Transfer robot

Abstract

To provide a conveying robot capable of preventing falling of a conveyed object during traveling by placing the conveyed object at an appropriate position of a conveying table.SOLUTION: The transfer robot 1 includes the reflecting member 6 having the first reflecting portion 4A on the side of the first carriage 6A and the second reflecting portion 4B on the side of the second carriage 6B, the first optical sensor 11 that emits light toward the first reflecting portion 6A and receives light reflected from the first reflecting portion 6A, and the second optical sensor 12 that emits light toward the second reflecting portion 6B and receives light reflected from the second reflecting portion 6B. When the light reception level of the first optical sensor 11 is less than the first level, the conveyance robot 1 operates the first conveyance table 4A. When the light reception level of the first optical sensor 11 is equal to or higher than the first level, the conveyance robot 1 stops the first conveyance table 4A. When the light reception level of the second optical sensor 12 is less than the second level, the conveyance robot 1 operates the second conveyance table 4B. When the light reception level of the second optical sensor 12 is equal to or higher than the second level, the conveyance robot 1 stops the second conveyance table 4B.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a transport robot that transports an object. [Background technology]

[0002] Patent Document 1 discloses an autonomous transport device (transport robot) that uses a laser distance sensor to measure the distance to an object based on the time difference between when a reflected laser beam is received and when it is received. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-077950 Summary of the Invention [Problem to be solved by the invention]

[0004] Consider a case where an object is placed on the transport platform of a transport robot. According to Patent Document 1, there is no mechanism for determining when the transport platform begins to receive the object and when it has completed receiving the object. In this case, it is possible that the object will be placed near the outer periphery of the transport platform. If the object is placed near the outer periphery of the transport platform, there is a risk that the object will fall off the transport platform while the transport robot is moving.

[0005] One object of the present disclosure is to provide a transport robot that can place an object to be transported at an appropriate position on a transport platform and prevent the object from falling while traveling. [Means for solving the problem]

[0006] A first aspect of the present disclosure relates to a transport robot. The transport robot comprises: a first transport table that operates with its transport direction horizontally perpendicular to the direction of travel; a second transport table that is arranged alongside the first transport table in the direction of travel, has an object to be transported placed on it, and operates with its transport direction in the same direction as the first transport table; a reflecting member that is arranged between the first transport table and the second transport table and upstream in the transport direction of the first transport table and the second transport table, and has a first reflecting portion on the side of the first transport table and a second reflecting portion on the side of the second transport table; a first optical sensor that is arranged on the opposite side of the first transport table from the reflecting member, and emits light toward the first reflecting portion and receives light reflected from the first reflecting portion; a second optical sensor that is arranged on the opposite side of the second transport table from the reflecting member, and emits light toward the second reflecting portion and receives light reflected from the second reflecting portion; and a controller configured to execute at least one of a first process that controls the operation of the first transport table based on the light reception level of the first optical sensor and a second process that controls the operation of the second transport table based on the light reception level of the second optical sensor. In the first process, the controller operates the first conveyance table when the light reception level of the first optical sensor is below a first level. When the light reception level of the first optical sensor is equal to or greater than the first level, the controller stops the first conveyance table. In the second process, the controller operates the second conveyance table when the light reception level of the second optical sensor is below a second level. When the light reception level of the second optical sensor is equal to or greater than the second level, the controller stops the second conveyance table.

[0007] A second aspect of the present disclosure relates to a transport robot, the transport robot comprising: a first transport table that operates with a transport direction that is horizontally orthogonal to the direction of travel; a second transport table that is arranged alongside the first transport table in the direction of travel and operates with a transport direction that is the same as that of the first transport table; a reflecting member that is arranged between the first transport table and the second transport table and on one end side of the first transport table and has a first reflecting portion on the first transport table side and a second reflecting portion on the second transport table side; a first optical sensor that is arranged on the opposite side of the first transport table from the reflecting portion and emits light toward the first reflecting portion and receives light reflected from the first reflecting portion; a second optical sensor that is arranged on the opposite side of the second transport table from the reflecting portion and emits light toward the second reflecting portion and receives light reflected from the second reflecting portion; and a third optical sensor that is arranged between the first transport table and the second transport table and on the other end side of the first transport table and on the first transport table side. the optical sensor is provided on the opposite side of the second conveyance table from the other reflecting member, emitting light toward the third reflecting portion and receiving the light reflected from the third reflecting portion; and the optical sensor is provided on the opposite side of the second conveyance table from the other reflecting member, emitting light toward the fourth reflecting portion and receiving the light reflected from the fourth reflecting portion, and a controller configured to execute at least one of a first process for controlling operation of the first conveyance table based on the light reception level of the first optical sensor, a second process for controlling operation of the second conveyance table based on the light reception level of the second optical sensor, a third process for controlling operation of the first conveyance table based on the light reception level of the third optical sensor, and a fourth process for controlling operation of the second conveyance table based on the light reception level of the fourth optical sensor. In the first process, the controller operates the first conveyance table when the light reception level of the first optical sensor is lower than the first level. When the light reception level of the first optical sensor is equal to or higher than the first level, the controller stops the first conveyance table. In a second process, when the light reception level of the second optical sensor is lower than the second level, the controller operates the second conveyance table. When the light reception level of the second optical sensor is equal to or higher than the second level, the controller stops the second conveyance table. In a third process, when the light reception level of the third optical sensor is lower than the third level, the controller operates the first conveyance table.If the light receiving level of the third optical sensor is equal to or higher than the third level, the controller stops the first conveyance table. In the fourth process, if the light receiving level of the fourth optical sensor is lower than the fourth level, the controller operates the second conveyance table. If the light receiving level of the fourth optical sensor is equal to or higher than the fourth level, the controller stops the second conveyance table. [Effects of the Invention]

[0008] According to a first aspect of the present disclosure, when the light reception level of the first optical sensor is below a first level, the first conveyance table operates, and when the light reception level of the first optical sensor is equal to or greater than the first level, the first conveyance table stops. When the light reception level of the second optical sensor is below a second level, the second conveyance table operates, and when the light reception level of the second optical sensor is equal to or greater than the second level, the second conveyance table stops. This allows the transported object to be placed in an appropriate position on the conveyance table, preventing the transported object from falling off the conveyance table while the transport robot is traveling. Therefore, the transported object can be safely transported to the destination.

[0009] According to a second aspect of the present disclosure, when the light reception level of the first optical sensor is below a first level, the first conveyance table operates, and when the light reception level of the first optical sensor is equal to or greater than the first level, the first conveyance table stops. When the light reception level of the second optical sensor is below a second level, the second conveyance table operates, and when the light reception level of the second optical sensor is equal to or greater than the second level, the second conveyance table stops. When the light reception level of the third optical sensor is below a third level, the first conveyance table operates, and when the light reception level of the third optical sensor is equal to or greater than the third level, the first conveyance table stops. When the light reception level of the fourth optical sensor is below a fourth level, the second conveyance table operates, and when the light reception level of the fourth optical sensor is equal to or greater than the fourth level, the second conveyance table stops. This allows the conveyed object to be placed in an appropriate position on the conveyance table, and prevents the conveyed object from falling off the conveyance table while the conveyance robot is traveling. Furthermore, the transported objects can be received from one end side or the other end side of the first transport table and the second transport table, thereby improving transport efficiency. [Brief explanation of the drawings]

[0010] [Figure 1]FIG. 1 is a diagram for explaining an outline of a transport robot according to a first embodiment. [Figure 2] 2 is an explanatory diagram showing an example of the configuration of an upper part of the transport robot according to the first embodiment. FIG. [Figure 3] 3 is a block diagram showing an example of functions of a controller according to the first embodiment. FIG. [Figure 4] FIG. 10 is an explanatory diagram showing an example of the configuration of an upper portion of a transport robot according to a modified example of the first embodiment. [Figure 5] FIG. 10 is a block diagram showing an example of functions of a controller according to a modification of the first embodiment. [Figure 6] FIG. 10 is an explanatory diagram showing an example of the configuration of an upper portion of a transport robot according to a second embodiment. [Figure 7] FIG. 10 is a block diagram showing an example of functions of a controller according to a second embodiment. [Figure 8] FIG. 11 is a block diagram showing an example of the configuration of an upper part of a transport robot according to a third embodiment. [Figure 9] FIG. 11 is a block diagram showing an example of functions of a controller according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] A transfer robot according to an embodiment of the present disclosure will be described with reference to the accompanying drawings. Elements common to the various drawings will be designated by the same reference numerals, and redundant description will be omitted.

