Transport device

Abstract

To provide a transport device that can enhance safety when transporting an object to be transported by a transport vehicle.SOLUTION: A transport device is provided, where a coupling device is rotatable about an axis extending in the vertical direction in relation to a transport vehicle, and comprises: a rotation suppression unit that suppresses rotation of the coupling device with respect to the transport vehicle; a lock control unit that controls the rotation suppression unit to thereby control whether the coupling device is in a locked state in which rotation is suppressed, or in an unlocked state in which rotation is permitted; and a rotation state detection unit that detects a rotation angle of the coupling device with respect to the transport vehicle. The lock control unit controls the rotation suppression unit on the basis of the rotation angle.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a conveying device.

Background Art

[0002] In recent years, automated guided vehicles have been utilized for transporting various articles within facilities such as manufacturing plants. When transporting an article with an automated guided vehicle, it is conceivable to connect and transport (tow) a wheeled object to be transported, such as a cart on which the article is placed, to the automated guided vehicle. Patent Document 1 discloses a system for connecting and transporting a cart to an automated guided vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above system, the connecting portion for connecting the transport vehicle and the object to be transported is rotatable with respect to the transporter. In such a configuration, the position and angle of the object to be transported with respect to the transport vehicle are likely to become unstable, and there is room for improvement in terms of safety.

[0005] Therefore, the present disclosure has been made in view of the above problems, and an object thereof is to provide a conveying device capable of enhancing the safety when transporting an object to be transported with a transport vehicle.

Means for Solving the Problems

[0006] According to the present disclosure, there is provided a conveying device including a connecting device for connecting an object to be conveyed to a conveying vehicle, the connecting device being rotatable about an axis extending in the vertical direction with respect to the conveying vehicle, a rotation suppressing portion that suppresses rotation of the connecting device with respect to the conveying vehicle, a lock control portion that controls whether to be in a locked state in which the rotation is suppressed by controlling the rotation suppressing portion or an unlocked state in which the rotation is allowed, and a rotation state detecting portion that detects a rotation angle of the connecting device with respect to the conveying vehicle, and the lock control portion controls the rotation suppressing portion based on the rotation angle.

Effect of the Invention

[0007] According to the present disclosure, it is possible to provide a conveying device capable of enhancing safety when conveying an object to be conveyed with a conveying vehicle.

Brief Description of the Drawings

[0008]

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Embodiments 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 the present specification and drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant descriptions are omitted.

[0010] The transport system of the present embodiment is used, for example, in a manufacturing factory, a logistics warehouse, etc. to transport various manufactured parts, packages, etc. The transport device constituting the transport system includes an automated guided vehicle (hereinafter, also simply referred to as "transport vehicle") and a connecting device that connects the object to be transported (transport target).

[0011] FIG. 1 is a perspective view showing a configuration example of the transport device 1 according to the present embodiment, and FIG. 2 is a plan view. The transport device 1 of the present embodiment is a transport device including a transport vehicle 10 and a connection device 20 that connects an object to be transported to the transport vehicle 10. As shown by the arrow in FIG. 2, the connection device 20 is rotatable about an axis extending in the vertical direction (in this example, with the shaft portion 11 as a fulcrum) with respect to the transport vehicle. Here, the term "rotation" does not necessarily mean a 360° rotation, and includes cases where displacement occurs within a predetermined range, such as 180°, or within a range of 90° or less. The axis (shaft portion 11) is preferably located on the rear side of the center of the transport vehicle 10 and also on the rear side of the turning center (the center point of the left and right drive wheels) of the transport vehicle 10, but is not limited thereto.

[0012] The transport device 1 of the present embodiment includes a rotation suppression unit that suppresses the rotation of the connection device with respect to the transport vehicle, and a lock control unit that controls whether to enter a locked state that suppresses rotation or an unlocked state that allows rotation by controlling the rotation suppression unit. The rotation suppression unit may be a physical brake that suppresses the rotation of the shaft portion 11 (shaft or bearing). The rotation suppression unit may be configured, for example, by a member that extends from the transport vehicle 10 side and engages with the connection device 20 to restrict the rotation of the connection device 20 with respect to the transport vehicle 10, or may be configured to extend from the connection device 20 side and engage with the transport vehicle to suppress rotation. The rotation suppression unit may electrically or mechanically stop a motor that controls the rotation operation of the connection device 20. The lock control unit in this example is configured by a control unit of the transport vehicle described later, but a lock control unit may be provided independently within the connection device 20 or the like.

[0013] In this embodiment, a rotation state detection unit that detects the rotation angle of the coupling device with respect to the transport vehicle is provided, and the lock control unit controls the rotation suppression unit based on the rotation angle. In this way, by determining whether to lock based on the rotation angle of the coupling device with respect to the transport vehicle, the angle at which the coupling device is locked can be restricted. That is, it is possible to prevent the coupling device from being locked at an unintended angle, which makes it easier to match the direction of the transport vehicle and the direction of the coupling device. As a result, it becomes easier to prevent the object to be transported from coming into contact with surrounding workers or objects unintentionally, and the safety when transporting the object to be transported by the transport vehicle can be improved. Also, for example, it is possible to enhance the safety and efficiency in the coupling operation and the coupling release operation. The rotation state detection unit may be configured by, for example, an encoder that converts the displacement of rotation into an electrical signal and detects it, or may be configured by other sensors (such as an angle sensor). The lock control unit can control the rotation suppression unit to be in a locked state, for example, when the rotation angle with respect to the angle at which the coupling device extends to the rear of the transport vehicle (the state in FIG. 2) is within a predetermined range or a predetermined angle. In this case, when the rotation angle exceeds the predetermined range, it does not enter the locked state. Information on the rotation angle regarding the condition of the rotation angle for such locking may be predetermined and stored in the storage unit, or may be configured to store numerical information on the rotation angle input by the user, etc.

