Conveying equipment

Abstract

To provide a transport system that can efficiently charge autonomous mobile transport robots without increasing the size or complexity of the equipment. [Solution] The system comprises a lifting device equipped with a gondola that moves between floors, a cargo transport station installed on each floor, a cargo transport cart on which any cargo can be placed, an autonomous mobile transport robot installed on each floor, and a control means for controlling the lifting device and the autonomous mobile transport robot. A charging station is installed inside the gondola of the lifting device, and the control means controls the lifting device's gondola to move to any floor and charge the autonomous mobile transport robot on that floor using the charging station.

Description

Technical Field

[0001] The present invention relates to a conveying facility using an autonomous mobile robot (AMR, Autonomous Mobile Robot), and particularly relates to an invention devised so that the charging of the autonomous mobile robot can be efficiently performed without causing the facility to be enlarged or complicated.

Background Art

[0002] In a conventional conveying facility using an autonomous mobile robot, in a facility having a plurality of floors, an autonomous mobile robot and a charging station are installed on each floor. The autonomous mobile robot has an automatic charging function, and when charging is required, it automatically moves to the charging station to charge. In addition, there are cases where charging stations are installed on some floors in the facility. In this case, automatic charging of the autonomous mobile robot is performed for the floors where the charging stations are installed, and charging of the autonomous mobile robot is performed manually for the floors where the charging stations are not installed. In addition, as conventional conveying facilities using an autonomous mobile robot, those as shown in Patent Document 1 and Patent Document 2 are also known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to the above conventional configuration, there were the following problems. First, there was a problem that it was costly to install charging stations on each floor. Furthermore, when charging stations were installed on some floors, charging had to be done manually on floors without the stations, which created a cumbersome process.

[0005] This invention is based on these considerations and aims to provide a transport system that can efficiently charge autonomous transport robots without increasing the size or complexity of the equipment. [Means for solving the problem]

[0006] To solve the above problems, the transport equipment according to claim 1 of the present invention comprises: a lifting device equipped with a gondola that moves between floors; a cargo transport station installed on each floor; a cargo transport cart on which any cargo is placed; an autonomous transport robot installed on each floor that travels only within that floor and the gondola located on that floor and transports the cargo transport cart into the gondola; and control means for controlling the lifting device and the autonomous transport robot, wherein cargo is placed on the cargo transport cart at the cargo transport station on any floor, the gondola of the lifting device is positioned on any floor, and the cargo transport cart is autonomously transported In a transport system in which a transport robot transports the luggage transport cart to the gondola of the lifting device and leaves it inside the gondola, moves the gondola of the lifting device to the target floor, moves the autonomous transport robot on the target floor into the gondola of the lifting device, and transports the luggage transport cart left inside the gondola of the lifting device to the luggage transport station on the target floor, a charging station is installed inside the gondola of the lifting device, and the control means controls the gondola of the lifting device to move to an arbitrary floor and to charge the autonomous transport robot on that floor using the charging station. Furthermore, the transport equipment according to claim 2 of the present invention is characterized in that, in the transport equipment described in claim 1, the control means controls the charging of the autonomous transport robot to be performed in order of the lowest battery level of the autonomous transport robot. Furthermore, the transport equipment according to claim 3 of the present invention is characterized in that, in the transport equipment described in claim 1, the control means controls the charging of the autonomous transport robot to occur during non-transport work hours. Furthermore, the transport equipment according to claim 4 is characterized in that, in the transport equipment described in claim 1, the autonomous transport robot transports the luggage transport trolley while positioned beneath it, the autonomous transport robot is equipped with a retractable connecting pin for the luggage transport trolley, the luggage transport trolley is provided with a connecting hole, and the luggage transport trolley is integrated with the autonomous transport robot by extending the connecting pin for the luggage transport trolley and inserting it into the connecting hole. Furthermore, the transport equipment according to claim 5 is characterized in that, in the transport equipment described in claim 1, the luggage transport trolley is provided with a positioning plate, the autonomous transport robot is provided with a plurality of positioning rollers, and when the autonomous transport robot moves under the luggage transport trolley, the plurality of positioning rollers grip the positioning plate, thereby positioning the autonomous transport robot relative to the luggage transport trolley. Furthermore, the transport equipment according to claim 6 is characterized in that, in the transport equipment described in claim 1, the charging station is provided with a positioning plate, the autonomous transport robot is provided with a plurality of positioning rollers, and when the autonomous transport robot moves under the charging station, the plurality of positioning rollers grip the positioning plate, thereby positioning the autonomous transport robot relative to the charging station. Furthermore, the transport equipment according to claim 7 is characterized in that, in the transport equipment described in claim 1, a sensor is installed on the front of the autonomous transport robot, a detection pole is installed on the charging station, and the position of the autonomous transport robot is adjusted by detecting the detection pole with the sensor when the autonomous transport robot enters the charging station. [Effects of the Invention]

