Coupling device

Abstract

To provide a travel control system for a conveying vehicle and a travel control method for the conveying vehicle, with which it is possible to achieve both higher stopping accuracy and improved traveling efficiency.SOLUTION: A coupling device according to the present disclosure couples a conveying vehicle and a conveying target object, and comprises: a conveying vehicle-side coupling portion that is rotatably coupled to the conveying vehicle; and a gripping portion that releasably grips a lower frame of the conveying target object. The gripping portion includes: a lower supporting portion that supports a horizontal plate portion of the lower frame from below; a projecting portion that projects upward from a tip end side of the lower supporting portion and engages with a side surface of the horizontal plate portion; and a displacement portion that is displaced between a releasing orientation and a gripping orientation, with a shaft portion serving as a fulcrum. The displacement portion has an upper supporting portion that supports the lower frame from above when in the gripping orientation. The gripping portion grips the lower frame by vertically sandwiching the lower frame between the lower supporting portion and the upper supporting portion when in the gripping orientation.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a coupling device for coupling a transport vehicle and an object to be transported.

Background Art

[0002] In recent years, within facilities such as manufacturing factories, consideration has been given to utilizing automated guided vehicles for transporting various articles. When transporting articles using an automated guided vehicle, it is conceivable to couple (tow) a wheeled object to be transported, such as a cart on which the articles are placed, to the automated guided vehicle. Patent Document 1 discloses a coupling device for coupling an automated guided vehicle and a cart.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The coupling device described in Patent Document 1 has a structure in which the claw portion of the coupling device enters inside the frame of the cart and engages with the inner surface of the frame to couple to the cart. However, simply having the claw portion enter inside the cart in the coupled state results in unstable coupling strength, and there is room for improvement.

[0005] Therefore, the present disclosure has been made in view of the above problems, and an object thereof is to provide a coupling device for coupling an object to be transported to a transport vehicle in a new form.

Means for Solving the Problems

[0006] According to the present disclosure, there is provided a coupling device for coupling a transport vehicle and an object to be transported, a transport vehicle side coupling portion rotatably coupled to the transport vehicle, and A gripping part that releasably grips the lower frame of the object to be conveyed, The gripping part has a lower support part that supports the horizontal plate part of the lower frame from below, a protrusion part that protrudes upward from the tip side of the lower support part and engages with the side surface of the horizontal plate part, and a displacement part that is displaced about a shaft part as a fulcrum between a release posture and a gripping posture. The displacement part has an upper support part that supports the lower frame from above in the gripping posture. The gripping part grips the lower frame by sandwiching the lower frame in the vertical direction between the lower support part and the upper support part in the gripping posture, and a connecting device is provided.

Effect of the Invention

[0007] According to the present disclosure, it is possible to provide a connecting device that connects an object to be conveyed to a transport vehicle in a new form.

Brief Description of the Drawings

[0008]

Figure 1

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Mode for Carrying Out the Invention

[0009] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted.

[0010] The connecting device of this embodiment is used, for example, in a manufacturing factory, a logistics warehouse, etc. to connect an unmanned carrier vehicle (hereinafter, also simply referred to as "carrier vehicle") used to transport various manufacturing parts, luggage, etc. and an object to be transported (transport target).

[0011] FIG. 1 shows a conveying device including a carrier 10 of the present embodiment and a connecting device 20 attached to the carrier 10. The connecting device 20 includes a carrier-side coupling portion 21 rotatably coupled to the carrier 10 and a gripping portion 22 for releasably gripping the lower frame of the object to be conveyed. The carrier 10 may be an AGV that moves along a guideline, an AMR that autonomously travels regardless of the guideline, or a carrier that can perform both in combination.

[0012] The carrier-side coupling portion 21 is located above the carrier 10 and supported from below by the carrier 10. The carrier-side coupling portion 21 in this example is rotatably coupled about a shaft portion 11 extending in the vertical direction (up and down direction) provided on the upper part of the carrier 10. Here, "rotation" does not necessarily mean 360° rotation, and includes cases where displacement occurs within a predetermined range, such as 180° or within a range of 90° or less. The carrier-side coupling portion 21 may be fixedly coupled to the carrier 10 so as not to be rotatable. The carrier-side coupling portion 21 may be configured not to be displaced in the vertical direction with respect to the carrier 10, but to be displaceable. The relative position (angle) of the carrier-side coupling portion 21 about the shaft portion 11 (with respect to the carrier 10) is controlled by a driving device such as an internal motor or actuator. The carrier-side coupling portion 21 is basically installed with respect to the carrier 10 so that the gripping portion 22 is located on the rear side of the carrier 10. The carrier-side coupling portion 21 may be removable with respect to the carrier 10.

[0013] FIG. 2 is an enlarged view of the gripping portion 22 in a side view. As shown in FIG. 2, the gripping portion 22 has a lower support portion 23 that supports the horizontal plate portion 511 of the lower frame 51 from below, a protrusion portion 24 that protrudes upward from the tip side of the lower support portion 23 and engages with the side surface 511a of the horizontal plate portion 511, and a displacement portion 25 that is displaced about a shaft portion 25a as a fulcrum between a release posture and a gripping posture. FIG. 2 shows the state where the displacement portion 25 is in the release posture.

[0014] The displacement portion 25 has an upper support portion 26 that supports the lower frame 51 from above in the gripping posture, and a side support portion 27 that supports the lower frame 51 from the front side (the side of the transport cart 10). The upper support portion 26 and the side support portion 27 are fixed to each other and are substantially integrated, and are displaced together between the release posture and the gripping posture. The upper support portion 26 suppresses the upward movement of the lower frame 51 by contacting the upper end portion (end face) of the vertical plate portion 512 of the lower frame 51 in the gripping posture. The side support portion 27 suppresses the movement of the lower frame 51 in the direction away from the protrusion portion 24 by contacting the outer surface of the vertical plate portion 512 in the gripping posture. The shaft portion 25a in this example is composed of two rotating shafts, and the displacement portion 25 is configured to be displaceable between the release posture and the gripping posture while the side support portion 27 of the displacement portion 25 maintains a state of extending in the vertical direction. The configuration of the displacement portion 25 is not limited to the illustrated example, and it may be configured to swing and displace with a shaft portion composed of only one rotating shaft, or a structure in which the side support portion 27 slides in the horizontal direction and the upper support portion 26 slides in the vertical direction may be adopted. In the case of such a slide mechanism, a guide member such as a rail for guiding linear movement may be provided.

[0015] FIG. 3 shows a state in which the displacement portion 25 is in the gripping posture and the gripping portion 22 is gripping the lower frame 51. The gripping portion 22 sandwiches the lower frame 51 in the vertical direction between the lower support portion 23 and the upper support portion 26 in the gripping posture. Thereby, the connection strength is stabilized. In this example, the lower frame is sandwiched in the depth direction by the protrusion portion 24 and the side support portion 27 to grip the lower frame 51. Note that the side support portion 27 is not an essential configuration, and the side support portion 27 does not always need to be in contact with the lower frame 51. That is, if there is the protrusion portion 24, the separation of the cart in the horizontal direction can be suppressed. Further, by sandwiching the lower frame 51 in the vertical direction between the lower support portion 23 and the upper support portion 26, the displacement of the lower frame 51 in the depth direction due to friction can also be suppressed.

