Transport system, charging device, transport robot, and method for guiding transport robot

Abstract

To enable a power receiving connector and a power supply connector to be connected even if the position or orientation of a charging device is shifted.SOLUTION: A charging device 2 includes a charging circuit that charges a battery of a transport robot 1. The transport robot 1 includes: a traveling mechanism; a power receiving connector electrically connected to the battery; and a controller that controls the traveling mechanism. The charging device 2 further includes a power supply connector electrically connected to the charging circuit; and a guide 41. The guide 41 is provided with a guide member 42. The guide member 42 provides guidance information for guiding the transport robot 1 to a connection position of the transport robot 1 when the power receiving connector is electrically connected to the power supply connector. The transport robot 1 further includes a detector for detecting the guide member 42. When the detector detects the guide member 42, the controller controls the traveling mechanism so that the transport robot 1 moves to the connection position on the basis of the guidance information acquired from the guide member 42.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a transport system, a charging device, a transport robot, and a method for guiding a transport robot. More particularly, the present disclosure relates to a transport system including a charging device for charging a transport robot, a charging device, a transport robot, and a method for guiding a transport robot. [Background technology]

[0002] Patent Document 1 discloses a charging system including a transport robot and a charging device that charges the transport robot. When the remaining charge in the transport robot's power storage unit becomes low, the transport robot moves to the installation position of the charging device. The charging device then connects a power supply connector to a power receiving connector of the transport robot to charge the transport robot's power storage unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2001 / 124721 Summary of the Invention [Problem to be solved by the invention]

[0004] The transport robot stores, for example, an electronic map in which the installation positions of the charging devices are registered, and moves to the installation positions of the charging devices based on the electronic map. If a person or object comes into contact with the charging device and the position or orientation of the charging device deviates from the position or orientation on the electronic map, there is a possibility that the power receiving connection part and the power supply connection part will not be able to be connected even if the transport robot moves to the installation position registered on the electronic map.

[0005] The object of the present disclosure is to provide a transport system, a charging device, a transport robot, and a method for guiding a transport robot that enable connection between a power receiving connection part and a power supply connection part even if the position or orientation of the charging device is shifted. [Means for solving the problem]

[0006] A transport system according to one aspect of the present disclosure includes a transport robot that operates on power stored in a battery, and a charging device having a charging circuit unit that charges the battery of the transport robot. The transport robot includes a traveling mechanism, a power receiving connector electrically connected to the battery, and a control unit that controls the traveling mechanism. The charging device further includes a power supply connector electrically connected to the charging circuit unit, and a guide unit having a guide member. The guide member provides guidance information for guiding the transport robot to a connection position of the transport robot when the power receiving connector is electrically connected to the power supply connector. The transport robot further includes a detection unit that detects the guide member. When the detection unit detects the guide member, the control unit controls the traveling mechanism to move the transport robot to the connection position based on the guidance information acquired from the guide member.

[0007] A charging device according to one aspect of the present disclosure includes a charging circuit unit, a power supply connection unit, and a guide unit. The charging circuit unit charges a battery of a transport robot. The transport robot includes the battery, a traveling mechanism that operates using power stored in the battery, a power receiving connection unit electrically connected to the battery, and a control unit that controls the traveling mechanism. The power supply connection unit is electrically connected to the charging circuit unit. A guide member is provided on the guide unit. The guide member provides guidance information for guiding the transport robot to a connection position of the transport robot when the power receiving connection unit is electrically connected to the power supply connection unit.

[0008] A transport robot according to one aspect of the present disclosure includes a battery, a traveling mechanism, a power receiving connector electrically connected to the battery, a control unit for controlling the traveling mechanism, and a detection unit for detecting a guide member. The guide member is provided on a guide unit included in a charging device that charges the battery. The guide member provides guidance information for moving the traveling mechanism to a connection position when the power receiving connector is electrically connected to a power supply connector of the charging device. When the detection unit detects the guide member, the control unit controls the traveling mechanism to move to the connection position based on the guidance information acquired from the guide member.

[0009] A method for guiding a transport robot according to one aspect of the present disclosure is a method for guiding a transport robot included in the transport system. The method for guiding a transport robot includes a first travel control step, a detection step, and a second travel control step. In the first travel control step, the travel mechanism is controlled so that the transport robot moves to a position where the detection unit can detect the guide member. In the detection step, the detection unit detects the guide member. In the second travel control step, the travel mechanism is controlled so that the transport robot moves to the connection position based on the guidance information acquired from the guide member. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to provide a transport system, a charging device, a transport robot, and a method for guiding a transport robot that enable connection between a power receiving connection part and a power supply connection part even if the position or orientation of the charging device is shifted. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a plan view showing a state in which a transport robot provided in a transport system of the present disclosure has moved to the vicinity of an installation position of a charging device. [Figure 2] FIG. 2 is a schematic system configuration diagram of the above-mentioned transport system. [Figure 3]FIG. 3 is a plan view showing the positional relationship between the transport robot and the charging device when a detection unit included in the transport robot detects a guide member of the charging device. [Figure 4] FIG. 4 is a plan view showing a state in which the transport robot faces the charging device at a position where a detection unit provided in the transport robot detects a guide member of the charging device. [Figure 5] FIG. 5 is a plan view showing the positional relationship between the transport robot and the charging device when the transport robot has moved to the connection position. [Figure 6] FIG. 6 is a side view showing the positional relationship between the transport robot and the charging device when the transport robot has moved to the connection position. [Figure 7] FIG. 7 is a perspective view of the charging device. [Figure 8] FIG. 8 is a side view of the charging device. [Figure 9] FIG. 9 is a perspective view of the appearance of the transfer robot. [Figure 10] FIG. 10 is a side view of the transfer robot. [Figure 11] FIG. 11 is a flowchart illustrating the operation of the above-mentioned transport system. [Figure 12] FIG. 12 is a diagram showing an example of an object to be transferred by the transfer robot. [Figure 13] FIG. 13 is a plan view showing a state in which the transport robot provided in the transport system of the first modification has moved to the vicinity of the installation position of the charging device. [Figure 14] FIG. 14 is a schematic system configuration diagram of a transport system according to the second modification. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, a charging device, a transport robot, and a transport system according to embodiments will be described in detail with reference to the drawings. However, each diagram described in the following embodiments is a schematic diagram, and the dimensional ratios of the sizes of the components do not necessarily reflect the actual dimensional ratios. Furthermore, the configurations described in the following embodiments are merely examples of the present disclosure. The present disclosure is not limited to the following embodiments, and various modifications are possible depending on the design, etc., as long as the effects of the present disclosure can be achieved.

[0013] (Embodiment) (1) Overview The transport system A1 of this embodiment includes a transport robot 1 and a charging device 2, as shown in FIGS.

[0014] The transfer robot 1 operates using power stored in a battery 14.

[0015] The charging device 2 has a charging circuit unit 23 that charges the battery 14 of the transport robot 1.

[0016] The transport robot 1 includes a traveling mechanism 17 , a power receiving connector 12 electrically connected to a battery 14 , and a control unit 10 that controls the traveling mechanism 17 .

[0017] The charging device 2 further includes a power supply connection part 22 electrically connected to the charging circuit part 23, and a guide part 41.

[0018] The guide portion 41 is provided with a guide member 42. The guide member 42 provides guide information for guiding the transport robot 1 to a connection position of the transport robot 1 when the power receiving connection portion 12 is electrically connected to the power supply connection portion 22.

[0019] The transfer robot 1 further includes a detection unit 16 for detecting the guide member .

[0020] When the detector 16 detects the guide member 42, the controller 10 controls the traveling mechanism 17 based on the guide information acquired from the guide member 42 so that the transport robot 1 moves to the connection position.