[0007] As described above, the transport equipment according to claim 1 of the present invention comprises: a lifting device equipped with a gondola that moves between floors; a cargo transport station installed on each of the floors; a cargo transport cart on which any cargo is placed; an autonomous transport robot installed on each of the floors that travels only within that floor and the gondola located on that floor and transports the cargo transport cart into the gondola; and control means for controlling the lifting device and the autonomous transport robot. The equipment includes: placing cargo on the cargo transport cart at the cargo transport station on any floor; positioning the gondola of the lifting device on any floor; and transporting the cargo transport cart to the lifting device by the autonomous transport robot. In a transport system that transports the luggage transport cart to a gondola and leaves it inside the gondola, moves the gondola of the lifting device to the target floor, moves the autonomous transport robot on the target floor into the gondola of the lifting device, and transports the luggage transport cart left inside the gondola of the lifting device to the luggage transport station on the target floor, a charging station is installed inside the gondola of the lifting device, and the control means controls the gondola of the lifting device to move to any floor and charges the autonomous transport robot on that floor using the charging station, thereby enabling efficient charging of the autonomous transport robot without increasing the size or complexity of the equipment. Furthermore, according to the transport equipment of claim 2 of the present invention, in the transport equipment described in claim 1, the control means controls the charging of the autonomous transport robot to be performed in order of the lowest battery level of the autonomous transport robot, thereby enabling more effective charging of the autonomous transport robot. Furthermore, according to the transport equipment of claim 3 of the present invention, in the transport equipment described in claim 1, the control means controls the charging of the autonomous transport robot to be performed during non-transport work hours, thereby enabling more effective charging of the autonomous transport robot. Furthermore, according to the transport equipment of claim 4, in the transport equipment of claim 1, the autonomous mobile transport robot transports the luggage transport trolley while positioned underneath it, the autonomous mobile transport robot is equipped with a retractable connecting pin for the luggage transport trolley, and the luggage transport trolley is provided with a connecting hole. By extending the connecting pin for the luggage transport trolley and inserting it into the connecting hole, the luggage transport trolley is integrated with the autonomous mobile transport robot, thereby enabling easy and accurate transport of the luggage transport trolley. Furthermore, according to the transport equipment of claim 5, in the transport equipment of claim 1, the luggage transport trolley is provided with a positioning plate, and the autonomous transport robot is provided with a plurality of positioning rollers. When the autonomous transport robot moves under the luggage transport trolley, the plurality of positioning rollers grip the positioning plate, thereby positioning the autonomous transport robot relative to the luggage transport trolley. This makes it easy and accurate to position the autonomous transport robot relative to the luggage transport trolley. Furthermore, according to the transport equipment of claim 6, in the transport equipment of claim 1, the charging station is provided with a positioning plate, and the autonomous transport robot is provided with a plurality of positioning rollers. When the autonomous transport robot enters under the charging station, the plurality of positioning rollers grip the positioning plate, thereby positioning the autonomous transport robot relative to the charging station. This makes it easy and accurate to position the autonomous transport robot relative to the charging station. Furthermore, according to the transport equipment of claim 7, in the transport equipment of claim 1, a sensor is installed on the front of the autonomous transport robot, and a detection pole is installed on the charging station. When the autonomous transport robot enters the charging station, the sensor detects the detection pole, thereby adjusting its position. This makes it easy and accurate to position the autonomous transport robot relative to the charging station. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows one embodiment of the present invention and is a schematic diagram illustrating the entire conveying equipment. [Figure 2] Figure 2(a) is a plan view of the autonomous mobile transport robot, Figure 2(b) is a side view of the autonomous mobile transport robot with the connecting pin for the cargo transport cart housed inside, Figure 2(c) is a side view of the autonomous mobile transport robot with the connecting pin for the cargo transport cart protruding, Figure 2(d) is a rear view of the autonomous mobile transport robot, and Figure 2(e) is a front view of the autonomous mobile transport robot. [Figure 3] This figure shows one embodiment of the present invention and is a functional block diagram of a control device and an autonomous mobile transport robot. [Figure 4] Figure 4(a) shows a plan view of the inside of the gondola of the lifting device when the autonomous mobile transport robot has moved the cargo transport cart to the charging station, and Figure 4(b) shows a side view of the inside of the gondola of the lifting device when the autonomous mobile transport robot has moved the cargo transport cart to the charging station. [Figure 5] Figure 5(a) shows a plan view of the inside of the gondola of the lifting device while the autonomous mobile transport robot is being charged by the charging station, and Figure 5(b) shows a side view of the inside of the gondola of the lifting device while the autonomous mobile transport robot is being charged by the charging station. [Figure 6] This figure shows one embodiment of the present invention, and is a flowchart of the transport control processing unit of the transport system control device. [Figure 7]This is a diagram showing an embodiment of the present invention, which is a flowchart of the transportation control unit of the transportation system control device. [Figure 8] This is a diagram showing an embodiment of the present invention, which is a flowchart of the charging unit of the transportation system control device.