[0016] As shown in FIG. 3, the upper support portion 26 is configured not to protrude inside the inner surface of the vertical plate portion 512 (inside the cage cart). Further, the lower support portion 23 and the protrusion portion 24 are configured not to protrude above the upper surface of the horizontal plate portion 511.

[0017] When the displacement portion 25 is displaced from the release posture of FIG. 2 to the gripping posture of FIG. 3, it is displaced in the depth direction toward the protrusion portion 24 (forward) and in the vertical direction toward the lower support portion 23 (downward). In this example, the side support portion 27 is displaced while maintaining the angle extending in the vertical direction by the shaft portion 25a provided at the base end portion of the lower support portion 23 and the lower end portion of the side support portion 27, respectively, and a member connecting them.

[0018] FIG. 4 shows a state where the transport vehicle 10 approaches the object to be transported 50 (cage cart) in order to connect the connecting device 20 installed on the transport vehicle 10 to the object to be transported 50. At this time, the displacement portion 25 is in the release posture. The transport vehicle 10 approaches the object to be transported 50 so that the tip of the horizontal support portion 23 is inserted between the left and right wheels 52 of the object to be transported 50 (and between the ground and the support frame 51). The gripping portion 22 is preferably connected to the central portion in the left - right direction of the object to be transported 50.

[0019] FIG. 5 is an enlarged view showing the gripping portion 22. In FIG. 5, the entire object to be transported is not shown, and only the lower frame 51 is schematically illustrated. The lower frame 51 is, for example, a metal member having an L - shaped cross - section, and has a horizontal plate portion 511 extending in the horizontal direction and a vertical plate portion 512 extending in the vertical direction. The lower frame 51 is not limited to this, and may be configured, for example, as a member having a rectangular cross - section.

[0020] Here, on the tip side of the horizontal support portion 23 (the tip side with respect to the protrusion 24), an inclined guide surface 28 that inclines obliquely downward toward the tip is provided. The tip of the lower support portion 23 has a tapered shape due to the provision of the inclined guide surface 28, and the size (height) in the vertical direction gradually decreases. With such a configuration, when connecting the gripping portion 22 to the object 50 to be conveyed, the lower support portion 23 can be smoothly inserted below the lower frame 51 and guided to an appropriate connection position.

[0021] The lower support portion 23 is configured to be elastically displaceable in the vertical direction by contacting the object 50 to be conveyed during the process of connecting the object 50 to be conveyed, and a biasing member for returning the displaced lower support portion 23 to its original position is provided. The biasing member can be a coil spring (coil spring), leaf spring, actuator, etc., but is not limited thereto. In this example, as shown in FIG. 5, two coil springs 31 are provided as the biasing member. The two coil springs 31 are installed between the upper frame 32 and the lower frame 33 that extend outward from the conveyance vehicle side coupling portion 21, and are arranged parallel to each other. The upper frame 32 and the lower frame 33 are parallel to each other and support the gripping portion 22. When the lower support portion 23 is displaced downward, the coil spring 31 extends and a compressive force acts, causing the lower support portion 23 to rise toward its original position.

[0022] The height of the lower support portion 23 is set in advance to correspond to the height of the lower frame 51 of the object 50 to be conveyed. In the process of the conveyance vehicle 10 with the connecting device 20 attached approaching the object 50 to be conveyed such as a cage cart, when the lower end portion of the outer surface of the lower frame 51 contacts the inclined guide surface 28, the lower support portion 23 elastically displaces downward along the inclination of the inclined guide surface 28, and when the lower frame 51 gets over the protrusion 24, it rises to a position where the upper surface of the lower support portion 23 abuts against the lower surface of the lower frame 51. Then, when the displacement portion 25 is displaced from the release posture to the gripping posture, the gripping portion 22 grips the lower frame 51, and the object 50 to be conveyed is connected to the conveyance vehicle 10 (see FIG. 3).

[0023] As shown in FIG. 6, with the carrier 10 and the object to be transported 50 connected by the connecting device 20, the carrier moves to an arbitrary destination, thereby transporting the object to be transported 50 (such as a cage cart and the articles and luggage to be transported) to the target position.

[0024] In the example of FIG. 6, the auxiliary fixing wheel 34 provided on the connecting device 20 is not in contact with the ground, but as shown in FIG. 7, the auxiliary fixing wheel 34 may be in contact with the ground. For example, when two of the wheels 52 of the object to be transported 50 located on the connecting device 20 side are fixed wheels, it is transported in a state floating above the ground as shown in FIG. 6. When all the wheels 52 of the object to be transported 50 are free wheels, it may be transported with the auxiliary fixing wheel 34 in contact with the ground as shown in FIG. 7. Also, when two wheels located at a position far from the connecting device 20 are fixed wheels, it may be transported in a state floating above the ground as shown in FIG. 6. Further, in the case of a six-wheel cart having six wheels, if the two central wheels are fixed wheels, even in that case, it may be transported in a state floating above the ground as shown in FIG. 6. That is, according to the information on the type, number, and position of the wheels of the object to be transported 50, the grounding or non-grounding of the auxiliary fixing wheel 34 during transportation may be selected. Such information regarding the wheel information and the conditions for grounding or non-grounding of the auxiliary fixing wheel 34 may be stored in the storage unit in advance, or may be input and controlled or stored by the user at an arbitrary timing. Note that the auxiliary fixing wheel 34 is coupled to the carrier-side coupling portion 21 and is displaced between a grounded state and a non-grounded state by moving up and down by a driving device such as an actuator. The up and down movement may be a swing around a shaft portion extending in the horizontal direction as a fulcrum, or may be a slide up and down along a rail or the like.

[0025] In this example, the auxiliary fixing wheel 34 is provided at the tip of a support arm 35 extending from the conveyance vehicle side coupling portion 21. The support arm 35 is located below the upper frame 32, the lower frame 33, and the gripping portion 22. The auxiliary fixing wheel 34 is located in front of the gripping portion 22 (in the direction farther from the conveyance vehicle 10) and is configured to dive under the object 50 to be conveyed, but is not limited thereto. The auxiliary fixing wheel 34 and the gripping portion 22 are located at the center in the left-right direction of the connecting device 20 and are arranged at the same circumferential position around the conveyance vehicle 10. When the connecting device 20 rotates with respect to the conveyance vehicle, both the auxiliary fixing wheel 34 and the gripping portion 22 move in the circumferential direction. The support arm 35 extends downward from the conveyance vehicle side coupling portion 21, bends, and extends forward, but the shape can be appropriately changed.