[0012] 1. First Embodiment 1-1. Overview of the transport robot FIG. 1 is a diagram for explaining an overview of a transport robot 1 according to a first embodiment. The transport robot 1 is used in a factory such as a logistics center. For example, the transport robot 1 receives an object 3 placed on a conveyor device 2 installed in the factory and transports it to a destination. The transport robot 1 may be a robot that sorts the object 3. The transport robot 1 is also configured to be capable of autonomous travel. For example, the transport robot 1 has the functions of an AGV (Automated Guided Vehicle), an AMR (Autonomous Mobile Robot), or the like.

[0013] The transport robot 1 is equipped with a transport table 4 on which an object 3 to be transported is placed. The transport table 4 operates with a transport direction that is horizontally perpendicular to the direction of travel. As shown in FIG. 1, the transport table 4 includes a first transport table 4A and a second transport table 4B. The second transport table 4B is provided alongside the first transport table 4A in the direction of travel of the transport robot 1, has the object 3 placed thereon, and operates with a transport direction that is the same as that of the first transport table 4A. Each of the first transport table 4A and the second transport table 4B is provided with an endless belt that operates in the transport direction.

[0014] When the transport robot 1 receives the transported object 3 from the conveyor device 2 or when it delivers the transported object 3 at the destination, it operates or stops the endless belt of at least one of the first transport table 4A and the second transport table 4B. For example, when placing the transported object 3 on the first transport table 4A, the transport robot 1 operates the endless belt of the first transport table 4A when receiving the transported object 3 from the conveyor device 2, and stops the endless belt of the first transport table 4A after placing the transported object 3 on the first transport table 4A. Then, after the transport robot 1 moves to the destination, it operates the endless belt of the first transport table 4A when delivering the transported object 3, and stops the endless belt of the first transport table 4A after delivering the transported object 3. In this way, by simultaneously driving the transport tables (first transport table 4A, second transport table 4B) of the transport robot 1 and the conveyor device 2, it is possible to place the transported object 3 on the transport tables (first transport table 4A, second transport table 4B).

[0015] As another example, when placing the object 3 on the second transport platform 4B, the transport robot 1 operates the endless belt of the second transport platform 4B when receiving the object 3 from the conveyor device 2, and stops the endless belt of the second transport platform 4B after placing the object 3 on the second transport platform 4B. Then, after the transport robot 1 moves to the destination, the transport robot 1 operates the endless belt of the second transport platform 4B when delivering the object 3, and stops the endless belt of the second transport platform 4B after delivering the object 3. In this way, the transport of the object 3 by the transport robot 1 is realized.

[0016] 1-2.Configuration example 2 is an explanatory diagram showing an example of the configuration of the upper part of the transport robot 1 according to the first embodiment. (A) in FIG. 2 is a top view of the transport robot 1, and (B) in FIG. 2 is a side view of the upper part of the transport robot 1. As shown in (A) in FIG. 2, the transport robot 1 includes a reflective member 6, a first optical sensor 11, and a second optical sensor 12.

[0017] The reflecting member 6 is a member for reflecting light emitted from the first optical sensor 11 and the second optical sensor 12 toward a predetermined location. The reflecting member 6 is provided between the first conveying table 4A and the second conveying table 4B and on the upstream side of the conveying direction of the first conveying table 4A and the second conveying table 4B. The reflecting member 6 has a first reflecting portion 6A and a second reflecting portion 6B. The first reflecting portion 6A is provided on the side of the first conveying table 4A, and the second reflecting portion 6B is provided on the side of the second conveying table 4B. The first reflecting portion 6A and the second reflecting portion 6B are, for example, mirror seals. The first reflecting portion 6A and the second reflecting portion 6B are provided, for example, at the positions shown in (B) in FIG. 2.

[0018] The first optical sensor 11 is a sensor for detecting the transported object 3 placed on the first transport table 4A. The first optical sensor 11 is provided on the opposite side of the reflecting member 6 across the first transport table 4A. The first optical sensor 11 includes a light-emitting unit 11A and a light-receiving unit 11B. The light-emitting unit 11A emits light toward the first reflecting unit 6A. The light-receiving unit 11B receives light reflected from the first reflecting unit 6A.

[0019] The second optical sensor 12 is a sensor for detecting the transported object 3 placed on the second transport table 4B. The second optical sensor 12 is provided on the opposite side of the reflecting member 6 across the second transport table 4B. The second optical sensor 12 includes a light-emitting unit 12A and a light-receiving unit 12B. The light-emitting unit 12A emits light toward the second reflecting unit 6B. The light-receiving unit 12B receives light reflected from the second reflecting unit 6B.

[0020] Consider a case where the transported article 3 is placed on the transport table 4. For example, before the transported article 3 enters the first transport table 4A, the first optical sensor 11 can emit light toward the first reflecting section 6A and can receive the light reflected from the first reflecting section 6A. While the transported article 3 is entering the first transport table 4A, the first optical sensor 11 cannot emit light toward the first reflecting section 6A and cannot receive the light reflected from the first reflecting section 6A. After the transported article 3 enters the first transport table 4A, the first optical sensor 11 can emit light toward the first reflecting section 6A and can receive the light reflected from the first reflecting section 6A. The example shown in (A) of FIG. 2 illustrates a state before the transported article 3 enters the first transport table 4A.

[0021] As another example, before the transported object 3 enters the second transport platform 4B, the second optical sensor 12 can emit light toward the second reflector 6B and can receive light reflected from the second reflector 6B. While the transported object 3 is entering the second transport platform 4B, the second optical sensor 12 cannot emit light toward the second reflector 6B and cannot receive light reflected from the second reflector 6B. After the transported object 3 enters the second transport platform 4B, the second optical sensor 12 can emit light toward the second reflector 6B and can receive light reflected from the second reflector 6B. The example shown in FIG. 2B illustrates a state in which the transported object 3 is entering the second transport platform 4B. In other words, when the transported object 3 is placed on the transport platform 4B, at least one of the first optical sensor 11 and the second optical sensor 12 is temporarily unable to receive light. This situation also occurs when the transported object 3 is removed from the transport robot 1.

[0022] In this way, the transported object 3 can be detected based on the light receiving state of the first optical sensor 11 and the second optical sensor 12. As a result, the transport robot 1 can control the transport table 4 to operate or stop based on the detection information of the transported object 3, and can place the transported object 3 at an appropriate position on the transport table 4 (e.g., the center of the transport table 4). The transport table 4 is controlled by a controller (not shown). Details of the controller will be described later.

[0023] 1-3. Function examples FIG. 3 is a block diagram showing an example of functions of the controller 100 according to the first embodiment. The controller 100 is mounted inside the transport robot 1. The controller 100 has hardware such as a PLC (Programmable Logic Controller), a microcomputer, or a PC that realizes various functions. The hardware may also include a processing circuit capable of high-speed calculations. Examples of the processing circuit include an FPGA (Field Programmable Gate Array) and an ASIC (Application Specific Integrated Circuit). The hardware may also include, in addition to the processing circuit, a storage device and a computing unit (e.g., a CPU) that executes a program stored in the storage device. Examples of the storage device include a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), and an SSD (Solid State Drive).

[0024] The controller 100 executes various processes. Specifically, the controller 100 executes at least one of a first processing unit 110 and a second processing unit 120. The first processing unit 110 controls the operation of the first conveyance table 4A based on the light reception level of the first optical sensor 11. Specifically, the first processing unit 110 includes a light reception level acquisition unit 111, a conveyed object detection unit 112, and a first conveyance table control unit 113.

[0025] The light reception level acquisition unit 111 acquires the light reception level of the first optical sensor 11. The light reception level is expressed, for example, as "high" or "low". When the light reception level is "high", it indicates that the first optical sensor 11 is in a light reception state. When the light reception level is "low", it indicates that the first optical sensor 11 is not in a light reception state. Note that when the light reception level is "high", it means, for example, that the light reception level is equal to or higher than the first level, and when the light reception level is "low", it means, for example, that the light reception level is lower than the first level. The first level is a threshold that can be set arbitrarily. The value of the first level can be adjusted depending on the sensitivity of the first optical sensor 11 and the usage environment of the transport robot 1.