[0014] The locking control unit may control the rotation suppression unit so as to be in a locked state or an unlocked state during a predetermined operation. The predetermined operation is, for example, when transporting an empty trolley or a cage trolley without loading luggage, during a predetermined connection operation of approaching and connecting the transport vehicle to the object to be transported, and during a predetermined detachment operation of releasing the connection to the object to be transported and detaching from the object to be connected, etc. A locked state or an unlocked state may be set for each of them. Whether or not luggage is placed on the trolley may be determined from the analysis of the camera image, or the information acquired by the sensor, or may be determined based on the input information from the user, or may be determined based on the information received from the management device or the like. Further, the condition information of the predetermined operation, the information regarding the connection operation and the detachment operation are predetermined and stored in the storage unit. The connection operation is started, for example, when the control unit determines that the position and orientation of the transport vehicle and the object to be connected are within a predetermined range. The connection operation is, for example, to reverse in a state where the position and orientation of the transport vehicle are controlled so that the rear surface (the surface where the connection device is arranged) of the transport vehicle faces the front surface of the object to be connected. Then, based on the information from the detection unit such as the sensor, when the gripping part of the connection device is arranged at a predetermined position (the part to be gripped) of the object to be transported, the gripping part is displaced from the release posture to the gripping posture to grip the predetermined position of the object to be transported. Thereby, the transport vehicle and the object to be transported are connected by the connection device, and the connection operation ends.

[0015] The detachment operation is started, for example, when the control unit determines that the object to be connected connected to the transport vehicle has been transported to the target position. The detachment operation is, for example, to displace the gripping part from the gripping posture to the release posture and move the transport vehicle forward by a predetermined distance (for example, the distance until the part that has dived under the object to be transported is located outside the object to be transported, or a predetermined fixed distance, etc.), whereby the transport vehicle and the connection device can be detached from the object to be transported, and the detachment operation ends. Thereafter, the transport vehicle moves toward the next target position.

[0016] When the transport vehicle is running with the object to be transported connected to the transport vehicle, the lock control unit may control the rotation suppression unit so as to be in an unlocked state. In particular, when transporting a cart (including a cage cart) loaded with goods, the rotation suppression unit can be controlled so as to be in an unlocked state. In the unlocked state, the connecting device and the object to be transported can rotate (displace circumferentially around the axis) in any direction with respect to the transporter. For example, in response to the running of the transport vehicle, the connecting device and the object to be transported rotate in any direction due to centrifugal force or the like. In addition, the rotation angle of the connecting device may be controlled to a predetermined angle by a driving device such as a motor provided inside the transport vehicle, or the connecting device may be urged in a direction to obtain a predetermined rotation angle by a biasing member such as a spring.

[0017] In the present embodiment, the connecting device is in a locked state during the above-described connecting operation and detachment operation. Thereby, the connecting device can be arranged at a predetermined position of the object to be connected in a stable state and connected. Further, since the position of the connecting device is stabilized, it is possible to prevent the connecting device from rotating unintentionally and colliding with an obstacle. Therefore, it is possible to improve the efficiency when connecting the connecting device to the object to be transported.

[0018] FIG. 2 shows a state in which the connecting device extends toward the rear of the transport vehicle. In the present embodiment, during the connecting operation, the transport vehicle may be reversed so that the connecting device approaches the object to be transported in a locked state in which the connecting device extends toward the rear of the transport vehicle.

[0019] The lock control unit may control the rotation suppression unit so as to be in a locked state only when the rotation angle is a predetermined angle. For example, it may be possible to control to the locked state only when the rotation angle is 0°, that is, the angle at which the connecting device extends toward the rear of the transport vehicle (the state of FIG. 2), or it may be possible to control to the locked state only when the rotation angle is in the range of 10° or less on each of the left and right sides.

[0020] In this embodiment, a travel control unit that controls the travel of the transport vehicle by controlling the drive wheels of the transport vehicle is provided. The travel control unit may control the direction of the transport vehicle so that the rotation angle of the coupling device with respect to the transport vehicle becomes a predetermined angle based on the rotation information acquired by the rotation state detection unit. For example, when the rotation information acquired by the rotation state detection unit exceeds 10°, the transport vehicle can be turned in a direction where it becomes 10° or less. In this way, the control unit can control the drive wheels so that the coupling device becomes a predetermined angle with respect to the transport vehicle. The information for controlling the drive wheels may also be stored in the storage unit.

[0021] In this embodiment, a transport object detection unit that is provided on the transport vehicle or the coupling device and detects the relative position and orientation of the transport object with respect to the transport vehicle or the coupling device is further provided. The lock control unit may control the rotation suppression unit based on the information on the relative position and orientation of the transport object. The transport object detection unit can be, for example, a 3D camera, a distance measurement sensor, or the like. Then, the transport vehicle can be controlled so that the transport vehicle and the coupling device are at appropriate positions and angles with respect to the transport object.

[0022] In this embodiment, a biasing unit that biases the coupling device may be provided so that the rotation angle of the coupling device in the unlocked state becomes a predetermined rotation angle. The biasing member can be a coil spring, a leaf spring, an actuator, or the like, but is not limited thereto. When the biasing unit is provided, the coupling device will rotate temporarily according to the travel of the transport vehicle and then be biased back to the original predetermined position. With such a configuration, it becomes difficult for the position of the coupling device with respect to the transport vehicle to become unstable.