[0026] In the present embodiment, a sensor 29 for detecting that the lower frame 51 is disposed at an appropriate position with respect to the gripping portion 22 is provided. The sensor 29 may be disposed adjacent to the lower support portion 23. In that case, it is possible to determine whether the horizontal plate portion 511 of the lower frame 51 is properly supported by the lower support portion 23. That is, when the sensor 29 detects the lower support portion 23, it can be determined that the lower frame 51 is in an appropriate position. It is preferable that a plurality of sensors 29 are provided. The sensor 29 may be a physical switch that detects the presence or absence of an object by flowing a current when pushed in, or an infrared sensor or the like. Note that the sensor 29 is not an essential configuration, and the gripping portion 22 may be operated without the sensor 29. For example, the gripping portion may be displaced from the release posture to the gripping posture in response to an input from the user, or may be automatically displaced from the release posture to the gripping posture according to a predetermined program, or when the distance and angle of the conveyance vehicle with respect to the object to be conveyed are within a predetermined range, the gripping portion may be displaced from the release posture to the gripping posture.

[0027] As shown in FIG. 8, the sensor 29 in this example is composed of a pair of sensors 29a and 29b that are arranged at intervals in the left - right direction. The pair of sensors 29a and 29b are located between a pair of lower support portions 23 that are arranged at intervals in the left - right direction, and are arranged adjacent to each lower support portion 23.

[0028] In this embodiment, an ejector 30 is provided that releases the engagement between the lower frame 51 and the protrusion 24 by lifting the lower frame 51 of the object to be conveyed 50 from below. The ejector 30 in this example is located between a pair of lower support portions 23 (between a pair of sensors 29a and 29b) that are arranged at intervals in the left - right direction. When detaching the object to be conveyed, the ejector 30 is driven (lifted) with the gripping portion in the released posture. Also, after detaching the object to be conveyed, it descends and returns to its original position. While the gripping portion is in the gripping posture, the ejector is always in the lowered state. Such an operation of the ejector 30 is controlled by the control unit based on information that is predetermined and stored in the storage unit. Alternatively, the ejector 30 may be operated based on instruction information input by the user via the input unit.

[0029] In this embodiment, according to the size of the lower frame 51 of the object to be conveyed 50, the interval between the lower support portion 23 and the upper support portion 26 in the vertical direction, and the interval between the protrusion 24 and the side support portion 27 in the depth direction are configured to be changeable. For example, the member constituting the upper support portion 26 is detachable from the base member of the displacement portion 25 by a fastener such as a bolt. By changing the position (vertical position) of the upper support portion 26, the interval between the lower support portion 23 and the upper support portion 26 in the vertical direction can be changed. Similarly, if the member constituting the protrusion 24 is detachable by a fastener, by changing the horizontal position of the protrusion 24, the interval between the protrusion 24 and the side support portion 27 in the depth direction can be changed. Not limited to this example, the positions of the members constituting the lower support portion 23, the side support portion 27, etc. may be changeable. Also, the shapes of the members constituting the lower support portion 23, the upper support portion 26, the protrusion 24, the side support portion 27, etc. may be changed so as to correspond to the object to be conveyed 50.

[0030] In this embodiment, a connector or the like for power supply and communication is provided at the connection part between the carrier vehicle side connection part 21 and the carrier vehicle 10, and power supply and signal communication (transmission and reception) are possible between the carrier vehicle 10 and the connecting device 20. Specifically, operations such as the vertical movement of the gripping part 22 and the auxiliary fixing wheel 34 of the connecting device 20 can be controlled by the power supply and control signals from the carrier vehicle 10. Note that a control part, a storage part, a communication part, a power supply, etc., which will be described later, may be provided in the connecting device 20 itself, or it may be configured to operate without power supply and control signals from the carrier vehicle.

[0031] In this embodiment, an imaging unit 36 is provided in the connecting device 20. The imaging unit 36 is located above the gripping unit 20. Also, it is preferable that the mounting position of the imaging unit 36 in the width direction (left - right direction) of the connecting device 20 overlaps with the gripping unit 20 and the auxiliary fixing wheel 34. That is, it is preferable that the shooting direction of the imaging unit 36 coincides with the extending direction of the gripping unit 20, and the center of the imaging unit 36 coincides with the left - right center of the gripping unit 20. The imaging unit 36 can be a sensor having an imaging function and a distance - measuring function (depth detection function). Specifically, for example, it is composed of a Depth Camera such as Intel's RealSense (registered trademark). The control unit can estimate the position of the object to be conveyed 50 and the relative angle (posture) with respect to the connecting device based on the acquired information of the imaging unit 36. The control unit can also detect the presence of an obstacle (the presence or absence of an obstacle), its posture (such as touching the cage cart), distance (distance from the imaging unit 36), and state (whether a person is working, walking, sitting, or fallen) by analyzing the captured image of the imaging unit 36. The control unit may be configured to select one from a plurality of options stored in the storage unit in advance by image analysis. Based on such information, for example, when an obstacle (including an article or a person) is detected in the traveling direction, the traveling may be stopped. Alternatively, when it is detected that an operator is taking in and out articles in the cage cart, the connecting operation or the releasing operation may be stopped. Conversely, when it is determined that there is no obstacle or the operator is not working (or has finished working), the connecting operation or the releasing operation may be started. Thus, the control unit can control the transport vehicle and the connecting device based on the acquired information from the imaging unit 36. Also, as shown in FIG. 4, the imaging unit 36 may be provided at the upper part of the support arm 35 that supports the auxiliary fixing wheel 34. By providing the imaging unit 36 on both the upper and lower sides of the gripping unit 20, in addition to expanding the imaging range, the detection accuracy (estimation accuracy of position and posture) of the object to be conveyed and the like can be improved, so that the efficiency and safety of the connecting operation can be enhanced. Note that the imaging unit 36 is not an essential component.

[0032] When connecting the connecting device 20 to the object 50 to be conveyed, the control unit of the conveyance vehicle can approach the connecting device 20 to the object 50 to be conveyed at an appropriate position and angle based on the information from the imaging unit 36 and at least any one of the information of the imaging unit (including cameras and sensors) provided on the conveyance vehicle itself. For example, the gripping part 20 of the connecting device 20 is positioned at the center in the left-right direction (center in the width direction) of the object 50 to be conveyed, and the conveyance vehicle 10 is moved so that the object 50 to be conveyed is positioned directly in front of the gripping part 20.

[0033] And when it is determined based on the information from the sensor 29 provided on the gripping part 20 that the lower frame 51 of the object 50 to be conveyed is arranged at an appropriate position with respect to the gripping part 20, the displacement part 25 is displaced from the release posture to the gripping posture. Thereby, the lower frame 51 can be gripped by the gripping part 20 with high accuracy.

[0034] When the conveyance vehicle conveys the object 50 to be conveyed to the target position and releases the connection, after displacing the displacement part 25 from the gripping posture to the release posture, the conveyance vehicle is run in the direction away from the object 50 to be conveyed (the direction opposite to that at the time of connection), whereby the connection can be released. Also in that case, the control unit can appropriately determine whether the lower frame 51 has detached from the gripping part 20 based on the information from the sensor 29 provided on the gripping part 20, or can determine whether the object 50 to be conveyed has been released from the connection in an appropriate posture based on the information from the imaging unit 36. When releasing the connection, the ejector 30 may be raised after displacing the displacement part 25 from the gripping posture to the release posture, or it may be detached by moving the conveyance vehicle without the ejector 30. When there is no ejector, the lower support part 23 may be moved downward to make it easier to get over the protrusion 24.