[0021] Here, the guidance information provided by the guide member 42 is information for guiding the transport robot 1 from the position of the transport robot 1 when the detection unit 16 detects the guide member 42 (hereinafter, this position may also be referred to as the guidance start position) to the connection position.

[0022] The guidance information is, for example, first information that is position information indicating a connection position, or second information that indicates a travel route from a guidance start position to a connection position.

[0023] The first information is position information indicating the connection position and includes information indicating the relative positional relationship between the guidance start position and the connection position. The first information includes, for example, at least information regarding the distance from the guidance start position to the connection position and the direction from the guidance start position to the connection position. When the guidance information is the first information, the guide member 42 is, for example, a medium 421 (see FIG. 1 ) on which a barcode (such as a two-dimensional barcode) representing the first information is printed. The detection unit 16 is a barcode reader capable of reading the barcode printed on the medium 421. When the detection unit 16 detects the medium 421 and reads the first information from the medium 421, the control unit 10 moves the transport robot 1 from the guidance start position to the connection position based on the first information read by the detection unit 16 from the medium 421.

[0024] When the guidance information is the second information, the guide member 42 is, for example, a guide tape provided on the guide unit 41. The guide tape is a magnetic tape arranged along the movement path, or a reflective tape that reflects light arranged along the movement path. When the guide tape is a magnetic tape, the detection unit 16 is a magnetic sensor that can detect magnetism. When the guide tape is a reflective tape, the detection unit 16 is an optical sensor that can detect reflective tape. When the detection unit 16 detects the guide tape, the control unit 10 moves the transport robot 1 along the guide tape based on the second information provided by the guide tape, thereby moving the transport robot 1 from the guidance start position to the connection position.

[0025] In this way, the guide member 42 may include either a medium 421 on which a barcode representing position information indicating the connection position is printed, or a guide tape indicating a movement path to the connection position. Note that in the following embodiment, an example will be described in which the guide member 42 is a medium 421 on which a barcode (for example, a two-dimensional barcode) representing the first information is printed.

[0026] In the transport system A1 of this embodiment, when the transport robot 1 moves close to the charging device 2 and the detection unit 16 detects the guide member 42, it can acquire guidance information from the guide member 42. Then, when the detection unit 16 acquires the guidance information from the guide member 42, the control unit 10 controls the traveling mechanism 17 based on the guidance information so that the transport robot 1 moves to the connection position. Therefore, even if a person, object, or the like comes into contact with the charging device 2 and the position or orientation of the charging device 2 deviates from the position or orientation on the electronic map, the transport robot 1 can be moved to the connection position and the power receiving connection unit 12 and the power supply connection unit 22 can be connected. Therefore, the transport robot 1 can be reliably charged by the charging device 2.

[0027] (2) Details Hereinafter, the transport robot 1, the charging device 2, and the transport system A1 including them according to this embodiment will be described in detail with reference to FIGS.

[0028] In the following description, unless otherwise specified, the X-axis direction in Figure 1 etc. is defined as the front-to-back direction, the Y-axis direction as the left-to-right direction, and the Z-axis direction as the up-to-down direction. Furthermore, the positive direction in the X-axis direction is defined as the front side, the positive direction in the Y-axis direction as the right side, and the positive direction in the Z-axis direction as the up side. However, these directions are merely examples and are not intended to limit the directions in which the charging device 2 and the transport robot 1 are used. Furthermore, the arrows indicating the various directions in the drawings are merely shown for the purpose of explanation and do not have any substance.

[0029] (2.1) Transport system First, the overall configuration of the transport system A1 according to this embodiment will be described.

[0030] The transport system A1 according to this embodiment includes one or more transport robots 1 and one or more charging devices 2, as shown in FIG.

[0031] The transport robot 1 is an autonomous transport robot (AMR: Autonomous Mobile Robot) used for transport work in facilities such as factories, logistics centers (including distribution centers), offices, stores, schools, and hospitals, but may also be an AGV (Automatic Guided Vehicle) or the like. The transport robot 1 moves by running on a moving surface G1 (see FIGS. 1 and 6) using, for example, one or more wheels. The moving surface G1 is the surface on which the transport robot 1 moves; when the transport robot 1 moves within a facility, the moving surface G1 is the floor of the facility or the like, and when the transport robot 1 moves outdoors, the moving surface G1 is the ground or the like.

[0032] The charging device 2 charges the transport robot 1 in a connected state in which the power supply connection part 22 is electrically connected to the power receiving connection part 12 provided on the transport robot 1. The transport system A1 may include a plurality of transport robots 1. The transport system A1 may also include a plurality of charging devices 2.

[0033] The transport system A1 of this embodiment also includes a host system 5 that instructs the transport robot 1 to perform transport work, and a relay device 3. The relay device 3 relays communication between the transport robot 1 and the charging device 2 and the host system 5. Individual network IDs (e.g., IP addresses or MAC addresses) are assigned to the transport robot 1, the charging device 2, and the host system 5, and communication between the transport robot 1, the charging device 2, and the host system 5 is possible using the network IDs.

[0034] The transport robot 1, the charging device 2, and the host system 5 are configured to be able to communicate with each other. In the present disclosure, "capable of communication" means that information can be exchanged directly or indirectly via a communication network 4 and a relay device 3, etc., using an appropriate communication method such as wired communication or wireless communication. In other words, the transport robot 1, the charging device 2, and the host system 5 can exchange information with each other. In this embodiment, the transport robot 1, the charging device 2, and the host system 5 can communicate with each other bidirectionally, and information can be transmitted from the host system 5 to the transport robot 1 and the charging device 2, and information can be transmitted from the transport robot 1 and the charging device 2 to the host system 5.

[0035] (2.2) Upper system The host system 5 includes a control unit 50 and a communication unit 51.

[0036] The control unit 50 is mainly composed of a computer system having one or more processors and a memory. The functions of the control unit 50 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0037] The communication unit 51 communicates with the relay device 3 via the communication network 4. The communication unit 51 communicates with each of the transport robot 1 and the charging device 2 via the communication network 4 and the relay device 3. Here, the communication network 4 is not limited to the Internet, and may be, for example, a local communication network within the work area where the transport robot 1 performs transport work or within the operating company of the work area. As a communication method between the communication unit 51 and the relay device 3, an appropriate communication method such as wireless communication or wired communication is adopted. For example, the communication unit 51 communicates with the transport robot 1 periodically (for example, at intervals of several seconds to several tens of seconds) to obtain information such as the amount of stored power in the battery 14 (for example, information about the charging voltage of the battery 14) from the transport robot 1. Note that, although the number of relay devices 3 is one in FIG. 2, the number of relay devices 3 is not limited to one and can be changed as appropriate.

[0038] The control unit 50 monitors the amount of stored power in the battery 14 of the transport robot 1, for example, based on information about the amount of stored power acquired by the communication unit 51. For example, when the amount of stored power in the battery 14 of a certain transport robot 1 drops below a predetermined threshold, the control unit 50 causes the communication unit 51 to transmit a charge command to the transport robot 1 to instruct it to charge the battery 14.

[0039] (2.3) Transport robot The transport robot 1 autonomously travels on a flat moving surface G1 formed of, for example, the floor surface of a facility.

[0040] As shown in FIG. 2, the transport robot 1 includes a battery 14, a traveling mechanism 17, a power receiving connector 12 electrically connected to the battery 14, a control unit 10 that controls the traveling mechanism 17, and a detection unit 16 that detects a guide member 42. The guide member 42 is provided on a guide unit 41 included in a charging device 2 that charges the battery 14, and provides guidance information for moving the transport robot 1 to a connection position when the power receiving connector 12 is electrically connected to the power supply connector 22 of the charging device 2. When the detection unit 16 detects the guide member 42, the control unit 10 controls the traveling mechanism 17 to move to the connection position based on the guidance information acquired from the guide member 42. The transport robot 1 further includes a communication unit 51, an opening / closing element 13, a range sensor 15, and a coupling unit 18, as shown in FIG. 2. The transport robot 1 also includes a main body 30 (see Figures 1, 9 and 10) that is equipped with a control unit 10, a communication unit 51, a power receiving connection unit 12, an opening / closing element 13, a battery 14, a range sensor 15, a detection unit 16, a running mechanism 17, and a connecting unit 18, etc.

