Mobile body system, mobile body control method, and program

Abstract

To shorten time required for reaching a target position.SOLUTION: A mobile body system 1 includes a setting unit 202 and an object detection unit. Upon detection of an induction index by an index detection unit 222, the setting unit 202 sets a main body induction method to a second induction method if a moving distance from a current position to a target position is equal to or greater than a first threshold value. The setting unit 202 sets the main body induction method to a first induction method if the moving distance is shorter than the first threshold value. With the first induction method, movement occurs according to the induction index detected by the index detection unit 222. With the second induction method, movement occurs based on results of detection performed by a position detection unit 201. The object detection unit detects a distance in a second direction intersecting with a first direction, in which the main body moves forward or backward, from the main body to the object present in the first direction. If the distance to the object detected by the object detection unit is equal to or less than the threshold value, the setting unit 202 sets the main body induction method to the first induction method.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a mobile system, a mobile body control method, and a program. More specifically, the present disclosure relates to a mobile system that autonomously moves, a mobile body control method, and a program.

Background Art

[0002] Patent Document 1 discloses a traveling control method for an automated guided vehicle. In the traveling control method of Patent Document 1, while the automated guided vehicle is autonomously moving toward a target position, when the automated guided vehicle detects a guideline made of a magnetic tape with a magnetic sensor, it shifts to guided traveling.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In guided traveling, since the vehicle travels while detecting the guideline with a magnetic sensor, the traveling speed during guided traveling is slower than the traveling speed during autonomous traveling. Therefore, if the automated guided vehicle always performs guided traveling at the location where the guideline is arranged, there is a problem that the time until the automated guided vehicle reaches the target position becomes long.

[0005] An object of the present disclosure is to provide a mobile system, a mobile body control method, and a program capable of shortening the time until reaching a target position.

Means for Solving the Problems

[0006] A mobile system according to one aspect of the present disclosure includes a communication unit, a position detection unit, an indicator detection unit, a setting unit, and a movement control unit. The communication unit receives a target position of a destination of the main body. The position detection unit detects a current position of the main body. The indicator detection unit detects an induction indicator provided along an induction path for guiding the main body. The setting unit sets an induction method of the main body to either a first induction method or a second induction method. The first induction method is an induction method of moving according to the induction indicator detected by the indicator detection unit. The second induction method is an induction method of moving based on a detection result of the position detection unit. The movement control unit moves the main body by the induction method set by the setting unit. When the indicator detection unit detects the induction indicator, if the movement distance from the current position to the target position is equal to or greater than a first threshold, the setting unit sets the induction method of the main body to the second induction method. If the movement distance is shorter than the first threshold, the setting unit sets the induction method of the main body to the first induction method. The mobile system further includes an object detection unit that detects a distance in a second direction intersecting the first direction to an object existing in the first direction in which the main body moves forward or backward with respect to the main body. When the distance to the object detected by the object detection unit is equal to or less than a threshold, the setting unit sets the induction method of the main body to the first induction method.

[0007] The movement control method according to one aspect of the present disclosure includes a reception step, a position detection step, an index detection step, a setting step, and a control step. In the reception step, a target position of the destination of the main body is received. In the position detection step, the current position of the main body is detected. In the index detection step, an induction index provided along an induction path for guiding the main body is detected. In the setting step, the induction method of the main body is set to either a first induction method or a second induction method. In the first induction method, the main body moves according to the induction index detected in the index detection step. In the second induction method, the main body moves based on the detection result of the position detection step. In the control step, the main body is moved by the induction method set in the setting step. In the setting step, when the induction index is detected in the index detection step, if the moving distance from the current position to the target position is equal to or greater than a first threshold value, the induction method of the main body is set to the second induction method. In the setting step, if the moving distance is shorter than the first threshold value, the induction method of the main body is set to the first induction method. The movement control method further includes an object detection step of detecting, with respect to the main body, a distance in a second direction intersecting a first direction to an object existing in the first direction in which the main body moves forward or backward. In the setting step, when the distance to the object detected in the object detection step is equal to or less than a threshold value, the induction method of the main body is set to the first induction method.

[0008] A program according to one aspect of the present disclosure is a program for causing one or more processors to execute the movement control method.

Advantages of the Invention

[0009] According to the present disclosure, the time until reaching the target position can be shortened.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

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MODE FOR CARRYING OUT THE INVENTION

[0011] (Embodiment) (1) Overview Each figure described in the following embodiments is a schematic figure, and the ratio of the size and thickness of each component in each figure does not necessarily reflect the actual dimensional ratio.

[0012] The mobile system 1 according to the present embodiment is applied to the transfer robot 2 for transferring the object 30 as shown in FIGS. 1 to 3. In the following description, each direction is defined as indicated by the arrows of "up", "down", "left", "right", "front", and "rear" in FIG. 2. These directions are defined in the state where the transfer robot 2 holds the object 30 and moves forward, and are not intended to limit the use direction of the transfer robot 2. Also, the arrows indicating each direction in the drawing are merely for explanation and do not have a physical entity.

[0013] The transport robot 2 is used for transport operations in facilities such as factories, logistics centers (including distribution centers), offices, stores, schools, and hospitals. The transport robot 2 moves by traveling on the moving surface 200 with one or more wheels 27. The moving surface 200 is the surface on which the transport robot 2 moves. When the transport robot 2 moves inside the facility, the floor surface of the facility etc. becomes the moving surface 200, and when the transport robot 2 moves outdoors, the ground etc. becomes the moving surface 200. Note that the transport robot 2 is not limited to a vehicle-type robot that moves (travels) with wheels 27 on the moving surface 200. The transport robot 2 may be an aerial drone that flies in the air, a water drone that sails on water, or a submersible drone that sails underwater etc. However, in the following embodiments, the case where the transport robot 2 is a vehicle-type robot that travels on the moving surface 200 will be described. FIG. 4 is a schematic plan view showing an example of the moving surface 200 on which the transport robot 2 moves. A transport path RT1 on which the transport robot 2 can move is set on the moving surface 200. A guiding path RT12 for guiding the transport robot 2 is set in a part of the transport path RT1, and a guiding indicator M1 for guiding the transport robot 2 is provided on the guiding path RT12. In other words, the transport path RT1 includes a non-guiding path RT11 without a guiding indicator and a guiding path RT12 with the guiding indicator M1 provided. The guiding indicator M1 is, for example, a magnetic tape and is affixed to the moving surface 200 along the guiding path RT12. The transport robot 2 can move along the transport path RT1 by, for example, detecting the magnetic tape with a magnetic sensor and moving following the magnetic tape. Here, the guiding method in which the transport robot 2 moves following the guiding indicator M1 is called the first guiding method. In the present embodiment, the first guiding method is, for example, a magnetic guiding method in which it moves following the guiding indicator M1 that is a magnetic tape.

[0014] FIG. 4 is a schematic plan view showing the vicinity of the end point of the conveyance path RT1 along which the conveyance robot 2 conveys the object 30. In the example of FIG. 4, from a position in the middle of the conveyance path RT1 to the target position TP1, which is the conveyance destination of the object 30 and the end point of the conveyance path RT1, a guiding index M1, which is a magnetic tape, is installed. The portion of the conveyance path RT1 where the guiding index M1 is provided becomes the guiding path RT12. Further, near the end of the guiding path RT12, an end index M2 indicating the end position P3 of the guiding path RT12 is provided in parallel with the guiding index M1. The end index M2 is made of, for example, a magnetic tape, and the guiding index M1 and the end index M2 are magnetized with different magnetic poles from each other.

[0015] The mobile system 1 (conveyance robot 2) of the present embodiment includes a communication unit 21, a position detection unit 201, an index detection unit 222, a setting unit 202, and a movement control unit 203.

[0016] The communication unit 21 receives the target position of the destination of the main body 26.

[0017] The position detection unit 201 detects the current position of the main body 26.

[0018] The index detection unit 222 detects the guiding index M1 provided along the guiding path RT12 that guides the main body 26.

[0019] The setting unit 202 sets the guiding method of the main body 26 to either a first guiding method or a second guiding method. The first guiding method is a guiding method of moving according to the guiding index M1 detected by the index detection unit 222. The second guiding method is a guiding method of moving based on the detection result of the position detection unit 201.

[0020] The movement control unit 203 moves the main body 26 by the guiding method set by the setting unit 202.

[0021] When the index detection unit 222 detects the guidance index M1, the setting unit 202 sets the guidance method of the main body 26 to the second guidance method if the moving distance from the current position to the target position TP1 is equal to or greater than the first threshold value Lth1. If the moving distance from the current position to the target position TP1 is shorter than the first threshold value Lth1, the setting unit 202 sets the guidance method of the main body 26 to the first guidance method.