Embodiments for Carrying out the Invention

[0009] Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 8. As shown in FIG. 1, the transportation facility 1 according to the present embodiment is installed in a building composed of a first floor 3, a second floor 5, and a third floor 7. First, there is a lifting device 9, which is installed with a gondola 11 that can move vertically (the up and down direction in FIG. 1) inside the building, a driving device (not shown) for moving the gondola 11 up and down, and a lifting control device 13 for controlling the driving device and controlling the opening and closing of doors (not shown) on each floor.

[0010] On each of the first floor 3, the second floor 5, and the third floor 7, a luggage transportation station 15 and an autonomous mobile transportation robot 19 are installed. In addition, a charging station 21 is installed inside the gondola 11 of the lifting device 9. There is also a luggage transportation cart 17 inside the transportation facility 1. The luggage transportation cart 17 is moved by the autonomous mobile transportation robot 19 to each of the first floor 3, the second floor 5, the third floor 7, and inside the gondola 11. In addition, a transportation system control device 23 is installed in the transportation facility 1.

[0011] As shown in FIG. 2, the autonomous mobile transportation robot 19 includes a main body 31, with two front wheels 33, 33 installed at the front of the main body 31 and two rear wheels 35, 35 installed at the rear of the main body 31. As shown in FIG. 3, motors 37, for driving the two rear wheels 35, 35 are installed in the autonomous mobile transportation robot 19. [[ID=*]]

[0012] On the front of the above-described autonomous mobile transport robot 19, as shown in FIG. 2, a LiDAR (Light Detection And Ranging) sensor 41 is installed. The LiDAR sensor 41 acquires distance information between the autonomous mobile transport robot 19 and a wall or an obstacle.

[0013] Also, as shown in FIG. 3, the above-described autonomous mobile transport robot 19 is provided with a battery 43 and a power receiving head 45 used for non-contact charging of the battery 43. The power receiving head 45 is attached to the side surface of the main body 31 as shown in FIGS. 2(b) and 2(c).

[0014] Also, as shown in FIG. 2, on both sides of the center in the width direction of the upper surface of the main body 31 of the autonomous mobile transport robot 19, two positioning rollers 47, 47 are rotatably installed respectively. Further, the autonomous mobile transport robot 19 is provided with a connection pin 49 for a luggage transport cart that can move up and down. The connection pin 4 ninety for the luggage transport cart is installed at the center in the width direction of the main body 31. The connection pin 49 for the luggage transport cart is normally housed in the main body 31 as shown in FIG. 2(b), but as shown in FIG. 2(c), it can be arbitrarily projected above the main body 31. Further, the autonomous mobile transport robot 19 is provided with a cylinder 51 that moves the connection pin 49 for the luggage transport cart up and down.