[0041] As shown in FIGS. 1, 9, and 10, the main body 30 has a rectangular parallelepiped shape with a dimension in the X-axis direction longer than a dimension in the Y-axis direction. The main body 30 has a connecting portion 18 on a side (the right side in FIG. 1) along the long side (the X-axis direction) that can be connected to a transported object X1 (see FIG. 12). The transported object X1 is, for example, a component supply unit 7 having a plurality of wheels 71 attached to the lower portion of the main body 70. The transport robot 1 can transport the transported object X1 from one location to another within the work area by traveling with the connecting portion 18 connected to the transported object X1. When the transport robot 1 transports the transported object X1, the transport robot 1 and the transported object X1 travel side by side in the direction of travel. For example, the transport robot 1 travels at the front while towing the transported object X1, or the transport robot 1 travels with the transported object X1 at the front while pushing the transported object X1 from behind.

[0042] A plurality of (for example, two in this embodiment) drive wheels 31 and at least one (for example, one in this embodiment) auxiliary wheel 32 are provided on the underside of the main body 30 (see FIGS. 10 and 12).

[0043] The multiple drive wheels 31 are arranged at intervals on both sides of the short side of the main body 30 in the center of the long side (X-axis direction) of the main body 30. The multiple drive wheels 31 rotate by receiving driving force from, for example, an electric motor.

[0044] At least one auxiliary wheel 32 is disposed in the center of the long side of the main body 30, at a position different from the drive wheel 31 in the short side of the main body 30. At least one auxiliary wheel 32 is a swivel wheel whose rotation axis can rotate 360 ​​degrees in a plane parallel to the moving plane G1. The auxiliary wheels 32 can rotate independently without receiving a driving force from an electric motor or the like.

[0045] The running mechanism 17 controls the rotation direction and rotation speed of the electric motor that rotates each of the multiple drive wheels 31 based on control commands input from the control unit 10, thereby individually controlling the rotation direction and rotation speed of each of the multiple drive wheels 31 and causing the main body 30 to run in the desired direction.

[0046] The connecting unit 18 includes, for example, a connecting arm that grips a connected portion provided on the transported object X1. The connecting unit 18 connects the transported object X1 to the main body 30 by gripping the connected portion with the connecting arm based on a control command input from the control unit 10. Note that the connecting unit 18 can release the connection between the transported object X1 and the main body 30 by releasing the grip of the connected portion by the connecting arm based on a control command input from the control unit 10.

[0047] The communication unit 51 communicates with the upper system 5 (specifically, the communication unit 51 of the upper system 5) via the relay device 3 and the communication network 4. Here, the communication unit 51 communicates with the relay device 3 by wireless communication. In this embodiment, the communication unit 51 communicates with the relay device 3 by wireless communication using radio waves as a medium. Therefore, the transfer robot 1 and the upper system 5 communicate indirectly at least via the communication network 4 and the relay device 3. Here, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio (specified low-power radio) that does not require a communication license is adopted for communication between the communication unit 51 and the relay device 3.

[0048] The battery 14 is a secondary battery such as a lithium ion battery, a nickel-metal hydride battery, or an all-solid-state battery, and is held in the main body 30.

[0049] The power receiving connection portion 12 is arranged on a side surface (the front side surface in FIG. 1) along the short side direction of the main body 30 (see FIGS. 9 and 10). The power receiving connection portion 12 includes a plurality of terminal portions 121 and a pair of round holes 122 into which a pair of round pins 222 of the charging device 2 are respectively inserted. The plurality of terminal portions 121 include a pair of power receiving terminals for receiving power from the charging device 2 and a plurality of communication terminals for transmitting and receiving information to and from the charging device 2. The plurality of terminal portions 121 are arranged between the pair of round holes 122.

[0050] The switching element 13 is connected between a pair of power receiving terminals provided on the power receiving connection part 12 and the battery 14. That is, the battery 14 is connected to the pair of power receiving terminals via the switching element 13. The switching element 13 is switched between an on state and an off state by the control part 10.

[0051] When the control unit 10 switches the switching element 13 to the ON state and the power receiving connection unit 12 is electrically connected to the power supply connection unit 22 of the charging device 2, the battery 14 is charged with power supplied from the charging device 2. On the other hand, when the control unit 10 switches the switching element 13 to the OFF state, the battery 14 and the power receiving connection unit 12 are electrically disconnected, and charging of the battery 14 stops. Furthermore, when the control unit 10 switches the switching element 13 to the OFF state, the battery 14 and the power receiving connection unit 12 are electrically disconnected, and no high voltage is generated between the pair of power receiving terminals of the power receiving connection unit 12. Therefore, even if a user touches the power receiving connection unit 12, the possibility of electric shock, short circuit, etc. can be reduced.

[0052] The range sensor 15 detects objects present around the main body 30. The range sensor 15 includes, for example, LiDAR (Light Detection and Ranging), which measures the distance to an object and the direction in which the object is present by emitting light (laser light) to the surroundings and detecting the light reflected by an object around the main body 30. In this embodiment, two range sensors 15 are attached to the main body 30. The two range sensors 15 are arranged one on each side of the short side of the main body 30. Therefore, the two range sensors 15 can detect the presence or absence of an object all around the main body 30, and if the presence of an object is detected, can detect the position of the object (for example, the position of the object in a two-dimensional Cartesian coordinate system with the reference point of the main body 30 as the origin).

[0053] In this embodiment, a LiDAR is provided as the range sensor 15 for detecting an object, but instead of the LiDAR, a sensor such as a sonar sensor, a radar (Radio Detection and Ranging) or an image sensor may be provided.

[0054] The detection unit 16 is capable of detecting a guide member 42 provided on the guide unit 41 of the charging device 2. In this embodiment, the guide member 42 is a medium 421 on which a barcode representing guidance information is printed, and the detection unit 16 includes a barcode reader capable of reading the barcode. The detection unit 16 is provided on the main body 30 so as to be able to detect the medium 421 (see FIG. 7 ) arranged along the moving surface G1. When the detection unit 16 detects the medium 421, the detection unit 16 outputs the guidance information read from the medium 421 to the control unit 10.

[0055] The control unit 10 is mainly composed of a computer system having one or more processors and a memory. The functions of the control unit 10 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0056] The control unit 10 monitors the amount of stored power in the battery 14 based on, for example, the charging voltage of the battery 14, and periodically transmits information such as the amount of stored power in the battery 14 from the communication unit 51 to the upper system 5.

[0057] The control unit 10 controls the traveling mechanism 17 based on a control command received by the communication unit 51 from the higher-level system 5, for example, to move the transport robot 1 to a desired position. Note that the memory of the transport robot 1 stores electronic map data of the work area in which the transport robot 1 moves. The electronic map also includes information on the installation location of the charging device 2. The control unit 10 has the function of estimating the current position and guiding the robot to a destination using a SLAM (Simultaneous Localization and Mapping) method that utilizes the range sensor 15.

[0058] The main body 30 is provided with a sensor for detecting a guide tape 200 installed on the moving surface G1 along the movement path of the transport robot 1. The guide tape 200 is, for example, a magnetic tape, and a magnetic sensor capable of detecting the magnetic guide tape is installed in the main body 30. In this case, the control unit 10 may guide the transport robot 1 to the destination along the guide tape detected by the magnetic sensor. This type of guidance method is called a magnetic guidance method. The control unit 10 can control the movement of the transport robot 1 using both the SLAM method and the magnetic guidance method, and can control the movement of the transport robot 1 by appropriately changing the guidance method. Note that when the position of the transport robot 1 needs to be controlled with higher precision, such as when connecting the transport robot 1 to a charging device 2, it is preferable to guide the transport robot 1 using the magnetic guidance method. Therefore, a guide tape 200 for guiding the transport robot 1 is installed around the installation location of the charging device 2.