[0022] Here, the communication unit 21 receives information on the target position (for example, the position coordinates of the target position) of the moving destination of the transport robot 2 from an external system such as a group control system 4 that controls the transport operation by the transport robot 2. The target position is, for example, the position of the transport destination of the object 30 being transported by the transport robot 2, but if the transport robot 2 is not transporting the object 30, it may be the position of the moving destination of the transport robot 2. Also, the information on the target position does not need to be received from the external system every time a transport operation is performed, and it may be received in advance from the external system or the like and stored in the storage unit. The position detection unit 201 obtains the current position of the main body 26 by obtaining the position coordinates of the position where the main body 26 exists in a two-dimensional orthogonal coordinate system with a predetermined position in the moving surface 200 as a reference point.

[0023] In the following description, the transport robot 2 is a vehicle-type robot that travels on the moving surface 200, and the movement control unit 203 controls the travel of the transport robot 2.

[0024] The position detection unit 201 obtains, for example, the central position in the longitudinal direction (front-rear direction) and the lateral direction (left-right direction) of the main body 26 as the current position of the main body 26. Note that the current position obtained by the position detection unit 201 is not limited to the central position of the main body 26, and may be the position of the front end portion of the main body 26.

[0025] The guiding method of the main body 26 includes a first guiding method of moving along the guiding index M1 while detecting the guiding index M1, and a second guiding method of guiding the main body 26 based on the current position obtained by the position detection unit 201. In the second guiding method, for example, based on the current position of the main body 26, the target position, and the electronic map information of the moving surface 200, the moving route of the main body 26 is determined, and the main body 26 is guided to move along the determined moving route. Generally, the first guiding method has the advantage of higher position accuracy compared to the second guiding method. However, in the first guiding method, since it moves while detecting the guiding index M1, the maximum speed of the main body 26 in the first guiding method is lower than the maximum speed of the main body 26 in the second guiding method.

[0026] In this embodiment, when the index detection unit 222 detects the guiding index M1, if the moving distance from the current position to the target position TP1 (in the embodiment, since the transfer robot 2 is a vehicle-type robot, hereinafter the moving distance is also referred to as the traveling distance) is equal to or greater than the first threshold value Lth1, the setting unit 202 sets the guiding method of the main body 26 to the second guiding method. Therefore, the main body 26 can be moved at a higher speed compared to the case of moving in the first guiding method. Then, when the main body 26 approaches the target position TP1 and the moving distance (traveling distance) from the current position to the target position TP1 becomes shorter than the first threshold value Lth1, the setting unit 202 sets the guiding method of the main body 26 to the first guiding method. Thereby, the movement control unit 203 can guide the main body 26 along the guiding path RT12 with higher position accuracy compared to the second guiding method. Therefore, according to the mobile system 1 (transfer robot 2) of this embodiment, there is an advantage that the target position TP1 (the end position P3 of the guiding path RT12) can be guided with high position accuracy and the time until arrival can be shortened.

[0027] (2) Details (2.1) Overall configuration Hereinafter, the transfer robot 2 (mobile system 1) according to this embodiment and the transfer system 5 including the transfer robot 2 will be described in detail with reference to the drawings.

[0028] The conveying system 5 includes a conveying robot 2 and a group control system 4 that controls the conveying operation by the conveying robot 2. The conveying robot 2 and the group control system 4 are configured to be communicable with each other. "Communicable" in the present disclosure means that information can be exchanged directly or indirectly via a network NT1 or a relay device 6 or the like by an appropriate communication method such as wired communication or wireless communication. In the present embodiment, each of the group control system 4 and the conveying robot 2 can communicate bidirectionally, and both the transmission of information from the group control system 4 to the conveying robot 2 and the transmission of information from the conveying robot 2 to the group control system 4 are possible. In FIGS. 1 to 3, the number of conveying robots 2 is one, but the number of conveying robots 2 may be two or more. That is, the group control system 4 may control the conveying operations by each of a plurality of conveying robots 2.

[0029] (2.2) Conveying Robot The configuration of the conveying robot 2 of the present embodiment will be described in more detail. As shown in FIGS. 2 and 3, the conveying robot 2 is an automated guided vehicle (AGV) for conveying a carriage 31 which is an object 30, and autonomously moves (autonomously travels) to a target position while holding the carriage 31 in a lifted state. In the present embodiment, the group control system 4 communicates with the conveying robot 2 via the network NT1 and the relay device 6 and indirectly controls the movement of the conveying robot 2.

[0030] In the present embodiment, the object 30 conveyed by the conveying robot 2 is a carriage 31 used for carrying a plurality of articles. The carriage 31 is a caged carriage (so-called roll box pallet) provided with a plurality of wheels 33 on the lower side of a bottom plate 32, and an operator can push and move the carriage 31. Note that the object 30 is not limited to the carriage 31 provided with wheels 33. The object 30 may be a shelf without wheels that can accommodate a plurality of articles, a pallet that can accommodate a plurality of articles, or the articles themselves.

[0031] The transport robot 2 autonomously travels on a flat moving surface 200 such as the floor surface of a facility. The transport robot 2 is equipped with a storage battery such as a lithium-ion battery or a nickel-metal hydride battery, and operates using the electrical energy stored in the storage battery. In the present embodiment, the transport robot 2 is a low-floor type AGV, which moves while holding the cart 31 in a lifted state by slipping under the cart 31 and raising a part of the main body 26. Thereby, the transport robot 2 can transport, for example, a cart 31 placed at a certain location to another location (target position).

[0032] As shown in FIG. 1, the transport robot 2 includes a processing unit 20, a communication unit 21, a detection unit 22, a drive unit 23, a storage unit 24, and a lifting mechanism 25. The transport robot 2 further includes a main body 26 (see FIGS. 2 and 3), and the processing unit 20, the communication unit 21, the detection unit 22, the drive unit 23, the storage unit 24, and the lifting mechanism 25 are mounted on the main body 26.

[0033] The main body 26 of the transport robot 2 has a rectangular parallelepiped shape that is longer in the front-rear direction than in the left-right direction and has a smaller dimension in the up-down direction than in the left-right and front-rear directions.

[0034] The main body 26 is supported on the moving surface 200 by a plurality (here, four) of wheels 27. The plurality of wheels 27 includes a plurality (here, two) of drive wheels 27A and a plurality (here, two) of auxiliary wheels 27B.

[0035] The plurality of drive wheels 27A are arranged at intervals in the width direction (left-right direction) of the main body 26 at the central portion in the longitudinal direction (front-rear direction) of the main body 26. Each of the plurality of drive wheels 27A can rotate individually by receiving a driving force from the drive unit 23.

[0036] The plurality of auxiliary wheels 27B are arranged at intervals in the longitudinal direction (front-rear direction) of the main body 26 at the central portion in the width direction (left-right direction) of the main body 26. Each of the plurality of auxiliary wheels 27B can rotate individually without receiving a driving force from the drive unit 23.

[0037] In this embodiment, a plurality of drive wheels 27A are individually driven by a drive unit 23, enabling the main body 26 to move in all directions. That is, by rotating the plurality of drive wheels 27A at different angular velocities from each other, the main body 26 can turn in either the left or right direction, and by rotating at the same angular velocity, it can travel linearly (forward or backward). Therefore, the main body 26 can move forward, backward, and turn in the left and right directions (including on-site turning and off-site turning). Also, the main body 26 can move along a curved path (i.e., a curve).

[0038] On both sides in the longitudinal direction (front-rear direction) of the main body 26, two elevating plates 28 are arranged at intervals in the width direction (left-right direction) of the main body 26. Each elevating plate 28 is raised or lowered by an elevating mechanism 25. When each elevating plate 28 is lowered to the lower limit position, the distance from the moving surface 200 to the upper surface of each elevating plate 28 is shorter than the distance from the moving surface 200 to the lower surface of the bottom plate 32 of the carriage 31. On the other hand, when each elevating plate 28 is raised to the upper limit position, the distance from the moving surface 200 to the upper surface of each elevating plate 28 is longer than the distance from the moving surface 200 to the lower surface of the bottom plate 32 of the carriage 31.

[0039] The transport robot 2 enters under the carriage 31 with the elevating mechanism 25 lowering each elevating plate 28 to the lower limit position, and lifts the carriage 31 by raising each elevating plate 28 to the upper limit position by the elevating mechanism 25. When the transport robot 2 lifts the carriage 31, the wheels 33 of the carriage 31 are in a floating state from the moving surface 200, and in this state, when the transport robot 2 travels, it transports the carriage 31. When the transport robot 2 transports the carriage 31 to the target position, the elevating mechanism 25 lowers each elevating plate 28 to the lower limit position. When each elevating plate 28 is lowered to the lower limit position, the wheels 33 of the carriage 31 contact the moving surface 200, and each elevating plate 28 separates from the bottom plate 32 of the carriage 31, so the transport robot 2 separates from the carriage 31. Thereafter, by the transport robot 2 moving forward or backward, leaving the carriage 31 at the target position, the transport robot 2 can leave the spot.