[0023] In this embodiment, a rotation control unit may be provided that controls the rotation angle of the connection device in the unlocked state according to the rotation instruction information by controlling the rotation drive unit provided at the connection part between the transport vehicle and the connection device. In that case, the lock control unit may control the rotation suppression unit so as to be in the locked state when the rotation control unit controls the rotation drive unit and the rotation angle of the connection device reaches a predetermined angle. The rotation drive unit can be configured by, for example, a motor that rotates the connection device, and the rotation control unit can be a control unit that controls the motor.

[0024] In this embodiment, the connection device may include a gripping part that grips a predetermined part of the object to be transported, and the gripping part may have a detection part for detecting whether or not the predetermined part of the object to be transported is in a position where it can be gripped by the gripping part.

[0025] Figure 3 shows an example of the flow of the connection operation. First, a transport vehicle to which the object to be transported is not connected moves close to the object to be transported. Then, it moves until the relative position and angle with respect to the object to be transported reach a predetermined relative position and angle (S101). Specifically, it moves to a position where the connection device of the transport vehicle faces the front of the object to be transported at a predetermined distance. At this time, the connection device is locked in a state facing the rear of the transport vehicle. That is, the transport vehicle moves so that the rear surface of the transport vehicle and the front surface of the object to be transported face each other.

[0026] Next, the control unit releases the lock of the connection device (S102), and the transport vehicle moves backward and gets closer to the object to be transported. Then, the transport vehicle is moved so that the gripping part of the connection device is arranged at a predetermined part of the object to be transported, and the gripping part is displaced from the release posture to the gripping posture. Thereby, the connection device grips the object to be transported, and the transport vehicle and the object to be transported are connected (S103). In this way, by setting it to the unlocked state during the connection operation, even if there is a slight deviation in position or direction between the gripping part of the connection device and the gripped part of the object to be transported, it can flexibly respond and grip.

[0027] The determination of whether the gripping part of the connecting device is arranged at a predetermined position of the object to be conveyed may be based on position information, or may be based on the information of the sensor 29 provided on the gripping part, or may be based on the distance information obtained from a camera image, a distance measuring sensor or other sensors. When based on position information, when the current position obtained by detecting the position from a two-dimensional code or the like constituting the guiding line or estimating the current position by Lidar or the like reaches a predetermined position (coordinates), it may be configured to grip. Also, the distance to the object to be conveyed may be estimated from a camera image, a distance measuring sensor or other sensors, and when it reaches a predetermined distance, it may be configured to grip. Further, the distance that the conveyance vehicle has traveled may be estimated from a camera image, a distance measuring sensor or other sensors, and it may be configured to grip in a state where it has traveled a predetermined distance from the time of S101. After the gripping part grips the object to be conveyed, if necessary (corresponding to the type of wheels of the object to be conveyed), the auxiliary fixing wheel 34 is lowered to the ground. Note that it may be in a locked state until the connection operation is completed.

[0028] After the connection of the object to be conveyed is completed as described above, the rotation lock of the connecting device is released, the conveyance vehicle is made to travel, and the object to be conveyed is pulled and conveyed toward the target position (S104). Note that even during traveling, it may be in a locked state without releasing the lock. Also, the conveyance form may be a towing conveyance in which the conveyance vehicle located in the front pulls the conveyance object located in the rear, or a conveyance form in which the conveyance vehicle moves while pushing the conveyance object located in the front from behind. In the case of the conveyance form of moving while pushing the conveyance object, in order to stabilize the orientation of the conveyance object, the connecting device is preferably in a locked state. In the case of towing conveyance in which the conveyance vehicle pulls the conveyance object located in the rear, even in the unlocked state, as the conveyance vehicle moves forward, the conveyance object and the connecting device will face directly backward (the rotation angle becomes 0°).

[0029] FIG. 4 shows an example of the flow of the detachment operation. After the conveyance target is conveyed to the target position by the conveyance vehicle (S201), the gripping part is displaced from the gripping posture to the release posture to release the connection of the conveyance target (S202). The rotation angle of the connection device is adjusted to a lockable range (S203). This adjustment may be performed by turning the conveyance vehicle or by rotating the connection device. With the rotation angle of the connection device being an appropriate angle, the connection device is locked (S204). If the auxiliary fixing wheel 34 is in contact with the ground at the time of S201, the auxiliary fixing wheel 34 is raised to a non-grounded state after S201 or after S202. The order from S202 to S204 may be reversed or may be simultaneous. Then, the conveyance vehicle is detached from the conveyance target by moving the conveyance vehicle forward or the like (S205). The conveyance vehicle can then move toward the conveyance target to be conveyed next or move to an area for charging.

[0030] The connection device 20 includes a conveyance vehicle side coupling part 21 rotatably coupled to the conveyance vehicle 10 and a gripping part 22 releasably gripping the lower frame of the conveyance target. The conveyance vehicle 10 may be an AGV that moves along a guideline, an AMR that autonomously travels regardless of the guideline, or a conveyance vehicle that can perform both in combination.

[0031] The conveyance vehicle side coupling part 21 is located above the conveyance vehicle 10 and is supported from below by the conveyance vehicle 10. The conveyance vehicle side coupling part 21 in this example is rotatably coupled about a shaft part 11 extending in the vertical direction (up and down direction) provided on the upper part of the conveyance vehicle 10. Note that the carrier side coupling part 21 may be fixedly coupled to the conveyance vehicle 10 so as not to be rotatable. The conveyance vehicle side coupling part 21 may be configured not to be displaced in the vertical direction with respect to the conveyance vehicle 10 but to be displaceable. The relative position (angle) of the conveyance vehicle side coupling part 21 about the shaft part 11 (with respect to the conveyance vehicle 10) is controlled by a drive device such as an internal motor or actuator. The conveyance vehicle side coupling part 21 is basically installed with respect to the conveyance vehicle 10 such that the gripping part 22 is located on the rear side of the conveyance vehicle 10. The conveyance vehicle side coupling part 21 may be detachable from the conveyance vehicle 10.