[0059] When performing a transport operation to transport the transported object X1, the control unit 10 outputs a control command to the traveling mechanism 17 to move the transport robot 1 to the destination position of the transported object X1 based on the current position estimated, for example, by the SLAM method and the destination position of the transported object X1, and transports the transported object X1 to the destination position.

[0060] Furthermore, when the battery 14 is charged by the charging device 2, the control unit 10 detects the guide tape 200 installed up to the installation position of the charging device 2 using a magnetic sensor, and moves the transport robot 1 along the guide tape 200 to the vicinity of the installation position of the charging device 2. Note that the control unit 10 may also move the transport robot 1 to the vicinity of the installation position of the charging device 2 using a SLAM method.

[0061] If the charging device 2 is located at an installation position registered on the electronic map, the detection unit 16 can detect the guide member 42 when the transfer robot 1 arrives at the installation position of the charging device 2. On the other hand, if the charging device 2 is displaced from the installation position registered on the electronic map due to, for example, contact with a person or an object, the detection unit 16 may not be able to detect the guide member 42 even when the transfer robot 1 arrives at the installation position of the charging device 2. In this case, the control unit 10 detects the position of the guide member 41 or the shape of the main body 40 of the charging device 2 using, for example, the range sensor 15, and moves the transfer robot 1 to a position where the detection unit 16 can detect the guide member 42 based on the position of the guide member 41 or the shape of the main body 40. When the transfer robot 1 moves to a position where the detection unit 16 can detect the guide member 42 and the detection unit 16 detects the guide member 42, the detection unit 16 outputs guidance information acquired from the guide member 42 to the control unit 10. Based on the guidance information, the control unit 10 moves the transport robot 1 to the connection position and connects the power receiving connector 12 to the power supply connector 22. When the transport robot 1 moves to the connection position, the control unit 10 switches the switching element 13 from the OFF state to the ON state, and charges the battery 14 with the power supplied from the charging device 2.

[0062] The transported object X1 transported by the transport robot 1 of this embodiment is a material used in the production of a product in a manufacturing factory, a product in the middle of production (semi-finished product), or a finished product, but may also include luggage, a pallet, or a pallet carrying luggage, etc.

[0063] For example, in a factory where manufacturing equipment such as a component mounter 8 (see FIG. 12) that mounts components on a board is installed, the transport robot 1 may be used to transport a component supply unit 7 that supplies components to the manufacturing equipment, or a cart that can accommodate components to be mounted on a board. In this case, the transport object X1 transported by the transport robot 1 includes at least one of a cart that can accommodate components to be mounted on a board and a component supply unit 7 that supplies components to the manufacturing equipment that mounts components on a board.

[0064] For example, the transport robot 1 is used to transport a component supply unit 7 in a component mounting system 6 (see FIG. 12 ) including at least one component mounter 8 that mounts components on a board. The component mounting system 6 has the component supply unit 7 and the component mounter 8 that mounts the components supplied from the component supply unit 7 on a board. When the transport robot 1 is applied to the component mounting system 6, the component supply unit 7 is the transported object X1 transported by the transport robot 1.

[0065] The component supply unit 7 is, for example, a batch exchange carriage that collectively exchanges a plurality of tape feeders that respectively supply components to a component mounter 8, which is a manufacturing device. The component mounter 8 is, for example, a machine (a so-called mounter) that mounts components on an object such as a board. The component mounter 8 includes a mounting head that mounts components on the board.

[0066] Upon receiving a control command from, for example, a higher-level system 5, the transport robot 1 moves the component supply unit 7, which is the transport object X1, to a connecting position where it is connected to the component mounter 8. When the transport robot 1 moves the component supply unit 7 to the connecting position, the component supply unit 7 becomes ready to supply components to the component mounter 8. When the transport robot 1 is applied to a component mounting system 6, the transport object X1 transported by the transport robot 1 is, for example, the component supply unit 7, but it may also be a cart carrying components to be supplied to the component mounter 8.

[0067] (2.4) Charging device As shown in FIG. 2, the charging device 2 includes a charging circuit unit 23, a power supply connection unit 22, and a guide unit 41. The charging circuit unit 23 charges the battery 14 of the transport robot 1. The transport robot 1 includes the battery 14, a traveling mechanism 17 that operates using power stored in the battery 14, a power receiving connection unit 12 electrically connected to the battery 14, and a control unit 10 that controls the traveling mechanism 17. The power supply connection unit 22 is electrically connected to the charging circuit unit 23. The guide unit 41 is provided with a guide member 42 that provides guidance information for guiding the transport robot 1 to a connection position of the transport robot 1 when the power receiving connection unit 12 is electrically connected to the power supply connection unit 22. The charging device 2 also includes a control unit 20, a communication unit 21, and a memory unit 24. The charging device 2 also includes a main body 40, as shown in FIGS. 1, 7, and 8.

[0068] The main body 40 is made of, for example, metal and is formed in a rectangular parallelepiped shape. Four swivel wheels 44 that can rotate in any direction are attached to the bottom of the main body 40. Four support legs 43 with adjustable length are also attached to the bottom of the main body 40. When the user pushes the main body 40 with the support legs 43 shortened and the swivel wheels 44 in contact with the moving surface G1, the main body 40 can move on the moving surface G1 using the four swivel wheels 44. When the main body 40 is moved to a desired installation position and the support legs 43 are lengthened so that the swivel wheels 44 are raised above the moving surface G1, the main body 40 is installed in place. The shape and size of the main body 40 can be changed as needed.

[0069] The main body 40 houses the control unit 20, the communication unit 21, the power supply connection unit 22, the charging circuit unit 23, the storage unit 24, etc. Also, a guide unit 41 is attached to the main body 40.

[0070] The power supply connection portion 22 is disposed on a side surface of the main body 40 (the rear side surface in FIG. 1). The power supply connection portion 22 includes a plurality of terminal portions 221 and a pair of round pins 222. The plurality of terminal portions 221 include a pair of power supply terminals for supplying power to the transport robot 1, and a plurality of communication terminals for transmitting and receiving information to and from the transport robot 1. The plurality of terminal portions 221 are disposed between the pair of round pins 222. The round pin 222 is formed in a round bar shape, and protrudes from the side surface of the main body 40 in the normal direction to the side surface.

[0071] A terminal cover 223 is arranged on the main body 40 so as to surround the periphery of the power supply connection portion 22. In other words, the charging device 2 has the terminal cover 223 arranged around the power supply connection portion 22. The terminal cover 223 is formed in an inverted U shape, and covers the upper side and both the left and right sides of the power supply connection portion 22. The shape of the terminal cover 223 can be changed as appropriate, and it may be a cylindrical shape that surrounds the entire periphery of the power supply connection portion 22.

[0072] The terminal cover 223 is attached to the main body 40 in a state in which it can move in the front-rear direction. The terminal cover 223 is pushed rearward by, for example, a spring or the like.

[0073] When no external force is applied to the terminal cover 223, it covers both the left and right sides and the top side of the power supply connection part 22, thereby reducing the possibility that the power supply connection part 22 will come into contact with a person's hand or the like.