[0040] Note that it is preferable that the upper surface of the lifting plate 28 has a larger coefficient of friction than the upper surface of the main body 26, for example, by applying an anti-slip process. This makes it difficult for the carriage 31 loaded on each lifting plate 28 to slip relative to each lifting plate 28.

[0041] The detection unit 22 includes at least a measurement range sensor 221 that detects the surrounding situation of the transport robot 2, and an index detection unit 222 that detects the guiding index M1 and the end index M2 provided on the moving surface 200.

[0042] The measurement range sensor 221 includes, for example, a sensor 22A (see FIG. 2) such as LiDAR (Light Detection and Ranging). LiDAR is a sensor that irradiates light (laser light) around it and measures the distance to an object and the direction of the object based on the reflected light from the object existing around the main body 26. The detection range (scan range in the horizontal and vertical directions) scanned by LiDAR is a fan-shaped range centered on the laser light source, and the detection range can be changed, for example, by narrowing the irradiation range of the laser light.

[0043] The sensor 22A is provided on one side (for example, the front side) in the longitudinal direction of the main body 26. The sensor 22A detects an object in the detection range in front of the main body 26. That is, the sensor 22A realizes an object detection unit that detects an object existing in front of the main body 26. In this embodiment, the measurement range sensor 221 is provided only on the front side of the main body 26, but the measurement range sensors 221 may be provided on the front side and the rear side of the main body 26, respectively. Also, in the main body 26, two measurement range sensors 221 with a maximum horizontal detection range of 270 degrees may be arranged at the front and rear corner portions that are diagonal to each other, so that the two measurement range sensors 221 can detect an object throughout the circumference of the main body 26. Further, if a measurement range sensor with a 360-degree horizontal detection range is used as the measurement range sensor 221 and this measurement range sensor 221 is arranged on the upper part of the main body 26, an object can be detected throughout the circumference of the main body 26 with one measurement range sensor 221.

[0044] Note that the detection unit 22 may include sensors such as a radar (RADAR: Radio Detection and Ranging), a sonar sensor, and an image sensor (camera) as sensors for detecting the surrounding situation of the transport robot 2. The radar is a sensor that measures the distance to an object and the direction of the object based on the reflected wave from an object existing around the main body 26 using electromagnetic waves (radio waves) such as microwaves.

[0045] The index detection unit 222 includes, for example, a magnetic sensor, and uses the magnetic sensor to detect the presence or absence of the guiding index M1 and the end index M2 installed on the moving surface 200. When the index detection unit 222 detects that the guiding index M1 and the end index M2 magnetized with different magnetic poles are arranged side by side, it detects that it is near the end of the guiding path RT12.

[0046] In the present embodiment, since the first guiding method is a magnetic guiding method, the index detection unit 222 includes a magnetic sensor. However, the first guiding method is not limited to the magnetic guiding method, and the index detection unit 222 is not limited to including a magnetic sensor. When a guiding index made of a guiding tape of a predetermined color (for example, white) or a two-dimensional barcode or the like is provided on the moving surface 200 along the transport path RT1, the index detection unit 222 may include an image sensor that captures the moving surface 200, and detect the guiding index by performing image processing on the image of the image sensor. Further, when a guiding index made of a reflective tape is provided on the moving surface 200 along the transport path RT1, the index detection unit 222 may detect the guiding index made of the reflective tape using, for example, an optical sensor. Further, when a guiding index made of a metal plate is provided on the moving surface 200 along the transport path RT1, the index detection unit 222 may detect the guiding index made of the metal plate using, for example, a radar. The index detection unit 222 can be appropriately changed according to the guiding index provided along the transport path RT1.

[0047] Further, the detection unit 22 may include sensors for detecting the behavior of the main body 26 of the transfer robot 2. The "behavior" of the main body 26 means operations and states, etc. That is, the behavior of the main body 26 of the transfer robot 2 includes the operating state of the transfer robot 2 indicating whether the transfer robot 2 is transporting the object 30, the moving distance (travel distance) and speed of the transfer robot 2, the acceleration acting on the main body 26 of the transfer robot 2, and the moving posture of the main body 26, etc. Specifically, the detection unit 22 may include sensors such as a rotary encoder, an acceleration sensor, a gyro sensor, etc., and the behavior of the main body 26 of the transfer robot 2 may be detected by these sensors.

[0048] The drive unit 23 directly or indirectly applies a driving force to the two drive wheels 27A. The drive unit 23 is built into the main body 26. The drive unit 23 includes, for example, an electric motor, and indirectly applies the driving force generated by the electric motor to each drive wheel 27A via a gearbox, a belt, etc. Also, the drive unit 23 may be configured to directly apply a driving force to each drive wheel 27A, such as an in-wheel motor. The drive unit 23 drives each of the plurality of drive wheels 27A at a rotational direction and rotational speed according to the control signal based on the control signal input from the processing unit 20.

[0049] The elevating mechanism 25 is a mechanism that raises and lowers the elevating plates 28 provided in two each on the front side and the rear side in response to a control command from the processing unit 20. The elevating mechanism 25 moves the upper surface (loading surface) of each elevating plate 28 up or down by moving each elevating plate 28 in the vertical direction relative to the main body 26. The elevating mechanism 25 moves each elevating plate 28 between the lower limit position and the upper limit position of the movable range of each elevating plate 28.

[0050] When the transfer robot 2 holds the carriage 31, the lifting mechanism 25 raises each lifting plate 28 with the main body 26 diving under the carriage 31 to lift the carriage 31, whereby the transfer robot 2 holds the carriage 31. In the present embodiment, the transfer robot 2 holds the carriage 31 which is the object 30 by lifting the carriage 31 with each lifting plate 28. That is, a holding part 29 for holding the object 30 transported by the main body 26 is constituted by the lifting plate 28, the lifting mechanism 25, etc.

[0051] The processing unit 20 is mainly composed of a computer system having one or more processors and a memory. The functions of the processing unit 20 are realized by the processor of the computer system executing the program recorded in the memory of the computer system. The program may be recorded in the memory, may be provided through an electric communication line such as the Internet, or may be provided by being recorded in a non-temporary recording medium such as a memory card.

[0052] The processing unit 20 has functions such as, for example, a position detection unit 201, a setting unit 202, a movement control unit 203, an acquisition unit 204, etc. It should be noted that these only indicate the functions realized by the processing unit 20 and do not necessarily indicate an entity configuration.

[0053] The processing unit 20 controls the operation of the main body 26 by controlling the operations of, for example, the drive unit 23 and the lifting mechanism 25, etc. based on the control command received by the communication unit 21 from the group control system 4 and the detection result of the detection unit 22. Here, the control command received by the communication unit 21 from the group control system 4 includes at least information on the target position of the movement destination of the transfer robot 2.

[0054] The position detection unit 201 detects the current position of the main body 26. As an example, the position detection unit 201 estimates the current position on the moving surface 200 based on, for example, the detection information of surrounding objects by the measurement range sensor 221 and the electronic map information of the moving surface 200 within the facility. Note that the position detection unit 201 may estimate the current position on the moving surface 200 by using LPS (Local Positioning System) using radio wave beacons. That is, the position detection unit 201 may estimate the current position based on the radio wave intensity when receiving beacon signals transmitted from a plurality of transmitters installed in the facility by a receiver provided in the transport robot 2 and the installation positions of the respective transmitters. Further, the position detection unit 201 may estimate the current position of the main body 26 by using a global satellite positioning system (GNSS: Global Navigation Satellite System) such as GPS (Global Positioning System). The position coordinates of the main body 26 detected by the position detection unit 201 may be position coordinates in a two-dimensional orthogonal coordinate system set on the moving surface 200 or position coordinates in a three-dimensional orthogonal coordinate system.

[0055] The setting unit 202 sets the guiding method of the main body 26 to either the first guiding method or the second guiding method.

[0056] When the index detection unit 222 does not detect the guiding index M1, the setting unit 202 sets the guiding method of the main body 26 to the second guiding method. As shown in FIG. 4, while the main body 26 moves on the non-guiding path RT11 of the transport path RT1, the index detection unit 222 does not detect the guiding index M1, so the setting unit 202 sets the guiding method to the second guiding method.

[0057] When the index detection unit 222 detects the guiding index M1, if the moving distance (travel distance) from the current position detected by the position detection unit 201 to the target position TP1 is equal to or greater than the first threshold value Lth1, the setting unit 202 sets the guiding method to the second guiding method. That is, on the guiding path RT12, while the main body 26 moves from the starting position P1 to the intermediate position P2 of the guiding path RT12, the setting unit 202 sets the guiding method to the second guiding method. The intermediate position P2 is a point on the conveying path RT1 (guiding path RT12) where the moving distance to the target position TP1 becomes the first threshold value Lth1.