[0015] As shown in Figure 3, a control unit 53 is provided inside the main body 31 of the autonomous mobile transport robot 19. The control unit 53 is provided with a memory 55. The memory 55 stores a floor map 57, transport instruction information 59, target object information 61, self-position information 63, battery level 65, etc. The floor map 57 is map information of the floor on which the autonomous mobile transport robot 19 travels. The target object information 61 is detection information of the legs 87 of the cargo transport cart 17 and the pole 101 of the charging station 21. The transport instruction information 59 is transport instruction information received from the transport system control device 23. This transport instruction information includes not only normal transport instructions but also charging start instructions. The self-position information 63 is position information indicating the current position of the autonomous mobile transport robot 19, determined from information obtained from the LiDAR sensor 41 and the map information of the floor map 57. The battery level information 65 is information indicating the remaining charge (0 to 100%) of the battery 43.

[0016] The control unit 53 includes a LiDAR sensor information processing unit 67. This LiDAR sensor information processing unit 67 processes the information obtained from the LiDAR sensor 41 to acquire distance information between the autonomous mobile transport robot 19 and a wall or obstacle, and creates the floor map 57, target object information 61, and self-position information 63.

[0017] The control unit 53 includes a transport control processing unit 69. Based on the transport instruction information 59 in the memory 55, the transport control processing unit 69 issues rotation instructions to the motors 37 and 39 and lifting and lowering instructions to the cylinder 51. The control unit 53 also includes a charging processing unit 71. The charging processing unit 71 performs charging processing based on charging instructions received from the transport system control device 23 via the communication processing unit 73 during periods when transport processing is not being performed. In this embodiment, charging is performed sequentially starting with the autonomous transport robots 19 with the lowest battery levels. The control unit 53 also includes a communication processing unit 73. The communication processing unit 73 is for sending and receiving information with the transport system control device 23. The transport instruction information 59 is updated with information obtained from the transport system control device 23 via the communication processing unit 73, and the instructions from the charging processing unit 71 are also given with instructions obtained from the transport system control device 23 via the communication processing unit 73.

[0018] As shown in Figure 4, the above-mentioned cargo transport trolley 17 is loaded with cargo (not shown). A top plate 81 is provided. A magnetic tape 83 is attached to the front surface of the top plate 81. Legs 87 are installed at each of the four corners of the top plate 81, protruding downwards, and wheels 89 are rotatably installed at the lower ends of the legs 87.

[0019] Furthermore, a positioning plate 90 is installed in the center of the underside of the top plate 81 of the luggage transport trolley 17. The positioning plate 90 is provided with a connection hole 92 into which a connecting pin 49 for the luggage transport trolley of the autonomous mobile transport robot 19 is inserted. The connecting pin 49 for the luggage transport trolley of the autonomous mobile transport robot 19 is inserted into the connection hole 92. As a result, the luggage transport trolley 17 becomes integrated with the autonomous mobile transport robot 19 and becomes ready for transport. The positioning plate 90 fits between the positioning rollers 47 of the autonomous mobile transport robot 19, which are positioned under the top plate 81, thereby positioning the autonomous mobile transport robot 19 relative to the luggage transport trolley 17.

[0020] As shown in Figure 1, the luggage transport station 15 is equipped with a magnetic sensor 91 that detects the magnetic tape 83 of the luggage transport cart 17. The magnetic sensor 91 determines whether or not the luggage transport cart 17 has arrived at the luggage transport station 15.

[0021] As shown in Figure 4, the charging station 21 has a main body 99 consisting of a top plate 95 and legs 97 that protrude downward from each of the four corners of the top plate 95. LiDAR detection poles 101, 101 are provided protruding downward from the underside of the top plate 95 of the charging station 21. The autonomous mobile transport robot 19 uses these LiDAR detection poles 101, 101 as targets and moves under the charging station 21.

[0022] Furthermore, a positioning plate 103 is installed in the center of the underside of the top plate 95 of the charging station 21. The positioning plate 103 fits between the four positioning rollers 47 of the autonomous mobile transport robot 19, which is positioned under the top plate 95. This positions the autonomous mobile transport robot 19 relative to the charging station 21.

[0023] A power supply head 105 is installed at the charging station 21. The power supply head 105 charges the battery 43 of the autonomous mobile transport robot 19 via the power receiving head 45. The positioning plate 103 aligns the autonomous mobile transport robot 19, ensuring that the distance between the power supply head 105 and the power receiving head 45 is appropriate.