[0032] FIG. 5 is an enlarged view of the gripping portion 22 in a side view. As shown in FIG. 5, the gripping portion 22 includes a lower support portion 23 that supports the horizontal plate portion 511 of the lower frame 51 from below, a protrusion 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 the shaft portion 25a as a fulcrum between the release position and the gripping position. FIG. 5 shows the state where the displacement portion 25 is in the release position.

[0033] The displacement portion 25 includes an upper support portion 26 that supports the lower frame 51 from above in the gripping position, and a side support portion 27 that supports the lower frame 51 from the front side (the side of the transport vehicle 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 position and the gripping position. The upper support portion 26 suppresses the upward movement of the lower frame 51 by contacting the upper end portion (end surface) of the vertical plate portion 512 of the lower frame 51 in the gripping position. The side support portion 27 suppresses the movement of the lower frame 51 in the direction away from the protrusion 24 by contacting the outer surface of the vertical plate portion 512 in the gripping position. 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 position and the gripping position 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 consisting 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. In the case of such a slide mechanism, a guide member such as a rail for guiding the linear movement may be provided.

[0034] FIG. 6 shows the state where the displacement portion 25 is in the gripping position and the gripping portion 22 is gripping the lower frame 51. In the gripping position, the gripping portion 22 grips the lower frame 51 by sandwiching the lower frame 51 in the vertical direction between the lower support portion 23 and the upper support portion 26, and sandwiching the lower frame in the depth direction between the protrusion 24 and the side support portion 27.

[0035] As shown in FIG. 6, 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.

[0036] When the displacement portion 25 is displaced from the release posture in FIG. 5 to the gripping posture in FIG. 6, 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 an angle extending in the vertical direction by the shaft portions 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.

[0037] FIG. 7 shows a state of a connection operation in which the transport vehicle 10 approaches the object to be transported 50 (cage cart) in order to connect the connection 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.

[0038] FIG. 8 is an enlarged view showing the gripping portion 22. In FIG. 8, 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 of, for example, a member having a rectangular cross - section or the like.

[0039] Here, on the tip side of the horizontal support portion 23 (the tip side with respect to the protrusion portion 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 to be conveyed 50, the lower support portion 23 can be smoothly inserted below the lower frame 51 and guided to an appropriate connection position.

[0040] The lower support portion 23 is configured to be elastically displaceable in the vertical direction by contacting the object to be conveyed 50 during the process of connecting the object to be conveyed 50, 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), a leaf spring, an actuator, etc., but is not limited thereto. In this example, as shown in FIG. 8, 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.

[0041] 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 to be conveyed 50. In the process of the conveyance vehicle 10 with the connecting device 20 attached approaching the object to be conveyed 50 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 has passed over the protrusion portion 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 to be conveyed 50 is connected to the conveyance vehicle 10 (see FIG. 6).

[0042] As shown in Fig. 9, with the carrier vehicle 10 and the object to be transported 50 connected by the connecting device 20, the carrier vehicle can move to an arbitrary destination, thereby transporting the object to be transported 50 (such as a cage cart and the articles and luggage being transported) to the target position.

[0043] In the example of Fig. 9, the auxiliary fixing wheel 34 provided on the connecting device 20 is not in contact with the ground. However, as shown in Fig. 10, 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 may be transported in a state floating from the ground as shown in Fig. 9. 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. 10. That is, according to the information on the types of 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 on the wheels and the conditions of grounding or non-grounding of the auxiliary fixing wheel 34 may be stored in the storage unit in advance, or the user may input and control or store it at an arbitrary timing, or the control unit may determine based on the image of the camera. When the control unit determines, it may determine by analyzing the image of the camera to identify the type of the cart, or it may identify the type of the wheels from the image analysis of the wheels. Known methods of image analysis can be adopted, and a label such as a two-dimensional code associated with the type information in advance may be attached to the object to be transported for use. In a state where the auxiliary fixing wheel 34 is in contact with the ground, since the connecting device 20 does not move (or is difficult to move) left and right, the turning angle of the connecting device with respect to the carrier vehicle can be adjusted by the carrier vehicle turning.

[0044] Note that the auxiliary fixing wheel 34 is coupled to the carrier vehicle 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 movement with a shaft portion extending in the horizontal direction as a fulcrum, or a slide movement up and down along a rail or the like. Further, when the auxiliary fixing wheel 34 of the coupling device enters or exits below the object 50 to be conveyed in order to couple or release the object 50 to be conveyed to the coupling device 20, it is preferable that the auxiliary fixing wheel 34 is in a non-grounded state floating from the ground.

[0045] In this example, the auxiliary fixing wheel 34 is provided at the tip of a support arm 35 extending from the carrier 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 a direction farther from the carrier vehicle 10) and is configured to dive below 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 coupling device 20 and are arranged at the same circumferential position around the carrier vehicle 10. When the coupling device 20 rotates with respect to the carrier 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 carrier vehicle side coupling portion 21 and bends and extends forward, but the shape can be changed as appropriate.

[0046] In this embodiment, a sensor 29 is provided to detect that the lower frame 51 is disposed at an appropriate position with respect to the gripping portion 22. 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 at an appropriate position. Preferably, 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 allowing current to flow when pushed in, or an infrared sensor or the like. Note that the sensor 29 is not an essential component, 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 transport vehicle with respect to the object to be transported are within a predetermined range, the gripping portion may be displaced from the release posture to the gripping posture.