[0058] Also, when the index detection unit 222 detects the guiding index M1, if the moving distance from the current position detected by the position detection unit 201 to the target position TP1 is shorter than the first threshold value Lth1, the setting unit 202 sets the guiding method to the first guiding method. That is, on the guiding path RT12, while the main body 26 moves from the intermediate position P2 to the terminal position P3 (target position TP1), the setting unit 202 sets the guiding method to the first guiding method. Here, the first threshold value Lth1 is preferably set to a distance longer than the stopping distance required for the main body 26 to decelerate and stop from the state where the main body 26 is traveling at the maximum speed in the second guiding method, and can be appropriately changed according to the situation of the transfer robot 2 and the moving surface 200.

[0059] By the way, although it is preferable that the guiding path RT12 is provided up to the target position TP1 which is the conveyance destination of the object 30, there may be a case where the target position TP1 in the electronic map information and the terminal position P3 of the guiding path RT12 are deviated. That is, as shown in FIGS. 5 and 6, there may be a case where the guiding path RT12 is not provided up to the target position TP1 and is interrupted near the target position TP1.

[0060] Here, when the index detection unit 222 detects the terminal index M2 while the main body 26 is traveling (moving) along the guiding path RT12, the movement control unit 203 determines whether to stop at the terminal position P3 or to further move to the target position TP1 based on the distance L2 between the current position detected by the position detection unit 201 and the target position TP1.

[0061] As shown in FIG. 5, when the index detection unit 222 detects the end index M2, if the distance L2 between the current position detected by the position detection unit 201 and the target position TP1 is equal to or less than the second threshold value Lth2, the movement control unit 203 stops the main body 26 at the end position P3. The second threshold value Lth2 is shorter than the first threshold value Lth1. The second threshold value Lth2 is an allowable value that may regard the end position P3 as the target position TP1, and is a value appropriately set by the user. When the distance L2 is equal to or less than the second threshold value Lth2, the movement control unit 203 regards the end position P3 as the target position TP1 and unloads the object 30 at the end position P3. Therefore, even when fine adjustment is made according to the position where unloading is performed at the end position P3, it is possible to stop at the finely adjusted position without changing the target position TP1.

[0062] Note that, in a state where the index detection unit 222 detects the end index M2, when the distance from the current position to the target position TP1 becomes equal to or less than the second threshold value Lth2, the movement control unit 203 decelerates the speed of the main body 26 to the stop speed. The end index M2 has a predetermined length along the conveyance path RT1. In a state where the index detection unit 222 detects the end index M2, if the distance L2 between the current position detected by the position detection unit 201 and the target position TP1 is equal to or less than the second threshold value Lth2, the movement control unit 203 decelerates the speed of the main body 26 to the stop speed. When the index detection unit 222 detects the end of the end index M2, the movement control unit 203 stops the main body 26. The stop speed is set such that the distance traveled by the main body 26 from when the index detection unit 222 detects the end of the end index M2 until the main body 26 completely stops falls within a predetermined error range. Thereby, the main body 26 can be accurately stopped near the end of the end index M2.

[0063] In addition, since the target position TP1 in the electronic map information is offset from the end position P3 of the guiding path RT12, for example, in FIG. 5, the target position TP1 may exist within the range where the end indicator M2 is provided. In other words, the guiding indicator M1 and the end indicator M2 may be provided up to a position past the target position TP1. In this case, when the indicator detection unit 222 detects the end indicator M2 while the transfer robot 2 is moving along the guiding path RT12, if the distance L2 between the current position detected by the position detection unit 201 and the target position TP1 is equal to or less than the second threshold value Lth2, the transfer robot 2 regards the end position P3 as the target position TP1 and unloads the object 30 at the end position P3. Thereby, the transfer robot 2 can accurately stop at the unloading position according to the guiding indicator M1 and the end indicator M2 installed within the range that may be regarded as the target position TP1. Also, as shown in FIG. 6, when the indicator detection unit 222 detects the end indicator M2, if the distance L2 between the current position detected by the position detection unit 201 and the target position TP1 is longer than the second threshold value Lth2, the movement control unit 203 moves the main body 26 further to the target position TP1 without stopping at the end position P3. Since no guiding indicator M1 is provided between the end position P3 and the target position TP1, the setting unit 202 sets the guiding method for guiding the main body 26 from the end position P3 to the target position TP1 to the second guiding method. The movement control unit 203 runs (moves) the main body 26 from the end position P3 to the target position TP1 in the second guiding method. Thereby, when the distance between the end position P3 and the target position TP1 is longer than the second threshold value Lth2, the movement control unit 203 can move the transfer robot 2 to a position closer to the target position TP1 by moving it from the end position P3 to the target position TP1 in the second guiding method.

[0064] In addition, since the target position TP1 in the electronic map information is displaced from the end position P3 of the guiding path RT12, in FIG. 6, the target position TP1 may exist in the middle of the guiding indicator M1, and the end indicator M2 may be provided from the position where the target position TP1 has been passed. In this case, when the position detection unit 201 detects that the conveying robot 2 has reached the target position TP1 while moving along the guiding path RT12, the conveying robot 2 may stop at that position. Thereby, the conveying robot 2 can stop at the target position TP1 without passing the target position TP1 and moving to the end position P3.

[0065] Also, when the indicator detection unit 222 becomes unable to detect the guiding indicator M1 while the movement control unit 203 is moving (traveling) the main body 26 in the first guiding method, the setting unit 202 changes the guiding method of the main body 26 from the first guiding method to the second guiding method. When an abnormality occurs in the indicator detection unit 222, the guiding indicator M1 is cut in the middle of the guiding path RT12, or the main body 26 is greatly deviated from the guiding path RT12 during traveling in the first guiding method, and the indicator detection unit 222 becomes unable to detect the guiding indicator M1, the movement control unit 203 cannot guide the main body 26 normally. In this case, since the setting unit 202 changes the guiding method to the second guiding method, the movement control unit 203 can guide the main body 26 in the second guiding method even after the guiding indicator M1 becomes unable to be detected.

[0066] Note that after the indicator detection unit 222 becomes unable to detect the guiding indicator M1 during traveling in the first guiding method, if the indicator detection unit 222 detects the guiding indicator M1 again, the setting unit 202 may change the guiding method of the main body 26 from the second guiding method to the first guiding method. That is, when the guiding indicator M1 is detected again and it becomes possible to guide in the first guiding method, by setting the guiding method to the first guiding method by the setting unit 202, the movement control unit 203 can guide the main body 26 to the end position P3 of the guiding path RT12 in the first guiding method.

[0067] Also, while traveling in the second guidance mode, if the distance to the object 220 detected by the measurement range sensor 221, which is an object detection unit, is equal to or less than the narrow road threshold Dth1 (see FIG. 7), the setting unit 202 may set the guidance mode of the main body 26 to the first guidance mode. Here, the object 220 to be detected by the measurement range sensor 221 is an object existing within the front detection area A1 where the distance from the measurement range sensor 221 in the front-rear direction is equal to or less than the narrow road threshold Dth1. The measurement range sensor 221 detects the shortest distance in the left-right direction to the object 220 existing within the detection area A1.

[0068] The narrow road threshold Dth1 is set based on the object information. The object information is information regarding the size of the object 30 and is acquired by the acquisition unit 204 described later. The setting unit 202 sets the narrow road threshold Dth1 based on the object information acquired by the acquisition unit 204. For example, the setting unit 202 sets the length (W1 / 2 + B1), which is obtained by adding a predetermined clearance width B1 to half of the width dimension W1 in the left-right direction of the object 30 (cart 31), as the narrow road threshold Dth1. Thereby, when the distance to the surrounding object 220 is equal to or less than the narrow road threshold Dth1, since the guidance mode is set to the first guidance mode with higher position accuracy than the second guidance mode, the possibility that the main body 26 or the object 30 interferes with the surrounding object 220 can be reduced. Also, when the transport robot 2 transports the object 30, since the narrow road threshold Dth1 is set according to the size of the object 30 to be transported, the possibility of contact with the surrounding object 220 can be reduced even if the size of the object 30 changes.

[0069] For example, as shown in FIG. 7, when the transport robot 2 moves through a passage whose width narrows in the middle, the setting unit 202 changes the guidance mode according to the width of the passage. Here, the transport robot 2 passes through the wide part 210, the narrow road part 211, and the wide part 212 of the passage in order.