[0024] The charging station 21 is equipped with a magnetic sensor 107 that detects the magnetic tape 83 of the luggage transport cart 17. The magnetic sensor 107 determines whether or not the luggage transport cart 17 has arrived inside the gondola 11.

[0025] As shown in Figure 3, the transport system control device 23 is equipped with a database 111. The database 111 stores information 113 about the autonomous transport robot 19 that is being instructed, and information 115 about the destination of the cargo transport cart 17. The transport system control device 23 is equipped with a transport instruction determination unit 117 that issues transport instructions to the autonomous transport robot 19 based on the information in the database 111, a lifting device control processing unit 119 that issues instructions to the lifting device control unit 13, a charging determination processing unit 121 that issues charging instructions to the autonomous transport robot 19, and a communication processing unit 123 that communicates with the autonomous transport robot 19. Detection signals from the trolley detection magnetic sensors 91, 107, etc., which have already been described, are input to the transport instruction determination processing unit 117.

[0026] Next, the operation of this embodiment will be explained. First, let's explain the control system during the time period when the transport operation is taking place. In this case, the transport system control device 23 does not issue a charging instruction to the autonomous transport robot 19. The transport system control device 23 detects the luggage transport station 15 where the luggage transport cart 17 is installed and issues a transport instruction to the autonomous transport robot 19 on the floor where the luggage transport station 15 is located. It also issues an instruction to move the gondola 11 to that floor.

[0027] When the autonomous transport robot 19 transports the cargo transport trolley 17, as shown in Figure 4, it is positioned by the positioning rollers 47 and the positioning plate 90 and moves under the top plate 81 of the cargo transport trolley 17, and the cargo transport trolley connecting pin 49 is inserted into the connecting hole 92 of the positioning plate 90 to connect it.

[0028] The autonomous mobile transport robot 19, upon receiving instructions from the transport system control device 23, moves the cargo transport cart 17 into the gondola 11, exits the gondola 11, and returns to the waiting area. When leaving the cargo transport cart 17 inside the gondola 11, the autonomous mobile transport robot 19 retracts the connecting pin 49 for the cargo transport cart and disconnects the connection with the cargo transport cart 17.

[0029] Subsequently, the transport system control device 23 issues an instruction to move the gondola 11, and the gondola 11 is moved to the destination floor. Then, it instructs the autonomous transport robot 19 on the destination floor to unload the cargo transport cart 17 from the gondola 11 and move it to the cargo transport station 15 on the destination floor. Once the work is completed, the transport system control device 23 instructs the autonomous transport robot 19 on the destination floor to return to its waiting area.

[0030] The above process can be confirmed by referring to the flowcharts shown in Figures 6 and 7. The above-mentioned transport control processing unit 117 performs the processing shown in Figures 6 and 7. First, in step S1, it is determined whether or not a luggage transport cart 17 has been set up at the luggage transport station 15. If the luggage transport cart 17 has not been set up at the luggage transport station 15, the process in step S1 is repeated. If it is determined that the luggage transport cart 17 has been set up at the luggage transport station 15, the process proceeds to step S2.

[0031] Next, in step S2, it is determined whether or not there is an available autonomous transport robot 19 on the departure floor. If there is no available autonomous transport robot 19, the process proceeds to step S3 to search for an autonomous transport robot 19 on the departure floor. If it is determined that there is an available autonomous transport robot 19, the process proceeds to step S4. Next, in step S4, the available autonomous mobile transport robot 19 is selected as the autonomous mobile transport robot 19 to be controlled on the departure floor. The selected autonomous mobile transport robot 19 is stored in the database 111 as the AMR 113 to be instructed.

[0032] Next, the process moves to step S5, where it is determined whether or not there is an available baggage handling station 15 on the destination floor. If there is no available baggage handling station 15 on the destination floor, the process moves to step S6, where an available baggage handling station 15 on the arrival floor is searched for, and the determination in step S5 is repeated. If it is determined that there is an available baggage handling station 15 on the destination floor, the process moves to step S7, where that baggage handling station 15 is designated as the baggage handling station 15 on the arrival floor, and the process moves to step S8.

