Truck transport device

Abstract

To provide a truck transport device capable of transporting a truck as desired.SOLUTION: This truck transport device comprises: a drive unit including an omnidirectional wheel; a fixing unit that fixes a truck; a driven unit connected to the drive unit; an information acquisition unit that reads information regarding the truck from an information storage unit provided in the truck; and a controller that calculates the turning center of the truck transport device in a state where the truck is fixed from the information regarding the truck which has been read by the information acquisition unit.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] An embodiment of the present invention relates to a carriage transport device. [Background technology]

[0002] In logistics centers, warehouses, factories, etc., carts are used as tools for moving cargo. In recent years, to reduce manpower, unmanned cart transport systems have been used to transport carts loaded with cargo. For example, cart transport systems that perform autonomous transport have been proposed.

[0003] Such a carriage transport device may be provided with a lifter for lifting the carriage. By lifting the carriage and separating the carriage wheels from the floor, the carriage transport device can be operated without being affected by the type or arrangement of the carriage wheels. However, providing a lifter increases the manufacturing cost of the carriage transport device. Furthermore, separating the carriage wheels from the floor makes the carriage unstable.

[0004] Meanwhile, a trolley transport device has been proposed that transports a trolley with its wheels resting on the floor. If a lifter for lifting the trolley is not provided, the manufacturing cost of the trolley transport device can be reduced. Furthermore, if the wheels of the trolley are resting on the floor, the posture of the trolley can be stabilized. However, if the wheels of the trolley are resting on the floor, the center of rotation of the trolley transport device when the trolley is fixed will differ depending on the type and arrangement of the wheels of the trolley.

[0005] Therefore, a technique has been proposed in which the position of the fixed wheel of the carriage is detected using a sensor, and the position of the fixed wheel of the carriage is made to coincide with the center of rotation of the carriage transport device. However, because there are various types and arrangements of wheels on a carriage, it is difficult to align the position of the fixed wheel of the carriage with the center of rotation of the carriage transport device and transport the carriage as desired. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent No. 5397839 Summary of the Invention [Problem to be solved by the invention]

[0007] The problem to be solved by the present invention is to provide a cart transport device that can transport a cart as desired. [Means for solving the problem]

[0008] The cart transport device according to the embodiment comprises a drive unit having an omnidirectional wheel, a driven unit having a fixing unit for fixing the cart and connected to the drive unit, an information acquisition unit that reads information about the cart from an information storage unit provided on the cart, and a controller that calculates the center of rotation of the cart transport device when the cart is fixed from the information about the cart read by the information acquisition unit. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram illustrating a carriage transport device according to an embodiment of the present invention; [Figure 2] FIG. 2 is a control block diagram of the carriage transport device. [Figure 3] 10(a) to 10(c) are schematic diagrams illustrating the relationship between the type and arrangement of wheels and the turning center of the carriage transport device. [Figure 4] FIG. 10 is a schematic diagram illustrating the transportation of a cart at a logistics base. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments will be illustrated with reference to the drawings. In the drawings, like components are designated by like reference numerals and detailed descriptions thereof will be omitted where appropriate. In addition, arrows X, Y, and Z in each figure represent three directions that are perpendicular to one another. For example, arrow X can be the direction from the driving unit 2 toward the driven unit 3 (length direction). For example, arrow Y can be the direction perpendicular to the direction from the driving unit 2 toward the driven unit 3 (width direction). For example, the Z direction can be the direction perpendicular to a plane that includes the ground contact positions of the wheels 101 of the cart 100.

[0011] FIG. 1 is a schematic diagram illustrating a carriage transport device 1 according to the present embodiment. As shown in FIG. 1, the carriage transport device 1 includes, for example, a drive unit 2, a driven unit 3, a connection unit 4, an information acquisition unit 5, and a controller 6.

