Conveying device

Abstract

To ensure that the engaging member is more securely engaged with the trolley, allowing the trolley to be transported or towed. [Solution] The transport device is a transport device capable of transporting or towing a trolley having a plurality of wheels on its bottom, and comprises a mobile body, an engaging member provided on the body and capable of engaging with a predetermined position on the trolley, a camera capable of capturing an image of the trolley, a height detection unit that processes the image from the camera to detect the height of the predetermined position on the trolley, and a control unit that controls the engaging member to engage with the predetermined position on the trolley based on the height of the predetermined position on the trolley detected by the height detection unit.

Description

Technical Field

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[0001] This specification discloses a conveying device and a conveying method.

Background Art

[0002] Conventionally, there is known a conveying device that lifts and conveys a cart by raising a mounting portion of the conveying device to a certain height (for example, Patent Documents 1 and 2).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conveying devices disclosed in Patent Documents 1 and 2, since the position where the cart should be engaged cannot be recognized, the mounting portion may have to be raised more than necessary.

[0005] The main object of the present disclosure is to enable the engagement member to be more reliably engaged with the cart so as to convey or tow the cart.

Means for Solving the Problems

[0006] The conveying device of the present disclosure is a conveying device capable of conveying or towing a cart having a plurality of wheels at the bottom, a travelable main body, an engagement member provided on the main body and capable of engaging with a predetermined position of the cart, a camera capable of imaging an image of the cart, a height detection unit that processes the image of the camera to detect the height of a predetermined position of the cart, A control unit controls the engagement member to engage with the predetermined position on the trolley based on the height of the predetermined position on the trolley detected by the height detection unit, The gist of it is that it is equipped with the following features.

[0007] Furthermore, the transport method of this disclosure provides the same effects as the transport apparatus of this disclosure. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram illustrating an example of delivery system 10. [Figure 2] This is an explanatory diagram showing an example of a logistics center 20. [Figure 3] This is a perspective view of the cage trolley 12. [Figure 4] This is a perspective view of the transport robot 40. [Figure 5] This is a side view of the transport robot 40. [Figure 6] This is a front view showing the engagement member 52 engaged with the bottom of the cage trolley 12. [Figure 7] This is a side view showing the engagement member 52 engaged with the bottom of the cage trolley 12. [Figure 8A] This is a perspective view of the contact detection sensor 58. [Figure 8B] This is a perspective view of the contact detection sensor 58. [Figure 8C] This is a longitudinal cross-sectional view of the contact detection sensor 58. [Figure 9] This is a flowchart showing an example of a trolley transport routine. [Figure 10A] This is an explanatory diagram showing how the transport robot 40 transports the cage trolley 12. [Figure 10B] This is an explanatory diagram showing how the transport robot 40 transports the cage trolley 12. [Figure 10C] This is an explanatory diagram showing how the transport robot 40 transports the cage trolley 12. [Figure 10D] This is an explanatory diagram showing how the transport robot 40 transports the cage trolley 12. [Figure 11]It is a flowchart showing a modified example of a cart transportation routine. [Figure 12] It is a flowchart showing a modified example of a cart transportation routine.

Embodiments for Carrying out the Invention

[0009] Next, embodiments for carrying out the invention of the present disclosure will be described while referring to the drawings. FIG. 1 is a schematic explanatory diagram showing an example of a delivery system 10. FIG. 2 is an explanatory diagram showing an example of a logistics center 20. FIG. 3 is a perspective view of a cage cart 12. FIG. 4 is a perspective view of a transport robot 40. FIG. 5 is a side view of the transport robot 40. FIG. 6 is a front view showing a state where an engaging member 52 is engaged with the bottom of the cage cart 12. FIG. 7 is a side view showing a state where the engaging member 52 is engaged with the bottom of the cage cart 12. FIGS. 8A and 8B are perspective views of a contact detection sensor 58. FIG. 8C is a longitudinal sectional view of the contact detection sensor 58. The X-axis direction (left-right direction), Y-axis direction (front-back direction), and Z-axis direction (up-down direction) are as shown in each figure.

[0010] As shown in FIG. 1, the delivery system 10 includes a logistics PC 21, a store PC 61, a transport robot 40, and a general control device 70. Further, this delivery system 10 is used for a cage cart 12, a delivery vehicle 18, a logistics center 20, a store 60, and the like.

[0011] The delivery vehicle 18 is a vehicle that loads one or more cage carts 12 and delivers goods. The delivery vehicle 18 delivers goods between delivery bases. Here, the "delivery base" includes a logistics center 20 and a store 60 where goods are aggregated. The delivery vehicle 18 loads the cage cart 12 loaded with goods at the logistics center 20 into the cargo compartment, delivers the goods to the delivery destination, and returns the empty cage cart 12 to the logistics center 20.