[0033] Next, in step S8, it is determined whether or not there is an available autonomous mobile transport robot 19 at the arrival floor. If it is determined that there is no available autonomous mobile transport robot 19 at the arrival floor, the process proceeds to step S9 to search for an autonomous mobile transport robot 19 at the arrival floor and the determination process in step S8 is repeated. If it is determined that there is an available autonomous mobile transport robot 19 at the arrival floor, the process proceeds to step S10, and that autonomous mobile transport robot 19 is designated as the autonomous mobile transport robot for the arrival floor. It is then stored in the database 111 as the target AMR 113.

[0034] Next, the process moves to step S11, instructing the autonomous mobile transport robot 19, which is now controlled on the departure floor, to transport the cargo transport cart 17. Next, the process moves to step S12, where it is determined whether the autonomous mobile transport robot 19, which was the target of control on the departure floor, has reached the front of the gondola 11. If it is determined that the autonomous mobile transport robot 19, which was the target of control on the departure floor, has not reached the front of the gondola, steps S11 and S12 are repeated. If it is determined that the autonomous mobile transport robot 19, which was the target of control on the departure floor, has reached the front of the gondola, the process moves to step S13.

[0035] Next, in step S13, the autonomous mobile transport robot 19, which is the target of control on the departure floor, is instructed to transport the luggage transport cart 17 into the gondola 11, and the process proceeds to step S14. Next, in step S14, the autonomous mobile transport robot 19, which is the target of control on the departure floor, is instructed to return to its waiting area, and the process proceeds to step S15. Next, in step S15, an instruction is given to move the gondola 11 to the arrival floor, and the process proceeds to step S16.

[0036] Next, in step S16, the autonomous mobile transport robot 19, which is the target of the control for the arrival floor, is instructed to move to the entrance of the gondola 11, and the process proceeds to step S17. Next, in step S17, it is determined whether the autonomous mobile transport robot 19, which is the target of control for the arrival floor, has reached the front of the gondola 11. If it is determined that the autonomous mobile transport robot 19, which is the target of control for the arrival floor, has not reached the front of the gondola 11, the processes in steps S16 and S17 are repeated. If it is determined that the autonomous mobile transport robot 19, which is the target of control for the arrival floor, has reached the front of the gondola 11, the process proceeds to step S18.

[0037] Next, in step S18, the autonomous mobile transport robot 19, which is the target of control for the arrival floor, is instructed to unload the luggage transport cart 17 from the gondola 11 and move it to the luggage transport station 15 on the arrival floor, and the process proceeds to step S19. Next, in step S19, it is determined whether the autonomous mobile transport robot 19, which is the target of control for the arrival floor, has reached the luggage transport station 15 on the arrival floor. If it is determined that the autonomous mobile transport robot 19, which is the target of control for the arrival floor, has not reached the luggage transport station 15 on the arrival floor, the processes in steps S18 and S19 are repeated. If it is determined that the autonomous mobile transport robot 19, which is the target of control for the arrival floor, has reached the luggage transport station 15 on the arrival floor, the process proceeds to step S20. Next, in step S20, the autonomous mobile transport robot 19, which is the target of control for the arrival floor, is instructed to set up the luggage transport cart 17 and move to the waiting area. The following steps are repeated.

[0038] Next, the process of charging the autonomous mobile transport robot 19 will be explained. In this embodiment, the autonomous mobile transport robot 19 is charged during the time when it is not performing transport work. At that time, the remaining charge of the battery 43 of each autonomous mobile transport robot 19 is checked, and the autonomous mobile transport robot 19 is charged in order of the lowest battery charge.

[0039] The transport system control device 23 checks whether all autonomous transport robots 19 have completed charging. If all autonomous transport robots 19 have not finished charging, the charging process will be carried out for the autonomous transport robots 19 in order of lowest battery level. In addition, since the charging station 21 is installed only inside the gondola 11, an instruction will also be given to move the gondola 11 to the floor in charge of the autonomous transport robot 19 that has been instructed to be charged.

[0040] When the autonomous mobile transport robot 19 is instructed to charge, it detects the LiDAR detection pole 101 of the charging station 21 via the LiDAR sensor 41, moves to the charging station 21, and moves under the top plate 95 to receive the charge. Furthermore, as shown in Figure 5, the autonomous mobile transport robot 19 is positioned by the positioning roller 47 and positioning plate 103 so that it can receive power from the power supply head 105 with the power receiving head 45.