[0047] As shown in FIG. 11, the sensor 29 in this example is composed of a pair of sensors 29a and 29b that are spaced apart in the left - right direction. The pair of sensors 29a and 29b are located between a pair of lower support portions 23 that are spaced apart in the left - right direction, and are disposed adjacent to each lower support portion 23.

[0048] In this embodiment, an ejector 30 is provided that disengages the engagement between the lower frame 51 and the protrusion 24 by lifting the lower frame 51 of the object 50 to be conveyed from below. The ejector 30 of this example is located between a pair of lower support portions 23 arranged at intervals in the left - right direction (between a pair of sensors 29a and 29b). When detaching the object to be conveyed, the ejector 30 is driven (raised) 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 operation of the ejector 30 is controlled by the control unit based on information 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.

[0049] In this embodiment, according to the size of the lower frame 51 of the object 50 to be conveyed, 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 fastening tool 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 fastening tool, 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.

[0050] 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, enabling mutual power supply and signal communication (transmission and reception) between the carrier vehicle 10 and the connection device 20. Specifically, operations such as the vertical movement of the gripping part 22 and the auxiliary fixing wheel 34 of the connection 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 connection device 20 itself, or it may be made to operate without the power supply and control signals from the carrier vehicle.

[0051] In this embodiment, an imaging unit 36 is provided in the connecting device 20. The imaging unit 36 is located above the gripping part 20, and preferably, the mounting position of the imaging unit 36 in the width direction (left - right direction) of the connecting device 20 overlaps with the gripping part 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 part 20, and the center of the imaging unit 36 coincides with the left - right center of the gripping part 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 of Intel's RealSense (registered trademark). The control unit can estimate the position of the object 50 to be conveyed 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), the posture (such as touching the cage cart), the distance (the distance from the imaging unit 36), and the state (whether a person is working, walking, sitting, or fallen) by analyzing the captured image of the imaging unit 36. The control unit may 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 articles and people) is detected in the traveling direction, the traveling may be stopped. Alternatively, when it is detected that an operator is taking items in and out of 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. 7, 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 part 20, in addition to expanding the imaging range, the detection accuracy (the estimation accuracy of the 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.

[0052] When connecting the connecting device 20 to the object 50 to be conveyed, the control unit of the transport 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 transport vehicle itself. For example, the gripping portion 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 transport vehicle 10 is moved so that the object 50 to be conveyed is positioned directly in front of the gripping portion 20.

[0053] Then, when it is determined based on the information from the sensor 29 provided on the gripping portion 20 that the lower frame 51 of the object 50 to be conveyed is disposed at an appropriate position with respect to the gripping portion 20, the displacement portion 25 is displaced from the release posture to the gripping posture. Thereby, the lower frame 51 can be gripped by the gripping portion 20 with high accuracy.

[0054] When the transport vehicle conveys the object 50 to be conveyed to the target position and releases the connection, after displacing the displacement portion 25 from the gripping posture to the release posture, the connection can be released by driving the transport vehicle in a direction away from the object 50 to be conveyed (the direction opposite to that at the time of connection). Also in that case, the control unit can appropriately determine whether the lower frame 51 has detached from the gripping portion 20 based on the information from the sensor 29 provided on the gripping portion 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.

[0055] Note that a rotatable plate-shaped turntable may be provided on the upper part of the transport vehicle, and the transport vehicle side coupling portion 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.

[0056] Also, when controlling the rotation angle of the connecting device with respect to the transport vehicle 10 by a motor, the motor is basically in a de-energized state and rotates freely, but only when necessary (when setting it to a predetermined angle for locking or adjusting the angle of the object to be conveyed with respect to the transporter), the motor may be driven to rotate so that the rotation angle (orientation) of the connecting device can be arbitrarily changed.

[0057] 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 towed in a state of being connected to the transport vehicle 10, so as to move 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. The wheels 52 are provided in a plurality (for example, 4, 6, etc.) on the bottom surface such as the cage part of the cage cart for loading the transported goods, and all may 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, it is preferable to connect the transport vehicle and the object to be transported so that the transport vehicle is located on the fixed wheel side.

[0058] <Configuration of the transport vehicle> FIG. 12 is a perspective view showing a configuration example of the transport vehicle 10. The transport vehicle 10 in this example is an automated guided vehicle, but is also applicable to various vehicles on which people can ride. The arrow 15 in FIG. 12 indicates the traveling direction of the transport vehicle. The traveling direction is basically the front of the transport vehicle, but can also be the rear depending on the situation. As shown in FIG. 12, the transport vehicle 10 includes a shaft portion 11 for coupling the coupling device 20, an object position detection portion 12 for detecting an object around the transport vehicle, drive wheels 13, and non-drive wheels 14.

[0059] For example, the transport vehicle is equipped with an 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, a person, 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 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, 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 alternatively, it may be arranged on the front side surface in the traveling direction. 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.

[0060] The object position detection unit 12 may be configured to detect an object with respect to 360 degrees around the transport vehicle, but is at least configured to be able to detect an object 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.