[0070] In the wide section 210, since the distance DL1 to the object 220 such as a wall on the left side and the distance DR1 to the object 220 such as a wall on the right side are both greater than the narrow-road threshold value Dth1, even if the position of the transport robot 2 deviates slightly left and right, the possibility of contacting the object 220 is low. Therefore, when the main body 26 passes through the wide section 210 of the passage, the setting unit 202 sets the guidance method to the second guidance method.

[0071] In the narrow section 211 after passing through the wide section 210, since the distance DL2 to the object 220 on the left side and the distance DR2 to the object 220 on the right side are both less than or equal to the narrow-road threshold value Dth1, it is preferable for the transport robot 2 to move through the guidance path RT12. Therefore, when the transport robot 2 passes through the narrow section 211, the setting unit 202 sets the guidance method to the first guidance method. Note that if at least one of the distance DL2 to the object 220 on the left side of the main body 26 and the distance DR2 to the object 220 on the right side of the main body 26 is less than or equal to the narrow-road threshold value Dth1, the setting unit 202 may set the guidance method to the first guidance method.

[0072] In the wide section 212 after passing through the narrow section 211, the distance DL3 to the object 220 on the left side and the distance DR3 to the object 220 on the right side are both greater than the narrow-road threshold value Dth1. Therefore, when the main body 26 exits the narrow section 211 and passes through the wide section 212, the setting unit 202 sets the guidance method to the second guidance method. In this way, when the main body 26 passes through the narrow section 211 where the distance to the object 220 is less than or equal to the narrow-road threshold value Dth1, the setting unit 202 changes the guidance method of the main body 26 from the first guidance method to the second guidance method. In the wide section 212, the movement control unit 203 runs (moves) the main body 26 in the second guidance method. Therefore, after exiting the narrow section 211, the movement control unit 203 can run the main body 26 in the second guidance method, which can move at a higher speed than the first guidance method, and the time until reaching the target position TP1 can be shortened.

[0073] In a state where the transfer robot 2 is not transferring the object 30, the setting unit 202 may set the narrow passage threshold Dth1 based on the object information indicating that the size of the object 30 is zero. That is, the setting unit 202 may set the length (W2 / 2 + B1), which is obtained by adding a predetermined clearance width B1 to half of the width dimension W2 of the main body 26 in the left-right direction, as the narrow passage threshold Dth1.

[0074] In addition, the object to be detected by the sensor 22A, which is an object detection unit, is not limited to the wall of the facility and may include equipment arranged in the facility. Further, the object to be detected by the sensor 22A is not limited to an immovable object such as a wall, and may also include a movable object such as the object 30 to be transferred by the transfer robot 2, a person, a small animal, or another transfer robot 2.

[0075] The acquisition unit 204 acquires object information regarding the size of the object 30 (cart 31) held by the holding unit 29. The acquisition unit 204 acquires the object information included in the transfer instruction, for example, by acquiring the transfer instruction received by the communication unit 21 from the group control system 4. The transfer instruction includes at least object information regarding the object 30 to be transferred, information regarding the position (transfer source position) where the object 30 exists, information regarding the target position TP1, which is the transfer destination of the object 30, and information regarding the transfer path RT1 from the transfer source position to the target position TP1. The object information includes at least information regarding the size of the object 30, and may further include information regarding the type of the object 30 and the like. When the detection unit 22 has a function of detecting the size of the object 30 held by the holding unit 29, the acquisition unit 204 may acquire the object information from the detection unit 22.

[0076] The movement control unit 203 controls the main body 26 based on the transfer instruction acquired by the acquisition unit 204 from the group control system 4, and causes the transfer operation to be executed. Here, the movement control unit 203 autonomously travels the main body 26 in the guidance method set by the setting unit 202.

[0077] The movement control unit 203 controls the drive unit 23 based on a conveyance instruction, moves the main body 26 to the position (conveyance source position) where the carriage 31, which is the object 30, exists, identifies the position, size, etc. of the carriage 31 with the detection unit 22, and makes the main body 26 sneak under the carriage 31. When the main body 26 enters below the carriage 31, the processing unit 20 controls the lifting mechanism 25 to raise each lifting plate 28 to the upper limit position, and holds the carriage 31 by lifting the carriage 31. When the holding unit 29 holds the carriage 31, the movement control unit 203 controls the drive unit 23 while holding the carriage 31, and autonomously runs the transport robot 2 to the conveyance destination (target position TP1) of the carriage 31. When the transport robot 2 arrives at the target position TP1, the processing unit 20 lowers each lifting plate 28 to the lower limit position by the lifting mechanism 25, and lowers the carriage 31 to the target position TP1. When the holding unit 29 releases the carriage 31, the movement control unit 203 controls the drive unit 23 to move the main body 26 from the target position TP1 to, for example, a standby position. Thereby, the movement control unit 203 can execute the conveyance work of another carriage 31 based on the next conveyance instruction.

[0078] The communication unit 21 is configured to be communicable with the group control system 4. In the present embodiment, the communication unit 21 communicates with any one of one or more relay devices 6 installed in the area where the transport robot 2 is operated, by wireless communication using radio waves as a medium. Therefore, the communication unit 21 and the group control system 4 indirectly communicate with each other via at least the network NT1 and the relay device 6.

[0079] That is, each relay device 6 is a device (access point) that relays communication between the communication unit 21 and the group control system 4. The relay device 6 communicates with the group control system 4 via the network NT1. In the present embodiment, as an example, for the communication between the relay device 6 and the communication unit 21, wireless communication compliant with standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power wireless (specific low-power wireless) that does not require a license is adopted. Further, the network NT1 is not limited to the Internet, and for example, a local communication network within the area where the transport robot 2 is operated or within the operating company of this area may be applied.

[0080] The storage unit 24 includes a rewritable non-volatile memory such as an EEPROM (Electrically Erasable and Programmable Read-Only Memory), for example. In the storage unit 24, electronic map information of the moving surface 200 on which the transfer robot 2 moves and the like are stored in advance. The electronic map information of the moving surface 200 includes position information of objects arranged on the moving surface 200 and the like.

[0081] In addition, the transfer robot 2 appropriately includes configurations other than those described above, such as a charging circuit for a storage battery and the like.

[0082] Incidentally, the transfer robot 2 of the present embodiment may be used in a factory or the like where a manufacturing apparatus for manufacturing products such as a circuit board is installed, and the object 30 to be transferred by the transfer robot 2 may include a component supply apparatus that supplies components to the manufacturing apparatus. Note that the object 30 to be transferred by the transfer robot 2 is not limited to the component supply apparatus, and may be the component itself, and can be appropriately changed according to the place of use or purpose of use of the transfer robot 2 or the like.

[0083] (2.3) Group control system The group control system 4 is realized by, for example, a computer system. The group control system 4 controls the transfer operation by the transfer robot 2. Note that the group control system 4 may be inside the facility or outside the facility.

[0084] The group control system 4 includes a control unit 40, a communication unit 41, an operation reception unit 42, a display unit 43, and a storage unit 44.

[0085] The communication unit 41 communicates with the transfer robot 2 via the network NT1 and the relay device 6. As a communication method between the communication unit 41 and the relay device 6, an appropriate communication method of wireless communication or wired communication is adopted.

[0086] The operation reception unit 42 has a function of receiving operations of a user who uses the group control system 4. In the present embodiment, the operation reception unit 42 is realized by, for example, a pointing device such as a mouse, a keyboard, or a combination thereof. Further, the operation reception unit 42 may be realized by a voice recognition unit that receives operations by voice uttered by the user. Note that the operation reception unit 42 may receive information input to a terminal such as a tablet terminal used by the user via the communication unit 41.

[0087] The display unit 43 is used to present information to a user who uses the group control system 4. The display unit 43 is realized by, for example, a display device such as a liquid crystal display or an organic EL display. Note that when the group control system 4 has a touch panel display, the touch panel display may function as the operation reception unit 42 and the display unit 43.

[0088] The storage unit 44 is realized by, for example, a non-temporary recording medium such as a rewritable non-volatile semiconductor memory. The storage unit 44 stores, for example, information regarding the transport path RT1 (including the non-guided path RT11 and the guided path RT12) input by a user of the group control system 4 or the like.

[0089] The control unit 40 mainly includes, for example, a computer system including a memory and a processor. That is, the functions of the control unit 40 are realized by the processor executing a program recorded in the memory of the computer system. The program may be recorded in the memory in advance, may be provided through a telecommunication line such as the Internet, or may be provided by being recorded in a non-temporary recording medium such as a memory card.

[0090] The control unit 40 gives a conveyance instruction for the carriage 31 to the conveyance robot 2 via the communication unit 41. For example, by giving a conveyance instruction to the conveyance robot 2 to convey the carriage 31 existing at a certain location within the moving surface 200 to the target position TP1, the conveyance robot 2 conveys the carriage 31 to the target position TP1. For example, the control unit 40 transmits a conveyance instruction including information on the position where the object 30 exists, information on the target position TP1, information on the conveyance route from the position where the object 30 exists to the target position TP1, object information regarding the size of the object 30, etc. to the conveyance robot 2, thereby causing the conveyance robot 2 to execute a conveyance operation for conveying the object 30.

