Conveyance device and conveyance control device

Abstract

To provide a conveying device capable of more reliably preventing an object to be conveyed from tilting or falling when lifted. [Solution] The conveying device has a lifting mechanism that can be raised and lowered freely, and lifts the object by bringing the lifting mechanism into contact with the object and raising it, and moves in that state.The conveying device has a plurality of load sensors that are provided in the lifting mechanism and detect the load received by coming into contact with the object, a calculation unit that calculates the center of gravity position of the object based on the distribution of the detected load, and a control unit that moves the conveying device to a position where the calculated center of gravity position can be lifted and raises the lifting mechanism.

Description

[Technical Field]

[0001] The present disclosure relates to a transport device and a transport control device. [Background technology]

[0002] Conventionally, conveyance devices that lift and transport objects have been used in factories, warehouses, etc. (See, for example, Patent Document 1.) Known examples of conveyance devices include automatic guided vehicles (AGVs) and autonomous mobile robots (AMRs). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-136060 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional conveying devices, when an object to be conveyed is lifted in a position displaced from its center of gravity, the object may tilt or fall over.

[0005] An object of one aspect of the present disclosure is to provide a conveying device and a conveying control device that can more reliably prevent a conveyed object from tilting or falling over when lifted. [Means for solving the problem]

[0006] A conveying device according to one aspect of the present disclosure has a lifting mechanism that can be raised and lowered, and lifts the object by bringing the lifting mechanism into contact with the object and raising it, and moves in that state.The conveying device has a plurality of load sensors provided in the lifting mechanism that detect the load received by coming into contact with the object, a calculation unit that calculates the center of gravity position of the object based on the distribution of the detected load, and a control unit that moves the conveying device to a position where the calculated center of gravity position can be lifted and raises the lifting mechanism.

[0007] A transport control device according to one aspect of the present disclosure is a transport control device that has a lifting mechanism that can be raised and lowered freely, and that lifts the transported object by bringing the lifting mechanism into contact with the transported object and raising it, and is located separately from a transport device that moves in that state, and controls the transport device.The transport control device has a communication unit that receives load information from the transport device indicating the load detected when multiple load sensors provided in the lifting mechanism come into contact with the transported object, and sends control information to the transport device indicating control instructions for the transport device, a calculation unit that calculates the center of gravity position of the transported object based on the distribution of the detected load, and a control unit that moves the transport device to a position where the calculated center of gravity position can be lifted and generates the control information to raise the lifting mechanism. [Effects of the Invention]

[0008] According to the present disclosure, tilting or tipping over of a transported object when lifted can be more reliably prevented. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a side view schematically illustrating a conveying device and a conveyed object according to an embodiment of the present disclosure. [Figure 2] FIG. 1 is a top view schematically illustrating a planar portion of a lifting mechanism according to an embodiment of the present disclosure. [Figure 3] FIG. 1 is a block diagram illustrating a configuration of a conveying device according to an embodiment of the present disclosure. [Figure 4]1 is a flowchart illustrating an operation of a conveying device according to an embodiment of the present disclosure. [Figure 5] FIG. 10 is a side view schematically illustrating a state in which a lifting mechanism of a transport device according to an embodiment of the present disclosure comes into contact with a transported object; [Figure 6] FIG. 1 is a top view schematically illustrating a center position, a center of gravity line, and a center of gravity position in a planar portion of a lifting mechanism according to an embodiment of the present disclosure. [Figure 7] FIG. 10 is a block diagram showing the configuration of a transport device and a transport control device according to a modified example of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0011] First, an outline of a transport device 1 and a transport object 2 according to this embodiment will be described with reference to FIGS.

[0012] FIG. 1 is a side view schematically showing a conveying device 1 and a conveyed object 2. The conveyed object 2 is an object conveyed by the conveying device 1. The conveyed object 2 may be a device (e.g., a rack, a pallet, a box, etc.) that can place one or more objects at any position and whose center of gravity changes depending on the number and positions of the objects. In this embodiment, an example will be described in which the conveyed object 2 is a rack with multiple tiers.

[0013] In this embodiment, an example will be described in which one piece of luggage 3 is placed on the lowest level of the transported object 2 as shown in Figure 1, but the number and position of the luggage 3 placed on the transported object 2 are not limited to those shown in Figure 1.

[0014] The conveying device 1 is a device that can lift the object 2 by bringing a lifting mechanism 20 (described in detail later) into contact with the object 2 and lifting it, and then move it to a predetermined position in that state. Examples of the conveying device 1 include the AMR or AGV described above.