[0026] The transported article detection unit 112 detects the transported article 3 based on the light reception level of the first optical sensor 11. Specifically, when the light reception level of the first optical sensor 11 is "high" (first level or higher), the first optical sensor 11 is in a light reception state, and the transported article detection unit 112 determines that the transported article 3 is not present on the optical axis between the first optical sensor 11 and the first reflecting unit 6A. When the light reception level of the first optical sensor 11 is "low" (less than the first level), the first optical sensor 11 is not in a light reception state, and the transported article detection unit 112 determines that the transported article 3 is present on the optical axis between the first optical sensor 11 and the first reflecting unit 6A.

[0027] When the light receiving level of the first optical sensor 11 is below the first level, i.e., when the transported object 3 is present on the optical axis between the first optical sensor 11 and the first reflector 6A, the first conveyance carriage control unit 113 operates the first conveyance carriage 4A. When the light receiving level of the first optical sensor 11 is equal to or higher than the first level, i.e., when the transported object 3 is not present on the optical axis between the first optical sensor 11 and the first reflector 6A, the first conveyance carriage control unit 113 stops the first conveyance carriage 4A.

[0028] The second processing unit 120 controls the operation of the second conveyance table 4B based on the light reception level of the second optical sensor 12. Specifically, the second processing unit 120 includes a light reception level acquisition unit 121, a transported object detection unit 122, and a second conveyance table control unit 123. The light reception level acquisition unit 121 acquires the light reception level of the second optical sensor 12. The light reception level is expressed as, for example, "high" or "low." A "high" light reception level indicates that the second optical sensor 12 is in a light reception state. A "low" light reception level indicates that the second optical sensor 12 is not in a light reception state. Note that a "high" light reception level means, for example, that the light reception level is equal to or higher than the second level, and a "low" light reception level means, for example, that the light reception level is lower than the second level. The second level is a threshold that can be set arbitrarily. The value of the second level can be adjusted depending on the sensitivity of the second optical sensor 12 and the usage environment of the transport robot 1. The second level may be the same as the first level described above, or it may be different.

[0029] The transported article detection unit 122 detects the transported article 3 based on the light reception level of the second optical sensor 12. Specifically, when the light reception level of the second optical sensor 12 is "high" (second level or higher), the second optical sensor 12 is in a light reception state, and the transported article detection unit 122 determines that the transported article 3 is not present on the optical axis between the second optical sensor 12 and the second reflector 6B. When the light reception level of the second optical sensor 12 is "low" (less than the second level), the second optical sensor 12 is not in a light reception state, and the transported article detection unit 122 determines that the transported article 3 is present on the optical axis between the second optical sensor 12 and the second reflector 6B.

[0030] The second conveyance table control unit 123 operates the second conveyance table 4B when the light reception level of the second optical sensor 12 is less than the second level. When the light reception level of the second optical sensor 12 is equal to or greater than the second level, the second conveyance table control unit 123 stops the second conveyance table 4B.

[0031] 1-4. Variations 1-4-1.Configuration example FIG. 4 is an explanatory diagram showing an example of the configuration of the upper portion of the transport robot 1 according to a modified example of the first embodiment. While different transport objects 3 are placed on each of the first transport platform 4A and the second transport platform 4B described above, this is not a limitation. For example, as shown in FIG. 4A, an object 3 having a width (size) larger than the width of the first transport platform 4A or the second transport platform 4B may be placed across the first transport platform 4A and the second transport platform 4B. However, as shown in FIG. 2B, the reflecting member 6 protrudes above the upper surfaces of the first transport platform 4A and the second transport platform 4B. Therefore, the reflecting member 6 prevents large-sized objects 3 from entering the first transport platform 4A and the second transport platform 4B.

[0032] In the transport robot 1 according to the modified example, the reflecting member 6 normally protrudes above the upper surfaces of the first and second transport tables 4A and 4B, as shown in FIG. 2B. When pressed from above, the reflecting member 6 moves to the same height as the upper surfaces of the first and second transport tables 4A and 4B or below that height, as shown in FIG. 4B. As a result, when a large-sized object 3 enters the first and second transport tables 4A and 4B, the reflecting member 6 is pressed from above, allowing the large-sized object 3 to enter the first and second transport tables 4A and 4B. The mechanism for moving the reflecting member 6 downward can be, for example, a spring. The installation position and spring constant of the spring are selected so that the reflecting member 6 moves downward even for the smallest object 3 among the objects 3 that can straddle the first and second transport tables 4A and 4B.

[0033] Consider a case where a large-sized object 3 is placed across the first and second conveyance tables 4A and 4B. For example, before the large-sized object 3 enters the first and second conveyance tables 4A and 4B, the first optical sensor 11 can emit light toward the first reflector 6A and thus can receive light reflected from the first reflector 6A. The second optical sensor 12 can emit light toward the second reflector 6B and thus can receive light reflected from the second reflector 6B. When the large-sized object 3 is entering the first and second conveyance tables 4A and 4B, the first optical sensor 11 cannot emit light toward the first reflector 6A and therefore cannot receive light reflected from the first reflector 6A. The second optical sensor 12 cannot emit light toward the second reflector 6B and therefore cannot receive light reflected from the second reflector 6B. After the transported object 3 has entered the second transport platform 4B, the first optical sensor 11 can emit light toward the first reflector 6A and thus receive the light reflected from the first reflector 6A. Furthermore, the second optical sensor 12 can emit light toward the second reflector 6B and thus receive the light reflected from the second reflector 6B. The example shown in FIG. 4A illustrates a state in which a large-sized transported object 3 is entering the first transport platform 4A and the second transport platform 4B. In other words, when a large-sized transported object 3 is placed across the first transport platform 4A and the second transport platform 4B, both the first optical sensor 11 and the second optical sensor 12 are temporarily unable to receive light. This situation also occurs when a large-sized transported object 3 is dispensed from the transport robot 1.

[0034] In this way, when a large-sized object 3 is placed on the first conveying platform 4A and the second conveying platform 4B, the light receiving states of both the first optical sensor 11 and the second optical sensor 12 change. By utilizing this characteristic, it is possible to detect whether the size of the object 3 is large or small. As a result, the transport robot 1 can control the first conveying platform 4A and the second conveying platform 4B to operate or stop based on the detection information of the object 3, and it becomes possible to place the object 3 in an appropriate position on the first conveying platform 4A and the second conveying platform 4B (e.g., the center of the conveying platform 4). The conveying platform 4 is controlled by the controller 100. There are two examples of how the controller 100 controls the conveying platform 4. The two control examples are described below in detail.

[0035] 1-4-2. First control example 5A is a block diagram showing an example of functions of the controller 100 in a first control example. The controller 100 further includes a communication device 180 capable of wireless communication with the outside. The controller 100 acquires size information 181 of the transported object 3 via the communication device 180. The size information 181 of the transported object 3 is, for example, information indicating that the size of the transported object 3 is such that it can be placed across the first transport platform 4A and the second transport platform 4B (information indicating that the transported object 3 is large), information indicating that the size of the transported object 3 can be placed on each transport platform (information indicating that the transported object 3 is small), etc.

[0036] When the size information 181 of the transported object 3 acquired from the communication device 180 indicates that the transported object 3 is large, the first processing unit 110 acquires the light reception level of the second optical sensor 12 in the first transporting platform control unit 113. The first transporting platform control unit 113 then controls the operation of the first transporting platform 4A based on the light reception level of the first optical sensor 11 and the light reception level of the second optical sensor 12. Specifically, when either the light reception level of the first optical sensor 11 or the light reception level of the second optical sensor 12 is below a predetermined level, the first transporting platform control unit 113 operates the first transporting platform 4A. When both the light reception level of the first optical sensor 11 and the light reception level of the second optical sensor 12 are equal to or higher than the predetermined level, the first transporting platform control unit 113 stops the first transporting platform 4A. The predetermined level may be the same as the first level or the second level, for example.

[0037] When the size information 181 of the transported object 3 acquired from the communication device 180 indicates that the transported object 3 is large, the second processing unit 120 acquires the light reception level of the first optical sensor 11 in the second transport table control unit 123. The second transport table control unit 123 then controls the operation of the second transport table 4B based on the light reception level of the first optical sensor 11 and the light reception level of the second optical sensor 12. Specifically, the second transport table control unit 123 operates the second transport table 4B when either the light reception level of the first optical sensor 11 or the light reception level of the second optical sensor 12 is below a predetermined level. When both the light reception level of the first optical sensor 11 and the light reception level of the second optical sensor 12 are equal to or higher than the predetermined level, the second transport table control unit 123 stops the second transport table 4B.