[0074] On the other hand, when the transport robot 1 approaches the charging device 2 to connect the power receiving connection portion 12 to the power supply connection portion 22, the main body 30 of the transport robot 1 comes into contact with the terminal cover 223. When the terminal cover 223 is pushed forward by the main body 30, the terminal cover 223 moves forward and becomes retracted inside the main body 30. When the terminal cover 223 is pushed forward by the main body 30, the pair of round pins 222 of the power supply connection portion 22 are inserted into the pair of round holes 122 of the power receiving connection portion 12. Note that the tips of the pair of round pins 222 are located rearward of the terminal portions 221, and therefore the pair of round pins 222 are inserted into the pair of round holes 122 before the terminal portions 121 are connected to the terminal portions 221. Here, a funnel-shaped guide surface 123 is provided around the round hole 122, and therefore the main body 30 moves so that the round pin 222 is guided along the guide surface 123 into the round hole 122, thereby aligning the main body 30 with the main body 40. When the pair of round pins 222 are inserted into the pair of round holes 122, the terminal portion 121 of the power receiving connection portion 12 is positioned at a position where it can be connected to the terminal portion 221 of the power supply connection portion 22. When the transport robot 1 moves further closer to the charging device 2, the terminal portion 121 of the power receiving connection portion 12 is electrically connected to the terminal portion 221 of the power supply connection portion 22.

[0075] A guide portion 41 is attached to the side of the main body 40 where the power supply connection portion 22 is provided. The guide portion 41 is formed, for example, by bending a metal plate. Note that the guide portion 41 is not limited to being made of metal, and may also be a molded product made of synthetic resin.

[0076] The guide portion 41 includes a fixed piece 411, an extending portion 412, and a holding piece 413. The fixed piece 411 is flat, and an upper end portion of the fixed piece 411 is fixed to a side surface of the main body 40. The fixed piece 411 protrudes downward along the side surface of the main body 40. The extending portion 412 protrudes rearward from a lower end portion of the fixed piece 411 along the movement plane G1. The extending portion 412 is formed in a shape such that the width dimension in the left-right direction of the extending portion 412 decreases as it moves away from the main body 40. The tip of the extending portion 412 is connected to the holding piece 413, which is a rectangular plate. Note that the shape of the extending portion 412 can be changed as appropriate, and the extending portion 412 may be formed in a shape such that the width dimension of a middle portion in the X-axis direction is smaller than the width dimensions of both ends in the X-axis direction.

[0077] In this embodiment, the fixing piece 411, the extending portion 412, and the holding piece 413 are formed as a single component.

[0078] A medium 421 printed with a two-dimensional barcode is attached to the upper surface of the holding piece 413 with adhesive tape or the like. The holding piece 413 is arranged along the moving surface G1 with the surface on which the medium 421 is provided facing upward. In other words, the guide member 42 is arranged along the moving surface G1 along which the transport robot 1 moves. Furthermore, since the medium 421, which is the guide member 42, is arranged along the moving surface G1 in close proximity to the moving surface G1, the transport robot 1 can travel over the guide member 42, reducing the possibility that the guide member 42 will hinder the movement of the transport robot 1.

[0079] The guide portion 41 also has an extension portion 412 that protrudes from the main body 40 of the charging device 2 in a first direction (the X-axis direction in FIG. 1 ) parallel to the moving plane G1. The width dimension of the extension portion 412 in a second direction (the Z-axis direction) parallel to the normal to the moving plane G1 and in a third direction (the Y-axis direction) perpendicular to both the first direction and the second direction decreases with increasing distance from the main body 40 of the charging device 2. Because the width dimension of the extension portion 412 in the third direction decreases with increasing distance from the main body 40, the possibility that the transport robot 1 will ride up on the extension portion 412 can be reduced, and the possibility that the extension portion 412 will be deformed or damaged can be reduced, compared to when the width dimension of the extension portion 412 is constant.

[0080] The control unit 20 is mainly composed of a computer system having one or more processors and a memory. The functions of the control unit 20 (for example, the functions of the charging control unit 25) are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be provided by being recorded on a non-transitory recording medium such as a memory card.

[0081] The communication unit 21 communicates with the upper system 5 (communication unit 51 of the upper system 5) via the relay device 3 and the communication network 4. Here, the communication unit 21 communicates with the relay device 3 by wireless communication. In this embodiment, the communication unit 21 communicates with the relay device 3 by wireless communication using radio waves as a medium. Therefore, the charging device 2 and the upper system 5 communicate indirectly at least via the communication network 4 and the relay device 3. Here, the communication between the communication unit 51 and the relay device 3 employs wireless communication conforming to standards such as Wi-Fi, Bluetooth, ZigBee, or low-power radio (specified low-power radio) that does not require a communication license.

[0082] Charging circuit unit 23 converts AC voltage input from an AC power source such as a commercial power source into DC voltage and outputs it. With power supply connection unit 22 electrically connected to power receiving connection unit 12, charging circuit unit 23 charges battery 14 by passing a charging current through power supply connection unit 22 to battery 14.

[0083] The storage unit 24 includes an electrically rewritable nonvolatile memory such as an EEPROM (Electrically Erasable and Programmable Read Only Memory). The storage unit 24 stores at least past history information on the electrical characteristic values ​​of the battery 14. Here, the history information includes information on the electrical characteristic values ​​when the charging device 2 previously charged the battery 14, and includes, for example, information on at least one of the output voltage of the battery 14 and the charging current supplied to the battery 14. Specifically, the history information includes, for example, the electrical characteristic values ​​when the charging device 2 successfully charged the battery 14.

[0084] The charging control unit 25 controls the charging operation of the battery 14 by the charging circuit unit 23. The charging control unit 25 controls the charging operation of the battery 14 by the charging circuit unit 23, for example, by controlling at least one of the charging current supplied to the battery 14 by the charging circuit unit 23 and the voltage applied to the battery 14 by the charging circuit unit 23. The charging control unit 25 may control the charging operation of the battery 14 based on the electrical characteristic values ​​of the battery 14 stored in the memory unit 24.

[0085] (2.5) Operation explanation In the transport system A1 of this embodiment, the operation of the transport robot 1 connecting to the charging device 2 and charging the battery 14 will be described with reference to Fig. 11 etc. Note that in the flowchart shown in Fig. 11, the order of the processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0086] The control unit 10 of the transport robot 1 periodically monitors the amount of power stored in the battery 14 and causes the communication unit 11 to transmit information about the amount of power stored in the battery 14 to the host system 5. When the communication unit 51 of the host system 5 receives information about the amount of power stored in the battery 14 from the transport robot 1, the control unit 10 compares the amount of power stored in the battery 14 with a predetermined threshold. The threshold is a value used to determine whether or not charging of the battery 14 is necessary, and the control unit 50 determines that charging of the battery 14 is necessary when the amount of power stored in the battery 14 falls below the threshold.

[0087] Here, when the amount of stored power in the battery 14 of the transport robot 1 falls below a threshold (S1), the control unit 50 of the host system 5 detects that the amount of stored power has fallen below the threshold based on the information on the amount of stored power in the battery 14 transmitted from the transport robot 1 (S2). When the control unit 50 detects that the amount of stored power has fallen below the threshold, it transmits a charge command to charge the battery 14 from the communication unit 51 to the transport robot 1 (S3). Note that if the transport robot 1 is currently performing a transport task, the control unit 50 may transmit the charge command to the transport robot 1 after the transport task is completed.

[0088] When the communication unit 11 of the transport robot 1 receives a charging command from the host system 5, the control unit 10 controls the traveling mechanism 17 to move the transport robot 1 to the installation position of the charging device 2. Around the installation position of the charging device 2, a guide tape 200 is installed to guide the transport robot 1 to the charging device 2, and the control unit 10 of the transport robot 1 moves the transport robot 1 along the guide tape 200 to the installation position of the charging device 2 (S4).

[0089] 1 shows a state in which the transport robot 1 has moved to the vicinity of the installation position of the charging device 2. FIG. 1 also shows a state in which the charging device 2 is located in a position displaced from the preset installation position due to a person or object coming into contact with the charging device 2. The charging device 2 is located in a position that is off the end of the guide tape 200, and is disposed diagonally relative to the transport robot 1 that has moved along the guide tape 200. Therefore, if the transport robot 1 moves straight along the guide tape 200, there is a possibility that the power receiving connector 12 of the transport robot 2 will not be able to connect with the power supply connector 22 of the charging device 2.