[0015] As shown in Fig. 1, the transport device 1 has a main body 11, a plurality of wheels 10, and a lifting mechanism 20. Although not shown in Fig. 1, the main body 11 is provided therein with a wheel driving unit 40, a lifting mechanism driving unit 50, a calculation unit 60, and a control unit 70 (see Fig. 3), which will be described later.

[0016] A plurality of wheels 10 are provided below the main body 11. By controlling the rotation direction and steering direction of the wheels 10, the conveyance device 1 can move (travel) in all directions, forward, backward, left and right.

[0017] A lifting mechanism 20 is provided above the main body 11. The lifting mechanism 20 can be raised and lowered freely (in the directions of arrows A and B in FIG. 1). A flat surface 21 that is horizontal to the ground (not shown) on which the wheel 10 is placed is provided on the upper part of the lifting mechanism 20.

[0018] The flat portion 21 shown in Fig. 1 is in a state where it has descended to the lowest position (hereinafter referred to as the lowest position). The flat portion 21 can rise from the lowest position in the direction of arrow A in Fig. 1. Furthermore, the flat portion 21 can descend from the raised position in the direction of arrow B in Fig. 1 and return to the lowest position.

[0019] Fig. 2 is a top view schematically showing the planar portion 21 of the lifting mechanism 20. As shown in Fig. 2, the planar portion 21 has a rectangular shape when viewed from directly above. In Fig. 2, the X direction indicates the longitudinal direction of the planar portion 21, the Y direction indicates the lateral direction of the planar portion 21, and the center position C indicates the center position of the planar portion 21 (an example of the center position of the lifting mechanism 20).

[0020] As shown in Fig. 2, load sensors 30a, 30b, 30c, and 30d are provided spaced apart from one another on the flat surface portion 21. Also, as shown in Fig. 1, the load sensors 30a to 30d are provided so as to protrude from the flat surface portion 21 (load sensors 30c and 30d are not shown in Fig. 1).

[0021] The load sensors 30a to 30d each detect a load value (hereinafter simply referred to as load) received when the flat portion 21 rises and comes into contact with the transported object 2, and output the value to a calculation unit 60 (see FIG. 4) described later. Known sensors can be used as the load sensors 30a to 30d, and detailed description thereof will be omitted.

[0022] In the present embodiment, the planar portion 21 and the load sensors 30a to 30d have a rectangular shape when viewed from directly above, but the shape is not limited to this and may be other shapes. Furthermore, the number and positions of the load sensors provided on the planar portion 21 are not limited to those shown in FIG.

[0023] Furthermore, in the present embodiment, the load sensors 30a-30d are provided protruding from the flat surface portion 21, but they may be embedded in the flat surface portion 21. However, when the load sensors 30a-30d are embedded in the flat surface portion 21, if the surface of the load object 2 that comes into contact with the load sensors 30a-30d (hereinafter referred to as the contact surface) is not flat, any of the load sensors 30a-30d may not be able to make sufficient contact with the contact surface, and the load may not be detected. In contrast, if the load sensors 30a-30d protrude from the flat surface portion 21, all of the load sensors 30a-30d can make sufficient contact with the contact surface, and the load can be detected more reliably.

[0024] Next, the configuration of the conveying device 1 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the configuration of the conveying device 1.

[0025] Although not shown in the drawings, the conveyance device 1 has, as hardware, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory) storing computer programs, a RAM (Random Access Memory) as a working memory, etc. The operations of the conveyance device 1 (particularly the operations of the calculation unit 60 and the control unit 70), which will be described later, are realized by the CPU reading out the computer program from the ROM and executing it in the RAM.

[0026] 3, the conveyance device 1 includes wheels 10, a lifting mechanism 20, load sensors 30a to 30d, a wheel drive unit 40, a lifting mechanism drive unit 50, a calculation unit 60, and a control unit 70. The wheels 10, the lifting mechanism 20, and the load sensors 30a to 30d have already been described, so a description thereof will be omitted here.

[0027] The wheel drive unit 40 is a device that rotates the wheels 10 forward or backward, and steers the wheels 10 right or left.

[0028] The lifting mechanism driving unit 50 is a device that raises the lifting mechanism 20 (flat surface unit 21) upward (in the direction of arrow A in FIG. 1) and lowers it downward (in the direction of arrow B in FIG. 1).

[0029] The calculation unit 60 performs various calculation processes, the details of which will be described later.

