, and further the state during the operation of the transfer robot 1 will be described. FIG. 5 is a diagram for explaining the state during the operation of the transfer robot.

[0047] As shown in FIG. 5, the system 2 includes a transfer robot 1, communication devices 32, 33, and a server 31. The communication devices 32 and 33 (a, b, c) are connected to the server 31 via the network N. The network N may be a LAN (Local Area Network), or a WAN (Wide Area Network) or the Internet. Note that the number of communication devices included in the system 2 is not limited to two, and may be one, or more than two.

[0048] The communication devices 32 and 33 are equipped with communication modules and communicate with the transport robot 1. As a result, the server 31 and the transport robot 1 are connected so as to be capable of data communication via the communication device 32 or the communication device 33. And the communication device 32 has characteristics such that the entire transport area (for example, the entire warehouse) is a communication area, and is installed at an appropriate position to constitute the communication area. Also, the communication devices 33(a, b, c) have characteristics such that the vicinity of the loading / unloading points of the articles to be transported (the stop positions for loading and unloading the articles to be transported on the transport robot 1) is a communication area, and are installed at appropriate positions to constitute the communication area.

[0049] By arranging the communication devices 32 and 33(a, b, c) in this way, in a transport area where many articles to be transported and storage shelves etc. are arranged and communication interruptions are likely to occur, it becomes difficult for communication interruptions to occur. Also, communication interruptions are particularly unlikely to occur in the area where communication is required (near the loading / unloading points of the articles to be transported), and the adverse effects due to communication interruptions can be effectively suppressed.

[0050] For example, the communication devices 32 and 33 are wireless LAN routers equipped with WiFi modules. For example, the transport robot 1 is connected to the server 31 via the communication device that is closer to the transport robot 1 (or the one with stronger radio waves) among the communication devices 32 and 33. For example, the transport robot 1 may determine which communication device to connect to based on the signal strength output from each communication device and select the communication device to connect to.

[0051] The transport robot 1 travels along a travel route based on a command from the server 31 to collect and store (store in a storage shelf or the like) the articles to be transported, and stops at the loading and unloading points of each article to be transported to sequentially load and unload the target articles to be transported. In the example of FIG. 5, the transport robot 1 moves through the area 24 via the areas 22 and 23 through the route within the travelable area 21. In the areas 22 and 23, the articles to be transported are loaded onto the transport robot 1. Also, in the area 24, the articles to be transported are unloaded from the transport robot 1. Further, the articles to be transported unloaded in the area 24 are loaded onto the delivery vehicle 41.

[0052] For example, shelves for storing the articles to be transported are placed in the areas 22 and 23. Also, different articles to be transported are stored in the shelf in the area 22 and the shelf in the area 23. The designated articles to be transported are loaded onto the transport robot 1 in each area.

[0053] Also, the loading of the articles to be transported onto the transport robot 1 and the unloading of the articles to be transported from the transport robot 1 may be performed by the palletizing robots provided in each area, or may be performed by an arm or the like provided on the transport robot 1.

[0054] Note that the instruction to collect and store (store in a storage shelf or the like) the items to be transported is sent from the server 31 to the transport robot 1. This instruction includes various data regarding each item to be transported, such as identification information of the item to be transported, the destination, the storage location, the number of items to be transported, and data on various characteristics of the item (weight, type, earthquake resistance, etc.). Also, regarding the transport route and the stopping points, the server 31 may calculate them according to the items to be transported and send them to the transport robot 1 (they may also be included in the above instruction), or the transport robot 1 may calculate them according to the data of the items to be transported sent from the server 31. Further, the server 31 and the transport robot 1 store various data on the transport status of the items to be transported by the transport robot 1 through mutual communication, such as running position data, running speed, data of the items to be transported during transport (loading) (item identification data, number, item characteristics, etc.), total loaded weight, loaded volume (length, width, height), transport route, destination (loading / unloading position), loading position, etc.

[0055] In FIG. 5, the transport robot 1 is loading the item to be transported on the loading platform 12 and traveling from area 23 toward area 24. At this time, the speed of the transport robot 1 is greater than 0. Also, the communication between the transport robot 1 and the communication device 32 or the server 31 is not established. That is, the transport robot 1 does not perform data communication with the server 31 during travel.