[0090] In this embodiment, when the transport robot 1 moves to the vicinity of the installation position of the charging device 2, the control unit 10 of the transport robot 1 moves the transport robot 1 to a position where the detection unit 16 can detect the guide member 42, based on, for example, the detection results of the range sensor 15 (S5).

[0091] 3 shows a state in which the transport robot 1 has moved to a position (guidance start position) where the guide member 42 is detected by the detection unit 16, and the detection unit 16 acquires guidance information from the guide member 42. In this embodiment, the guide member 42 is a medium 421 on which a barcode representing first information, which is the guidance information, is printed, and the detection unit 16 acquires the first information from the medium 421 as the guidance information.

[0092] When the detection unit 16 acquires the guidance information, the control unit 10 moves the transport robot 1 to the connection position based on the guidance information (first information) acquired by the detection unit 16 (S6). The first information includes, for example, at least information regarding the distance from the guidance start position to the connection position and the direction from the guidance start position to the connection position. As shown in FIG. 4, the control unit 10 adjusts the orientation of the transport robot 1 so that the power receiving connection unit 12 faces the power supply connection unit 22, and then moves the transport robot 1 to the connection position by bringing the transport robot 1 closer to the charging device 2 as shown in FIGS. 5 and 6.

[0093] When the transport robot 1 moves to the connection position, the power supply connection part 22 can be electrically connected to the power receiving connection part 12 (S7), and the charging device 2 is ready to charge the transport robot 2. At this time, the control part 10 switches the switching element 13 from the OFF state to the ON state, and electrically connects the battery 14 to the power receiving connection part 12.

[0094] When the transport robot 1 moves to the connection position, the control unit 10 causes, for example, the communication unit 11 to transmit notification information indicating that the transport robot 1 has moved to the connection position to the host system 5. When the communication unit 51 of the host system 5 receives the notification information from the transport robot 1, the control unit 50 causes the communication unit 51 to transmit a charging start command to the charging device 2 to start charging. When the communication unit 21 of the charging device 2 receives the charging start command, the charging control unit 25 controls the charging circuit unit 23 to start supplying power from the charging circuit unit 23 to the battery 14, thereby charging the battery 14 (S8). Note that when the power supply connection unit 22 is electrically connected to the power receiving connection unit 12, the control unit 10 of the transport robot 1 may directly transmit a charging start command to the charging device 2 to start charging. In this case, it is sufficient for the charging device 2 to have a communication function for communicating with the transport robot 1, and the communication unit 21 for communicating with the host system 5 may be omitted as appropriate.

[0095] As described above, in this embodiment, when the transport robot 1 moves near the installation position of the charging device 2, the guide member 42 provided on the charging device 2 is moved to a position (guidance start position) that can be detected by the detection unit 16. Then, based on the guidance information acquired by the detection unit 16 from the guide member 42, the control unit 10 moves the transport robot 1 from the guidance start position to the connection position. Therefore, even if the charging device 2 is located in a position that is shifted from the preset installation position due to, for example, a person or object coming into contact with the charging device 2, the control unit 10 can move the transport robot 1 to the connection position based on the guidance information acquired from the guide member 42. Therefore, even if the position or orientation of the charging device 2 is shifted, the power receiving connection unit 12 and the power supply connection unit 22 can be reliably connected, and the transport robot 1 can be charged by the charging device 2.

[0096] If the charging device 2 is located at an installation position registered on the electronic map, when the transport robot 1 moves to the installation position of the charging device 2 registered on the electronic map, the detection unit 16 of the transport robot 1 can detect the guide member 42. In this case as well, the control unit 10 moves the transport robot 1 from the guidance start position to the connection position based on the guidance information acquired by the detection unit 16 from the guide member 42, thereby connecting the power receiving connection unit 12 and the power supply connection unit 22.

[0097] Furthermore, when charging of the battery 14 is completed, the control unit 10 of the transport robot 1 controls the traveling mechanism 17 to move the transport robot 1 to a predetermined standby position or to perform a new task (e.g., transporting work). When charging of the battery 14 is completed, the control unit 10 switches the switching element 13 from an ON state to an OFF state, thereby electrically disconnecting the battery 14 from the power receiving connector 12 and reducing the possibility of a short circuit or the like occurring. The control unit 10 also controls the communication unit 11 to transmit completion notification information indicating that charging has been completed to the upper system 5. When the communication unit 51 of the upper system 5 receives the completion notification information, the control unit 50 controls the communication unit 51 to transmit a charging completion command to the charging device 2 to terminate charging. When the communication unit 21 of the charging device 2 receives the charging completion command, the charging control unit 25 stops the output of the charging circuit unit 23.

[0098] (3) Variations The above embodiment is merely one of various embodiments of the present disclosure. Various modifications to the above embodiment are possible depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, functions similar to those of the transfer system A1 may be embodied in a method for guiding the transfer robot 1, a computer program, a non-transitory recording medium on which a program is recorded, or the like. A method for guiding the transfer robot 1 according to one aspect is a method for guiding the transfer robot 1 included in the transfer system A1. The method for guiding the transfer robot 1 includes a first travel control step, a detection step, and a second travel control step. In the first travel control step, the detection unit 16 controls the travel mechanism 17 so that the transfer robot 1 moves to a position where the guide member 42 can be detected. In the detection step, the detection unit 16 detects the guide member 42. In the second travel control step, the travel mechanism 17 is controlled so that the transfer robot 1 moves to a connection position based on guidance information acquired from the guide member 42. A (computer) program according to one aspect is a program for causing a computer system to execute the method for guiding the transfer robot 1.

[0099] Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations. Note that the above embodiment may also be referred to as a basic example below.

[0100] The transport robot 1, charging device 2, and host system 5 in the present disclosure include a computer system. The computer system primarily comprises a processor and memory as hardware. The functions of the transport robot 1, charging device 2, and host system 5 in the present disclosure are realized by the processor executing a program stored in the memory of the computer system. The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. 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). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), and ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmed after the LSI is manufactured, or logic devices capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple 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.

[0101] Furthermore, it is not essential for the transport robot 1 that multiple functions are integrated into one housing, and the components of the transport robot 1 may be distributed across multiple housings. Similarly, it is not essential for the charger 2 that multiple functions are integrated into one housing, and the components of the charger 2 may be distributed across multiple housings. Furthermore, it is not essential for the host system 5 that multiple functions are integrated into one housing, and the components of the host system 5 may be distributed across multiple housings. Furthermore, at least some of the functions of the transport robot 1, the charger 2, or the host system 5 may be realized by the cloud (cloud computing), etc.

[0102] (3.1) Variation 1 A transfer system A1 according to the first modification will be described with reference to FIG.

[0103] Modification 1 differs from the basic example in that the charging device 2 includes a guide portion 41A provided with an induction tape 22 as a guide member 42. Note that components common to the basic example are given the same reference numerals and descriptions thereof will be omitted.

[0104] The extension piece 412A of the guide portion 41A is provided with a guide tape 422 as the guide member 42. The guide tape is, for example, a magnetic tape, and is provided on the extension piece 412A along the movement path when the transport robot 2 moves from the guide start position to the connection position.

[0105] On the other hand, the transport robot 1 is provided with a magnetic sensor as the detection unit 16 that can detect the guide tape 422, which is a magnetic tape.

[0106] In variant example 1, when the transport robot 1 moves to the vicinity of the installation position of the charging device 2, the control unit 10 of the transport robot 1 moves the transport robot 1 to a position where the magnetic sensor can detect the guide tape 422, based on, for example, the detection results of the range sensor 15.