[0030] The control unit 70 performs various control processes on the wheel drive unit 40 and the lifting mechanism drive unit 50. Details of this will be described later.

[0031] Next, the operation of the conveying device 1 will be described with reference to Fig. 4. Fig. 4 is a flowchart showing the flow of the operation of the conveying device 1.

[0032] The flow shown in FIG. 4 starts, for example, from a state in which the transport device 1 is located at a distance from the transported object 2 (see, for example, FIG. 1).

[0033] First, the control unit 70 controls the wheel driving unit 40 to move the transport device 1 below the transported object 2 (step S1).

[0034] As a result, for example, the conveying device 1 travels to directly below the lowest level of the conveyed object 2 (the level on which the luggage 3 is placed) and stops. At this time, the planar portion 21 in the lowest position is spaced apart from and faces the underside of the lowest level (the side opposite to the surface on which the luggage 3 is placed). Note that the processing of step S1 is a known technique, and therefore a detailed description thereof will be omitted.

[0035] Next, the control unit 70 controls the lifting mechanism driving unit 50 to raise the lifting mechanism 20 until all of the load sensors 30a to 30d detect a load (step S2).

[0036] The state of the conveying device 1 at this time is shown in Fig. 5. Fig. 5 is a side view that schematically shows the conveying device 1 and the object 2 to be conveyed, similar to Fig. 1.

[0037] 5, lifting mechanism 20 (flat surface portion 21) is raised in the direction of arrow A compared to the state in FIG. 1. At this time, load sensors 30a to 30d (load sensors 30c and 30d are not shown) come into contact with transported load 2 (specifically, the underside of the lowest stage) and slightly lift transported load 2. This allows load sensors 30a to 30d to detect the load.

[0038] In this manner, in this embodiment, before the load 2 is fully lifted for transportation, the load is slightly lifted, and the load is detected by all of the load sensors 30a to 30d.

[0039] Next, the calculation unit 60 calculates the position of the center of gravity of the load 2 based on the distribution of the detected load (step S3).

[0040] An example of calculation in step S3 will now be described with reference to Fig. 6. Fig. 6 is a top view schematically showing the planar portion 21, similar to Fig. 2. The center position C of the planar portion 21 shown in Fig. 6, the length of the planar portion 21 in the longitudinal direction (X direction in Fig. 2), and the length of the planar portion 21 in the lateral direction (Y direction in Fig. 2) are known values ​​to the calculation unit 60.

[0041] First, the calculation unit 60 calculates a center of gravity line L1 along the Y direction based on the center position C of the planar portion 21, the longitudinal length of the planar portion 21, the sum of the load detected by the load sensor 30a and the load detected by the load sensor 30c, and the sum of the load detected by the load sensor 30b and the load detected by the load sensor 30d.

[0042] Next, the calculation unit 60 calculates a center of gravity line L2 along the X direction based on the center position C of the planar portion 21, the length of the planar portion 21 in the short direction, the sum of the load detected by the load sensor 30a and the load detected by the load sensor 30b, and the sum of the load detected by the load sensor 30c and the load detected by the load sensor 30d.

[0043] Then, the calculation unit 60 determines the intersection of the center of gravity line L1 and the center of gravity line L2 as the center of gravity position G of the transported object 2.

[0044] The position of the center of gravity of the transported object 2 may be determined using a known method other than the above-mentioned calculation method.

[0045] Below, we return to the explanation of the flow in Figure 4.

[0046] Next, the calculation unit 60 calculates the distance between the center of gravity G of the load 2 and the center C of the flat surface 21 (step S4).

[0047] Next, the control unit 70 controls the lifting mechanism driving unit 50 to lower the lifting mechanism 20 so that all of the load sensors 30a to 30d are separated from the transported object 2 (step S5).

[0048] At this time, the control unit 70 may stop the descent of the lifting mechanism 20 when the calculation unit 60 detects that none of the load sensors 30a to 30d detects a load, or may lower the lifting mechanism 20 to its lowest position regardless of whether or not a load is detected.

[0049] Next, the control unit 70 controls the wheel drive unit 40 to move the conveying device so that the center position C of the planar portion 21 coincides with the center of gravity position G of the conveyed object 2 based on the calculated distance between the two points (step S6).

[0050] As a result, the conveying device 1 moves to a position where the calculated center of gravity G of the conveyed object 2 can be lifted.

[0051] Next, the control unit 70 controls the lifting mechanism driving unit 50 to raise the lifting mechanism 20 so that the load 2 is separated from the ground (step S7).