[0056] Returning to FIG. 4, when the transport robot 1 is stopped (present at the loading or unloading position of the item to be transported) (step S103, Yes), the controller 153 determines whether there has been a change in the weight of the loading platform 12 over a past fixed period (for example, one minute) based on the sensor value of the weight sensor (step S104).

[0057] Note that the change in weight includes the case where the weight increases from 0 or a non-zero value, and the case where the weight decreases to 0 or a non-zero value. The change in the weight of the loading platform 12 means that the number and content of the articles to be transported loaded on the loading platform 12 have changed due to loading or unloading. Note that based on the data communication (loading and unloading information of articles) between the transport robot 1 and the server 31, it is possible to determine that the number and content of the articles to be transported loaded on the loading platform 12 have changed, or to determine that the number and content of the articles to be transported have changed by using both the determination based on this data communication (loading and unloading information of articles) and the determination based on the above weight change.

[0058] And when there is a change in the weight of the loading platform 12 (step S105, Yes), the controller 153 proceeds to step S106. The processing after step S106 is processing involving data communication with the server 31. Note that when there is no change in the weight of the loading platform 12 (step S105, No), the controller 153 proceeds to step S115.

[0059] FIG. 6 is a diagram for explaining the state of the transport robot during stoppage. In FIG. 6, the transport robot 1 is stopped in area 23. Here, when loading or unloading is performed, that is, when the vehicle speed is 0 and the weight changes and a certain period of time elapses with the changed weight, the controller 153 collects sensor values from the sensors related to the load and stores them in the memory 154.

[0060] The transport robot 1 may stop even when loading or unloading is not being performed. For example, the transport robot 1 stops when the battery 13 is being charged. In this case, if loading and unloading are not being performed, the weight of the loading platform 12 does not change, so the controller 153 determines No in step S105.

[0061] Here, a virtual system constructed in the transfer robot control device 15 will be described. In the transfer robot control device 15, an application management system as shown in FIG. 7 is virtually constructed in the memory 154. FIG. 7 is a diagram for explaining a method of managing applications. The transfer robot control device 15 manages data and applications using the application management system 50.

[0062] The application management system 50 includes a container engine 51, a bulletin board 52, and a container area 53. The container engine 51 is software for managing containers and is executed by the controller 153. The bulletin board 52 and the container area 53 are storage areas provided in the memory 154 that can be written to and erased.

[0063] The container engine 51 stores data in the bulletin board 52 and processes the data. Further, the container engine 51 stores applications in the container area 53, deletes applications in the container area 53, executes applications in the container area 53, and so on.

[0064] The bulletin board 52 is a recording area accessible to each application. In other words, the bulletin board 52 is a recording area that each application can share for reading and writing. Note that the bulletin board 52 may be a recording area prepared for each application. Then, so that each application can use the data stored in the bulletin board 52, processing such as standardizing the data (for example, standardizing units, formats, etc.) and adding information for defining the data is performed, and accordingly each application writes data, and reads and uses the data.

[0065] The container area 53 includes containers 53_1, 53_2, and 53_3. Each container stores program data for one application. Each container constitutes a virtual space for running an application. The application stored in the container is in a state where it can be executed within each container. That is, the container engine 51 realizes the installation of the application by storing the application in the container and also runs the application within the container.

[0066] In this way, the controller 153 stores the application in the container constructed in the storage area and runs it within the container. Also, the controller 153 stores the data shared by each application in the bulletin board 52 constructed so that each application can share it, and reads the data required by each application from the bulletin board 52 and uses it in the execution of each application. For example, information about the item to be transported and transport-related data generated by the execution of the application are stored in the bulletin board 52 so that each application can use them. The transport robot 1 can easily introduce and execute the application by using the container. Also, by using the bulletin board 52, various data used in each application can be taken over and used by other applications, so it is possible to omit collecting the necessary data again, and since basically no duplicate data is generated, the memory capacity can be reduced.

[0067] Returning to FIG. 4, the controller 153 collects information about the loaded item and stores the collected information in the bulletin board 52 as collected data 521 (step S106).