[0012] The driving unit 2 can be, for example, an AMR (Autonomous Mobile Robot) or an AGV (Automatic Guided Vehicle). The AMR has, for example, a SLAM (Simultaneous Localization and Mapping) function, creates a map of the surrounding environment, estimates its own position, and transports the cart 100 to the destination while searching for a transport route. The AMR is also called an autonomous transport robot. The AGV reads a transport route from, for example, magnetic tape or markers attached to the floor, and transports the cart 100 to the destination while moving autonomously. The AGV is also called an unmanned transport vehicle. The driving unit 2 is not limited to an AMR or an AGV, and may be anything that can transport the cart 100 unmanned. The driving unit 2 may be any automatically traveling vehicle that can be used for so-called automatic transportation.

[0013] The cart 100 can be, for example, a cage cart (also called a roll box pallet) or a flatbed cart. A cage cart is generally a wheeled pallet surrounded by fences on three sides. A flatbed cart is a wheeled pallet without fences. Therefore, in consideration of transporting a large number of loads in a stable manner, it is preferable that the cart 100 transported by the cart transporting device 1 be a cage cart. However, the cart transporting device 1 can also transport flatbed carts.

[0014] The driving unit 2 includes, for example, a plurality of omnidirectional wheels 21 and a detection unit 22 . The omnidirectional wheel 21 includes a wheel such as a Mecanum wheel or an omni wheel, and an actuator (motor) that drives the wheel. The controller 6, which will be described later, can, for example, control an actuator provided in each of the multiple omnidirectional wheels 21 to drive each of the multiple omnidirectional wheels 21. In other words, the controller 6 can drive the multiple omnidirectional wheels 21 in all-wheel mode.

[0015] The multiple omnidirectional wheels 21 can move in all directions, making it easy to transport the cart 100 in a narrow space. Furthermore, even if the turning center of the cart transporting device 1 changes depending on the type and arrangement of the wheels provided on the cart 100, the direction of the cart transporting device 1 can be smoothly changed according to the turning center.

[0016] The detection unit 22 measures the surrounding environment. The detection unit 22 can be, for example, a laser distance sensor. The controller 6 creates a map of the surrounding environment and estimates its own position based on the information from the detection unit 22. In other words, the detection unit 22 can be used to operate the cart transport device 1 (the multiple omnidirectional wheels 21).

[0017] The driven part 3 is connected to the driving part 2 via a connecting part 4 . The driven part 3 has, for example, a loading platform 31 , a fixed part 32 , and a moving part 33 . The loading platform 31 may be, for example, a frame-like body having a framework structure. The distance between the surface 31a of the loading platform 31 opposite the floor 200 side and the floor 200 (the height of the loading platform 31) is smaller than the distance between the surface of the cart 100 facing the floor 200 and the floor 200. Therefore, the loading platform 31 can enter the space between the cart 100 and the floor 200.

[0018] The dimension of the loading platform 31 in the X direction (the length of the loading platform 31) is longer than the dimension of the cart 100 in the X direction (the length of the cart 100). Therefore, when the loading platform 31 is inserted into the space between the cart 100 and the floor 200, the end of the loading platform 31 opposite to the drive unit 2 side can be exposed from the cart 100.

[0019] The dimension of the loading platform 31 in the Y direction (the width of the loading platform 31) is smaller than the dimension between the wheels 101 of the cart 100 in the Y direction. Therefore, when the loading platform 31 is inserted into the space between the cart 100 and the floor 200, the loading platform 31 can move in the space between the wheels 101 of the cart 100.

[0020] A plurality of wheels 31c are provided on the surface 31b of the loading platform 31 facing the floor 200. For example, a pair of wheels 31c can be provided near the end of the loading platform 31 on the drive unit 2 side and a pair of wheels 31c can be provided near the end of the loading platform 31 opposite the drive unit 2 side. The wheels 31c can be, for example, swivel wheels (free wheels). The number and arrangement of the wheels 31c can be changed as appropriate depending on the length and width of the loading platform 31.