[0091] (2.4) Operation Explanation A movement control method for controlling the operation of the mobile system 1 (conveyance robot 2) will be described based on FIGS. 8 and 9 and the like. Note that the flowcharts shown in FIGS. 8 and 9 are merely examples of the movement control method, and the order of processing may be appropriately changed, or processing may be appropriately added or omitted.

[0092] The operation when the conveyance robot 2, which is the mobile system 1, receives a conveyance instruction from the group control system 4 and conveys the carriage 31 toward the target position TP1 will be described with reference to FIG. 8.

[0093] While the conveyance robot 2 is traveling on the non-guidance path RT11, the setting unit 202 sets the guidance method of the main body 26 to the second guidance method, and the movement control unit 203 guides the main body 26 by the second guidance method.

[0094] During the movement of the conveyance robot 2, the detection unit 22 performs detection processing periodically (step S1). If the index detection unit 222 does not detect the guidance index M1 (step S2: No), the setting unit 202 sets the guidance method of the main body 26 to the second guidance method (step S3).

[0095] On the other hand, when the index detection unit 222 detects the guidance index M1 (step S2: Yes), the setting unit 202 sets the narrow path threshold Dth1 based on the object information of the object 30 being transported (step S4). For example, the setting unit 202 sets the length (W1 / 2 + B1), which is obtained by adding a predetermined clearance width B1 to half of the width dimension W1 in the left - right direction of the object 30, as the narrow path threshold Dth1. Note that the process of step S4 only needs to be performed at least once while the transport robot 2 transports the object 30 and can be omitted as appropriate.

[0096] The setting unit 202 determines whether it is a narrow path by comparing the distance in the left - right direction from the measurement range sensor 221 (sensor 22A), which is an object detection unit, to the detected object 220 with the narrow path threshold Dth1 (step S5).

[0097] In step S5, if the distance in the left - right direction from the object 220 detected by the measurement range sensor 221 is less than or equal to the narrow path threshold Dth1 (step S5: Yes), the setting unit 202 determines that it is a narrow path and proceeds to the process of step S7.

[0098] In step S5, if the distance in the left - right direction from the object 220 detected by the measurement range sensor 221 is longer than the narrow path threshold Dth1 (step S5: No), the setting unit 202 determines that it is not a narrow path and proceeds to the process of step S6.

[0099] In step S6, the setting unit 202 compares the moving distance from the current position of the main body 26 to the target position TP1 with the first threshold Lth1.

[0100] Here, when the moving distance from the current position of the main body 26 to the target position TP1 is longer than the first threshold Lth1 (step S6: No), the setting unit 202 sets the guidance method of the main body 26 to the second guidance method (step S3).

[0101] On the other hand, when the moving distance from the current position of the main body 26 to the target position TP1 is less than or equal to the first threshold Lth1 (step S6: Yes), the setting unit 202 sets the guidance method of the main body 26 to the first guidance method.

[0102] Here, since the maximum speed of the main body 26 in the first guidance method is slower than the maximum speed of the main body 26 in the second guidance method, when the current speed of the main body 26 is faster than the maximum speed in the first guidance method, it is necessary to decelerate.

[0103] The movement control unit 203 compares the current speed of the main body 26 with the maximum speed V1 in the first guidance method (step S7), and determines whether it is immediately possible to change from the second guidance method to the first guidance method. If the current speed of the main body 26 is less than or equal to the maximum speed V1 in the first guidance method (step S7: Yes), the movement control unit 203 immediately guides the main body 26 in the first guidance method (step S9). On the other hand, if the current speed of the main body 26 is faster than the maximum speed V1 in the first guidance method (step S7: No), the movement control unit 203 controls the drive unit 23 to decelerate (step S8) to a speed less than or equal to the maximum speed V1 in the first guidance method, and then guides the main body 26 in the first guidance method (step S9). That is, when the setting unit 202 changes the guidance method of the main body 26 from the second guidance method to the first guidance method, the movement control unit 203 decelerates the speed of the main body 26 to be less than or equal to the maximum speed in the first guidance method, and then moves (runs) the main body 26 in the first guidance method. In this way, after decelerating to be less than or equal to the maximum speed V1 in the first guidance method and then changing from the second guidance method to the first guidance method, when changing to the first guidance method, a situation where it becomes impossible to be guided in the first guidance method because the maximum speed in the first guidance method is exceeded can be avoided.

[0104] Next, the operation of the transfer robot 2 after setting the guidance method of the main body 26 to the first guidance method will be described with reference to FIG. 9.

[0105] During the movement of the transfer robot 2, the detection unit 22 performs detection processing periodically (step S21). If the index detection unit 222 does not detect the guidance index M1 (step S22: No), the setting unit 202 sets the guidance method of the main body 26 to the second guidance method (step S28).

[0106] When the index detection unit 222 detects the guidance index M1 (step S22: Yes), the setting unit 202 determines whether the index detection unit 222 has detected the end index M2 (step S23).

[0107] If the index detection unit 222 has not detected the end index M2 (step S23: No), the setting unit 202 sets the guidance method of the main body 26 to the first guidance method (step S24). That is, since the transport robot 2 is still moving on the guidance path RT12, the setting unit 202 sets the guidance method of the main body 26 to the first guidance method, and the movement control unit 203 continuously guides the main body 26 in the first guidance method.

[0108] On the other hand, when the index detection unit 222 detects the end index M2 (step S23: Yes), the movement control unit 203 compares the distance L2 between the current position of the main body 26 and the target position TP1 with the second threshold value Lth2 (step S25).

[0109] If the distance L2 is less than or equal to the second threshold value Lth2 (step S25: Yes), the movement control unit 203 determines that the distance between the end position P3 and the target position TP1 is within the allowable error, and performs a process of stopping the main body 26 at the end position P3. That is, the movement control unit 203 controls the drive unit 23 to decelerate to the stop speed (step S26), and then stops the main body 26 at the end position P3 (step S27).

[0110] If the distance L2 is longer than the second threshold value Lth2 (step S25: No), the movement control unit 203 does not stop the main body 26 and performs a process of further traveling to the target position TP1. The setting unit 202 sets the guidance method during the movement of the main body 26 from the end position P3 to the target position TP1 to the second guidance method, and the movement control unit 203 guides the main body 26 from the end position P3 to the target position TP1 in the second guidance method.

[0111] (3) Variation The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be variously modified according to the design or the like as long as the object of the present disclosure can be achieved. Further, functions similar to those of the mobile body system 1 may be embodied by a mobile body control method, a computer program, a non-transitory recording medium recording the program, or the like. A mobile body control method according to one aspect includes a reception step, a position detection step, an index detection step, a setting step, and a control step. In the reception step, a target position TP1 of the destination of the main body 26 is received. In the position detection step, the current position of the main body 26 is detected. In the index detection step, a guiding index M1 provided along a guiding path RT12 for guiding the main body 26 is detected. In the setting step, the guiding method of the main body 26 is set to either a first guiding method or a second guiding method. The first guiding method is a guiding method of moving according to the guiding index M1 detected in the index detection step. The second guiding method is a guiding method of moving based on the detection result of the position detection step. In the control step, the main body 26 is moved by the guiding method set in the setting step. In the setting step, when the guiding index M1 is detected in the index detection step, if the moving distance from the current position to the target position TP1 is equal to or greater than a first threshold value Lth1, the guiding method of the main body 26 is set to the second guiding method. In the setting step, if the moving distance is shorter than the first threshold value Lth1, the guiding method of the main body 26 is set to the first guiding method.

[0112] Further, a mobile body control method according to another aspect further includes an object detection step of detecting an object existing in front of the main body 26. In the setting step, when the distance to the object detected in the object detection step is equal to or less than a narrow road threshold value Dth1, the guiding method of the main body 26 is set to the first guiding method.

[0113] A (computer) program according to one aspect is a program for causing one or more processors to execute the above mobile body control method.

[0114] Hereinafter, modification examples of the above embodiment will be listed. The modification examples described below can be applied in appropriate combinations.