[0041] Once the charging of the autonomous transport robot 19, which has been instructed to be charged, is complete, the transport system control device 23 instructs the autonomous transport robot 19, which has been instructed to be charged, to move to the waiting area. Subsequently, the transport system control device 23 similarly issues charging instructions to the other autonomous transport robots 19, starting with those with the lowest battery levels, and terminates the charging process when all autonomous transport robots 19 have completed charging.

[0042] During both transport operations and charging processes, the autonomous transport robot 19 moves only within its assigned floor and within the gondola 11 that has been moved to that floor, and does not move to any other floor.

[0043] The above operation can be confirmed by referring to the flowchart shown in Figure 8. The charging determination processing unit 121 performs the processing shown in Figure 8. First, in step S21, it is determined whether or not the normal daytime processing (transportation processing) has been completed. If it is determined that the normal daytime processing has not been completed, the determination in step S21 is repeated. If it is determined that the normal daytime processing has been completed, the process proceeds to step S22.

[0044] Next, in step S22, it is determined whether or not all autonomous mobile transport robots 19 in the transport equipment 1 have completed charging. If it is determined that all autonomous mobile transport robots 19 in the transport equipment 1 have completed charging, the process is terminated.

[0045] Next, if it is determined that charging is not complete for all autonomous mobile transport robots 19 in the transport equipment 1, the process proceeds to step S23, where battery level information for all autonomous mobile transport robots 19 in the transport equipment is obtained. After that, the process proceeds to step S24. Next, in step S24, it is determined whether or not the autonomous mobile transport robot 19 to be charged has been determined. If the autonomous mobile transport robot 19 to be charged has been determined, the process proceeds directly to step S26. If it is determined that the autonomous mobile transport robot 19 to be charged has not been determined, the process proceeds to step S25, where the autonomous mobile transport robot 19 with the lowest battery level is determined as the autonomous mobile transport robot 19 to be controlled. After that, the process returns to step S24.

[0046] Next, in step S26, it is determined whether or not the autonomous mobile transport robot 19 to be charged has reached the charging station 21. If it is determined that the autonomous mobile transport robot 19 to be charged has not reached the charging station 21, the process proceeds to step S27, a movement instruction is given to the autonomous mobile transport robot 19 to be charged, and the process returns to step S26. If it is determined that the autonomous mobile transport robot 19 to be charged has reached the charging station 21, the process proceeds to step S28.

[0047] Next, in step S28, it is determined whether or not the autonomous mobile transport robot 19 to be charged has completed charging. If the autonomous mobile transport robot 19 to be charged has not completed charging, the determination process in step S28 is repeated and the system waits. If the autonomous mobile transport robot 19 to be charged has completed charging, the system proceeds to step S29. Next, in step S29, the autonomous mobile transport robot 19 to be charged is instructed to return to the waiting area, and after clearing the registration of the autonomous mobile transport robot 19 to be charged, the process is repeated from step S22.

[0048] Next, the effects of this embodiment will be explained. First, instead of installing charging stations 21 on each floor, the charging stations 21 are installed inside the gondola 11 that moves between floors. This eliminates the need to install charging stations on each floor, and allows for automatic charging of all autonomous transport robots 19 on all floors. As a result, manual charging is unnecessary, reducing costs and enabling effective charging of the autonomous transport robots 19 with a simple configuration. Furthermore, even with existing facilities, if the facility has multiple floors, the gondola 11 is already installed, so using the pre-installed gondola 11 can further reduce costs. Furthermore, the autonomous mobile transport robot 19 has a connecting pin 49 for a cargo transport trolley that is operated by a cylinder 51, and the positioning plate 90 of the cargo transport trolley 17 is provided with a connecting hole 92 into which the connecting pin 49 for the cargo transport trolley is inserted. Therefore, the autonomous mobile transport robot 19 can transport the cargo transport trolley 17 with a simple configuration. Furthermore, the autonomous mobile transport robot 19 has positioning rollers 47, the cargo transport trolley 17 has positioning plates 90, and the charging station 21 has positioning plates 103, so the autonomous mobile transport robot 19 can be positioned relative to the cargo transport trolley 17 and the charging station 21 with a simple configuration.

[0049] Furthermore, the transport system control device 23 performs the charging process for the autonomous transport robot 19 during times when transport operations are not being performed, thus enabling more effective charging of the autonomous transport robot. Furthermore, the transport system control device 23 is configured to charge the autonomous transport robot 19 in order of decreasing battery level, thereby enabling more effective charging of the autonomous transport robot 19.