[0052] At this time, the control unit 70 raises the lifting mechanism 20 to a position higher than the position when it was raised in step S2. As a result, the transported object 2 is lifted off the ground and is lifted by the lifting mechanism 20 (plane portion 21).

[0053] Next, the control unit 70 controls the wheel drive unit 40 to move the transport device 1 to a predetermined position while the transported object 2 is lifted by the lifting mechanism 20 (step S8).

[0054] The predetermined position is, for example, a position designated in advance by the user. Note that the process of step S8 is a known technique, and therefore a detailed description thereof will be omitted.

[0055] As described above, the conveying device 1 of this embodiment is a conveying device that has a lifting mechanism 20 that can be raised and lowered freely, and that lifts the conveyed object 2 by bringing the lifting mechanism 20 into contact with the conveyed object 2 and raising it, and moves in that state.It is characterized by having a plurality of load sensors 30a to 30d that are provided in the lifting mechanism 20 and that detect the load received by coming into contact with the conveyed object 2, a calculation unit 60 that calculates the center of gravity position G of the conveyed object 2 based on the distribution of the detected load, and a control unit 70 that moves the conveying device 1 to a position where the calculated center of gravity position G can be lifted, and raises the lifting mechanism 20.

[0056] In conventional conveying devices, if the object is lifted off the center of gravity, the object may tilt or tip over. This problem can be solved by determining the center of gravity of the object in advance and lifting it at that center.

[0057] However, if the transported object is one in which one or more objects can be placed at any position and the center of gravity position changes depending on the number and positions of the objects, it is difficult to determine the center of gravity position in advance, so it is desirable to be able to solve the above problem even for such transported objects.

[0058] Therefore, as a feature of the conveying device 1 of this embodiment, before lifting for conveyance is performed, the center of gravity G of the conveyed object 2 is calculated based on the detected load distribution, and the center of gravity G is lifted. This makes it possible to more reliably prevent the conveyed object from tilting or tipping over when lifted, even for conveyed objects whose center of gravity is difficult to determine in advance.

[0059] The present disclosure is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit of the present disclosure. Modifications will be described below.

[0060] [Variation 1] In the embodiment, an example has been described in which the conveying device 1 has a calculation unit 60 and a control unit 70, and the conveying device 1 itself controls its operation, but this is not limiting. For example, a device separate from the conveying device 1 may have the calculation unit 60 and the control unit 70, and this device may control the operation of the conveying device 1. This example will be described below with reference to FIG. 7. FIG. 7 is a block diagram showing the configurations of the conveying device 1 and the conveying control device 100 of this modified example.

[0061] 3, the conveying device 1 shown in Fig. 7 does not have the calculation unit 60 and the control unit 70, but instead has a communication unit 80. Note that the components of the conveying device 1 other than the communication unit 80 have already been explained in the embodiment, so explanations thereof will be omitted here.

[0062] The communication unit 80 is a device that transmits and receives information to and from the communication unit 90 of the transport control device 100 using a known wireless communication method. Specifically, the communication unit 80 transmits load information indicating the load detected by the load sensors 30a to 30d to the transport control device 100. The communication unit 80 also receives control information (details will be described later) indicating control instructions for the transport device 1 transmitted from the transport control device 100, and outputs the control information to the wheel drive unit 40 and the lifting mechanism drive unit 50. The wheel drive unit 40 and the lifting mechanism drive unit 50 then operate the wheels 10 and the lifting mechanism 20, respectively, based on the control information.

[0063] The transport control device 100 is provided separately from the transport device 1 and controls the operation of the transport device 1. Although not shown in the drawings, the transport control device 100 has, as hardware, for example, a CPU, a ROM storing computer programs, and a RAM serving as a working memory. The operation of the transport control device 100 (particularly the operation of the calculation unit 60 and the control unit 70), which will be described later, is realized by the CPU reading out a computer program from the ROM and executing it in the RAM.

[0064] As shown in FIG. 7, the transport control device 100 includes a calculation unit 60, a control unit 70, and a communication unit 90.

[0065] The communication unit 90 is a device that transmits and receives information to and from the communication unit 80 of the conveying device 1 using a known wireless communication method. Specifically, the communication unit 90 receives load information transmitted from the conveying device 1. In addition, the communication unit 90 transmits control information (details of which will be described later) generated by the control unit 70 to the conveying device 1.