[0115] The mobile system 1 (transport robot 2) and the group control system 4 in the present disclosure include a computer system. The computer system mainly consists of a processor and a memory as hardware. By the processor executing a program recorded in the memory of the computer system, the functions as the mobile system 1 (transport robot 2) and the group control system 4 in the present disclosure are realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunication line, or may be provided by being recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive readable by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). Here, integrated circuits such as the IC or LSI have different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, for an FPGA (Field-Programmable Gate Array) that is programmed after the manufacture of the LSI, or a logic device capable of reconfiguring the bonding relationship inside the LSI or reconfiguring the circuit section inside the LSI, it can also be adopted as a processor. The one or more electronic circuits may be integrated on one chip, or may be provided distributed on a plurality of chips. The plurality of chips may be integrated in one device, or may be provided distributed in a plurality of devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0116] In addition, it is not an essential configuration of the mobile system 1 that a plurality of functions in the mobile system 1 are integrated in one housing, and the components of the mobile system 1 may be provided distributed in a plurality of housings. Further, at least some functions of the mobile system 1, for example, some functions of the setting unit 202 and the movement control unit 203 may be realized by a cloud (cloud computing) or the like.

[0117] Conversely, in the first embodiment, at least some functions of the transport system 5 distributed among a plurality of devices may be integrated in one housing. For example, some functions of the transport system 5 distributed between the mobile system 1 and the group control system 4 may be integrated in one housing.

[0118] In the above embodiment, in the binary comparison such as the moving distance (travel distance), the part where "greater than or equal to" is used may be "longer". That is, in the binary comparison, whether or not the case where the two values are equal is included can be arbitrarily changed depending on the setting of the reference value or the like, so there is no technical difference between "greater than or equal to" and "longer". Similarly, the part where "shorter" is used may be "less than or equal to".

[0119] In the above embodiment, the guiding index M1 is provided linearly along the transport path RT1, but the guiding index M1 may be realized by a plurality of markers or the like provided in pieces at a plurality of positions on the transport path RT1.

[0120] In the above embodiment, when the transport robot 2 transports the object 30, the operation of the setting unit 202 for setting the guiding method of the main body 26 has been described. However, even when the transport robot 2 is not transporting the object 30, the setting unit 202 may determine the guiding method of the main body 26 by the same setting method as in the above embodiment.

[0121] In the above embodiment, the mobile system 1 is applied to the transport robot 2 that transports the object 30, but it may also be applied to a robot that travels for a purpose selected from cleaning, guiding, security, etc.

[0122] Further, the transport robot 2 is not limited to a low-floor AGV. The transport robot 2 may connect the carriage 31 by gripping a part of the carriage 31 and transport the carriage 31 by towing or pushing the carriage 31. Also, the transport robot 2 may be a forklift-type AGV.

[0123] Also, the transport robot 2 is not limited to a robot such as an AGV that travels on the moving surface 200, and may be a flying drone that flies in the air. When the transport robot 2 is a flying drone, the guiding indicator provided along the guiding path is, for example, an invisible indicator composed of a directional radio wave or a laser beam radiated into the air. When the flying drone that is the transport robot 2 does not detect a guiding indicator composed of a directional radio wave or a laser beam or the like with a sensor (such as a radio wave sensor or an optical sensor) during flight toward the target position, the transport robot 2 flies in the second guiding method based on the estimation result of the current position estimated using GNSS or a radio wave beacon. When the flying drone that is the transport robot 2 detects a guiding indicator with a sensor during flight toward the target position and the distance from the current position to the target position is equal to or greater than the first threshold value, the transport robot 2 continues to fly in the second guiding method. Also, when the flying drone that is the transport robot 2 detects a guiding indicator with a sensor during flight toward the target position and the distance from the current position to the target position becomes shorter than the first threshold value, the transport robot 2 flies in the first guiding method of flying according to the guiding indicator detected by the sensor. In this way, before approaching the position where the distance to the target position becomes less than the first threshold value, the flying drone that is the transport robot 2 flies in the second guiding method, so the time until arriving at the target position can be shortened.

[0124] Note that the transport robot 2 may be a water drone that sails on water. In this case, the guiding indicator provided along the guiding path is composed of a directional radio wave or a laser beam radiated into the air. Also, the transport robot 2 may be an underwater drone that sails underwater. In this case, the guiding indicator provided along the guiding path is composed of a laser beam or the like radiated into the water.

[0125] (Summary) As described above, the mobile system (1) of the first aspect includes a communication unit (21), a position detection unit (201), an index detection unit (222), a setting unit (202), and a movement control unit (203). The communication unit (21) receives the target position (TP1) of the destination of the main body (26). The position detection unit (201) detects the current position of the main body (26). The index detection unit (222) detects a guiding index (M1) provided along the guiding path (RT12) for guiding the main body (26). The setting unit (202) sets the guiding method of the main body (26) to either a first guiding method or a second guiding method. The first guiding method is a guiding method of moving according to the guiding index (M1) detected by the index detection unit (222). The second guiding method is a guiding method of moving based on the detection result of the position detection unit (201). The movement control unit (203) moves the main body (26) by the guiding method set by the setting unit (202). When the index detection unit (222) detects the guiding index (M1), the setting unit (202) sets the guiding method of the main body (26) to the second guiding method if the moving distance from the current position to the target position (TP1) is equal to or greater than a first threshold value (Lth1). If the moving distance is shorter than the first threshold value (Lth1), the setting unit (202) sets the guiding method of the main body (26) to the first guiding method.

[0126] According to this aspect, if the moving distance is equal to or greater than the first threshold value (Lth1), the setting unit (202) sets the guiding method to the second guiding method, so the main body (26) can be moved at a higher speed compared to the case of moving by the first guiding method. Also, when the moving distance becomes shorter than the first threshold value (Lth1), the setting unit (202) sets the guiding method to the first guiding method, so the main body (26) can be guided along the guiding path (RT12) with higher position accuracy compared to the second guiding method. Therefore, there is an advantage that the time until reaching the target position (TP1) can be shortened.

[0127] In the mobile body system (1) according to the second aspect, in the first aspect, when the index detection unit (222) detects the end index (M2) indicating the end position (P3) of the guide path (RT12) while the main body (26) is moving along the guide path (RT12), if the distance between the end position (P3) and the target position (TP1) is equal to or less than the second threshold value (Lth2), the movement control unit (203) stops the main body (26) at the end position (P3).

[0128] According to this aspect, even when making fine adjustments according to the position for unloading at the end position (P3), it is possible to stop at the finely adjusted position without changing the target position (TP1), and there is an advantage that the adjustment of the guide index (M1) and the end index (M2) can be easily performed.

[0129] In the mobile body system (1) according to the third aspect, in the second aspect, when the distance from the current position to the target position (TP1) becomes equal to or less than the second threshold value (Lth2) while the index detection unit (222) is detecting the end index (M2), the movement control unit (203) decelerates the speed of the main body (26) to the stop speed.

[0130] According to this aspect, by decelerating the main body (26) to the stop speed, there is an advantage that the main body (26) can be accurately stopped near the end of the end index (M2).

[0131] In the mobile body system (1) according to the fourth aspect, in the second or third aspect, when the main body (26) arrives at the end position (P3) of the guide path (RT12), if the distance between the end position (P3) and the target position (TP1) is longer than the second threshold value (Lth2), the setting unit (202) sets the guiding method for guiding the main body (26) from the end position (P3) to the target position (TP1) to the second guiding method. The movement control unit (203) moves the main body (26) from the end position (P3) to the target position (TP1) by the second guiding method.

[0132] According to this aspect, it is possible to move the main body (26) to a position closer to the target position (TP1).

[0133] In the mobile body system (1) of the fifth aspect, in any of the first to fourth aspects, the maximum speed of the main body (26) in the first guidance method is lower than the maximum speed of the main body (26) in the second guidance method. When the setting unit (202) changes the guidance method of the main body (26) from the second guidance method to the first guidance method, the movement control unit (203) decelerates the speed of the main body (26) to be equal to or lower than the maximum speed in the first guidance method, and then moves the main body (26) in the first guidance method.

[0134] According to this aspect, the guidance method of the main body (26) can be smoothly switched from the second guidance method to the first guidance method.

[0135] In the mobile body system (1) of the sixth aspect, in any of the first to fifth aspects, when the index detection unit (222) becomes unable to detect the guidance index (M1) while the movement control unit (203) is moving the main body (26) in the first guidance method, the setting unit (202) changes the guidance method of the main body (26) from the first guidance method to the second guidance method.

[0136] According to this aspect, even when the index detection unit (222) becomes unable to detect the guidance index (M1), the main body (26) can move autonomously.

[0137] The mobile body system (1) of the seventh aspect further includes an object detection unit (221) that detects an object (220) existing in front of the main body (26) in any of the first to sixth aspects. When the distance to the object (220) detected by the object detection unit (221) is equal to or less than the narrow road threshold value (Dth1), the setting unit (202) sets the guidance method of the main body (26) to the first guidance method.

[0138] According to this aspect, when the distance to the object (220) is equal to or less than the narrow road threshold value (Dth1), the setting unit (202) sets the guidance method to the first guidance method, which has higher position accuracy than the second guidance method, so the possibility of the main body (26) or the like coming into contact with the object (220) can be reduced.