[0035] Note that a rotatable plate-shaped turntable may be provided on the upper part of the conveyance vehicle, and the conveyance vehicle side coupling part 21 may be installed there. In that case, the turntable rotates together with the connecting device, and the rotation of the connecting device can be suppressed by suppressing the rotation of the turntable with a disk brake or the like.

[0036] Also, when controlling the rotation angle of the connecting device with respect to the carrier vehicle 10 by a motor, the motor is basically powerless and rotates freely, but only when necessary (when setting it to a predetermined angle to lock or adjusting the angle of the object to be conveyed with respect to the carrier), the motor may be driven to rotate so that the rotation angle (orientation) of the connecting device can be arbitrarily changed. The motor may be a dedicated motor provided for rotating the connecting device, or a motor for controlling the drive wheels of the carrier vehicle, etc.

[0037] Here, the object to be transported 50 can be, for example, a cage cart, a trolley, a cabinet, a pallet, a conveyor, various other devices, etc., but is not limited thereto. The object to be transported 50 is provided with wheels 52 and is pulled while being connected to the transport vehicle 10, and thus moves following the transport vehicle. That is, the object to be transported 50 is basically located behind the transport vehicle 10 (when the traveling direction of the transport vehicle 10 is taken as the front), but may be located on the traveling direction side of the transport vehicle 10, for example, when the transport vehicle 10 reverses. Also, the transport mode may be a traction transport in which the transport vehicle located in the front pulls the object to be transported in the rear, or a transport mode in which the transport vehicle moves while pushing the object to be transported located in the front from the rear. The wheels 52 are provided in a plurality (for example, 4, 6, etc.) on the bottom surface such as the cage portion of the cage cart for loading the transported item, and may all be composed of free wheels, or may be composed of fixed wheels and free wheels. When the object to be transported is provided with fixed wheels and free wheels, the transport vehicle and the object to be transported may be connected such that the transport vehicle is located on the fixed wheel side, or vice versa. That is, the control unit can also determine the gripping position (direction) of the connecting device with respect to the object to be transported based on the information of the wheels of the object to be transported (the presence or absence of fixed wheels and their positions). Further, when the heavy object exceeds a predetermined weight (1 kg, 10 kg, 50 kg, 100 kg, etc.), the transport vehicle may be connected to the side opposite to the fixed wheels. That is, in addition to the wheel information of the object to be transported, it is also possible to determine the gripping position (direction) of the connecting device with respect to the object to be transported based on the weight information of the object to be transported. Such condition information regarding the determination of the gripping position of the connecting device may be stored in the storage unit in advance, or may be stored or updated based on input information from the user. Also, the wheel information and the weight information may be obtained from input information from the user, or may be received as information transmitted from the object to be transported, or may be estimated from the analysis of the camera image of the transport vehicle or the communication device or the sensor detection information.

[0038] <Configuration of the transport vehicle> FIG. 9 is a perspective view showing a configuration example of the transport vehicle 10. The transport vehicle 10 in this example is an autonomous transport vehicle, but it is also applicable to various vehicles that can carry people. The arrow 15 in FIG. 9 indicates the traveling direction of the transport vehicle. The traveling direction is basically in front of the transport vehicle, but it can also be in the rear depending on the situation. As shown in FIG. 9, the transport vehicle 10 includes a shaft portion 11 for coupling the coupling device 20, an object position detection unit 12 for detecting an object around the transport vehicle, drive wheels 13, and non-drive wheels 14.

[0039] For example, the transport vehicle is equipped with the object position detection unit 12. The object position detection unit 12 is a device that detects the relative distance and angle from the transport vehicle to an object (including the object to be transported, people, etc.). As an example of the object position detection unit 12 and the imaging unit 36, a laser distance sensor (such as LiDAR (Light detection and ranging)) that measures the distance and direction to an object by irradiating laser light and measuring the time until it hits the object and bounces back, a millimeter-wave radar that detects the distance to an object based on the transmitted signal of millimeter waves and the received signal reflected back from the object, or a camera-type distance sensor that measures the distance to an object by taking a picture of the object with a camera and analyzing the captured image, etc. can be applied. In this embodiment, an example is shown in which the object position detection unit 12 is arranged in front of the traveling direction on the upper surface of the transport vehicle, but it may be arranged on the front side surface in the traveling direction instead. Also, it may be arranged not only in the front but also on the rear side surface or both left and right side surfaces in the traveling direction.

[0040] The object position detection unit 12 may be configured to detect an object with respect to 360 degrees around the transport vehicle, but it is configured to be able to detect an object at least with respect to the traveling direction 15 of the transport vehicle. The traveling direction 15 may be in front of or behind the transport vehicle.

[0041] FIG. 10 is a bottom view showing an example of the hardware configuration of the transport vehicle according to the present embodiment. On the bottom surface of the transport vehicle, drive wheels 13 are provided at positions on both the left and right sides with respect to the traveling direction 15 of the transport vehicle, and non-drive wheels 14 are provided at positions in front of and behind each drive wheel 13. The drive wheels 13 are wheels connected to the rotation shaft of the motor and driven, and the right drive wheel and the left drive wheel are individually controlled. The control unit can control the speed of the transport vehicle by controlling the rotation speed of the drive wheels. Further, the control unit can curve and run the transport vehicle, rotate the transport vehicle on the spot to change the direction, stop, or reverse the transport vehicle by individually controlling the rotation speed and rotation direction of each drive wheel. The non-drive wheels 14 are wheels that are not driven and are rotated passively when the transport vehicle moves by the drive wheels 13. The non-drive wheels 14 include, for example, forks that fix the wheels and the axles, and the forks are composed of rotary casters that are rotatably connected to the bottom member of the transport vehicle. Therefore, the wheel rotation direction of the non-drive wheels 14 changes passively according to the traveling direction and rotation operation of the transport vehicle. In FIG. 10, the hardware configuration of a transport vehicle having two drive wheels and four non-drive wheels at the four corners is illustrated, but the present invention is not limited to this hardware configuration, and it is also possible to adopt a configuration of a total of four wheels including two drive wheels and two non-drive wheels, and it is also possible to adopt a configuration in which the front wheels are steerable in the four-wheel configuration.

[0042] On the bottom surface of the carrier vehicle, a guide line detection unit 16 for detecting a guide line is provided. The guide line detection unit 16 is preferably provided in front of the carrier vehicle in the traveling direction rather than the drive wheels 13. Thereby, when traveling at a position where the guide line is curved, it becomes easier to travel following the guide line, and when the carrier vehicle and the towed cart move forward, information can be received from the guide line quickly, and processing such as stopping can be executed quickly. As the guide line detection unit, a sensor corresponding to the type of the above-described guidance method is used. When using the electromagnetic induction method as the guidance method, a pickup coil is used. When using the magnetic induction method, a magnetic sensor is used. When using the image recognition method, a camera is used as the sensor of the guide line detection unit. The guide line is not limited to the floor surface and may be provided on the side wall surface, ceiling surface, etc. of the building, and a sensor (including a camera) of the carrier vehicle can be installed at a position where the guide line can be recognized (the lower surface, side surface, upper surface, etc. of the carrier vehicle). Further, the guide line may be an orbit virtually provided on two-dimensional or three-dimensional map data. The control unit of the carrier vehicle may control the traveling of the carrier vehicle along a virtual guide line based on the map information and track information (movement route information) stored in the storage unit in advance and the current self-position information estimated based on information such as a camera and sensors.