[0068] FIG. 8 is a diagram showing an example of the collected data stored in the bulletin board 52. As shown in FIG. 8, the collected data 521 is composed of TOPIC and Data. TOPIC indicates an item and may be paraphrased as metadata. That is, TOPIC indicates the definition of the data.

[0069] The controller 153 can collect information about the loaded goods from the sensor group 16. Further, the controller 153 may collect information input from the user or an external device.

[0070] The controller 153 may obtain information about the loaded goods from the server 31. In that case, the transport robot 1 may not be equipped with the sensor group 16. Further, the controller 153 may check whether the information obtained from the server 31 matches the actual loaded goods by comparing the information about the loaded goods obtained from the server 31 with the information collected from the sensor group 16. In this case, the transport robot 1 and the server 31 communicate appropriately (such as when the robot 1 stops), and share information about the loaded goods. Also, in the server 31, for article management, information about each transported article is stored in association with the identification information of the transported article, and various information about each transported article can be obtained using the identification information as a key (the transport robot 1 obtains it via communication with the server 31).

[0071] For example, the TOPIC "Total weight" is the total weight of the articles to be transported loaded on the loading platform 12. The controller 153 collects the sensor value of the weight sensor included in the sensor group 16 as the Data of the TOPIC "Total weight". In the example of FIG. 8, the controller 153 collects the Data "160 kg" of the TOPIC "Total weight" from the weight sensor and stores it in the bulletin board 52.

[0072] For example, the TOPIC "State of the loaded goods" is information indicating whether the article to be transported is a liquid or not. For example, whether the article to be transported is a liquid or not can be obtained by reading the label attached to the article to be transported with a scanner or the like included in the sensor group 16. In the example of FIG. 8, the controller 153 collects the Data "Solid" of the TOPIC "State of the loaded goods" based on the reading result of the scanner and stores it in the bulletin board 52.

[0073] For example, the TOPIC "urgency level" is information indicating to what extent the conveyance of the item to be conveyed needs to be carried out urgently. For example, data regarding the urgency level specified by the user is transmitted from the server 31 to the conveyance robot 1. In the example of FIG. 8, the controller 153 acquires the Data "low" of the TOPIC "urgency level" from the server 31 and stores it in the bulletin board 52. Note that the TOPIC "urgency level" may be included in an instruction for instructing the conveyance of the item input to the controller 153.

[0074] Note that various pieces of such data are input to the server 31 by the carrier of the item, the purchaser of the item, etc. for use in item management and are stored in association with the item identification information. Therefore, the conveyance robot 1 may acquire these data from 31 and store them in the bulletin board 52.

[0075] The collected data 521 affects the selection of the application by the server 31. For example, by including the input content of the user in the collected data 521, the intention of the user, for example, the presence or absence of "fragile items" (the intention of the user to want careful transportation because it is "fragile"), can be reflected in the selection of the application and the control of the conveyance operation.

[0076] Also, a part of the collected data 521 is generated by the application. For example, the Data of the TOPIC "linear speed" and "curve speed" in FIG. 8 are values generated by the application (for example, setting values unique to the application (for example, the speed limit), etc.) and are values used for controlling the movement of the conveyance robot 1.

[0077] Returning to FIG. 4, the controller 153 establishes a connection with the server 31 (step S107). For example, the controller 153 establishes TCP (Transmission Control Protocol) communication with the server 31 by a three-way handshake.

[0078] The controller 153 transmits the collected data 521 of the bulletin board 52, particularly the data regarding the loaded items, to the server 31 (step S108). After that, at the server 31, a process of selecting an application based on the collected data 521 is performed. The processing procedure of the server 31 will be described later.

[0079] The controller 153 receives an application from the server 31 (step S109). Here, the controller 153 stores the application received from the server 31 in a container (step S110). Actually, the objects of reception and storage are the program data of the application. Also, in this communication connection with the server 31, the controller 153 also exchanges data regarding the articles to be transported (including planned loaded items) as necessary. Then, the controller 153 terminates the connection with the server 31 (step S111).

[0080] In this way, when the movement of the transport robot 1 stops, the controller 153 transmits information regarding all the articles to be transported (all articles) loaded on the loading platform 12 to the server 31, and receives from the server 31 an application corresponding to the transmitted information regarding the articles to be transported.