[0139] In the mobile system (1) of the eighth aspect, in the seventh aspect, when the main body (26) passes through a narrow path portion (211) where the distance to the object (220) is equal to or less than the narrow path threshold value (Dth1), the setting unit (202) changes the guidance method of the main body (26) from the first guidance method to the second guidance method, and the movement control unit (203) moves the main body (26) using the second guidance method.

[0140] According to this aspect, the time until reaching the target position (TP1) can be shortened.

[0141] The mobile system (1) of the ninth aspect further includes a holding unit (29) and an acquisition unit (204) in the seventh or eighth aspect. The holding unit (29) holds the object (30) to be transported by the main body (26). The acquisition unit (204) acquires object information regarding the size of the object (30) held by the holding unit (29). The narrow path threshold value (Dth1) is set based on the object information.

[0142] According to this aspect, the possibility that the object (30) held by the main body (26) or the holding unit (29) comes into contact with the object (220) can be reduced.

[0143] The movement control method of the tenth aspect includes a receiving step, a position detection step, an indicator detection step, a setting step, and a control step. In the receiving step, the target position (TP1) of the destination of the main body (26) is received. In the position detection step, the current position of the main body (26) is detected. In the indicator detection step, an induction indicator (M1) provided along an induction path (RT12) for guiding the main body (26) is detected. In the setting step, the induction method of the main body (26) is set to either a first induction method or a second induction method. In the first induction method, movement is made according to the induction indicator (M1) detected in the indicator detection step. In the second induction method, movement is made based on the detection result of the position detection step. In the control step, the main body (26) is moved by the induction method set in the setting step. In the setting step, when the induction indicator (M1) is detected in the indicator detection step, if the movement distance from the current position to the target position (TP1) is equal to or greater than a first threshold value (Lth1), the induction method of the main body (26) is set to the second induction method. In the setting step, if the movement distance is shorter than the first threshold value (Lth1), the induction method of the main body (26) is set to the first induction method.

[0144] According to this aspect, there is an advantage that the time until reaching the target position (TP1) can be shortened.

[0145] The movement control method of the eleventh aspect further includes an object detection step of detecting an object (220) existing in front of the main body (26) in the tenth aspect. In the setting step, when the distance to the object (220) detected in the object detection step is equal to or less than a narrow road threshold value (Dth1), the induction method of the main body (26) is set to the first induction method.

[0146] According to this aspect, when the distance to the object (220) is equal to or less than the narrow road threshold value (Lth3), in the setting step, since the induction method is set to the first induction method having higher position accuracy than the second induction method, the possibility of the main body (26) etc. coming into contact with the object (220) can be reduced.

[0147] The program according to the twelfth aspect is a program for causing one or more processors to execute the movement control method according to the tenth or eleventh aspect.

[0148] According to this aspect, there is an advantage that the time until reaching the target position (TP1) can be shortened.

[0149] Not limited to the above aspect, various configurations (including modified examples) of the mobile body system (1) according to the embodiment can be embodied by a movement control method, a (computer) program, a non-transitory recording medium recording the program, or the like.

[0150] Regarding the configurations according to the second to ninth aspects, they are not essential configurations of the mobile body system (1) and can be omitted as appropriate. Also, regarding the configuration according to the eleventh aspect, it is not an essential configuration of the movement control method and can be omitted as appropriate.

[0151] Also, regarding the seventh aspect, it is an aspect that can be implemented independently, and it is not essential to assume the first aspect. That is, in the mobile body system (1) according to the seventh aspect, when the distance to the object (220) detected by the object detection unit (221) is equal to or less than the narrow road threshold value (Dth1), the setting unit (202) sets the guiding method of the main body (26) to the first guiding method. In this case, it is not essential for the setting unit (202) to set the guiding method of the main body (26) according to the movement distance from the current position to the target position (TP1). That is, the setting unit (202) may set the guiding method of the main body (26) based on the distance to the object (220) detected by the object detection unit (221).

[0152] Also, the eleventh aspect is an aspect that can be implemented independently, and it is not essential to assume the tenth aspect. That is, in the movement control method according to the eleventh aspect, when the distance to the object (220) detected in the object detection step is equal to or less than the narrow road threshold value (Dth1), in the setting step, the guidance method of the main body (26) is set to the first guidance method. In this case, it is not essential to set the guidance method of the main body (26) in the setting step according to the movement distance from the current position to the target position (TP1). That is, in the setting step, the guidance method of the main body (26) may be set based on the distance to the object (220) detected in the object detection step.

Explanation of Signs

[0153] 1 Mobile system 26 Main body 29 Holding part 30 Object 201 Position detection part 202 Setting part 203 Movement control part 204 Acquisition part 211 Narrow road part 220 Object 221 Measurement range sensor (object detection part) 222 Index detection part Lth1 First threshold value Lth2 Second threshold value Dth1 Narrow road threshold value M1 Guidance index M2 Terminal index P3 Terminal position RT12 Guidance path TP1 Target position

Claims

1. A communication unit that receives a target position of the destination of the main body; A position detection unit that detects the current position of the main body; An index detection unit that detects a guiding index provided along a guiding path for guiding the main body; A setting unit that sets the guiding method of the main body to either a first guiding method of moving according to the guiding index detected by the index detection unit or a second guiding method of moving based on the detection result of the position detection unit; A movement control unit that moves the main body in the guiding method set by the setting unit, and when the index detection unit detects the guiding index, the setting unit sets the guiding method of the main body to the second guiding method if the moving distance from the current position to the target position is equal to or greater than a first threshold value, and sets the guiding method of the main body to the first guiding method if the moving distance is shorter than the first threshold value; The main body further includes an object detection unit that detects a distance in a second direction intersecting a first direction to an object existing in the first direction in which the main body moves forward or backward; when the distance to the object detected by the object detection unit is equal to or less than a threshold value, the setting unit sets the guiding method of the main body to the first guiding method, A mobile system.

2. When the index detection unit detects an end index indicating the end position of the guiding path while the main body is moving along the guiding path, if the distance between the end position and the target position is equal to or less than a second threshold value, the movement control unit stops the main body at the end position. The mobile system according to Claim 1.

3. When the distance from the current position to the target position becomes equal to or less than the second threshold value while the index detection unit is detecting the end index, the movement control unit decelerates the speed of the main body to a stop speed. The mobile system according to Claim 2.

4. When the main body arrives at the end position of the guiding path and the distance between the end position and the target position is longer than the second threshold value, the setting unit sets the guiding method for guiding the main body from the end position to the target position to the second guiding method, and the movement control unit moves the main body from the end position to the target position in the second guiding method. The mobile system according to Claim 2 or 3.

5. The maximum speed of the main body in the first guiding method is slower than the maximum speed of the main body in the second guiding method. When the setting unit changes the guidance method of the main body from the second guidance method to the first guidance method, the movement control unit decelerates the speed of the main body to be equal to or lower than the maximum speed in the first guidance method, and then moves the main body in the first guidance method. The mobile system according to any one of claims 1 to 4.

6. When the index detection unit cannot detect the guidance index while the movement control unit is moving the main body in the first guidance method, the setting unit changes the guidance method of the main body from the first guidance method to the second guidance method. The mobile system according to any one of claims 1 to 5.

7. When the main body passes through a narrow path portion where the distance to the object is equal to or less than the threshold value, the setting unit changes the guidance method of the main body from the first guidance method to the second guidance method, and the movement control unit moves the main body in the second guidance method. The mobile system according to claim 6.

8. A holding unit that holds an object to be carried by the main body; An acquisition unit that acquires object information regarding the size of the object held by the holding unit, and further includes: The threshold value is set based on the object information. The mobile system according to any one of claims 1 to 7.

9. A reception step of receiving a target position of a movement destination of the main body; A position detection step of detecting the current position of the main body; An index detection step of detecting a guidance index provided along a guidance path for guiding the main body; A setting step of setting the guidance method of the main body to either a first guidance method of moving according to the guidance index detected in the index detection step or a second guidance method of moving based on the detection result of the position detection step; A control step of moving the main body in the guidance method set in the setting step, and includes: In the setting step, when the guidance index is detected in the index detection step, if the movement distance from the current position to the target position is equal to or greater than a first threshold value, the guidance method of the main body is set to the second guidance method, and if the movement distance is shorter than the first threshold value, the guidance method of the main body is set to the first guidance method. The method further includes an object detection step of detecting, with respect to the main body, a distance in a second direction intersecting a first direction to an object existing in the first direction in which the main body moves forward or backward. In the setting step, when the distance to the object detected in the object detection step is equal to or less than a threshold value, the guidance method of the main body is set to the first guidance method. Moving control method.

10. For one or more processors, A program for causing the moving control method according to claim 9 to be executed. Program.

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