[0021] Furthermore, a detection unit 31d can be provided at the end of the platform 31 opposite to the drive unit 2 side. In order for the platform 31 to enter the space between the cart 100 and the floor 200, it is necessary to detect the cart 100 that is the object of transportation. Furthermore, when the platform 31 enters the space between the cart 100 and the floor 200, it is necessary to prevent interference between the platform 31 and the wheels 101 of the cart 100. Therefore, the detection unit 31d detects the positions of the cart 100 and the wheels 101 of the cart 100. There are no particular limitations on the detection unit 31d as long as it can detect the positions of the cart 100 and the wheels 101. The detection unit 31d can be, for example, an optical sensor or a laser distance sensor.

[0022] As described above, the loading platform 31 enters the space between the cart 100 and the floor 200, so there is a gap between the loading platform 31 and the cart 100. Therefore, the fixing portion 32 is provided to fix the cart 100 to the loading platform 31.

[0023] The fixing unit 32 has, for example, a swing arm 32a. When the loading platform 31 is inserted into the space between the cart 100 and the floor 200, the tip of the swing arm 32a is positioned between the surface 31a of the loading platform 31 and the floor 200. When the cart 100 is fixed, as shown in FIG. 1 , the swing arm 32a is rotated and the cart 100 is pressed toward the drive unit 2 by the swing arm 32a. Since the cart 100 is provided with wheels 101, the cart 100 pressed by the swing arm 32a moves toward the drive unit 2. Then, the cart 100 is fixed by being sandwiched between the swing arm 32a and the end 31e of the loading platform 31 on the drive unit 2 side.

[0024] In this case, the cart 100 fixed to the loading platform 31 is self-supporting. That is, the cart transporting device 1 is not provided with a lifter that lifts the cart 100 from the floor 200 and fixes it in place. This reduces the manufacturing cost of the cart transporting device 1. Furthermore, since the multiple wheels 101 provided on the cart 100 are in contact with the floor 200, the posture of the cart 100 can be stabilized. Therefore, the cart 100 can be transported in a stable state.

[0025] The moving unit 33 moves the position of the fixed unit 32 (swing arm 32a) in the X direction. If the position of the fixed unit 32 can be moved by the moving unit 33, it can accommodate changes in the dimensions of the cart 100 in the X direction. This makes it possible to increase the number of types of carts 100 that can be accommodated.

[0026] The connecting part 4 is provided between the driving part 2 and the driven part 3. The connecting part 4 absorbs positional deviation between the driving part 2 and the driven part 3 in the Z direction. The connecting part 4 absorbs angular deviation between the driving part 2 and the driven part 3 around the Y direction. The connecting part 4 may include, for example, a linear guide and a bushing. If the connecting part 4 is provided, the driving part 2 and the driven part 3 can each come into contact with the floor 200 even if the floor 200 is uneven, so that the movement of the cart transport device 1 becomes smooth.

[0027] Here, there are various types of bogies 100. For example, even if they are the same cage bogies, the dimensions of the bogies 100 in the X direction, the types of wheels (swivel wheels (free wheels) 101a, fixed wheels 101b) provided on the bogies 100, the arrangement of the wheels, etc. may differ.

[0028] For example, if the dimensions of the carriage 100 in the X direction change, the position at which the swing arm 32a presses the carriage 100 changes. Furthermore, depending on the type of wheels provided on the carriage 100 and the arrangement of the wheels, the center of rotation of the carriage transport device 1 when the carriage 100 is fixed will differ.

[0029] For this reason, the carriage transport device 1 is provided with an information acquisition unit 5. The information acquisition unit 5 reads out information about the carriage 100 from an information storage unit 102 provided in the carriage 100.

[0030] The information storage unit 102 can store information about the cart 100 using, for example, a one-dimensional code or a two-dimensional code. In this case, the information acquisition unit 5 can be, for example, a barcode reader.