[0107] Then, when the magnetic sensor detects the guide tape 422, the control unit 10 moves the transport robot 1 to the connection position based on the guidance information that the detection unit 16, which is a magnetic sensor, acquires from the guide tape 422. Specifically, the control unit 10 moves the transport robot 1 to the connection position along the guide tape 422 detected by the magnetic sensor, and can connect the power receiving connector 12 to the power supply connector 22.

[0108] In variant example 1, the width dimension of extension piece 412A in the third direction (Y-axis direction) is constant, but as in the basic example, it may be formed so that the width dimension becomes smaller the further away from main body 40, and the shape of extension portion 412A can be changed as appropriate.

[0109] Furthermore, in the first modification, the guide tape 422 is a magnetic tape, but the guide tape 422 may be a reflective tape that reflects light. When the guide tape 422 is a reflective tape, the detection unit 16 may be an optical sensor that can detect the reflective tape.

[0110] (3.2) Variation 2 A transfer system A1 according to the second modification will be described with reference to FIG.

[0111] Modification 2 differs from the basic example or modification 1 in that the charging device 2 includes a drive unit 26. Note that components common to the basic example or modification 1 are given the same reference numerals and descriptions thereof will be omitted.

[0112] When the charging device 2 placed on the moving surface G1 on which the transport robot 1 moves is viewed from above, the driving unit 26 moves the guide unit 41 between a first position where the guide member 42 is located outside the charging device 2 and a second position where the guide unit 41 is located below the charging device 2. The driving unit 26 has an actuator such as a cylinder, and moves the guide unit 41 between the first position and the second position. Note that, in the first position, it is sufficient that at least the portion of the guide unit 41 where the guide member 42 is provided is located outside the charging device 2, but the entire guide unit 41 may be located outside the charging device 2.

[0113] Then, with the drive unit 26 moving the guide unit 41 to the first position, the transport robot 1 moves to the connection position to charge the battery 14.

[0114] Here, when the transport robot 1 moves to the installation position of the charging device 2, the driving unit 26 may move the guide unit 14 from the second position to the first position.

[0115] When the transport robot 1 is not being charged, the control unit 20 of the charging device 2 controls the drive unit 26 to move the guide unit 41 from the first position to the second position. In other words, because the guide unit 41 is located below the charging device 2, the possibility that the guide unit 41 will be stepped on by a person, an object, the transport robot 1, etc. can be reduced.

[0116] When charging the battery 14 of the transport robot 1, when the transport robot 1 arrives at the installation location of the charging device 2, the control unit 10 of the transport robot 1 causes the communication unit 11 to transmit an arrival notification signal to the host system 5 notifying that the transport robot 1 has arrived at the installation location of the charging device 2. When the communication unit 51 of the host system 5 receives the arrival notification signal, the control unit 50 causes the communication unit 51 to transmit the arrival notification signal to the charging device 2. When the communication unit 21 of the charging device 2 receives the arrival notification signal, the control unit 20 controls the drive unit 26 to move the guide unit 41 from the second position to the first position. At this time, because the guide member 42 is located outside the charging device 2, the detection unit 16 of the transport robot 1 can detect the guide member 42, and the control unit 10 can move the transport robot 1 from the guidance start position to the connection position based on the guidance information acquired by the detection unit 16.

[0117] (summary) The above-described embodiments and the like disclose the following aspects.

[0118] A first aspect of the transport system (A1) includes a transport robot (1) that operates using power stored in a battery (14), and a charging device (2) having a charging circuit unit (23) that charges the battery (14) of the transport robot (1). The transport robot (1) includes a traveling mechanism (17), a power receiving connector (12) electrically connected to the battery (14), and a control unit (10) that controls the traveling mechanism (17). The charging device (2) further includes a power supply connector (22) electrically connected to the charging circuit unit (23), and guide units (41, 41A) provided with a guide member (42). The guide member (42) provides guidance information for guiding the transport robot (1) to a connection position of the transport robot (1) when the power supply connector (22) is electrically connected to the power receiving connector (12). The transport robot (1) further includes a sensor (16) for detecting the guide member (42). When the sensor (16) detects the guide member (42), the control unit (10) controls the traveling mechanism (17) based on guidance information acquired from the guide member (42) so that the transport robot (1) moves to the connection position.

[0119] According to this aspect, when the sensor (16) detects the guide member (42) and acquires guidance information from the guide member (42), the control unit (10) controls the travel mechanism (17) based on the guidance information so that the transport robot (1) moves to the connection position. Therefore, even if the position or orientation of the charging device (2) changes due to a person or object coming into contact with the charging device (2), the transport robot (1) can be moved to the connection position and the power receiving connection part (12) and the power supply connection part (22) can be connected. Therefore, the transport robot (1) can be reliably charged by the charging device (2).

[0120] In the transport system (A1) of the second aspect, in the first aspect, the charging device (2) further includes a drive unit (26). When viewed from above the charging device (2) arranged on the moving surface (G1) on which the transport robot (1) moves, the drive unit (26) moves the guide units (41, 41A) between a first position where the guide member (42) is located outside the charging device (2) and a second position where the guide unit (41) is located below the charging device (2). With the drive unit (26) moving the guide units (41, 41A) to the first position, the transport robot (1) moves to the connection position to charge the battery (14).

[0121] According to this aspect, when there is no need to guide the transport robot (1) to the connection position, the drive unit (26) moves the guide units (41, 41A) to the second position, thereby reducing the possibility that the guide units (41, 41A) will be stepped on by the transport robot (1), a person, etc.

[0122] In the transport system (A1) of the third aspect, when the transport robot (1) moves to the installation position of the charging device (2) in the second aspect, the drive unit (26) moves the guide unit (41, 41A) from the second position to the first position.

[0123] According to this embodiment, when the transport robot (1) moves to the installation position of the charging device (2), the drive unit (26) moves the guide unit (41, 41A) from the second position to the first position, so that the sensor (16) can detect the guide member (42).

[0124] In the conveying system (A1) of the fourth aspect, in any of the first to third aspects, the guide member (42) includes either a medium (421) on which a barcode representing position information indicating the connection position is printed, or a guide tape (422) indicating the movement path to the connection position.

[0125] According to this aspect, the detection unit (16) can obtain the guidance information from the barcode printed on the medium (421) or the guide tape (422).

[0126] In the transfer system (A1) of the fifth aspect, in any one of the first to fourth aspects, the guide member (42) is arranged along the moving plane (G1) along which the transfer robot (1) moves.

[0127] According to this embodiment, the guide member (42) is disposed along the movement plane (G1), which reduces the possibility that the guide member (42) will hinder the movement of the transport robot (1).

[0128] In the transport system (A1) of the sixth aspect, in the fifth aspect, the guide portion (41, 41A) has an extension portion (412, 412A) protruding from the main body (40) of the charging device (2) along a first direction parallel to the moving surface (G1). The width dimension of the extension portion (412, 412A) in a second direction parallel to a normal to the moving surface (G1) and in a third direction perpendicular to each of the first direction and the second direction parallel to a normal to the moving surface (G1) decreases with increasing distance from the main body (40) of the charging device (2).

[0129] According to this embodiment, the width dimension of the extension portion (412, 412A) becomes smaller as it moves away from the main body (40) of the charging device (2). This reduces the possibility that the transport robot (1) will climb onto the extension portion (412, 412A) compared to when the width dimension of the extension portion (412, 412A) is constant.

[0130] In the seventh aspect of the transport system (A1), in any one of the first to sixth aspects, the charging device (2) further includes a terminal cover (223) arranged around the power supply connection part (22).

[0131] According to this embodiment, the terminal cover (223) can reduce the possibility that a person or an object will come into contact with the power supply connection part (22).