[0066] The basic operations of the calculation unit 60 and the control unit 70 are the same as those in the embodiment. The operations of the calculation unit 60 and the control unit 70 in this modification will be described in detail below in accordance with the flow of FIG. 4 described in the embodiment.

[0067] First, the control unit 70 generates first control information and transmits it from the communication unit 90 to the conveying device 1. The first control information is information to move the conveying device 1 below the conveyed object 2, and then to raise the lifting mechanism 20 until all of the load sensors 30a to 30d detect the load.

[0068] Thereafter, in the transport device 1, the first control information is received by the communication unit 80 and output to the wheel drive unit 40 and the lifting mechanism drive unit 50.

[0069] First, the wheel driving unit 40 operates the wheels 10 based on the first control information, whereby the conveyance device 1 moves below the conveyed object 2.

[0070] Next, the lifting mechanism driving unit 50 raises the lifting mechanism 20 based on the first control information, and stops raising the lifting mechanism 20 when a load is detected by all of the load sensors 30a to 30d.

[0071] The communication unit 80 then transmits to the transport control device 100 load information indicating the loads detected by the load sensors 30a to 30d.

[0072] In the transport control device 100, when the communication unit 80 receives the load information, the calculation unit 60 calculates the center of gravity G (see FIG. 6) of the transported object 2 based on the distribution of the load indicated in the load information.

[0073] Next, the calculation unit 60 calculates the distance between the center of gravity G of the load 2 and the center C of the flat surface 21 (see FIG. 6).

[0074] Next, the control unit 70 generates second control information and transmits it from the communication unit 90 to the conveyance device 1. The second control information is information to lower the lifting mechanism 20 so that all of the load sensors 30a to 30d are separated from the conveyance device 2, then move the conveyance device 1 to a position where the calculated center-of-gravity position G can be lifted (specifically, move the conveyance device 1 so that the center-of-gravity position G of the conveyance device 2 coincides with the center position C of the flat surface portion 21 based on the calculated distance between the two points), and then raise the lifting mechanism 20 so that the conveyance device 2 is separated from the ground. The second control information includes information indicating the center position C of the flat surface portion 21, the center-of-gravity position G of the conveyance device 2, and the distance between those two points.

[0075] Next, the control unit 70 generates third control information and transmits it from the communication unit 90 to the conveying device 1. The third control information is information to move the conveying device 1 to a predetermined position while raising the lifting mechanism 20 so that the conveyed object 2 is separated from the ground. The third control information includes information indicating the predetermined position.

[0076] Thereafter, in the transport device 1, the second control information and the third control information are received by the communication unit 80 and output to the wheel drive unit 40 and the lifting mechanism drive unit 50.

[0077] First, based on the second control information, the lifting mechanism driving unit 50 lowers the lifting mechanism 20 so that all of the load sensors 30a to 30d are separated from the transported object 2. At this time, the lifting mechanism driving unit 50 may stop the lowering of the lifting mechanism 20 when all of the load sensors 30a to 30d no longer detect a load, or may lower the lifting mechanism 20 to the lowest position regardless of whether a load is detected or not.

[0078] Next, the wheel driving unit 40 operates the wheels 10 based on the second control information, thereby moving the conveyance device 1 to a position where the center of gravity G of the conveyed object 2 can be lifted (specifically, a position where the center of gravity G of the conveyed object 2 and the center position C of the flat surface portion 21 coincide with each other).

[0079] Next, based on the second control information, the lifting mechanism driving unit 50 raises the lifting mechanism 20 so that the load 2 is separated from the ground. At this time, the lifting mechanism driving unit 50 raises the lifting mechanism 20 so that the lifting mechanism 20 is higher than the position (see FIG. 5) when the lifting mechanism 20 is raised until all of the load sensors 30a to 30d detect a load. As a result, the load 2 is separated from the ground and is lifted by the lifting mechanism 20 (flat surface unit 21).

[0080] Next, the wheel driving unit 40 operates the wheels 10 based on the third control information, whereby the transport device 1 moves to a predetermined position with the transported object 2 lifted by the lifting mechanism 20.

[0081] As described above, even if the calculation unit 60 and the control unit 70 are provided in the transport control device 100 separate from the transport device 1, the same effects as those of the embodiment can be obtained.

[0082] In this modification, the second control information and the third control information have been described separately, but the content of the third control information may be included in the second control information.

[0083] [Variation 2] In the embodiment, the transported object 2 is an apparatus that can place one or more objects at any position and whose center of gravity position changes depending on the number and positions of the objects, but the present invention is not limited to this. The transport device 1 described in the embodiment and the transport control device 100 described in Modification 1 can also achieve the same effects as above for a transported object whose center of gravity position does not change (a transported object whose center of gravity position can be known in advance).