[0043] FIG. 11 is a diagram showing a configuration example of an operation area 130 according to the present embodiment. As shown in FIG. 11, in the operation area 130, a guide line 131 is laid. When a carrier vehicle traveling in the autonomous driving mode detects the guide line 131 at a preset traveling mode switching position 132, the traveling control mode is switched from the autonomous driving mode to the guided driving mode. Conversely, when a carrier vehicle traveling in the guided driving mode on the guide line enters a preset traveling mode switching position 132, the traveling control mode is switched from the guided driving mode to the autonomous driving mode. In order to guide the carrier vehicle to a position close to a shelf where luggage is stored, a belt conveyor, or a worker's working position, the track composed of the guide line 131 is laid at a position close to the shelf or the working position via a plurality of branch points.

[0044] When the carrier vehicle 10 traveling in the autonomous driving mode in an area where no guiding line is laid enters the driving mode switching position 132 and detects the guiding line 131, it changes the driving mode to the guiding following driving mode that follows the guiding line. On the other hand, when a carrier vehicle traveling in the guiding following driving mode on the guiding line enters the driving mode switching position 132, the driving control mode switches from the guiding following driving mode to the autonomous driving mode, and the carrier vehicle leaves the guiding line and starts autonomous driving.

[0045] As the guiding line 131 shown in FIG. 11, various guiding lines of conventional guiding methods as described below can be applied. Specifically, for example, an electromagnetic induction method in which a magnetic field generated by passing a weak alternating current through a metal wire installed as a guiding line is detected by a pickup coil on the carrier vehicle side, a magnetic induction method in which a magnetic tape laid on the floor surface is read by a magnetic sensor on the carrier vehicle side as a guiding line, or an image recognition method in which an image of a code (barcode, two-dimensional code, etc.) laid on the floor surface is photographed by a camera on the carrier vehicle side and image processing is performed can be applied. When the guiding line is composed of a plurality of two-dimensional codes, the guiding line is printed with a plurality of two-dimensional codes in which code information is printed on a two-dimensional plane as shown in the two-dimensional code side by side in the laying direction of the guiding line. When the guiding line detection unit 16 detects a two-dimensional code, it acquires the position information of the two-dimensional code based on the code information acquired from the two-dimensional code. When the guiding line is composed of a magnetic tape, the guiding line detection unit 16 can be configured to include a plurality of magnetic sensors for detecting the magnetic tape in the lateral direction toward the traveling direction of the carrier vehicle. The plurality of magnetic sensors provided in the guiding line detection unit 16 each output a detection signal indicating whether or not the magnetic tape has been detected. Thereby, it is possible to detect at which position of the guiding line detection unit 16 the magnetic tape is located, depending on whether the magnetic sensor located at the center of the guiding line detection unit 16 detects the magnetic tape, or whether the magnetic sensors located at the left and right ends detect the magnetic tape.

[0046] <Configuration of the conveying system> Next, the configuration of the transport system of the present embodiment will be described. FIG. 12 is a diagram showing an example of the overall configuration diagram of the transport system according to the present embodiment. The transport system 1000 includes a plurality of transport vehicles (10a, 10b), a carriage 2000 which is an object to be transported, a console 3000 capable of displaying the state of the transport vehicle or inputting commands to the transport vehicle, a general control device 4000 that manages information necessary for the operation of the transport vehicle, an input / output device 5000 that displays information of the general control device and inputs information to the general control device, and a communication network 6000 that communicably connects the plurality of transport vehicles (10a, 10b), the console 3000, and the general control device 4000.

[0047] Also, the transport system 1000 can be connected to an external system 7000 via the communication network 6000. When the transport system 1000 is introduced into a manufacturing factory to transport parts necessary for manufacturing from a storage to a manufacturing line, the transport system 1000 performs system-to-system cooperation with a manufacturing management system as the external system 7000. In this case, if information on the progress status of the manufacturing operation is obtained from the manufacturing management system, the transport volume and transport route by the transport vehicle can be dynamically adjusted according to the progress status of the manufacturing operation.

[0048] As another example, when the transport system 1000 is introduced into a logistics warehouse to transport incoming goods from the entrance to the storage when the goods are brought into the warehouse by a truck or the like, and to transport the goods to be shipped from the storage to the shipping exit when shipping goods from the warehouse, the transport system 1000 performs system-to-system cooperation with a logistics management system as the external system 7000. In this case, if information on incoming and shipping is obtained from the logistics management system, the transport volume and transport route by the transport vehicle can be changed.

[0049] In a facility where a transportation system is introduced, generally multiple transport vehicles (10a, 10b) operate. Therefore, each transport vehicle is communicably connected to other transport vehicles and other components via a communication network 6000. For example, the transport vehicle transmits various detection information detected by its own detection unit and other control information to the operator console 3000, the overall control device 4000, and other transport vehicles 10. Further, the transport vehicle 10 is electrically connected or communicably connected by short-range communication means to the carriage 2000, and is configured to be able to receive information regarding the connection state and the identification information of the carriage from the carriage.

[0050] The operator console 3000 has a function of displaying the state information of each transport vehicle and a function of inputting commands to a specified transport vehicle. For example, as the state information of the transport vehicle displayed on the operator console, the identification information of each transport vehicle, the position (coordinates, position on the map), speed, direction, travel history, transport history of the transport object (including time information such as the identification information of the transported transport object, the transport start position, the transport end position, the transport time, the connection time, the disconnection time, etc.), the information on the charge amount of the battery that is mounted on the transport vehicle and serves as the power source of the transport vehicle, the sensor information acquired by the transport vehicle, the captured image, the identification information of the transported object (transport object) such as the carriage transported by the transport vehicle, the information of the connection device, the gripping posture or the release posture, the information regarding the lock of the connection device (whether it is in the locked state or not), the rotation angle, etc., all the information acquired or stored in this system can be displayed. As the commands input to the transport vehicle, for example, command information regarding the destination (target position) of the transport vehicle, operation commands for connecting and disconnecting from the carriage, a travel start command for the transport vehicle, a stop command for the transport vehicle, a return command to the charging station, an instruction of the transport object to be transported by the transport vehicle, a connection instruction, a disconnection instruction, a rotation lock support, a lock release instruction, an instruction of the rotation angle, an instruction regarding the lock condition (rotatable angle that can be locked), instruction information such as the identification information of the transport object to be transported, the transport start position, the transport end position, the transport time, the connection time, the disconnection time, etc. of the time information.

[0051] FIG. 13 shows a configuration diagram of the overall control device 4000 in the present embodiment. The overall control device 4000 includes a state information recording unit 4010 that records state information of a plurality of carrier vehicles operating in a facility area, an operation scenario management unit 4020 that manages operation scenarios of the plurality of carrier vehicles, a map management unit 4030 that generates and updates a map of a work area based on detection information of a carrier vehicle including detection information of a guiding line acquired by a guiding line detection unit of the carrier vehicle, an abnormality determination unit 4040 that determines an abnormality of the guiding line and the carrier vehicle based on the detection information of the carrier vehicle, and a communication unit 4050 that communicates with an external input / output device 5000 and a communication network 6000.