[0038] In this manner, when the size of the transported object 3 is such that it can be placed across the first transport platform 4A and the second transport platform 4B, if either the light receiving level of the first optical sensor 11 or the light receiving level of the second optical sensor 12 is below a predetermined level, the controller 100 operates both the first transport platform 4A and the second transport platform 4B. If both the light receiving level of the first optical sensor 11 and the light receiving level of the second optical sensor 12 are equal to or higher than the predetermined level, the controller 100 stops both the first transport platform 4A and the second transport platform 4B. Incidentally, if either the light receiving level of the first optical sensor 11 or the light receiving level of the second optical sensor 12 is below the predetermined level, for example, this may be the case when a large-sized transported object 3 enters the transport robot 1 in an inclined state. In this case, by operating both the first transport platform 4A and the second transport platform 4B, the large-sized transported object 3 can be pulled onto the first transport platform 4A and the second transport platform 4B.

[0039] On the other hand, if the size information 181 of the transported object 3 indicates that the transported object 3 is small in size, the first transport platform control unit 113 performs the same processing as the first transport platform control unit 113 described in "Section 1-3." Also, the second transport platform control unit 123 performs the same processing as the second transport platform control unit 123 described in "Section 1-3."

[0040] 1-4-3. Second control example 5B is a block diagram showing an example of functions of the controller 100 in the second control example. The reflective member 6 further has a sensor 6C that emits a signal when pressed. The controller 100 acquires, in a pressure information acquisition unit 190, pressure information 191 of the reflective member 6 via the sensor 6C. The pressure information 191 is, for example, information indicating a state in which the reflective member 6 is pressed, information indicating a state in which the reflective member 6 is not pressed, etc.

[0041] When the pressure information 191 acquired from the pressure information acquisition unit 190 indicates the pressure state of the reflective member 6, the first processing unit 110 acquires the light reception level of the second optical sensor 12 in the first conveyance table control unit 113. The first conveyance table control unit 113 then controls the operation of the first conveyance table 4A based on the light reception level of the first optical sensor 11 and the light reception level of the second optical sensor 12. Specifically, the first conveyance table control unit 113 operates the first conveyance table 4A when either the light reception level of the first optical sensor 11 or the light reception level of the second optical sensor 12 is below a predetermined level. When both the light reception level of the first optical sensor 11 and the light reception level of the second optical sensor 12 are equal to or higher than the predetermined level, the first conveyance table control unit 113 stops the first conveyance table 4A.

[0042] When the pressure information 191 acquired from the pressure information acquisition unit 190 indicates the pressure state of the reflective member 6, the second processing unit 120 acquires the light reception level of the first optical sensor 11 in the second conveyance table control unit 123. The second conveyance table control unit 123 then controls the operation of the second conveyance table 4B based on the light reception level of the first optical sensor 11 and the light reception level of the second optical sensor 12. Specifically, the second conveyance table control unit 123 operates the second conveyance table 4B when either the light reception level of the first optical sensor 11 or the light reception level of the second optical sensor 12 is below a predetermined level. When both the light reception level of the first optical sensor 11 and the light reception level of the second optical sensor 12 are equal to or higher than the predetermined level, the second conveyance table control unit 123 stops the second conveyance table 4B.

[0043] In this manner, when the reflective member 6 is pressed, if either the light receiving level of the first optical sensor 11 or the light receiving level of the second optical sensor 12 is below a predetermined level, the controller 100 operates both the first conveyance table 4A and the second conveyance table 4B. If both the light receiving level of the first optical sensor 11 and the light receiving level of the second optical sensor 12 are equal to or greater than the predetermined level, the controller 100 stops both the first conveyance table 4A and the second conveyance table 4B. Incidentally, if either the light receiving level of the first optical sensor 11 or the light receiving level of the second optical sensor 12 is below the predetermined level, for example, this may be the case when a large-sized object 3 enters the conveyance robot 1 in an inclined state. In this case, by operating both the first conveyance table 4A and the second conveyance table 4B, the large-sized object 3 can be pulled onto the first conveyance table 4A and the second conveyance table 4B.

[0044] On the other hand, if the pressure information 191 acquired from the pressure information acquisition unit 190 is information that does not indicate the pressure state of the reflective member 6, the first conveyance table control unit 113 performs the same processing as the first conveyance table control unit 113 described in "Section 1-3." Furthermore, the second conveyance table control unit 123 performs the same processing as the second conveyance table control unit 123 described in "Section 1-3."

[0045] 1-5.Effects According to this embodiment, when different conveyed objects 3 are placed on the first conveying table 4A and the second conveying table 4B, if the light reception level of the first optical sensor 11 is below the first level, the first conveying table 4A operates, and if the light reception level of the first optical sensor 11 is equal to or higher than the first level, the first conveying table 4A stops. If the light reception level of the second optical sensor 12 is below the second level, the second conveying table 4B operates, and if the light reception level of the second optical sensor 12 is equal to or higher than the second level, the second conveying table 4B stops. Furthermore, when a large-sized object 3 is placed on the first conveying table 4A and the second conveying table 4B, if either the light receiving level of the first optical sensor 11 or the light receiving level of the second optical sensor 12 is below a predetermined level, both the first conveying table 4A and the second conveying table 4B operate, and if both the light receiving level of the first optical sensor 11 and the light receiving level of the second optical sensor 12 are equal to or higher than the predetermined level, both the first conveying table 4A and the second conveying table 4B stop. This allows the object 3 to be placed in an appropriate position on the conveying table 4 (e.g., the center of the conveying table 4), preventing the object 3 from falling off the conveying table 4 while the conveying robot 1 is traveling. Therefore, the object 3 can be safely transported to the destination. Furthermore, a wide variety of objects 3, from small to large, can be transported, improving transport efficiency.

[0046] 2. Second Embodiment 2-1.Configuration example FIG. 6 is an explanatory diagram showing an example of the configuration of the upper part of the transport robot 1 according to the second embodiment. As shown in (A) of FIG. 6, the transport robot 1 according to the second embodiment further includes another reflecting member 7, a third optical sensor 13, and a fourth optical sensor 14. The reflecting member 6, the first optical sensor 11, and the second optical sensor 12 are respectively provided on one end side of the first transport table 4A and the second transport table 4B. The one end side may be the upstream side in the transport direction or the downstream side in the transport direction. In other words, each of the first transport table 4A and the second transport table 4B may be configured to be driven to rotate forward or backward.

[0047] The other reflecting member 7 is a member for reflecting light emitted from the third optical sensor 13 and the fourth optical sensor 14 toward a predetermined location. The other reflecting member 7 is provided between the first conveying table 4A and the second conveying table 4B and on the other end side of the first conveying table 4A and the second conveying table 4B. When one end side is the upstream side in the conveying direction, the other end side is the downstream side in the conveying direction, and when one end side is the downstream side in the conveying direction, the other end side is the upstream side in the conveying direction. The other reflecting member 7 has a third reflecting portion 7A and a fourth reflecting portion 7B. The third reflecting portion 7A is provided on the side of the first conveying table 4A, and the fourth reflecting portion 7B is provided on the side of the second conveying table 4B. The third reflecting portion 7A and the fourth reflecting portion 7B are, for example, mirror seals. The third reflecting portion 7A and the fourth reflecting portion 7B are, for example, provided at the positions shown in (B) in FIG. 6 .

[0048] The third optical sensor 13 is a sensor for detecting the transported object 3 placed on the first transport table 4A. The third optical sensor 13 is provided on the opposite side of the first transport table 4A from another reflecting member 7. The third optical sensor 13 includes a light-emitting unit 13A and a light-receiving unit 13B. The light-emitting unit 13A emits light toward the third reflecting unit 7A. The light-receiving unit 13B receives light reflected from the third reflecting unit 7A.

[0049] The fourth optical sensor 14 is a sensor for detecting the transported object 3 placed on the second transport table 4B. The fourth optical sensor 14 is provided on the opposite side of the second transport table 4B from another reflecting member 7. The fourth optical sensor 14 includes a light-emitting unit 14A and a light-receiving unit 14B. The light-emitting unit 14A emits light toward the fourth reflecting unit 7B. The light-receiving unit 14B receives light reflected from the fourth reflecting unit 7B.