[0084] Therefore, according to the conveyance device 1 of the embodiment and the conveyance control device 100 of the modified example 1, it is possible to prevent the conveyance object from tilting or tipping when lifted, regardless of whether the conveyance object is one whose center of gravity position can be determined in advance or one whose center of gravity position is difficult to determine in advance. In other words, it is possible to more reliably prevent the conveyance object from tilting or tipping when lifted, regardless of the type of conveyance object. [Industrial Applicability]

[0085] The conveying device and conveyance control device of the present disclosure are useful in general technologies for lifting and conveying objects to be conveyed. [Explanation of symbols]

[0086] 1. Conveyor device 2. Transported object 3. Luggage 10 wheels 11 Main body 20 Lifting mechanism 21 Plane section 30a, 30b, 30c, 30d Load sensors 40 Wheel drive unit 50 Lifting mechanism drive unit 60 Calculation section 70 Control Unit 80, 90 Communications Department 100 Transport control device

Claims

1. A conveying device having a lifting mechanism that can be raised and lowered, and by bringing the lifting mechanism into contact with a conveyed object and raising it, the conveyed object is lifted and moved in that state, a plurality of load sensors provided in the lifting mechanism to detect a load received by contacting the transported object; a calculation unit that calculates the center of gravity position of the transported object based on the detected load distribution; a control unit that moves the transport device to a position where the calculated center of gravity position can be lifted and raises the lifting mechanism, Conveying device.

2. The control unit moving the conveying device below the object to be conveyed, and raising the lifting mechanism until all of the plurality of load sensors detect a load; The calculation unit calculating a center of gravity position of the transported object based on the detected load distribution, and calculating a distance between the center of gravity position and a center position of the lifting mechanism; The control unit lowering the lifting mechanism so that all of the plurality of load sensors are separated from the transported object; moving the conveying device so that the center of gravity position coincides with the central position based on the calculated distance between the two points; raising the lifting mechanism so that the transported object is separated from the ground; The conveying device according to claim 1 .

3. The lifting mechanism includes: a flat surface that faces the object when the object is lifted, The plurality of load sensors include: are spaced apart from each other on the planar portion, The center position is The center position of the planar portion The conveying device according to claim 2 .

4. The plurality of load sensors include: The projection is provided protruding from the flat surface. The conveying device according to claim 3 .

5. The transported object is An apparatus capable of placing one or more objects at any position, the center of gravity of which changes depending on the number and positions of the objects to be placed. The conveying device according to claim 1 .

6. A transport control device has a lifting mechanism that can be raised and lowered, and the lifting mechanism is brought into contact with a transported object to lift the transported object, and the transport control device is provided separately from a transport device that moves in this state, and controls the transport device, a communication unit that receives, from the transport device, load information indicating a load detected when a plurality of load sensors provided in the lifting mechanism come into contact with the transported object, and transmits, to the transport device, control information indicating a control instruction for the transport device; a calculation unit that calculates the center of gravity position of the transported object based on the detected load distribution; a control unit that moves the transport device to a position where the calculated center of gravity position can be lifted and generates the control information to lift the lifting mechanism, Transport control device.

7. The control unit generating the control information to move the transport device below the transported object and raise the lifting mechanism until all of the plurality of load sensors detect a load, and transmitting the control information from the communication unit to the transport device; The calculation unit calculating a center of gravity position of the transported object based on the distribution of the load indicated in the load information received by the communication unit, and calculating a distance between the center of gravity position and a center position of the lifting mechanism; The control unit lowering the lifting mechanism so that all of the plurality of load sensors are separated from the transported object, moving the transporting device so that the center of gravity position and the central position coincide based on the calculated two-point distance, generating the control information to raise the lifting mechanism so that the transported object is separated from the ground, and transmitting the control information from the communication unit to the transporting device. The transport control device according to claim 6.

8. The lifting mechanism includes: a flat surface that faces the object when the object is lifted, The plurality of load sensors include: are spaced apart from each other on the planar portion, The center position is The center position of the planar portion The transport control device according to claim 7 .

9. The plurality of load sensors include: The projection is provided protruding from the flat surface. The transport control device according to claim 8 .

10. The transported object is An apparatus capable of placing one or more objects at any position, the center of gravity of which changes depending on the number and positions of the objects to be placed. The transport control device according to claim 6.

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