[0031] Furthermore, the information storage unit 102 may include, for example, a semiconductor memory that stores information about the cart 100. In this case, the information acquisition unit 5 can read out the information about the cart 100 stored in the information storage unit 102, for example, by wireless communication.

[0032] The information about the carriage 100 includes, for example, the dimensions of the carriage 100 in the X direction, the types of wheels (swivel wheels 101a, fixed wheels 101b) provided on the carriage 100, and the arrangement of the wheels, as described above.

[0033] Furthermore, the information related to the cart 100 may be ID information of the cart 100. In this case, information such as the dimensions of the cart 100 in the X direction, the type of wheels provided on the cart 100, and the arrangement of the wheels, which are linked to the ID information, is stored in an information device or the like provided outside the cart transport device 1.

[0034] 1, the information storage unit 102 can be provided, for example, at one end of the cart 100 in the X direction. The information acquisition unit 5 may be provided in a position where it can read information from the information storage unit 102. For example, the information acquisition unit 5 can be provided at the end of the drive unit 2 opposite to the floor 200 side.

[0035] The controller 6 controls the operation of each element provided in the carriage transport device 1. FIG. 2 is a control block diagram of the carriage transport device 1. As shown in FIG. As shown in FIG. 2, the controller 6 includes, for example, a control unit 61, a bogie information management unit 62, and an interface 63.

[0036] The control unit 61 is electrically connected to, for example, the bogie information management unit 62, the interface 63, the omnidirectional wheel 21, the detection unit 22, the fixed unit 32, the moving unit 33, and the detection unit 31d. The bogie information management unit 62 is electrically connected to the information acquisition unit 5, for example.

[0037] An operator of the cart transport device 1 can input information such as the destination of transport to the control unit 61 via the interface 63. Based on the input information such as the destination of transport and information from the detection unit 22, the control unit 61 drives each of the multiple omnidirectional wheels 21 to operate the cart transport device 1. Note that known technology can be applied to control the operation of AMRs and AGVs, so detailed explanations will be omitted.

[0038] Therefore, in the following, a case will be described in which the controller 6 controls the operation of each element provided in the cart transport device 1 based on the information related to the cart 100 acquired by the information acquisition unit 5.

[0039] First, the controller 6 (control unit 61) controls the drive unit 2 (the actuator of the omnidirectional wheel 21) to move the platform 31 into the space between the cart 100 and the floor 200. At this time, the control unit 61 recognizes the cart 100 to be transported based on information from the detection unit 31d. Furthermore, the control unit 61 controls the operation of the omnidirectional wheel 21 based on the information from the detection unit 31d so that the platform 31 does not interfere with the wheels 101 of the cart 100.

[0040] As described above, the information storage unit 102 is provided at one end of the cart 100 in the X direction. Therefore, by inserting the loading platform 31 into the space between the cart 100 and the floor 200, the information acquisition unit 5 can be made to face the information storage unit 102. When the information acquisition unit 5 faces the information storage unit 102, the information acquisition unit 5 can read information from the information storage unit 102.

[0041] If the information acquisition unit 5 is unable to read the information, the control unit 61 controls the omnidirectional wheel 21 to pull out the loading platform 31 from the trolley 100 and re-enter the loading platform 31 into the space between the trolley 100 and the floor 200 from the opposite side (opposite side) of the trolley 100.

[0042] The information read from the information storage unit 102 by the information acquisition unit 5 is stored, for example, in the bogie information management unit 62. As described above, the information related to the bogie 100 includes, for example, the dimensions of the bogie 100 in the X direction, the type of wheels provided on the bogie 100, the arrangement of the wheels, etc.

[0043] When the information relating to the trolley 100 is ID information of the trolley 100, the trolley information management unit 62 or the control unit 61 inquires about the information relating to the trolley 100 from an information device or the like provided outside the trolley transport device 1 via the interface 63. The information relating to the trolley 100 obtained from the information device or the like via the interface 63 is stored in the trolley information management unit 62, for example.