[0052] The state information of the carrier vehicle recorded by the state information recording unit 4010 is, for example, an obstacle detection position detected by a plurality of carrier vehicles during operation, a guiding line detection position, historical information of the traveling position of the carrier vehicle, further, information on the battery charge amount, identification information of a carriage connected to the plurality of carrier vehicles, an operation mode of the plurality of carrier vehicles (a guiding travel mode or an autonomous travel mode), various detection information detected by the detection unit 230 of the carrier vehicle, map information of the work area, and the like. The operation scenario managed by the operation scenario management unit 4020 includes, for example, information on the destination of each of the plurality of carrier vehicles, a plurality of operation contents to be executed until reaching the destination, an operation order of the plurality of operations, and a switching condition of the plurality of operations.

[0053] The map management unit 4030 generates a map including position information of obstacles and guiding lines in the work area based on the obstacle detection position, guiding line detection position, and historical information of the traveling position of the carrier vehicle detected by the carrier vehicle. Further, the map management unit 4030 updates the information on the guiding lines and the work area registered in the map based on the information on the detection positions of the guiding lines accumulated by one or a plurality of carrier vehicles.

[0054] The abnormality determination unit 4040 determines an abnormality of the guiding line and the carrier vehicle based on the position information of the guiding line registered in the map information and the detection information of the carrier vehicle including the detection position information of the guiding line detected by the carrier vehicle.

[0055] The input / output device 5000 can display information recorded in the state information recording unit 4010 of the overall control device 4000, map information (including map update information), the determination result by the abnormality determination unit, etc., and can add or update a new operation scenario by inputting the operation scenario managed by the operation scenario management unit 4020. The information input to the input / output device 5000 includes, for example, that the destination of an arbitrary carrier is the work area A in the guidance driving area 110, the operation content for entering the guidance driving area 110 and arriving at the work area A, operation switching conditions, and the like.

[0056] <Function of the carrier> The functions of the carrier will be described with reference to FIG. 14. FIG. 14 is a diagram showing the functional configuration diagram of the carrier according to the present embodiment. The carrier 10 includes a connecting device 20, a communication unit 210 that communicates with a carriage 2000 outside the carrier and a communication network 6000, a recording unit 220 (including a storage unit), a detection unit 230 provided with various sensors described later, a connecting device for connecting to the carriage, a wheel driving unit 280 that drives the wheels, an input unit 240, a display unit 250, and a control unit 260 that controls operations such as the wheel driving unit 280.

[0057] The recording unit 220 has a function of recording information received by the communication unit 210 from the outside, detection information detected by the detection unit 230, and information generated and output by the control unit. The recording unit 220 can store information such as the target position, movement route, and movement history of the carrier. The recording unit 220 can store speed information according to the distance to the target position, calculation formula (program) information for calculating the speed information, and the like.

[0058] The detection unit 230 includes an object position detection unit 12, a guidance line detection unit 16, a travel distance detection unit 233, a collision detection unit 234, an attitude detection unit 235, and a charge amount detection unit 236. As described above, the object position detection unit 12 measures the distance and direction to an object by measuring the time it takes for a laser beam to irradiate the object and bounce back. It can be a laser distance sensor (such as LiDAR (Light Detection and Ranging)), a millimeter-wave radar that detects the distance to an object based on the transmitted millimeter-wave signal and the received signal reflected back from the object, or a camera-type distance sensor that measures the distance to an object by photographing the object with a camera and analyzing the captured image. The control unit can estimate the current position and current speed information of the carrier vehicle based on the information of the detection unit. The detection unit 230 includes a position sensor such as GNSS that detects the current position of the carrier vehicle and a speed sensor that detects the speed of the carrier vehicle.

[0059] As described above, the guidance line detection unit 16 uses a sensor according to the type of guidance method. When using the electromagnetic induction method, a pickup coil is used. When using the magnetic induction method, a magnetic sensor is used. When using the image recognition method, a camera is used as the sensor of the guidance line detection unit. The guidance line detection unit detects the guidance line when it is located directly above the guidance line and outputs a detection signal. Also, in the case of the image recognition method of reading a guidance line using a two-dimensional code or barcode by a camera, in addition to the detection signal of the guidance line, position information can be generated based on the information of the detected code, and relative angle information between the guidance line and the carrier vehicle can be generated by further performing the image information of the code.

[0060] The travel distance detection unit 233 detects the rotation speed of the non-driving wheel 14 or the driving wheel 13, and can measure the travel distance and travel speed of the carrier vehicle based on the detection information of the rotation speed and the information on the diameter (or circumferential length) of the non-driving wheel or the driving wheel (in this case, the travel distance detection unit 233 can function as a speed sensor). Also, as an alternative means, it is also possible to apply a means of detecting the travel speed of the carrier vehicle by using a millimeter-wave sensor that irradiates millimeter waves in an arbitrary direction in the horizontal direction (which may be a wall surface or a floor surface) and detecting the reflected wave, and estimating the travel distance by integrating the travel speed. In addition, any method of measuring the travel distance or obtaining the travel speed other than the methods described above can be applied.

[0061] The collision detection unit 234 has a function of detecting that the carrier vehicle has collided with an object or a person. Specifically, it is possible to detect acceleration by a gyro sensor or the like, and determine that a collision has occurred when a sudden change in acceleration is detected. As an alternative means, it is also possible to apply a means of providing a physical switch together with a bumper in front of the traveling direction of the carrier vehicle and determining that a collision has occurred when the physical switch is pressed. In addition, a collision detection method other than the above can be applied. When the collision detection unit 234 detects a collision, the carrier vehicle is stopped, and at least one of the collision occurrence information and the collision occurrence position information is recorded in the recording unit, and the information is notified to the overall control device 4000 and the control unit 3000. The attitude detection unit 235 detects the direction (attitude) of the own vehicle based on a magnetic compass, information on the rotation speeds of the left and right driving wheels, or steering information of the wheels.

[0062] The charge detection unit 236 detects the charge level of the battery, which is the power source of the transport vehicle. When the charge level detected by the charge detection unit 236 becomes equal to or less than a predetermined value, it is determined that charging is necessary, and the detection information indicating a decrease in the charge level is recorded in the recording unit, and this information is notified to the overall control device 4000 and the operator 3000. Further, when it is detected that the charge level is equal to or less than the predetermined value, in addition to the above processing, the vehicle may be automatically moved to a charging spot for charging. Note that the predetermined value for the charge detection unit 236 to determine that charging is required may be a value preset based on at least either the distance to the destination set for the transport vehicle or the weight of the transported item connected to the transport vehicle.

[0063] The input unit 240 is composed of a physical switch, a touch panel, etc. mounted on the transport vehicle, and the user can directly input an operation command or the like to the transport vehicle. The display unit 250 is composed of, for example, a liquid crystal panel mounted on the transport vehicle, and can display the state information of the transport vehicle (various detection information by the detection unit 230, the type of driving mode, the operation scenario currently being executed, etc.).