[0061] FIG. 13 is a bottom view showing an example of the hardware configuration of the carrier according to the present embodiment. On the bottom surface of the carrier, drive wheels 13 are provided at positions on both the left and right sides with respect to the traveling direction 15 of the carrier, and non-drive wheels 14 are provided at positions in front of and behind each drive wheel 13. The drive wheel 13 is a wheel 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 carrier by controlling the rotation speed of the drive wheels. Further, the control unit can curve and run the carrier, rotate the carrier on the spot to change the direction, stop, or reverse the carrier by individually controlling the rotation speed and rotation direction of each drive wheel. The non-drive wheel 14 is composed of a non-driven wheel and is a wheel that rotates passively when the carrier moves by the drive wheel 13. The non-drive wheel 14 has, for example, a fork for fixing the wheel and the axle, and the fork is composed of a rotary caster that is rotatably connected to the bottom member of the carrier. Therefore, the wheel rotation direction of the non-drive wheel 14 changes passively according to the traveling direction and rotation operation of the carrier. In FIG. 13, the hardware configuration of a carrier having two drive wheels and four non-drive wheels at the four corners is illustrated, but the present invention is not limited to the 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. Further, in the four-wheel configuration, it is also possible to adopt a configuration in which the front wheels can be steered.

[0062] 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 cart being towed move forward, information can be received from the guide line quickly, enabling quick execution of processes such as stopping. As the guide line detection unit, a sensor corresponding to the type of the above-described guiding method is used. When using the electromagnetic induction method as the guiding method, a pickup coil is used; when using the magnetic induction method, a magnetic sensor is used; and 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 or ceiling surface of a building, etc., 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). Also, 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 (travel 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.

[0063] FIG. 14 is a diagram showing a configuration example of an operation area 130 according to the present embodiment. As shown in FIG. 14, 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 driving mode switching position 132, the driving 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 the preset driving mode switching position 132, the driving 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.

[0064] 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, the driving mode is changed to the guiding driving mode in which it follows the guiding line. On the other hand, when a carrier vehicle traveling in the guiding driving mode on the guiding line enters the driving mode switching position 132, the driving control mode switches from the guiding driving mode to the autonomous driving mode, and the carrier vehicle leaves the guiding line and starts autonomous driving.

[0065] As the guiding line 131 shown in FIG. 14, various guiding lines of conventionally used 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, 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 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 along 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.

[0066] <Configuration of the conveying system> Next, the configuration of the transport system of the present embodiment will be described. FIG. 15 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 as the 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 the 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.

[0067] In addition, the transport system 1000 can also 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 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 of the manufacturing operation.

[0068] 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.

[0069] 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. Also, 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.

[0070] The operator console 3000 has a function of displaying the status information of each transport vehicle and a function of inputting commands to a specified transport vehicle. For example, as the status information of the transport vehicle displayed on the operator console, all information that can be acquired or stored in this system, such as the identification information of each transport vehicle, 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, transport start position, transport end position, transport time, connection time, release time, etc.), 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, sensor information acquired by the transport vehicle, captured images, identification information of the transported object (transport object) such as the carriage transported by the transport vehicle, connection device information, gripping posture or release posture, information regarding the lock of the connection device (locked state or not), rotation angle, etc., can be displayed. As 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, travel start command of the transport vehicle, stop command of the transport vehicle, return command to the charging station, instruction of the transport object to be transported by the transport vehicle, connection instruction, disconnection instruction, rotation lock support, unlock instruction, rotation angle instruction, 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, transport start position, transport end position, transport time, connection time, release time, etc.

[0071] Fig. 16 shows a configuration diagram of the overall control device 4000 in the present embodiment. The overall control device 4000 includes a status information recording unit 4010 that records the status information of a plurality of carrier vehicles operating in the facility area, an operation scenario management unit 4020 that manages the operation scenarios of the plurality of carrier vehicles, a map management unit 4030 that generates and updates a map of the work area based on the detection information of the carrier vehicle including the detection information of the guidance line obtained by the guidance line detection unit of the carrier vehicle, an abnormality determination unit 4040 that determines abnormalities of the guidance 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.

[0072] The status information of the carrier vehicle recorded by the status information recording unit 4010 is, for example, the obstacle detection position detected by a plurality of carrier vehicles in operation, the guidance line detection position, the history information of the traveling position of the carrier vehicle, and further, the information on the battery charge amount, the identification information of the carriage connected to the plurality of carrier vehicles, the operation modes of the plurality of carrier vehicles (guidance traveling mode or autonomous traveling mode), various detection information detected by the detection unit 230 of the carrier vehicle, the map information of the work area, etc. The operation scenario managed by the operation scenario management unit 4020 includes, for example, the destination information of each of the plurality of carrier vehicles, a plurality of operation contents to be executed until reaching the destination, the operation order of the plurality of operations, and the switching conditions of the plurality of operations.

[0073] The map management unit 4030 generates a map including the position information of obstacles and guidance lines in the work area based on the obstacle detection position, guidance line detection position, and history 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 guidance line and the work area registered in the map based on the information on the detection positions of the guidance lines accumulated by one or a plurality of carrier vehicles.

[0074] The abnormality determination unit 4040 determines abnormalities of the guidance line and the carrier vehicle based on the position information of the guidance line registered in the map information and the detection information of the carrier vehicle including the detection position information of the guidance line detected by the carrier vehicle.

[0075] The input / output device 5000 displays information recorded in the state information recording unit 4010 of the overall control device 4000, map information (including map update information), and the determination results by the abnormality determination unit, etc., and can newly add or update an 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 of the induction traveling area 110, the operation content for entering the induction traveling area 110 and reaching the work area A, operation switching conditions, and the like.

[0076] <Function of the carrier> The functions of the carrier will be described with reference to FIG. 17. FIG. 17 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 equipped with various sensors described later, a connecting device for connecting to the carriage, a wheel drive 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 drive unit 280.

[0077] 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 destination position, movement route, and movement history of the carrier. The recording unit 220 can store speed information according to the distance to the destination position, calculation formula (program) information for calculating the speed information, and the like.