[0132] In the transfer system (A1) of the eighth aspect, in any one of the first to seventh aspects, the transfer object (X1) transferred by the transfer robot (1) includes at least one of a carriage capable of accommodating components to be mounted on a board and a component supply unit (7). The component supply unit (7) supplies components to a manufacturing device (8) that mounts components on a board.

[0133] According to this embodiment, the transport object (X1) including at least one of the carriage and the component supply unit (7) can be transported by the transport robot (1).

[0134] A charging device (2) of a ninth aspect includes a charging circuit unit (23), a power supply connection unit (22), and guide units (41, 41A). The charging circuit unit (23) charges a battery (14) of a transport robot (1). The transport robot (1) includes the battery (14), a traveling mechanism (17) that operates using power stored in the battery (14), a power receiving connection unit (12) electrically connected to the battery (14), and a control unit (10) that controls the traveling mechanism (17). The power supply connection unit (22) is electrically connected to the charging circuit unit (23). A guide member (42) is provided on the guide units (41, 41A). The guide member (42) provides guide information for guiding the transport robot (1) to a connection position of the transport robot (1) when the power receiving connection unit (12) is electrically connected to the power supply connection unit (22).

[0135] According to this aspect, the guide member (42) provided on the guide portion (41, 41A) of the charging device (2) can provide guidance information to the transport robot (1). Therefore, the transport robot (1) can move to the connection position based on the guidance information acquired from the guide member (42) and connect the power receiving connector (12) and the power supply connector (22). Therefore, the charging device (2) can reliably charge the transport robot (1).

[0136] A transport robot (1) of a tenth aspect includes a battery (14), a traveling mechanism (17), a power receiving connector (12) electrically connected to the battery (14), a control unit (10) that controls the traveling mechanism (17), and a sensor (16) that detects a guide member (42). The guide member (42) is provided on a guide portion (41, 41A) included in a charging device (2) that charges the battery (14). The guide member (42) provides guidance information for moving the transport robot (1) to a connection position when the power receiving connector (12) is electrically connected to the power supply connector (22) of the charging device (2). When the sensor (16) detects the guide member (42), the control unit (10) controls the traveling mechanism (17) to move to the connection position based on the guidance information acquired from the guide member (42).

[0137] According to this aspect, the sensor 16 of the transport robot 1 can acquire guidance information from the guide member 42 provided on the guide portion 41, 41A of the charging device 2. The control unit 10 of the transport robot 1 can transport and move the transport robot 1 to the connection position based on the guidance information and connect the power receiving connector 12 and the power supply connector 22. Therefore, the transport robot 1 can be reliably charged by the charging device 2.

[0138] A method for guiding a transfer robot (1) according to an eleventh aspect is a method for guiding a transfer robot (1) included in the transfer system (A1) according to any one of the first to eighth aspects. The method for guiding a transfer robot (1) includes a first travel control step, a detection step, and a second travel control step. In the first travel control step, the travel mechanism (17) is controlled so that the transfer robot (1) moves to a position where the sensor (16) can detect the guide member (42). In the detection step, the sensor (16) detects the guide member (42). In the second travel control step, the travel mechanism (17) is controlled so that the transfer robot (1) moves to a connection position based on guidance information acquired from the guide member (42).

[0139] According to this aspect, when the sensor (16) acquires guidance information from the guide member (42) in the detection step, the second travel control step controls the travel mechanism (17) based on the guidance information so that the transport robot (1) moves to the connection position. Therefore, even if the position or orientation of the charging device (2) changes due to a person or object coming into contact with the charging device (2), the transport robot (1) can be moved to the connection position and the power receiving connection part (12) and the power supply connection part (22) can be connected. Therefore, the transport robot (1) can be reliably charged by the charging device (2).

[0140] Not limited to the above aspects, various configurations (including modified examples) of the transport system (A1) according to the above embodiment can be embodied as a method for guiding the transport robot (1), a (computer) program, or a non-temporary recording medium on which the program is recorded, etc.

[0141] The configurations according to the second to eighth aspects are not essential for the transport system (A1) and can be omitted as appropriate. [Explanation of symbols]

[0142] 1. Transport robot 2 Charging device 7 Parts supply unit 8. Component mounting machines (manufacturing equipment) 10 Control Unit 12 Power receiving connection 14 Battery 16. Detection unit 17 Running mechanism 22 Power supply connection 23 Charging circuit section 26 Drive unit 40 Main Unit 41, 41A Guide part 42 Guide member 223 Terminal cover 412,412A Extension 421 Medium 422 Guidance Tape A1 Conveyor System G1 moving plane X1 transported objects

Claims

1. A transport robot that operates on power stored in a battery, a charging device having a charging circuit unit that charges the battery of the transport robot, The transport robot is A running mechanism; a power receiving connector electrically connected to the battery; a control unit that controls the traveling mechanism, The charging device is a power supply connection portion electrically connected to the charging circuit portion; a guide unit provided with a guide member that provides guide information for guiding the transport robot to a connection position of the transport robot when the power receiving connection unit is electrically connected to the power supply connection unit, the transport robot further includes a detection unit for detecting the guide member, when the detection unit detects the guide member, the control unit controls the traveling mechanism based on the guidance information acquired from the guide member so that the transport robot moves to the connection position. Conveying system.

2. the charging device further includes a drive unit that moves the guide unit between a first position where the guide member is located outside the charging device and a second position where the guide unit is located below the charging device when the charging device is placed on a moving surface on which the transport robot moves and is viewed from above; With the drive unit moving the guide unit to the first position, the transport robot moves to the connection position to charge the battery. The transport system according to claim 1 .

3. When the transport robot moves to an installation position of the charging device, the drive unit moves the guide unit from the second position to the first position. The transport system according to claim 2 .

4. the guide member includes one of a medium on which a barcode representing position information indicating the connection position is printed and a guide tape indicating a movement path to the connection position. The transport system according to claim 1 or 2.

5. the guide member is disposed along a moving surface along which the transport robot moves; The transport system according to claim 1 or 2.

6. the guide portion has an extension portion that protrudes from a main body of the charging device along a first direction parallel to the moving surface, a width dimension of the extension portion in a second direction parallel to a normal to the moving surface and a third direction perpendicular to the first direction, the width dimension of the extension portion decreasing as the extension portion becomes farther away from the main body of the charging device; The transport system according to claim 5 .

7. The charging device further includes a terminal cover disposed around the power supply connection portion. The transport system according to claim 1 or 2.

8. The object to be transported by the transport robot is a carriage capable of accommodating components to be mounted on a board; a component supply unit that supplies the components to a manufacturing device that mounts the components on the board, The transport system according to claim 1 or 2.

9. a charging circuit unit that charges the battery of a transport robot having a battery, a traveling mechanism that operates using power stored in the battery, a power receiving connection unit that is electrically connected to the battery, and a control unit that controls the traveling mechanism; a power supply connection portion electrically connected to the charging circuit portion; a guide unit provided with a guide member that provides guide information for guiding the transport robot to a connection position of the transport robot when the power receiving connection unit is electrically connected to the power supply connection unit, Charging device.

10. A battery, A running mechanism; a power receiving connector electrically connected to the battery; a control unit that controls the traveling mechanism; a detection unit that is provided in a guide unit included in a charging device that charges the battery, and that detects a guide member that provides guidance information for moving the power receiving connection unit to a connection position when electrically connecting the power receiving connection unit to the power supply connection unit of the charging device; When the detection unit detects the guide member, the control unit controls the traveling mechanism to move to the connection position based on the guidance information acquired from the guide member. Transport robot.

11. A method for guiding a transport robot provided in the transport system according to claim 1, comprising: a first travel control step of controlling the travel mechanism so that the transport robot moves to a position where the detection unit can detect the guide member; a detecting step in which the detecting unit detects the guide member; a second travel control step of controlling the travel mechanism based on the guidance information acquired from the guide member so that the transport robot moves to the connection position, A method for guiding a transport robot.

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