[0044] Next, the control unit 61 controls the fixing part 32 to fix the cart 100 to the loading platform 31. For example, the control unit 61 rotates the swing arm 32a to fix the cart 100 between the swing arm 32a and the end part 31e of the loading platform 31 on the drive unit 2 side.

[0045] As mentioned above, there are various types of bogies 100. For example, even if they are the same car bogies, the dimensions of the bogies 100 in the X direction may differ. If the dimensions of the bogies 100 in the X direction differ, it may be impossible to rotate the swing arm 32a or fix the bogie 100 with the swing arm 32a.

[0046] Therefore, the control unit 61 controls the moving unit 33 based on the information regarding the dimensions of the cart 100 in the X direction (the length of the cart 100) read by the information acquisition unit 5, to move the oscillating arm 32a to a position corresponding to the dimensions of the cart 100 in the X direction. In this way, the cart 100 can be fixed to the loading platform 31 even if the dimensions of the cart 100 in the X direction change.

[0047] Furthermore, as described above, even if the car car is the same, the type of wheels and the wheel arrangement of the cart 100 may differ. If the type of wheels and the wheel arrangement of the cart 100 are different, the center of rotation of the cart transport device 1 when the cart 100 is fixed will differ.

[0048] 3(a) to 3(c) are schematic diagrams illustrating the relationship between the wheel types and wheel arrangements and the turning center of the carriage transport device 1. FIG. As described above, the drive unit 2 is provided with the omnidirectional wheels 21 that can turn in any direction. Therefore, when the cart 100 is fixed, the turning center 1a of the cart transport device 1 can be the turning center of the cart 100.

[0049] As shown in Fig. 3(a), there is a case where all four wheels provided on the cart 100 are swivel wheels 101a. In such a case, the controller 6 (control unit 61) can set the center positions of the four swivel wheels 101a to the turning center 1a of the cart transport device 1 in a state where the cart 100 is fixed, when viewed from a direction perpendicular to a plane including the ground contact positions of the four swivel wheels 101a (for example, the Z direction). Note that the center position of the four swivel wheels 101a can be set to the center of a line segment connecting the center between the pair of swivel wheels 101a on the drive unit 2 side and the center between the pair of swivel wheels 101a on the opposite side from the drive unit 2 side, for example.

[0050] 3(b) and (c), the carriage 100 may be provided with a pair of swivel wheels 101a and a pair of fixed wheels 101b. In such a case, the controller 6 (control unit 61) can set the center position of the pair of fixed wheels 101b to the turning center 1a of the carriage transport device 1 when the carriage 100 is fixed, when viewed from a direction perpendicular to a plane including the ground contact positions of the pair of fixed wheels 101b and the pair of swivel wheels 101a (for example, the Z direction).

[0051] In this way, even if the type of wheels and the arrangement of the wheels on the carriage 100 are changed, the carriage transport device 1 can stably change direction along the transport route.

[0052] FIG. 4 is a schematic diagram illustrating the transportation of the cart 100 at a logistics base. 4, at a logistics center, packages 302 are sorted by destination (for example, destinations A to B) by a sorting device 301. The packages 302 sorted by destination are loaded onto carts 100.

[0053] The cart 100 loaded with the cargo 302 is fixed to the cart transporting apparatus 1 according to the procedure described above. In addition, the turning center 1a of the cart transporting apparatus 1 is set based on the type and arrangement of the wheels provided on the cart 100.

[0054] The cart transporting device 1 moves to a vehicle platform 304 called a berth (handling area) together with the fixed cart 100. The drive unit 2 of the cart transporting device 1 can be, for example, an AMR or an AGV, so the cart transporting device 1 can transport the cart 100 unmanned along the transport route. In addition, the turning center 1a of the cart transporting device 1 is set according to the type and arrangement of wheels provided on the cart 100, so it can stably change direction along the transport route. Therefore, as shown in FIG. 4, it is easy to line up multiple carts 100 for each of destinations A to B, for example.