[0081] Loading onto the loading platform 12 and unloading from the loading platform 12 are performed while the movement mechanism 11 is stopped. That is, during traveling, the characteristics of the entire article to be transported do not change, and there is no need to change the application to be used. For this reason, the transport robot 1 can suppress power consumption and communication capacity by performing processing such as communication for receiving an application only while stopped (during loading and unloading of the articles to be transported). Furthermore, thereby, the number of charging times (time) of the battery 13 is suppressed, and the operation rate of the transport robot 1 is improved.

[0082] Note that the characteristics of the entire article to be transported can be determined by the transport robot 1 or the server 31. The method for determining the characteristics of the entire article to be transported will be described later.

[0083] The controller 153 selects and executes an application newly stored in the container (step S112). Further, the controller 153 starts the travel of the transport robot 1 (step S113). At this time, the controller 153 controls the travel of the transport robot 1 according to the application being selected and executed (step S114).

[0084] That is, the controller 153 receives an application corresponding to the collected data 521 transmitted to the server 31, and controls the travel of the transport robot 1 according to the received application.

[0085] For example, the application controls the travel of the transport robot 1 so that the moving speed of the transport robot 1 is close to the linear speed, the curve speed, etc. stored in the bulletin board 52.

[0086] Using FIG. 9, the processing procedure of the controller 313 of the server 31 will be described. FIG. 9 is a flowchart showing the processing procedure of the controller of the server 31. This processing is repeatedly executed at intervals without any trouble during the operation while the server 31 is starting up.

[0087] The controller 313 waits until the connection with the transport robot 1 is established (step S201, No).

[0088] When the connection with the transport robot 1 is established (step S201, Yes), the controller 313 receives the collected data 521 (various information about the transported goods being carried) from the transport robot 1 (step S202). As described with reference to FIG. 4, while the connection with the transport robot 1 is established, the transport robot 1 is stopped.

[0089] The controller 313 selects an application that meets the conditions based on the received collection data 521 from the application database (step S203). The application database is data that associates an application with conditions (an application that realizes traveling with driving characteristics suitable for transporting the transported article specified by the collection data 521), and is stored in the memory 314.

[0090] The controller 313 transmits the selected application to the transport robot 1 (step S204), ends the connection with the transport robot 1 (step S205), and ends the process. That is, the controller 313 provides the transport robot 1 with an application corresponding to the collection data 521.

[0091] FIG. 10 is a diagram showing an example of the application database. In the application database, an application is associated with the characteristics of the entire transported article, necessary TOPIC, and applicable range. That is, the application database has a database configuration that can select an application (and its characteristics) based on the TOPIC existing in the collection data 521 from the transport robot 1 and the value of that TOPIC.

[0092] The controller 313 is an application that controls the traveling of the transport robot 1, and selects an application corresponding to the characteristics of the entire transported article loaded on the transport robot 1 from among a plurality of applications in the application database. Specifically, the controller 313 determines the characteristics of the entire transported article based on the conditions (for example, "two or less stacked numbers") satisfied by each data type (for example, "stacked number") in the necessary TOPIC, and selects an application for those characteristics. In terms of specific processing, an application whose values of each data type in the necessary TOPIC (collection data 521 stored in the bulletin board 52 of the transport robot 1) regarding the transported article loaded on the transport robot 1 satisfy the provided range conditions of the application database is selected.

[0093] In other words, the traveling control of the transport robot 1 is performed using an application suitable for realizing the required transport traveling characteristics required for the transport robot 1 on which the article to be transported is mounted.

[0094] As a result, the transport robot 1 can perform the transport in a manner according to the characteristics of the entire article to be transported. In particular, the transport robot 1 can obtain an application for controlling the transport operation according to not only the type of the article to be transported but also the mode of loading of the article to be transported (weight, number, height of stacking).

[0095] For example, in order to determine the characteristic of "fastest transportable", the TOPICs of "number of stacked items", "fragile items", and "state of the loaded item" in the collected data 521 are required.

[0096] When the Data of "number of stacked items" is 2 or less, the Data of "fragile items" is "none", and the Data of "state of the loaded item" is not "liquid", the controller 313 determines that the characteristic of the entire article to be transported is "fastest transportable". Then, the controller 313 selects the application 54_1.