[0064] The control unit 260 includes an operation determination unit 261, a mode switching unit 262, a connection control unit 263, a display control unit 264, a position estimation unit 265, and a travel control unit 266. The operation determination unit 261 determines the operation of the transport vehicle based on the operation scenario of the self-transport vehicle acquired from the operation scenario management unit 4020.

[0065] The mode switching unit 262 switches the driving mode of the transport vehicle between the guided driving mode and the autonomous driving mode based on conditions predetermined by an operation scenario or the like, or a command input by the input unit 240. The connection control unit 263 controls the operation of the connection device based on conditions predetermined by an operation scenario or the like, or a command input by the input unit 240, and controls the connection / disconnection with a transported item such as a cart. The display control unit 264 controls the input IF of the input unit 240 and the display unit 250 described above.

[0066] The position estimation unit 265 can estimate the position at a predetermined time including the current position of the vehicle in the entire driving area based on the driving distance detected by the driving distance detection unit 233, the information on the direction of the own vehicle detected by the attitude detection unit 235, and the map information of the entire area recorded in the recording unit 220. Alternatively, it is also possible to estimate the position of the vehicle in the entire driving area based on the information on the distance and direction from the vehicle to the object measured by the object position detection unit 12 and the map information of the entire area recorded in the recording unit 220. Or, when the vehicle is traveling on a guiding line composed of two-dimensional codes, it is also possible to estimate the position of the vehicle in the entire driving area based on the identification information of the two-dimensional codes and the above map information. The position estimation unit 265 can also acquire position information by means of GNSS or the like provided on the transport vehicle.

[0067] Based on the estimated vehicle position information and the distance information from the vehicle to the object detected by the object position detection unit 12, the position estimation unit 265 can estimate the position where the object exists. Also, based on the vehicle position information when the guiding line is detected by the guiding line detection unit 16, the installation position of the guiding line is estimated.

[0068] The travel control unit 266 controls the travel of the transport vehicle based on at least any one of the determination information by the operation determination unit 261 and the mode switching unit 262. The travel control unit 266 can control the forward movement, backward movement, stop, turning, and moving speed and turning speed of the transport vehicle. Specifically, the right wheel drive unit 281 and the left wheel drive unit 282 of the wheel drive unit 280 are controlled individually. The right wheel drive unit 281 and the left wheel drive unit 282 are composed of, for example, motors, and by individually controlling the rotation speed and rotation direction of each drive wheel, it becomes possible to make the transport vehicle travel along a curve with an arbitrary radius of curvature or to rotate the transport vehicle to change its direction.

[0069] Based on the information from the sensors provided on the transport vehicle, an angle estimation process for estimating the angle of the transport vehicle with respect to the extending direction of the guideline, a relative position estimation process for estimating the relative position between the guideline and the transport vehicle in a direction perpendicular to the extending direction of the guideline based on the information from the sensors provided on the transport vehicle, and the direction of the transport vehicle may be controlled based on the angle and relative position of the transport vehicle. For example, in the case of an image recognition method that reads a guideline using a two-dimensional code or a barcode with a camera, in addition to the detection signal of the guiding line, position information may be generated based on the information of the detected code, and further, relative angle information between the guiding line and the transport vehicle may be generated by performing the image information of the code.

[0070] As described above, the preferred embodiments of the present disclosure have been described in detail with reference to the accompanying drawings, but the technical scope of the present disclosure is not limited to such examples. It is obvious that those having ordinary knowledge in the technical field of the present disclosure can conceive of various modification examples or correction examples within the scope of the technical idea described in the claims, and it is naturally understood that these also belong to the technical scope of the present disclosure.

[0071] The devices described in this specification may be realized as a single device, or may be realized by a plurality of devices (for example, a cloud server) partially or entirely connected by a network. For example, the control unit 260 and the recording unit 220 of the transport vehicle may be realized by different servers connected to each other by a network. Also, in the transport system described in this specification, an example in which the operator 3000, the overall control device 4000, and the input / output device 5000 are each composed of separate hardware connected via a network has been described, but part or all of the functions of the operator 3000, the overall control device 4000, and the input / output device 5000 may be implemented on the transport vehicle 10.

[0072] The series of processes by the apparatus described in this specification may be implemented using any of software, hardware, and combinations of software and hardware. It is possible to create a computer program for realizing each function of the control unit 260 according to this embodiment and install it on a PC or the like. Also, a computer-readable recording medium storing such a computer program can be provided. The recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like. Further, the above computer program may be distributed via a network, for example, without using a recording medium.

[0073] Also, the processes described in this specification using flowcharts do not necessarily have to be executed in the order shown in the figures. Some of the processing steps may be executed in parallel. Also, additional processing steps may be adopted, and some of the processing steps may be omitted.

[0074] Also, the effects described in this specification are merely illustrative or exemplary and not limiting. That is, the technology according to the present disclosure may exhibit other effects apparent to those skilled in the art from the description in this specification, together with or instead of the above effects.

[0075] Another embodiment is shown in FIG. 15. In this embodiment, the upper support portion 26 that supports the lower frame 51 from above in the gripping posture is not horizontal but inclined obliquely, and also serves as a side support portion 27 that supports the lower frame 51 from the front side (the side of the transport vehicle 10). That is, the displacement portion 25 is provided with an inclined surface that functions as the upper support portion 26 and the side support portion 27. Also, the lower support portion 23 is not horizontal but inclined obliquely upward toward the protrusion portion 24.

[0076] As shown in Fig. 16, the connecting device 20 is configured to be able to swing up and down with a hinge portion 37 extending in the horizontal direction (the left - right direction of the connecting device) as a fulcrum. The hinge portion 37 is located between the conveyance vehicle - side coupling portion 21 and the gripping portion 22 (and in this example, the auxiliary fixing wheel 34 and the support arm 35), and the angle of the gripping portion 22 etc. with respect to the conveyance vehicle - side coupling portion 21 can be changed. Thereby, for example, when the ground on which the conveyance vehicle travels and the ground on which the wheels of the object to be conveyed contact are not parallel (one is a slope and the other is a horizontal plane, etc.), the gripping portion 22 swings with the hinge portion 37 as a fulcrum, and the wheels of both the conveyance vehicle and the object to be conveyed can be stably grounded.

[0077] The hinge portion 37 may be provided with a locking mechanism for suppressing swinging. For example, when conveying an object to be conveyed exceeding a predetermined weight (such as 1 kg, 10 kg, 50 kg, 100 kg, etc.), the swinging of the gripping portion 22 may be suppressed by the locking mechanism. That is, based on the weight of the object to be conveyed, the control unit may determine whether or not to lock the hinge portion 37. According to this, an object to be conveyed with a large weight can be stably conveyed.

[0078] Furthermore, as shown in Fig. 17, if the gripping portion 22 etc. are swung (bent) with the hinge portion 37 as a fulcrum and the gripping portion 22 etc. are arranged above the conveyance vehicle - side coupling portion 21, the conveyance vehicle and the connecting device can be stored compactly. Also, for safety, the hinge portion 37 may be locked in the folded state of Fig. 17. According to this, accidents such as the connecting device 20 unintentionally opening and contacting an operator can be prevented.