[0078] 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 from when a laser beam is irradiated until it hits the object and bounces back, such as a laser distance sensor (LiDAR (Light Detection and Ranging), etc.), 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 photographed 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 including GNSS or the like that detects the current position of the carrier vehicle, and a speed sensor that detects the speed of the carrier vehicle.

[0079] As described above, the guidance line detection unit 16 uses a sensor according to the type of the guidance method. 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 guidance line detection unit. The guidance line detection unit detects the guidance line and outputs a detection signal when it is located directly above the guidance line. Also, in the case of the image recognition method of reading a guidance line using a two-dimensional code or a bar code 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 further, relative angle information between the guidance line and the carrier vehicle can be generated by performing the image information of the code.

[0080] The travel distance detection unit 233 can detect the rotation speed of the non-driven wheel 14 or the drive wheel 13, and measure the travel distance and travel speed of the transport vehicle based on the detection information of the rotation speed and the information on the diameter (or circumferential length) of the non-driven wheel or the drive 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 transport 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. Moreover, any method of measuring the travel distance or obtaining the travel speed other than the above-described methods can be applied.

[0081] The collision detection unit 234 has a function of detecting that the transport vehicle has collided with an object or a person. Specifically, it can 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 transport vehicle and determining that a collision has occurred when the physical switch is pressed. Moreover, a collision detection method other than the above can be applied. When the collision detection unit 234 detects a collision, it stops the transport vehicle, records at least one of the collision occurrence information and the collision occurrence position information in the recording unit, and notifies the overall control device 4000 and the control unit 3000 of the information. The attitude detection unit 235 detects the direction (attitude) of the own vehicle based on a magnetic compass, the information on the rotation speed of the left and right drive wheels, or the steering information of the wheels.

[0082] 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 control unit 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.

[0083] 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 operation commands, etc. 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.).

[0084] 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.

[0085] 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 the 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 to control the connection / disconnection with the transported item such as a trolley based on conditions predetermined by the operation scenario or the like, or a command input by the input unit 240. The display control unit 264 controls the input IF of the input unit 240 and the display unit 250 described above.

[0086] 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 host 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 carrier vehicle.

[0087] The position estimation unit 265 can estimate the position where the object exists 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. 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.

[0088] The travel control unit 266 controls the travel of the carrier 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 movement speed and turning speed of the carrier 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 is possible to make the carrier vehicle travel along a curve with an arbitrary radius of curvature or rotate the carrier vehicle to change its direction.

[0089] 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 of reading a guideline using a two-dimensional code or a barcode by a camera, in addition to the detection signal of the guiding line, position information is 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.

[0090] In the present embodiment, a rotation state detection unit for detecting the rotation angle of the connecting device with respect to the transport vehicle is provided. The rotation state detection unit may be configured by, for example, an encoder that converts the displacement of rotation into an electrical 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 transported with respect to the transport vehicle can be detected.

[0091] Further, based on the information of the rotation state detection unit, the traveling direction to the rear when retreating can be estimated. Specifically, when retreating, since it travels in the direction of the fixed wheel of the connecting device or the fixed wheel of the object to be transported, the traveling direction when retreating can be estimated from the angle information of the rotation state detection unit. The control unit of the transport vehicle can safely retreat 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 transported, it can 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 transported can be estimated from the movement path of the transport vehicle and the position and orientation information of the object to be transported with respect to the transporter, the presence or absence of an obstacle on the planned movement path of the object to be transported can be estimated, and when there is an obstacle, the movement can be stopped or the vehicle can avoid and travel.

[0092] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, 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 these are naturally understood to belong to the technical scope of the present disclosure.

[0093] The apparatuses described in this specification may be realized as a single apparatus, or may be realized by a plurality of apparatuses (such as 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. In addition, 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. However, part or all of the functions of the operator 3000, the overall control device 4000, and the input / output device 5000 may be mounted on the transport vehicle 10.

[0094] A series of processes by the apparatuses described in this specification may be realized using any of software, hardware, and a combination 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. In addition, a computer-readable recording medium storing such a computer program can also 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.

[0095] In addition, the processes described using flowcharts in this specification do not necessarily have to be executed in the order shown in the figures. Some processing steps may be executed in parallel. In addition, additional processing steps may be adopted, and some processing steps may be omitted.

[0096] 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 of this specification, together with or instead of the above effects.

[0097] Note that the following configurations also belong to the technical scope of the present disclosure. A program for controlling a transport system including a connecting device for connecting an object to be transported to a transport vehicle, wherein the connecting device is rotatable around an axis extending in the vertical direction with respect to the transport vehicle, a lock control unit that controls whether to suppress the rotation (lock state) or allow the rotation (unlock state) by controlling a rotation suppression unit that suppresses the rotation of the connecting device with respect to the transport vehicle, during a predetermined connecting operation of approaching and connecting the transport vehicle to the object to be transported and during a predetermined disconnecting operation of disconnecting the connection to the object to be transported and separating from the connected object, the rotation suppression unit is controlled to be in the locked state, and during a transport running operation of running the transport vehicle with the object to be transported connected thereto, a process of controlling the rotation suppression unit to be in the unlocked state is executed. A control method for a transport system including a connecting device for connecting an object to be transported to a transport vehicle, wherein the connecting device is rotatable around an axis extending in the vertical direction with respect to the transport vehicle, a rotation suppression unit that suppresses the rotation of the connecting device with respect to the transport vehicle, and a lock control unit that controls whether to suppress the rotation (lock state) or allow the rotation (unlock state) by controlling the rotation suppression unit. When the lock control unit is in a predetermined connection operation of approaching and connecting the carrier vehicle to the object to be conveyed, and in a predetermined disconnection operation of disconnecting the connection to the object to be conveyed and detaching from the object to be connected, the rotation suppression unit is controlled to be in the locked state. Also, when the carrier vehicle is traveling with the object to be conveyed connected to the carrier vehicle, the rotation suppression unit is controlled to be in the unlocked state. A control method for a conveyance system.