[0055] The trolleys 100 lined up for each destination A to B are loaded onto the loading platform of a vehicle 303 such as a truck heading for each destination. The loading of the trolleys 100 is performed by, for example, a driver who drives each vehicle 303.

[0056] In this case, if the pair of fixed wheels 101b of the dolly 100 faces the vehicle 303, the driver can move the dolly 100 linearly toward the loading platform of the vehicle 303. This makes it easier for the driver to load the dolly 100 onto the vehicle 303.

[0057] 4, a plurality of carriages 100 are generally arranged in a line for each destination. Therefore, when fixing the carriages 100 to the carriage transporting device 1, it is preferable that the fixed wheels 101b of the carriages 100 are positioned on the side opposite to the drive unit 2 side of the carriage transporting device 1. In this way, it becomes easy to line up the plurality of carriages 100 so that the pair of fixed wheels 101b of the carriages 100 face the vehicle 303 side.

[0058] For example, when the cart 100 is provided with a pair of fixed wheels 101b, it is preferable to provide the information storage unit 102 at the end of the cart 100 opposite the end where the pair of fixed wheels 101b are provided in the X direction. In this way, it is possible to simultaneously position the information acquisition unit 5 facing the information storage unit 102 and position the pair of fixed wheels 101b of the cart 100 opposite the drive unit 2 side of the cart transport device 1. This makes it possible to improve the transport efficiency of the cart 100.

[0059] Although several embodiments of the present invention have been described above, these embodiments are presented by way of example only and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, modifications, etc. can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as within the scope of the invention and its equivalents as set forth in the claims. Furthermore, the above-described embodiments can be implemented in combination with each other. [Explanation of symbols]

[0060] 1 cart transport device, 2 drive unit, 3 driven unit, 4 connection unit, 5 information acquisition unit, 6 controller, 21 omnidirectional wheel, 31 loading platform, 32 fixed unit, 32a swing arm, 33 moving unit, 61 control unit, 62 cart information management unit, 63 interface, 100 cart, 101 wheel, 101a swivel wheel, 101b fixed wheel, 102 information storage unit, 200 floor

Claims

1. a drive unit having an omnidirectional wheel; a driven unit having a fixing unit for fixing the carriage and connected to the driving unit; an information acquisition unit that reads information about the carriage from an information storage unit provided in the carriage; a controller that calculates a turning center of the carriage transport apparatus in a state in which the carriage is fixed, based on information about the carriage read by the information acquisition unit; A carriage transport device comprising:

2. 2. The carriage transport device according to claim 1, wherein the fixing portion has a swing arm that presses the carriage toward the drive portion.

3. the follower unit further includes a moving unit that moves the position of the swing arm, The information about the carriage includes information about the length of the carriage, The carriage transport device according to claim 2 , wherein the controller controls the moving unit based on the read information relating to the length of the carriage to move the swing arm to a position corresponding to the length of the carriage.

4. The information about the bogie includes information about the type of wheels provided on the bogie and information about an arrangement of the wheels, When the carriage has four swivel wheels, A cart transport device as described in any one of claims 1 to 3, wherein the controller sets the center position of the four swivel wheels to the center of rotation when the cart is fixed, when viewed from a direction perpendicular to a plane including the ground contact positions of the four swivel wheels.

5. The information about the bogie includes information about the type of wheels provided on the bogie and information about an arrangement of the wheels, When the carriage has a pair of fixed wheels and a pair of free wheels, A cart transport device described in any one of claims 1 to 3, wherein the controller sets the center position of the pair of fixed wheels to the center of rotation when the cart is fixed, when viewed from a direction perpendicular to a plane including the contact positions of the pair of fixed wheels and the pair of swivel wheels.

6. the drive unit is an automated guided vehicle, 4. The carriage transport device according to claim 1, wherein the driven part has the movable platform.

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