[0012] The logistics center 20 is a place where goods are collected and distributed to stores 60 and other logistics centers 20 in various locations. As shown in Figure 1, the logistics center 20 has one or more transport robots 40 that can automatically move the cage carts 12. This logistics center 20 has, for example, a waiting space 30 (see Figure 2) in a specific area of ​​the floor, and the transport robots 40 wait in this waiting space 30 when they are not performing tasks such as moving goods. In this logistics center 20, workers or arm robots (not shown) perform the task of loading goods onto the cage carts 12. The transport robots 40 transport the cage carts 12, whose delivery destinations have been identified, to the designated location by towing.

[0013] The logistics PC 21 is installed in the logistics center 20 and is configured as a management device for managing goods at the logistics center 20. The logistics PC 21 comprises a control unit 22, a storage unit 23, and a communication unit 28. The control unit 22 has a CPU and is responsible for controlling the entire device. The storage unit 23 stores various application programs and various data files. The storage unit 23 stores delivery management information 24 and map information 26, among other things. The delivery management information 24 is information used to manage the delivery of goods. The map information 26 is map information of the logistics center 20. The communication unit 28 communicates wirelessly with external devices such as transport robots 40. The communication unit 28 exchanges information with the central control unit 70 and store PCs 61 via the network N.

[0014] The waiting space 30 is configured as a garage where the transport robots 40 wait, with a floor, ceiling, and walls. The waiting space 30 is provided with a door 31 and a wall 32. The door 31 is an electrically operated garage shutter, and when open, the transport robots 40 can enter and exit the waiting space 30. The door 31 is equipped with an opening and closing device (not shown), which opens and closes in response to an opening and closing signal from the transport robots 40. The wall 32 is a component that divides the waiting space 30 into spaces for each transport robot 40, and faces the sides and rear of the transport robots 40.

[0015] Furthermore, a charging device 33 is located in the waiting space 30. The charging device 33 is provided in the waiting space 30 and is a device that charges the drive battery of the transport robot 40 when the transport robot 40 is waiting. This charging device 33 charges the battery using a wireless charging method such as electromagnetic induction, magnetic field resonance, or electric field coupling. Alternatively, the charging device 33 may charge the battery by wire connection using a plug. The charging device 33 may start charging when it receives a signal from the transport robot 40, or it may start charging when it detects the transport robot 40 with a sensor (not shown).

[0016] As shown in Figure 3, the cage trolley 12 comprises a loading section 13, casters 14, a fence member 15, and a marker M. The loading section 13 is a flat plate-shaped member on which goods are loaded. The lower surface of the loading section 13 has a grid-like engaging section 16 (see Figure 6) that protrudes downward. The casters 14 have wheels for moving the cage trolley 12 and are provided at the four corners of the lower surface of the loading section 13. The fence member 15 is a member for preventing goods placed on the loading section 13 from falling off, and is positioned to stand upright from the upper peripheral edge of the loading section 13. The marker M is a recognition target that indicates the ID of the cage trolley 12. The marker M is, for example, an AR marker. The marker M is attached to the side of the loading section 13 so that it can be recognized by the transport robot 40.

[0017] The transport robot 40 is a vehicle that automatically moves the cage trolley 12 as the transported object. The transport robot 40 enters the space between the casters 14 on the underside of the mounting section 13 of the cage trolley 12, engages with the engaging section 16 to connect to the cage trolley 12, and pulls the cage trolley 12. The transport robot 40 is configured as an AMR (Autonomous Mobile Robot) that can move along a free route by detecting its surroundings. As shown in Figure 4, the transport robot 40 has a body section 41, a control section 42, a storage section 43, a loading section 44, a communication section 53, a drive section 55, running wheels 56, an imaging section 57, a contact detection sensor 58, and a torque sensor 59.

[0018] The body section 41 has a roughly L-shape when viewed from the side and is a housing that can fit underneath the cage trolley 12. The body section 41 has a horizontal section 41a and an upright section 41b. The horizontal section 41a is a flat plate-like part that can fit underneath the cage trolley 12. The horizontal section 41a has running wheels 56 on its lower side and a loading section 44 on its upper side. The upright section 41b is connected to the end of the horizontal section 41a and is erected higher than the horizontal section 41a. The upright section 41b houses a control unit 42, a memory unit 43, a communication unit 53, a storage battery, and the like.