[0098] Note that the following configurations also belong to the technical scope of the present disclosure. (Item 1) A conveyance device including a connection device for connecting an object to be conveyed to a carrier vehicle, The connection device is rotatable around an axis extending in the vertical direction with respect to the carrier vehicle, A rotation suppression unit that suppresses the rotation of the connection device with respect to the carrier vehicle, A lock control unit that controls whether to be in a locked state that suppresses the rotation or an unlocked state that allows the rotation by controlling the rotation suppression unit, A rotation state detection unit that detects the rotation angle of the connection device with respect to the carrier vehicle, and is provided with, The lock control unit controls the rotation suppression unit based on the rotation angle. A conveyance device. (Item 2) During the connection operation of connecting the carrier vehicle to the object to be conveyed, the carrier vehicle is reversed in the locked state where the connection device extends toward the rear of the carrier vehicle to approach the connection device to the object to be conveyed. The conveyance device according to Item 1. (Item 3) The lock control unit controls the rotation suppression unit to be in the locked state only when the rotation angle is a predetermined angle. The conveyance device according to Item 1 or 2. (Item 4) A travel control unit that controls the travel of the carrier vehicle by controlling the drive wheels of the carrier vehicle is provided, The traveling control unit controls the orientation of the carrier vehicle so that the rotation angle of the coupling device with respect to the carrier vehicle becomes a predetermined angle based on the rotation information acquired by the rotation state detection unit, for the conveying device according to item 1 or 2. (Item 5) The conveying device further includes an object detection unit provided on the carrier vehicle or the coupling device for detecting the relative position and orientation of the object to be conveyed with respect to the carrier vehicle or the coupling device. The lock control unit controls the rotation suppression unit based on the information on the relative position and orientation of the object to be conveyed, for the conveying device according to item 1 or 2. (Item 6) The conveying device according to item 1 or 2 includes a biasing unit that biases the coupling device so that the rotation angle of the coupling device in the unlocked state becomes a predetermined rotation angle. (Item 7) By controlling a rotation drive unit provided at a connection part between the carrier vehicle and the coupling device, The conveying device includes a rotation control unit that controls the rotation angle of the coupling device in the unlocked state according to rotation instruction information. The lock control unit controls the rotation suppression unit so as to be in the locked state when the rotation control unit controls the rotation drive unit and the rotation angle of the coupling device becomes a predetermined angle, for the conveying device according to item 1 or 2. (Item 8) The coupling device includes a gripping unit that grips a predetermined portion of the object to be conveyed. The gripping unit has a detection unit for detecting whether a predetermined portion of the object to be conveyed is in a position where it can be gripped by the gripping unit, for the conveying device according to item 1 or 2.

Description of Reference Numerals

[0099] 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 Operating 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 unit, 4000 Overall control device, 5000 Input / output device, 6000 Communication network, 7000 External system

Claims

1. A conveying device comprising a connecting device for connecting an object to be conveyed to a conveying vehicle, wherein the connecting device is rotatable about an axis extending in the vertical direction with respect to the conveying vehicle, a rotation suppression unit that suppresses rotation of the connecting device with respect to the conveying vehicle, a lock control unit that controls whether to be in a locked state that suppresses the rotation by controlling the rotation suppression unit or a unlocked state that allows the rotation, and a rotation state detection unit that detects a rotation angle of the connecting device with respect to the conveying vehicle, wherein the lock control unit controls the rotation suppression unit based on the rotation angle, a conveying device.

2. During a connecting operation of connecting the conveying vehicle to the object to be conveyed, the conveying vehicle is moved backward in the locked state where the connecting device extends toward the rear of the conveying vehicle to bring the connecting device closer to the object to be conveyed, the conveying device according to claim 1.

3. The lock control unit controls the rotation suppression unit so as to be in the locked state only when the rotation angle is a predetermined angle, the conveying device according to claim 1 or 2.

4. Comprising a travel control unit that controls the travel of the conveying vehicle by controlling the drive wheels of the conveying vehicle, wherein the travel control unit controls the direction of the conveying vehicle based on the rotation information acquired by the rotation state detection unit so that the rotation angle of the connecting device with respect to the conveying vehicle becomes a predetermined angle, the conveying device according to claim 1 or 2.

5. Further comprising an object detection unit provided on the conveying vehicle or the connecting device that detects the relative position and orientation of the object to be conveyed with respect to the conveying vehicle or the connecting device, wherein the lock control unit controls the rotation suppression unit based on the information on the relative position and orientation of the object to be conveyed, the conveying device according to claim 1 or 2.

6. Comprising a biasing unit that biases the connecting device so that the rotation angle of the connecting device in the unlocked state becomes a predetermined rotation angle, the conveying device according to claim 1 or 2.

7. By controlling a rotation drive unit provided at a connecting portion between the conveying vehicle and the connecting device, Comprising a rotation control unit that controls the rotation angle of the connecting device in the unlocked state according to rotation instruction information. The lock control unit controls the rotation suppression unit so as to be in the locked state when the rotation control unit controls the rotation drive unit and the rotation angle of the connecting device reaches a predetermined angle. The conveying device according to claim 1 or 2.

8. The connecting device includes a gripping part that grips a predetermined part of the object to be conveyed. The gripping part has a detection part that detects whether or not a predetermined part of the object to be conveyed is in a position where it can be gripped by the gripping part. The conveying device according to claim 1 or 2.

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