[0050] Consider a case where the transported article 3 is placed on the transport table 4. The scene when the transported article 3 enters from one end side of the first transport table 4A and the second transport table 4B (the side where the first optical sensor 11 and the second optical sensor 12 are provided) is the same as in the first embodiment, so here we will explain a scene when the transported article 3 enters from the other end side of the first transport table 4A and the second transport table 4B (the side where the third optical sensor 13 and the fourth optical sensor 14 are provided). For example, before the transported article 3 enters the first transport table 4A, the third optical sensor 13 can emit light toward the third reflector 7A and can receive the light reflected from the third reflector 7A. When the transported article 3 is entering the first transport table 4A, the third optical sensor 13 cannot emit light toward the third reflector 7A and cannot receive the light reflected from the third reflector 7A. Once the article 3 has entered the first conveyance platform 4A, the third optical sensor 13 can emit light toward the third reflector 7A and can receive reflected light from the third reflector 7A. The example shown in (A) of Figure 6 shows the state after the article 3 has entered the first conveyance platform 4A.

[0051] As another example, before the transported object 3 enters the second transport platform 4B, the fourth optical sensor 14 can emit light toward the fourth reflector 7B and can receive light reflected from the fourth reflector 7B. While the transported object 3 is entering the second transport platform 4B, the fourth optical sensor 14 cannot emit light toward the fourth reflector 7B and cannot receive light reflected from the fourth reflector 7B. After the transported object 3 enters the second transport platform 4B, the fourth optical sensor 14 can emit light toward the fourth reflector 7B and can receive light reflected from the fourth reflector 7B. The example shown in FIG. 6B illustrates a state in which the transported object 3 is entering the second transport platform 4B. In other words, when the transported object 3 is placed on the transport platform 4B, at least one of the first optical sensor 11, the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14 is temporarily unable to receive light. This situation also occurs when the transport robot 1 delivers the transported object 3.

[0052] In this way, the transported object 3 can be detected based on the light receiving states of the first optical sensor 11, the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14. As a result, the transport robot 1 can control the transport table 4 to operate or stop based on the detection information of the transported object 3, and can place the transported object 3 at an appropriate position on the transport table 4 (e.g., the center of the transport table 4). The transport table 4 is controlled by the controller 100. Details of the controller 100 will be described later.

[0053] 2-2. Function examples Fig. 7 is a block diagram showing an example of functions of the controller 100 according to the second embodiment. As shown in (A) of Fig. 7, the controller 100 executes at least one of the first processing unit 110, the second processing unit 120, the third processing unit 130, and the fourth processing unit 140. The first processing unit 110 and the second processing unit 120 perform the same processes as those in the first embodiment, and therefore, the description thereof will be omitted here.

[0054] The third processing unit 130 controls the operation of the first conveyance table 4A based on the light reception level of the third optical sensor 13. Specifically, the third processing unit 130 includes a light reception level acquisition unit 131, a conveyed object detection unit 132, and a first conveyance table control unit 133.

[0055] The light reception level acquisition unit 131 acquires the light reception level of the third optical sensor 13. The light reception level is expressed, for example, as "high" or "low." A "high" light reception level indicates that the third optical sensor 13 is in a light reception state. A "low" light reception level indicates that the third optical sensor 13 is not in a light reception state. Note that a "high" light reception level means, for example, that the light reception level is equal to or higher than the third level, and a "low" light reception level means, for example, that the light reception level is lower than the third level. The third level is a threshold value that can be set arbitrarily. The value of the third level can be adjusted depending on the sensitivity of the third optical sensor 13 and the usage environment of the transport robot 1. The third level may be the same as or different from the first level described above. Furthermore, the third level may be the same as or different from the second level described above.

[0056] The transported article detection unit 132 detects the transported article 3 based on the light reception level of the third optical sensor 13. Specifically, when the light reception level of the third optical sensor 13 is "high" (third level or higher), the third optical sensor 13 is in a light reception state, and the transported article detection unit 132 determines that the transported article 3 is not present on the optical axis between the third optical sensor 13 and the third reflector 7A. When the light reception level of the third optical sensor 13 is "low" (less than the third level), the third optical sensor 13 is not in a light reception state, and the transported article detection unit 132 determines that the transported article 3 is present on the optical axis between the third optical sensor 13 and the third reflector 7A.

[0057] The first conveyance table control unit 133 operates the first conveyance table 4A when the light reception level of the third optical sensor 13 is less than the third level. When the light reception level of the third optical sensor 13 is equal to or greater than the third level, the first conveyance table control unit 133 stops the first conveyance table 4A.

[0058] The fourth processing unit 140 controls the operation of the second conveyance table 4B based on the light reception level of the fourth optical sensor 14. Specifically, the fourth processing unit 140 includes a light reception level acquisition unit 141, a transported object detection unit 142, and a second conveyance table control unit 143. The light reception level acquisition unit 141 acquires the light reception level of the fourth optical sensor 14. The light reception level is expressed as, for example, "high" or "low." A "high" light reception level indicates that the fourth optical sensor 14 is in a light reception state. A "low" light reception level indicates that the fourth optical sensor 14 is not in a light reception state. Note that a "high" light reception level means, for example, that the light reception level is equal to or higher than the fourth level, and a "low" light reception level means, for example, that the light reception level is lower than the fourth level. The fourth level is a threshold that can be set arbitrarily. The value of the fourth level can be adjusted depending on the sensitivity of the fourth optical sensor 14 and the operating environment of the transport robot 1. The fourth level may be the same as or different from the first level described above, the fourth level may be the same as or different from the second level described above, and the fourth level may be the same as or different from the third level described above.

[0059] The transported article detection unit 142 detects the transported article 3 based on the light reception level of the fourth optical sensor 14. Specifically, when the light reception level of the fourth optical sensor 14 is "high" (fourth level or higher), the fourth optical sensor 14 is in a light reception state, and the transported article detection unit 142 determines that the transported article 3 is not present on the optical axis between the fourth optical sensor 14 and the fourth reflector 7B. When the light reception level of the fourth optical sensor 14 is "low" (less than the fourth level), the fourth optical sensor 14 is not in a light reception state, and the transported article detection unit 142 determines that the transported article 3 is present on the optical axis between the fourth optical sensor 14 and the fourth reflector 7B.

[0060] The second conveyance table control unit 143 operates the second conveyance table 4B when the light reception level of the fourth optical sensor 14 is less than the fourth level. When the light reception level of the fourth optical sensor 14 is equal to or greater than the fourth level, the second conveyance table control unit 143 stops the second conveyance table 4B.

[0061] 2-3. Variations Consider a case where the other end side of the first conveying table 4A and the second conveying table 4B (the side where the third optical sensor 13 and the fourth optical sensor 14 are provided) of the conveying object 3 is on the upstream side in the conveying direction of the first conveying table 4A and the second conveying table 4B, and a large-sized conveying object 3 is placed across the first conveying table 4A and the second conveying table 4B. In this case, the other reflecting member 7 has a shape that protrudes above the upper surfaces of the first conveying table 4A and the second conveying table 4B, so the other reflecting member 7 prevents the large-sized conveying object 3 from entering the first conveying table 4A and the second conveying table 4B.

[0062] According to the transport robot 1 of the modified example of the second embodiment, the other reflective member 7 has a mechanism that, like the above-described reflective member 6, moves to the same height as or below the upper surfaces of the first and second transport tables 4A and 4B when pressed from above. This allows large-sized transported objects 3 to enter the first and second transport tables 4A and 4B. Note that a spring, for example, can be used as the mechanism for moving the other reflective member 7 downward. The installation position and spring constant of the spring are selected so that the other reflective member 7 moves down even for the lightest transported object 3 among the transported objects 3 that are sized to straddle the first and second transport tables 4A and 4B.