[0097] Here, the characteristic of the entire article to be transported is different from the individual characteristic (weight, vibration resistance, etc.) of one article to be transported. For example, the characteristic of the entire article to be transported includes the characteristic generated by the relationship between a plurality of articles loaded on the loading platform. Also, for example, the characteristic of the entire article to be transported includes not only the physical characteristic of the article itself loaded on the loading platform but also the characteristic that changes due to external factors such as the degree of urgency.

[0098] For example, when only one article is loaded on the loading platform, a certain degree of vibration is allowed. On the other hand, when the articles are stacked in multiple layers, it is conceivable that collisions between the articles will occur due to vibration. Therefore, when the number of stacked items exceeds a certain number, the characteristic of "vibration not allowed" occurs.

[0099] On the other hand, for example, when speed is prioritized over the state of an article, that is, when the degree of urgency is high, the characteristic of "non-vibratable" may disappear (vibration is allowed). Therefore, by using an application that can perform travel control suitable for the states of all the conveyed articles loaded on the conveyance robot 1, it becomes possible to convey the conveyed articles in an appropriate manner. The data in the application database stores data that takes this point into consideration. For example, the applicable range of each required topic determined to be suitable for the required topic and the target application is data indicating the state of all the conveyed articles.

[0100] In other words, the travel control of the conveyance robot 1 is performed with the required conveyance travel characteristics required for the conveyance robot 1 on which the article to be conveyed is loaded, and it becomes possible to convey the article with due care and speed suitable for the conveyed article.

[0101] Note that the controller 313 may select an application according to not only the characteristics of the entire article to be conveyed but also both the characteristics of the entire article to be conveyed and the characteristics of the conveyance robot 1. The characteristics of the conveyance robot 1 may be related to performance such as the output of the motor, the maximum speed, the minimum turning radius, and vibration absorption. Thereby, the conveyance robot 1 can obtain an application for controlling a conveyance operation suitable for its own characteristics. In this case, the characteristic data of the conveyance robot 1 suitable for each application is added to the application database, and the conveyance characteristic data of itself is transmitted from the conveyance robot 1 to the server 31.

[0102] In this case, for example, there are a plurality of applications corresponding to the characteristic of the article to be conveyed, "fastest conveyance possible", according to the characteristics of the conveyance robot 1. And when the characteristic of the article to be conveyed is "fastest conveyance possible", the controller 313 selects one corresponding to the characteristics of the conveyance robot 1 from among the plurality of applications.

[0103] Furthermore, the controller 313 may select an application in consideration of the characteristics of the location where the transfer robot 1 operates. For example, consider the case where the transfer robot 1 performs transfer within a warehouse. For each warehouse, the height difference in the drivable area, the number of curves, the floor material, etc. are different. The transfer robot 1 selects an application that provides appropriate driving characteristics considering these differences. In this case, the application database is added with the characteristic data of the driving routes suitable for each application, and the transfer robot 1 transmits to the server 31 the route characteristic data (for example, including the route characteristic data in the transfer area map information and calculating the route characteristics of the entire planned driving route by statistically processing the route characteristic data for each route section of the planned driving route) and transfer characteristic data regarding its own planned driving route.

[0104] Also, considering the characteristics of the location where the transfer robot 1 operates, the controller 313 may select an application that calculates a route with appropriate route characteristics (such as a shortest-distance route, a route with few curves, etc.) according to the characteristics of the entire transfer target item.

[0105] [Regarding the control of the application] FIG. 11 is a diagram showing an example of a control method for each application. As shown in FIG. 11, the application corresponds to the characteristics of the entire transfer target item. Also, when the application is executed, it determines the values of items such as the linear velocity, the curve velocity, the damper strength, and the route determination policy. For the sake of easy explanation, in FIG. 11, the characteristic values are represented in text, but actually, control values (numerical values) are stored, and the transfer mechanism in the transfer robot 1 is controlled using these control values.

[0106] For example, the application 54_1 corresponding to the characteristic "fastest transfer possible" of the transfer target item determines the linear velocity as "fastest", the curve velocity as "fastest", the damper strength as "medium", and the route determination policy as "shortest distance", and performs the running control of the transfer robot 1 according to this characteristic.