[0050] Furthermore, the present invention is not limited to the above-described embodiment. First, in the above embodiment, the case where the battery with the lowest remaining charge is charged was used as an example, but the invention is not limited to that. Furthermore, although the above embodiment was described using the example of charging during non-transport time periods, it is not limited to that. Furthermore, there are various possible scenarios regarding the number of floors, the number of autonomous transport robots, the number of cargo transport stations, and the number of cargo transport carts. Furthermore, there are various possible scenarios for the detection of charging stations by autonomous mobile robots. Furthermore, the diagram shown is just one example, and various configurations are possible. [Industrial applicability]

[0051] The present invention relates to a transport system using an autonomous mobile transport robot, and more particularly to a system that can efficiently charge the autonomous mobile transport robot without increasing the size or complexity of the system, and is suitable for use in factories, for example. [Explanation of Symbols]

[0052] 1. Conveying equipment 9. Lifting device 11 Gondolas 15. Luggage handling station 17. Luggage transport cart 19. Autonomous mobile transport robots 21 Charging Stations 47 Positioning rollers 49 Connecting pins for luggage transport carts 90 Positioning plate 101 LiDAR detection pole 103 Positioning plate

Claims

1. A lifting device equipped with a gondola that moves between each floor, The luggage handling stations installed on each of the above floors, A luggage transport cart on which any luggage is placed, An autonomous mobile transport robot is installed on each of the above floors, travels only on that floor and within the gondola located on that floor, and transports the above-mentioned cargo transport cart into the gondola. The above-mentioned lifting device and control means for controlling the above-mentioned autonomous mobile transport robot, It is equipped with, At the above-mentioned luggage transport station on any floor, the luggage is placed on the above-mentioned luggage transport trolley, The gondola of the above-mentioned lifting device is positioned on any of the above-mentioned floors. The above-mentioned cargo transport cart is transported by the above-mentioned autonomous transport robot to the gondola of the lifting device, and the above-mentioned cargo transport cart is left inside the gondola. Move the gondola of the above lifting device to the target floor, In a transport system that moves an autonomous transport robot from the target floor into the gondola of the lifting device and transports a cargo transport trolley remaining in the gondola of the lifting device to the cargo transport station on the target floor, A charging station is installed inside the gondola of the above-mentioned lifting device. The above-described control means is characterized by controlling the gondola of the lifting device to move to an arbitrary floor and charging the autonomous transport robot on that floor using the charging station.

2. In the conveying equipment according to claim 1, The above-described control means controls the charging of the autonomous transport robots in order of decreasing battery level, making it a transport system.

3. In the conveying equipment according to claim 1, The above-described control means is characterized by controlling the autonomous mobile transport robot to charge during non-transportation work hours.

4. In the conveying equipment according to claim 1, The above-mentioned autonomous transport robot moves the above-mentioned cargo transport cart while positioned underneath it. The above-mentioned autonomous transport robot is equipped with retractable connecting pins for a cargo transport trolley, and the above-mentioned cargo transport trolley is provided with connecting holes. A transport system characterized in that the above-mentioned luggage transport trolley is integrated with the autonomous transport robot by causing the connecting pin for the luggage transport trolley to protrude and insert it into the connecting hole.

5. In the conveying equipment according to claim 1, The above-mentioned cargo transport trolley is equipped with a positioning plate, and the above-mentioned autonomous transport robot is equipped with multiple positioning rollers. A transport system characterized in that, when the autonomous transport robot moves under the cargo transport trolley, the positioning plate is gripped by the multiple positioning rollers, thereby positioning the autonomous transport robot relative to the cargo transport trolley.

6. In the conveying equipment according to claim 1, The charging station is equipped with a positioning plate, and the autonomous transport robot is equipped with multiple positioning rollers. A transport system characterized in that, when the autonomous transport robot moves under the charging station, the positioning plate is gripped by the multiple positioning rollers, thereby positioning the autonomous transport robot relative to the charging station.

7. In the conveying equipment according to claim 1, A sensor is installed on the front of the above-mentioned autonomous transport robot, and a detection pole is installed on the above-mentioned charging station. A transport system characterized in that, when the autonomous transport robot enters the charging station, it adjusts its position by detecting the detection pole using the sensor.

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