[0063] Consider a case where a large-sized object 3 is placed across the first and second conveyance tables 4A and 4B. The scene when the large-sized object 3 enters from one end side of the first and second conveyance tables 4A and 4B (the side where the first optical sensor 11 and the second optical sensor 12 are provided) is the same as in the first embodiment, so here we will describe a scene when the large-sized object 3 enters from the other end side of the first and second conveyance tables 4A and 4B (the side where the third optical sensor 13 and the fourth optical sensor 14 are provided). For example, before the large-sized object 3 enters the first and second conveyance tables 4A and 4B, the third optical sensor 13 can emit light toward the third reflector 7A and can receive light reflected from the third reflector 7A. Furthermore, the fourth optical sensor 14 can emit light toward the fourth reflector 7B and can receive light reflected from the fourth reflector 7B. When a large-sized object 3 is entering the first and second conveyance tables 4A and 4B, the third optical sensor 13 cannot emit light toward the third reflector 7A and therefore cannot receive light reflected from the third reflector 7A. Furthermore, the fourth optical sensor 14 cannot emit light toward the fourth reflector 7B and therefore cannot receive light reflected from the fourth reflector 7B. After the object 3 has entered the second conveyance table 4B, the third optical sensor 13 can emit light toward the third reflector 7A and therefore can receive light reflected from the third reflector 7A. Furthermore, the fourth optical sensor 14 can emit light toward the fourth reflector 7B and therefore can receive light reflected from the fourth reflector 7B. In other words, both the third optical sensor 13 and the fourth optical sensor 14 are temporarily unable to receive light. This situation also occurs when a large-sized object 3 is being removed from the conveyance robot 1.

[0064] In this way, when a large-sized object 3 is placed on the first conveying table 4A and the second conveying table 4B, the light receiving states of both the third optical sensor 13 and the fourth optical sensor 14 change. By utilizing this characteristic, it is possible to detect whether the size of the object 3 is large or small. As a result, the transport robot 1 can control the first conveying table 4A and the second conveying table 4B to operate or stop based on the detection information of the object 3, and it becomes possible to place the object 3 in an appropriate position on the first conveying table 4A and the second conveying table 4B (e.g., the center of the conveying table 4). The conveying table 4 is controlled by the controller 100. There are two examples of how the controller 100 controls the conveying table 4. The two control examples will be described in detail below.

[0065] 2-3-1. First control example 7B is a block diagram showing an example of functions of the controller 100 in a first control example. The first processing unit 110 acquires size information 181 of the transported object 3 from the communication device 180 in the first transport platform control unit 113. Details of the size information 181 of the transported object 3 are as described above. When the size information 181 of the transported object 3 indicates that the transported object 3 is large, the first transport platform control unit 113 acquires the light reception levels of the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14. Then, the first transport platform control unit 113 controls the operation of the first transport platform 4A based on the light reception levels of the first optical sensor 11, the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14. Specifically, the first conveyance table control unit 113 moves the first conveyance table 4A from one end to the other end when either the light reception level of the first optical sensor 11 or the light reception level of the second optical sensor 12 is below a predetermined level. When either the light reception level of the third optical sensor 13 or the light reception level of the fourth optical sensor 14 is below a predetermined level, the first conveyance table control unit 113 moves the first conveyance table 4A from the other end to the one end. When all of the light reception levels of the first optical sensor 11, the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14 are above a predetermined level, the first conveyance table control unit 113 stops the first conveyance table 4A. The predetermined level may be, for example, the same as the first level, the second level, the third level, or the fourth level.

[0066] When size information 181 of the transported object 3 acquired from the communication device 180 indicates that the transported object 3 is large, the second processing unit 120 acquires the light reception levels of the first optical sensor 11, the third optical sensor 13, and the fourth optical sensor 14 in the second transport table control unit 123. The second transport table control unit 123 then controls the operation of the second transport table 4B based on the light reception levels of the first optical sensor 11, the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14. Specifically, when any one of the light reception levels of the first optical sensor 11 and the second optical sensor 12 is below a predetermined level, the second transport table control unit 123 operates the second transport table 4B from one end to the other end. If either the light receiving level of the third optical sensor 13 or the light receiving level of the fourth optical sensor 14 is below a predetermined level, the second conveyance table 4B is moved from the other end to the one end. If the light receiving levels of the first optical sensor 11, the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14 are all equal to or above a predetermined level, the second conveyance table control unit 123 stops the second conveyance table 4B.

[0067] The third processing unit 130, in the first conveyance table control unit 133, acquires size information 181 of the transported object 3 from the communication device 180. If the size information 181 of the transported object 3 indicates that the transported object 3 is large, the first conveyance table control unit 133 acquires the light reception level of the first optical sensor 11, the light reception level of the second optical sensor 12, and the light reception level of the fourth optical sensor 14. Then, the first conveyance table control unit 133 executes the same processing as the first conveyance table control unit 113.

[0068] When the size information 181 of the transported object 3 acquired from the communication device 180 indicates that the transported object 3 is large, the fourth processing unit 140 acquires the light receiving level of the first optical sensor 11, the light receiving level of the second optical sensor 12, and the light receiving level of the third optical sensor 13. Then, the second transporting table control unit 143 executes the same processing as the second transporting table control unit 123.

[0069] In this manner, when the size of the transported object 3 is such that it can be placed across the first transport table 4A and the second transport table 4B, if either the light reception level of the first optical sensor 11 or the light reception level of the second optical sensor 12 is below a predetermined level, the controller 100 moves both the first transport table 4A and the second transport table 4B from one end to the other end. If either the light reception level of the third optical sensor 13 or the light reception level of the fourth optical sensor 14 is below a predetermined level, the controller 100 moves both the first transport table 4A and the second transport table 4B from the other end to one end. If all of the light reception levels of the first optical sensor 11, the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14 are above the predetermined level, the controller 100 stops both the first transport table 4A and the second transport table 4B. Note that when either the light receiving level of the first optical sensor 11 or the light receiving level of the second optical sensor 12 falls below a predetermined level, or when either the light receiving level of the third optical sensor 13 or the light receiving level of the fourth optical sensor 14 falls below a predetermined level, this is, for example, when a large-sized transported object 3 enters the transport robot 1 in an inclined state. In this case, by operating both the first transport table 4A and the second transport table 4B, it is possible to pull the large-sized transported object 3 onto the first transport table 4A and the second transport table 4B.

[0070] On the other hand, if the size information 181 of the transported object 3 indicates that the transported object 3 is small in size, the first transport platform control unit 113 and the first transport platform control unit 133 perform the same processing as the first transport platform control unit 113 described in "Section 1-3." Also, the second transport platform control unit 123 and the second transport platform control unit 143 perform the same processing as the second transport platform control unit 123 described in "Section 1-3."

[0071] 2-3-2. Second control example 7C is a block diagram showing an example of functions of the controller 100 in the second control example. The other reflecting member 7 further has a sensor 7C that emits a signal when pressed. The controller 100 acquires, in a pressure information acquisition unit 190A, pressure information 191A of the other reflecting member 7 via the sensor 7C. The pressure information 191A is, for example, information indicating a state in which the other reflecting member 7 is pressed, information indicating a state in which the other reflecting member 7 is not pressed, etc.

[0072] When the pressure information 191 acquired from the pressure information acquisition unit 190 indicates the pressure state of the reflective member 6, or when the pressure information 191A acquired from the pressure information acquisition unit 190A indicates the pressure state of another reflective member 7, the first processing unit 110 acquires the light reception levels of the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14 in the first conveyance table control unit 113. The first conveyance table control unit 113 then controls the operation of the first conveyance table 4A based on the light reception levels of the first optical sensor 11, the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14. Specifically, when either the light reception level of the first optical sensor 11 or the light reception level of the second optical sensor 12 is below a predetermined level, the first conveyance table control unit 113 operates the first conveyance table 4A from one end to the other end. If either the light receiving level of the third optical sensor 13 or the light receiving level of the fourth optical sensor 14 is below a predetermined level, the first conveyance table 4A is moved from the other end to the one end. If the light receiving levels of the first optical sensor 11, the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14 are all equal to or above a predetermined level, the first conveyance table control unit 113 stops the first conveyance table 4A.

[0073] When the pressure information 191 acquired from the pressure information acquisition unit 190 indicates the pressure state of the reflective member 6, or when the pressure information 191A acquired from the pressure information acquisition unit 190A indicates the pressure state of another reflective member 7, the second processing unit 120 acquires the light reception levels of the first optical sensor 11, the third optical sensor 13, and the fourth optical sensor 14 in the second conveyance table control unit 123. Then, the second conveyance table control unit 123 controls the operation of the second conveyance table 4B based on the light reception levels of the first optical sensor 11, the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14. Specifically, when either the light reception level of the first optical sensor 11 or the light reception level of the second optical sensor 12 is below a predetermined level, the second conveyance table control unit 123 operates the second conveyance table 4B from one end to the other end. If either the light receiving level of the third optical sensor 13 or the light receiving level of the fourth optical sensor 14 is below a predetermined level, the second conveyance table 4B is moved from the other end to the one end. If the light receiving levels of the first optical sensor 11, the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14 are all equal to or above a predetermined level, the second conveyance table control unit 123 stops the second conveyance table 4B.