[0107] Note that notations such as "fastest", "high speed", "medium speed", and "low speed" may mean specific speed values determined by the application, or may mean ratios to the performance of the transport robot 1. In the latter case, for example, "fastest" means the maximum speed that the transport robot 1 can achieve, and "medium speed" means a speed that is half of the maximum speed.

[0108] The damper strength is related to the elasticity of the loading platform 12. For example, the stronger the damper strength, the more the shaking is reduced while the fine vibrations increase. For example, when transporting a liquid, it is conceivable that there may be many vibrations, but it is better to suppress the shaking so that the liquid does not spill.

[0109] For example, according to application 54_1, when the characteristics of the article to be transported are "transportable at the fastest speed" (for example, there are no easily breakable items such as precision instruments), a certain amount of shaking and vibration is tolerated, and the highest speed is achieved whether in a straight line or a curve, and the transport is carried out over the shortest distance.

[0110] Also, for example, according to application 54_2, when the characteristics of the article to be transported are "liquid", a control is realized in which while preventing shaking, the speed is slightly reduced (medium speed) in a curve, and the transport is carried out along a route with fewer curves. Note that since the liquid may spill due to the centrifugal force when traveling on a curve, a route with fewer curves is desirable.

[0111] Also, for example, according to application 54_3, when the characteristics of the article to be transported are "vibration intolerant" (for example, there are many stacked items), a control is realized in which while preventing shaking, the speed is slightly reduced (low speed) in a curve, and the transport is carried out along a route with fewer curves.

[0112] Specifically, as shown in FIG. 8, each application adds the values of items such as the generated "linear velocity" and "curve velocity" to the collected data 521 on the bulletin board 52, which is a common storage area. Then, the basic software for travel control provided in the transport robot control device 15 controls the movement mechanism 11, the battery 13, and the motor 14 based on the data such as the TOPIC "linear velocity" and "curve velocity" of the collected data 521. This software may be stored in a container or in a storage area separate from the container.

[0113] In addition, a plurality of applications that are suitable for the characteristics of the entire article to be transported and have different appropriate usage timings may be used in combination. For example, when an application 54_2 that performs travel control with excellent linear path travel characteristics suitable for the characteristics of the entire article to be transported and an application 54_3 that performs travel control with excellent curve path travel characteristics suitable for the characteristics of the entire article to be transported are combined, application 54_3 is adopted for a travel area with many straight travel sections, and application 54_2 is used for a travel area with many curve travel sections. In this case, based on the position of the transport robot 1 and the map data of the transport area (warehouse), it is necessary to grasp the path characteristics (such as the ratio of straight roads and curve roads) of the travel area and switch the application to be executed.

[0114] In addition, the application may control the method of collecting the article to be transported by the transport robot 1. For example, consider a scenario where the transport robot 1 itself can select the loading order of the articles to be loaded.

[0115] In this case, the application calculates the loading order of the articles to be transported so that the characteristics of the entire current article to be transported by the transport robot 1 do not change as much as possible, that is, without changing the application. For example, it determines the articles to be loaded in an order that allows a high moving speed to continue for a long time, calculates a path along which the loading can be performed, and controls the transport robot 1 to travel.

[0116] [Modification Example] Instead of the server 31, the transfer robot 1 may determine the characteristics of the entire item to be transferred. Based on the data acquired by the sensors of the sensor group 16, the controller 153 of the transfer robot 1 generates information on all the items to be transferred loaded on the transfer robot 1. Then, the controller 153 transmits the generated information (characteristics of the entire item to be transferred) to the server 31 and receives an application corresponding to the characteristics of the entire item to be transferred transmitted from the server 31.

[0117] Thereby, the determination process can be omitted in the server 31. By performing the determination process in a state where the transfer robot 1 has not established communication with the server 31, the overall processing time can be shortened.

[0118] Also, it is possible to attach a barcode representing item identification data to the item to be transferred, attach a radio wave tag that transmits the item identification data, etc., read the item identification data with the sensors (barcode reader, receiver) of the transfer robot 1, and use the item identification data as a key to obtain the characteristics of each target item from the server 31 to determine the characteristics of the entire item to be transferred.