[0079] In this embodiment, a rotation state detection unit for detecting the rotation angle of the connecting device with respect to the conveyance vehicle is provided. The rotation state detection unit may be configured by, for example, an encoder that converts the displacement of rotation into an electric signal and detects it, or may be configured by other sensors (such as an angle sensor). By providing the rotation state detection unit, the position and orientation of the object to be conveyed with respect to the conveyance vehicle can be detected.

[0080] Also, based on the information of the rotation state detection unit, the backward direction during backward movement can be estimated. Specifically, when moving backward, since it moves in the direction of the fixed wheel of the connecting device or the fixed wheel of the object to be conveyed, the traveling direction during backward movement can be estimated from the angle information of the rotation state detection unit. The control unit of the transport vehicle can safely move backward toward the target position by controlling the drive unit in real time based on the information of the traveling direction and correcting the traveling direction. Also, by estimating the position of the object to be conveyed, it is possible to travel while preventing collision with an obstacle during traveling such as forward and backward movement. That is, since the movement path of the object to be conveyed can be estimated from the movement path of the transport vehicle and the position and orientation information of the object to be conveyed with respect to the transporter, it is possible to estimate the presence or absence of an obstacle on the planned movement path of the object to be conveyed, and if there is an obstacle, the movement can be stopped or the vehicle can avoid it and continue traveling.

[0081] In addition, the following configurations also belong to the technical scope of the present disclosure. (Item 1) A connecting device for connecting a transport vehicle and an object to be conveyed, a transport vehicle side coupling portion rotatably coupled to the transport vehicle, and a gripping portion for releasably gripping the lower frame of the object to be conveyed. The gripping portion has a lower support portion that supports the horizontal plate portion of the lower frame from below, a protrusion that protrudes upward from the tip side of the lower support portion and engages with the side surface of the horizontal plate portion, and a displacement portion that is displaced about a shaft portion as a fulcrum between a release posture and a gripping posture. The displacement portion has an upper support portion that supports the lower frame from above in the gripping posture. The gripping portion grips the lower frame by sandwiching the lower frame in the vertical direction between the lower support portion and the upper support portion in the gripping posture. A connecting device. (Item 2) When the displacement portion is displaced from the release posture to the gripping posture, it is displaced in the depth direction toward the protrusion and in the vertical direction toward the lower support portion. The connecting device according to Item 1. (Item 3) The connecting device according to item 1 or 2, wherein an inclined guide surface that inclines obliquely downward toward the tip is provided on the tip side of the protrusion. (Item 4) The lower support portion is configured to be elastically displaceable downward by contact with the object to be conveyed when connecting the objects to be conveyed, and a biasing member is provided to return the downwardly displaced lower support portion to its original position. The connecting device according to item 1 or 2. (Item 5) The connecting device according to item 1 or 2, wherein a sensor is provided for detecting that the lower frame is disposed at an appropriate position with respect to the gripping portion. (Item 6) The connecting device according to item 5, wherein the sensor is composed of a pair of sensors that are adjacent to the lower support portion and spaced apart in the left-right direction. (Item 7) The connecting device according to item 1 or 2, further comprising an ejector that releases the engagement between the lower frame and the protrusion by lifting the lower frame of the object to be conveyed from below. (Item 8) The connecting device according to item 7, wherein the ejector is located between a pair of the lower support portions that are spaced apart in the left-right direction. (Item 9) The connecting device according to item 1 or 2, wherein the distance between the lower support portion and the upper support portion in the vertical direction and the distance between the protrusion and the side support portion in the depth direction are configured to be changeable according to the size of the lower frame of the object to be conveyed. (Item 10) The displacement portion has a side support portion that supports the lower frame from the front side, The gripping portion grips the lower frame by sandwiching the lower frame in the vertical direction between the lower support portion and the upper support portion and sandwiching the lower frame in the depth direction between the protrusion and the side support portion in the gripping posture. The connecting device according to item 1 or 2.

Description of reference numerals

[0082] 10: Transfer cart, 20: Connecting device, 22: Gripping part, 23: Lower support part, 24: Protrusion part, 25: Displacement part, 50: Object to be transferred, 51: Lower frame of the object to be transferred, 130 Operation area, 131 Guidance line, 132 Travel mode switching position, 210 Communication part, 220 Recording part, 230 Detection part, 240 Input part, 250 Display part, 260 Control part, 280 Wheel drive part, 2000 Trolley, 2010 Connecting receiving part, 3000 Control machine, 4000 Overall control device, 5000 Input / output device, 6000 Communication network, 7000 External system

Claims

1. A connecting device for connecting a transport vehicle and an object to be transported, comprising: a transport vehicle side coupling portion rotatably coupled to the transport vehicle; and a gripping portion for releasably gripping the lower frame of the object to be transported. The gripping portion has a lower support portion that supports the horizontal plate portion of the lower frame from below, a protrusion that protrudes upward from the tip side of the lower support portion and engages with the side surface of the horizontal plate portion, and a displacement portion that is displaced about a shaft portion as a fulcrum between a release posture and a gripping posture. The displacement portion has an upper support portion that supports the lower frame from above in the gripping posture. The connecting device, wherein the gripping portion grips the lower frame by sandwiching the lower frame in the vertical direction between the lower support portion and the upper support portion in the gripping posture.

2. The connecting device according to claim 1, wherein when the displacement portion is displaced from the release posture to the gripping posture, it is displaced in the depth direction toward the protrusion and in the vertical direction toward the lower support portion.

3. The connecting device according to claim 1 or 2, wherein an inclined guide surface that is inclined obliquely downward toward the tip is provided at the tip side of the protrusion.

4. The connecting device according to claim 1 or 2, wherein the lower support portion is configured to be elastically displaceable downward by contact with the object to be transported during connection of the object to be transported, and a biasing member for returning the downward-displaced lower support portion to its original position is provided.

5. The connecting device according to claim 1 or 2, further comprising a sensor for detecting that the lower frame is disposed at an appropriate position with respect to the gripping portion.

6. The connecting device according to claim 5, wherein the sensor is composed of a pair of sensors that are adjacent to the lower support portion and spaced apart in the left-right direction.

7. The connecting device according to claim 1 or 2, further comprising an ejector for releasing the engagement between the lower frame and the protrusion by lifting the lower frame of the object to be transported from below.

8. The connecting device according to claim 7, wherein the ejector is located between a pair of the lower support portions spaced apart in the left-right direction.

9. The connecting device according to claim 1 or 2, wherein the distance between the lower support portion and the upper support portion in the vertical direction and the distance between the protrusion and the side support portion in the depth direction are configured to be changeable according to the size of the lower frame of the object to be transported.

10. The displacement portion has a side surface support portion that supports the lower frame from the front side. The holding device according to claim 1 or 2, wherein in the holding posture, the lower frame is sandwiched in the vertical direction by the lower support portion and the upper support portion, and the lower frame is sandwiched in the depth direction by the protrusion portion and the side surface support portion, thereby holding the lower frame.

Images