[0074] In the first conveyance table control unit 133, when the pressure information 191 acquired from the pressure information acquisition unit 190 is information indicating the pressure state of the reflective member 6, or when the pressure information 191A acquired from the pressure information acquisition unit 190A is information indicating the pressure state of another reflective member 7, the third processing unit 130 acquires the light reception levels of the first optical sensor 11, the second optical sensor 12, and the fourth optical sensor 14. Then, the first conveyance table control unit 133 executes the same processing as the first conveyance table control unit 113.

[0075] In the second conveyance table control unit 143, when the pressure information 191 acquired from the pressure information acquisition unit 190 is information indicating the pressure state of the reflective member 6, or when the pressure information 191A acquired from the pressure information acquisition unit 190A is information indicating the pressure state of another reflective member 7, the fourth processing unit 140 acquires the light reception level of the first optical sensor 11 from the first processing unit 110, acquires the light reception level of the second optical sensor 12 from the second processing unit 120, and acquires the light reception level of the third optical sensor 13 from the third processing unit 130. Then, the second conveyance table control unit 143 executes the same processing as the second conveyance table control unit 123.

[0076] In this manner, when the reflective member 6 or another reflective member 7 is pressed, if either the light receiving level of the first optical sensor 11 or the light receiving level of the second optical sensor 12 is below a predetermined level, the controller 100 moves the first conveyance table 4A and the second conveyance table 4B from one end to the other end. If either the light receiving level of the third optical sensor 13 or the light receiving level of the fourth optical sensor 14 is below a predetermined level, the controller 100 moves the first conveyance table 4A and the second conveyance table 4B from the other end to the one end. If all of the light receiving levels of the first optical sensor 11, the light receiving level of the second optical sensor 12, the light receiving level of the third optical sensor 13, and the light receiving level of the fourth optical sensor 14 are above a predetermined level, the controller 100 stops both the first conveyance table 4A and the second conveyance table 4B. Note that when either the light receiving level of the first optical sensor 11 or the light receiving level of the second optical sensor 12 falls below a predetermined level, or when either the light receiving level of the third optical sensor 13 or the light receiving level of the fourth optical sensor 14 falls below a predetermined level, this is, for example, when a large-sized transported object 3 enters the transport robot 1 in an inclined state. In this case, by operating both the first transport table 4A and the second transport table 4B, it is possible to pull the large-sized transported object 3 onto the first transport table 4A and the second transport table 4B.

[0077] 2-4.Effects According to the second embodiment, when different conveyed objects 3 are placed on the first conveyance table 4A and the second conveyance table 4B, if the light reception level of the first optical sensor 11 is below the first level, the first conveyance table 4A operates, and if the light reception level of the first optical sensor 11 is equal to or higher than the first level, the first conveyance table 4A stops. If the light reception level of the second optical sensor 12 is below the second level, the second conveyance table 4B operates, and if the light reception level of the second optical sensor 12 is equal to or higher than the second level, the second conveyance table 4B stops. If the light reception level of the third optical sensor 13 is below the third level, the first conveyance table 4A operates, and if the light reception level of the third optical sensor 13 is equal to or higher than the third level, the first conveyance table 4A stops. When the light reception level of the fourth optical sensor 14 is below the fourth level, the second conveyance table 4B operates, and when the light reception level of the fourth optical sensor 14 is equal to or higher than the second level, the second conveyance table 4B stops. Furthermore, when a large-sized object 3 is placed on the first conveyance table 4A and the second conveyance table 4B, if either the light receiving level of the first optical sensor 11 or the light receiving level of the second optical sensor 12 is below a predetermined level, both the first conveyance table 4A and the second conveyance table 4B move from one end to the other end. If either the light receiving level of the third optical sensor 13 or the light receiving level of the fourth optical sensor 14 is below the predetermined level, both the first conveyance table 4A and the second conveyance table 4B move from the other end to one end. If all the light receiving levels of the first optical sensor 11, the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14 are above the predetermined level, both the first conveyance table 4A and the second conveyance table 4B stop. This achieves the same effect as the first embodiment. Furthermore, a wide variety of objects 3, from small to large, can be conveyed, improving conveyance efficiency. Furthermore, the article 3 can be received from one end or the other end of the first conveying table 4A and the second conveying table 4B, which further improves conveying efficiency.

[0078] 3. Embodiment 3 8 is a block diagram showing an example of the configuration of the upper part of the transport robot 1 according to embodiment 3. Even if the transported object 3 is placed in an appropriate location on the transport platform 4, depending on the weight of the transported object 3 and the travel route of the transport robot 1, the transported object 3 may move and fall off the transport platform 4 while the transport robot 1 is traveling. It is preferable to stop the transport robot 1 before the transported object 3 falls off the transport platform 4.

[0079] According to the transport robot 1 according to the third embodiment, while the transport robot 1 is traveling, the transport robot 1 is controlled to stop traveling based on the light reception level of the first optical sensor 11, the light reception level of the second optical sensor 12, the light reception level of the third optical sensor 13, and the light reception level of the fourth optical sensor 14. Specifically, as shown in (A) in FIG. 9, the transport robot 1 further includes an autonomous traveling control unit 200 that controls the autonomous traveling of the transport robot 1. The controller 100 instructs the autonomous traveling control unit 200 to stop traveling of the transport robot 1 when any one of the light reception level of the first optical sensor 11, the light reception level of the second optical sensor 12, the light reception level of the third optical sensor 13, and the light reception level of the fourth optical sensor 14 is below a predetermined level. An instruction to the autonomous driving control unit 200 is issued, for example, from one of the first processing unit 110 (first conveyance platform control unit 113), the second processing unit 120 (second conveyance platform control unit 123), the third processing unit 130 (first conveyance platform control unit 133), and the fourth processing unit 140 (second conveyance platform control unit 143). As a result, when the transported object 3 is on the optical axis of any of the first optical sensor 11, the second optical sensor 12, the third optical sensor 13, and the fourth optical sensor 14, the transport robot 1 stops traveling. Therefore, the transported object 3 can be prevented from falling from the conveyance platform 4.

[0080] 9(B), the same processing may be performed even when the transport robot 1 is configured to have only the first optical sensor 11 and the second optical sensor 12. In this case, the controller 100 instructs the autonomous driving control unit 200 to stop the transport robot 1 from traveling when either the light reception level of the first optical sensor 11 or the light reception level of the second optical sensor 12 is below a predetermined level. The instruction to the autonomous driving control unit 200 is issued, for example, from either the first processing unit 110 (first conveyance table control unit 113) or the second processing unit 120 (second conveyance table control unit 123). [Explanation of symbols]

[0081] 1...transport robot, 2...conveyor device, 3...transported object, 4...transport table, 4A...first transport table, 4B...second transport table, 6...reflecting member, 6A...first reflecting section, 6B...second reflecting section, 6C...sensor, 7...reflecting member, 7A...third reflecting section, 7B...fourth reflecting section, 7C...sensor, 11...first optical sensor, 11A...light-emitting section, 11B...light-receiving section, 12...second optical sensor, 12A...light-emitting section, 12B...light-receiving section, 13...third optical sensor, 13A...light-emitting section, 13B...light-receiving section, 14...fourth optical sensor, 14A...light-emitting section, 14B...light-receiving section, 100...controller, 110...first processing section, 111...receiving section Light level acquisition unit, 112...transported object detection unit, 113...first conveyance platform control unit, 120...second processing unit, 121...received light level acquisition unit, 122...transported object detection unit, 123...second conveyance platform control unit, 130...third processing unit, 131...received light level acquisition unit, 132...transported object detection unit, 133...first conveyance platform control unit, 140...fourth processing unit, 141...received light level acquisition unit, 142...transported object detection unit, 143...second conveyance platform control unit, 180...communication device, 181...size information of conveyed object 3, 190, 190A...pressure information acquisition unit, 191, 191A...pressure information, 200...autonomous driving control unit