[0119] Also, the sensors for acquiring information regarding the items to be transferred loaded on the transfer robot 1 may be provided outside the transfer robot 1. In this case, it is necessary to connect the transfer robot 1 or the server 31 and the external sensors by wireless communication so that the transfer robot 1 or the server 31 can acquire information regarding the items to be transferred. Thereby, the configuration of the transfer robot 1 can be simplified. Also, depending on the model of the transfer robot 1, there may be a case where sensors for acquiring information regarding the items to be transferred are not provided. Even in such a case, by using external sensors, it is possible to acquire information regarding the items to be transferred regardless of the model.

[0120] For example, the controller 313 or the controller 153 generates information on the entire object to be conveyed loaded on the conveyance robot 1 based on data detected by an external sensor. The external sensor may be a camera installed at a location where the object to be conveyed is loaded onto the conveyance robot 1 or unloaded from the conveyance robot 1 (for example, areas 22 and 23 in FIG. 5).

[0121] Further effects and modifications can be easily derived by those skilled in the art. For this reason, the broader aspects of the present invention are not limited to the specific details and representative embodiments presented and described above. Therefore, various changes can be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and their equivalents.

Explanation of Reference Numerals

[0122] 1 Conveyance robot 2 System 11 Moving mechanism 12 Loading platform 13 Battery 14 Motor 15 Conveyance robot control device 16 Sensor group 21 Travelable area 22, 23 Areas 31 Server 32 Communication device 50 Application management system 51 Container engine 52 Bulletin board 53 Container area 111 Driving device 112 Braking device 113 Steering device 151, 311 Interface 152, 312 Communication section 153, 313 Controller 154, 314 Memory 521 Collected data 53_1, 53_2, 53_3 Containers 54_1, 54_2, 54_3 applications

Claims

1. A providing device for providing an application, comprising a controller, wherein the controller is an application for controlling the travel of a transport robot, and selects, from among a plurality of applications, an application according to the characteristics of the entire article loaded on the transport robot, and transmits the selected application to the transport robot The providing device.

2. The controller is based on data detected by a sensor installed at a location where loading of an article onto the transport robot or unloading of an article from the transport robot is performed, determines the characteristics of the entire article loaded on the transport robot, and selects, from among a plurality of applications, an application according to the determined characteristics The providing device according to claim 1.

3. The controller is selects an application according to both the characteristics of the entire article loaded on the transport robot and the characteristics of the transport robot The providing device according to claim 1.

4. The controller transmits the selected application to the transport robot when the transport robot has stopped moving at a location where loading of an article or unloading of an article is being performed. The providing device according to claim 1.

5. A transport robot for transporting an article, comprising a controller, wherein the controller is when the movement of the transport robot has stopped, transmits information regarding all the articles loaded thereon to a providing device, receives, from the providing device, an application corresponding to the transmitted information regarding the articles, and controls the travel of the transport robot according to the received application The transport robot.

6. The controller is stores the application in a container constructed in a storage area, and stores information regarding the article and data generated by execution of the application in a bulletin board constructed in the storage area so as to be shareable by each application. The transport robot according to claim 5.

7. The controller is transmits information included in an instruction for instructing the transport of an input article to the providing device as information regarding the article The transport robot according to claim 5.

8. further includes a sensor for detecting information of the article to be mounted, wherein the controller is based on data acquired by the sensor, generates information of all the articles loaded on the transport robot The transport robot according to claim 5 or 6.

9. The controller is Based on data detected by a sensor installed at a location where loading of an article onto the transport robot or unloading of an article from the transport robot is performed, generate information on all articles loaded on the transport robot The transport robot according to claim 5 or 6.

10. An article transport system having a transport robot for transporting an article and a providing device for providing an application to the transport robot, The transport robot is Equipped with a first controller, The first controller is Transmit information on all articles loaded on the transport robot to the providing device, Receive, from the providing device, an application according to the characteristics of the entire loaded articles based on the information on all the articles, Perform travel control of the transport robot according to the received application, The providing device is equipped with a second controller, The second controller is Receive information on all the articles mounted on the transport robot from the transport robot, Select, from a plurality of applications, an application for controlling the travel of the transport robot and according to the characteristics of the entire articles based on the information on all the articles loaded on the transport robot, Transmit the selected application to the transport robot Article transport system.

Images