Claims

1. A transport robot that transports an object, a first conveying table that operates in a conveying direction that is horizontally perpendicular to the traveling direction; a second conveying table that is arranged alongside the first conveying table in the direction of travel, has the object to be conveyed placed thereon, and is operable in the same direction as the first conveying table in the conveying direction; a reflecting member provided between the first conveying table and the second conveying table and upstream of the first conveying table and the second conveying table in the conveying direction, the reflecting member having a first reflecting portion on the first conveying table side and a second reflecting portion on the second conveying table side; a first optical sensor that is provided on the opposite side of the reflecting member across the first conveyance table, that emits light toward the first reflecting portion, and that receives reflected light from the first reflecting portion; a second optical sensor that is provided on the opposite side of the reflecting member across the second conveyance table, that emits light toward the second reflecting portion, and that receives reflected light from the second reflecting portion; a controller configured to execute at least one of a first process for controlling operation of the first conveyance table based on the light reception level of the first optical sensor and a second process for controlling operation of the second conveyance table based on the light reception level of the second optical sensor; Equipped with The controller In the first process, When the light receiving level of the first optical sensor is less than a first level, the first conveyance table is operated; When the light receiving level of the first optical sensor is equal to or greater than the first level, the first conveyance table is stopped; In the second process, When the light receiving level of the second optical sensor is less than a second level, the second conveyance table is operated; When the light receiving level of the second optical sensor is equal to or greater than the second level, the second conveyance table is stopped. A transport robot characterized by:

2. The transport robot according to claim 1, The reflecting member is a mechanism that protrudes above the upper surfaces of the first and second conveyance tables and that moves to the same height as the upper surfaces of the first and second conveyance tables or below the height thereof when pressed from above; a sensor that emits a signal when pressed; The controller, in a state in which the reflecting member is pressed, When either the light receiving level of the first optical sensor or the light receiving level of the second optical sensor is lower than a predetermined level, both the first conveyance table and the second conveyance table are operated; When the light receiving level of the first optical sensor and the light receiving level of the second optical sensor are both equal to or higher than the predetermined level, both the first conveyance table and the second conveyance table are stopped. A transport robot characterized by:

3. The transport robot according to claim 1, The controller further comprises: acquiring size information of the transported goods via a communication device; In the case where the size is such that the object can be placed across the first conveyance table and the second conveyance table, When either the light receiving level of the first optical sensor or the light receiving level of the second optical sensor is lower than a predetermined level, both the first conveyance table and the second conveyance table are operated; When the light receiving level of the first optical sensor and the light receiving level of the second optical sensor are both equal to or higher than the predetermined level, both the first conveyance table and the second conveyance table are stopped. A transport robot characterized by:

4. The transport robot according to any one of claims 1 to 3, An autonomous driving control unit for controlling the autonomous driving of the transport robot is further provided, The controller is configured to instruct the autonomous driving control unit to stop the transport robot from traveling when either the light receiving level of the first optical sensor or the light receiving level of the second optical sensor is lower than a predetermined level while the transport robot is traveling. A transport robot characterized by:

5. A transport robot that transports an object, a first conveying table that operates in a conveying direction that is horizontally perpendicular to the traveling direction; a second conveyance table that is arranged alongside the first conveyance table in a traveling direction and that operates in the same direction as the first conveyance table; a reflecting member provided between the first conveying table and the second conveying table and on one end side of the first conveying table and the second conveying table, the reflecting member having a first reflecting portion on the first conveying table side and a second reflecting portion on the second conveying table side; a first optical sensor that is provided on the opposite side of the reflecting member across the first conveyance table, that emits light toward the first reflecting portion, and that receives reflected light from the first reflecting portion; a second optical sensor that is provided on the opposite side of the reflecting member across the second conveyance table, that emits light toward the second reflecting portion, and that receives reflected light from the second reflecting portion; another reflecting member provided between the first conveying table and the second conveying table and on the other end side of the first conveying table and the second conveying table, the another reflecting member having a third reflecting portion on the first conveying table side and a fourth reflecting portion on the second conveying table side; a third optical sensor that is provided on the opposite side of the another reflecting member across the first conveyance table, that emits light toward the third reflecting section and receives reflected light from the third reflecting section; a fourth optical sensor that is provided on the opposite side of the other reflecting member across the second conveyance table, that emits light toward the fourth reflecting section and receives reflected light from the fourth reflecting section; a controller configured to execute at least one of a first process for controlling operation of the first conveyance carriage based on the light reception level of the first optical sensor, a second process for controlling operation of the second conveyance carriage based on the light reception level of the second optical sensor, a third process for controlling operation of the first conveyance carriage based on the light reception level of the third optical sensor, and a fourth process for controlling operation of the second conveyance carriage based on the light reception level of the fourth optical sensor; Equipped with The controller In the first process, When the light receiving level of the first optical sensor is less than a first level, the first conveyance table is operated; When the light receiving level of the first optical sensor is equal to or greater than the first level, the first conveyance table is stopped; In the second process, When the light receiving level of the second optical sensor is less than a second level, the second conveyance table is operated; When the light receiving level of the second optical sensor is equal to or higher than the second level, the second conveyance table is stopped; In the third process, When the light receiving level of the third optical sensor is less than a third level, the first conveyance table is operated; When the light receiving level of the third optical sensor is equal to or higher than the third level, the first conveyance table is stopped; In the fourth process, When the light receiving level of the fourth optical sensor is less than a fourth level, the second conveyance table is operated; and when the light receiving level of the fourth optical sensor is equal to or higher than the fourth level, the second conveyance table is stopped. A transport robot characterized by:

6. The transport robot according to claim 5, The reflecting member is a mechanism that protrudes above the upper surfaces of the first and second conveyance tables and that moves to the same height as the upper surfaces of the first and second conveyance tables or below the height thereof when pressed from above; a sensor that emits a signal when pressed; The other reflecting member is a mechanism that protrudes above the upper surfaces of the first and second conveyance tables and that moves to the same height as the upper surfaces of the first and second conveyance tables or below the height thereof when pressed from above; a sensor that emits a signal when pressed; The controller, in a state where the reflecting member or the another reflecting member is pressed, When either the light receiving level of the first optical sensor or the light receiving level of the second optical sensor is lower than a predetermined level, the first conveyance table and the second conveyance table are both moved from one end side to the other end side, When either the light receiving level of the third optical sensor or the light receiving level of the fourth optical sensor is lower than the predetermined level, the first conveyance table and the second conveyance table are both moved from the other end side to the one end side, When the light receiving level of the first optical sensor, the light receiving level of the second optical sensor, the light receiving level of the third optical sensor, and the light receiving level of the fourth optical sensor are all equal to or higher than the predetermined level, both the first conveyance table and the second conveyance table are stopped. A transport robot characterized by:

7. The transport robot according to claim 5, The controller further comprises: acquiring size information of the transported goods via a communication device; In the case where the size is such that the object can be placed across the first conveyance table and the second conveyance table, When either the light receiving level of the first optical sensor or the light receiving level of the second optical sensor is lower than a predetermined level, the first conveyance table and the second conveyance table are both moved from one end side to the other end side, When either the light receiving level of the third optical sensor or the light receiving level of the fourth optical sensor is lower than the predetermined level, the first conveyance table and the second conveyance table are both moved from the other end side to the one end side, When the light receiving level of the first optical sensor, the light receiving level of the second optical sensor, the light receiving level of the third optical sensor, and the light receiving level of the fourth optical sensor are all equal to or higher than the predetermined level, both the first conveyance table and the second conveyance table are stopped. A transport robot characterized by:

8. The transport robot according to any one of claims 5 to 7, An autonomous driving control unit for controlling the autonomous driving of the transport robot is further provided, The controller is configured to instruct the autonomous driving control unit to stop the transport robot from traveling when any one of the light receiving level of the first optical sensor, the light receiving level of the second optical sensor, the light receiving level of the third optical sensor, and the light receiving level of the fourth optical sensor is less than a predetermined level while the transport robot is traveling. A transport robot characterized by:

9. The transport robot according to claim 5, Each of the first and second conveyance tables is configured to be driven in forward or reverse rotation. A transport robot characterized by:

10. The transport robot according to claim 1 or 5, Each of the first conveying table and the second conveying table is provided with an endless belt that operates in the conveying direction. A transport robot characterized by:

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