[0019] The control unit 42 is a controller that controls the entire transport robot 40 system. This control unit 42 outputs control signals to the drive unit 55, imaging unit 57, and communication unit 53, and also receives signals from the imaging unit 57 and communication unit 53. While the transport robot 40 is traveling, the control unit 42 acquires images of the surroundings from the imaging unit 57 (first to fifth cameras 57a to 57e) at predetermined intervals (minute intervals), and recognizes the transport robot 40's own position (3D coordinates) in the logistics center 20 based on the surrounding images, map information 26, and the driving status of the drive unit 55.

[0020] The memory unit 43 stores various application programs and data files. For example, the memory unit 43 stores location information, including the locations of the delivery source and destination as the cart 12 moves, and map information of the logistics center 20. The location information and map information are obtained from the logistics PC 21 via communication.

[0021] The loading section 44 connects to the cage trolley 12 by moving upward from the body section 41 (horizontal section 41a) of the transport robot 40 and engaging with the engaged section 16 of the cage trolley 12 (see Figure 4). The loading section 44 includes a lifting section 45, an elastic support member 47, a connecting member 51, and an engaging member 52. The lifting section 45 is a rectangular member that is mounted to move up and down relative to the body section 41, with the motor 46a of the lifting device 46 as the driving source.

[0022] The elastic support member 47 is a member that elastically supports the mounting section 13 of the cage trolley 12 from below. The elastic support member 47 is provided at each of the four corners of the lifting section 45. As shown in Figures 8A, 8B, and 8C, the elastic support member 47 comprises a support body 48, a piston 49, a cylinder 50, and a spring S. The support body 48 is a disc-shaped member whose upper surface can contact the lower surface of the cage trolley 12 (mounting section 13). The piston 49 is provided so as to be able to move up and down relative to the cylinder 50. The support body 48 is attached to the upper surface of the piston 49. The piston 49 is biased upward by the elastic force of the spring S, and normally its upper end protrudes from the cylinder 50 (see Figure 8A). On the other hand, with the vehicle body 41 tucked under the cage trolley 12, the lifting device 46 is driven to raise the elastic support member 47 together with the lifting section 45, causing the upper surface of the support 48 to contact the lower surface of the mounting section 13. From there, the lifting device 46 is driven further to raise the lifting section 45, causing the piston 49 to be pushed downward against the elastic force of the spring S, and its lower end protrudes from below the cylinder 50 (see Figures 8B and 8C).

[0023] The connecting member 51 is a member for connecting the elastic support members 47 that are arranged side by side. The engaging member 52 engages with the engaged portion 16 formed on the lower surface of the mounting portion 13 of the cage trolley 12 when the cage trolley 12 is being transported. The engaging member 52 is a pin-shaped member that protrudes upward from the connecting member 51. When the lifting portion 45 is positioned at its lowest position by the lifting device 46, the engaging member 52 is positioned lower than the bottom of the cage trolley 12 (mounting portion 13). This position of the engaging member 52 is called the initial position. On the other hand, when the vehicle body 41 (horizontal portion 41a) is tucked under the cage trolley 12 (mounting portion 13) and the lifting portion 45 (engaging member 52) is raised by the lifting device 46, the engaging member 52 engages with the engaged portion 16 (see Figures 6 and 7). This position of the engaging member 52 is called the engagement position.

[0024] The communication unit 53 is an interface that wirelessly exchanges information with external devices such as the logistics PC 21. The control unit 42 exchanges information with the logistics PC 21 via the communication unit 53.

[0025] The drive unit 55 includes a motor connected to each of the travel wheels 56, which drives the transport robot 40 to move by rotating the connected travel wheels 56. The transport robot 40 has four travel wheels 56 and moves by rotating the travel wheels 56. The travel wheels 56 may be Mecanum wheels or omni wheels that can move vertically and horizontally with independent drive of each of the four wheels. Due to their degree of freedom of movement, Mecanum wheels are more preferable for the travel wheels 56.

[0026] The imaging unit 57 is capable of detecting objects and their distances around the transport robot 40 and can read markers M attached to the cage trolley 12. The imaging unit 57 has first to fifth cameras 57a to 57e. The first to fifth cameras 57a to 57e are configured, for example, as stereo cameras. The first camera 57a and the second camera 57b are provided on the front and rear surfaces of the horizontal section 41a, the third camera 57c is provided on the right surface of the horizontal section 41a, the fourth camera 57d is provided on the left surface of the upright section 41b, and the fifth camera 57e is provided on the right surface of the upright section 41b. The first to fifth cameras 57a to 57e output image signals to the control unit 42.

[0027] The contact detection sensor 58 is a sensor capable of detecting contact between the engaging member 52 and the lower surface of the mounting portion 13. As shown in Figures 8A to 8C, the contact detection sensor 58 is provided on the lower surface of the cylinder 50. The contact detection sensor 58 is, for example, an optical sensor comprising a light-emitting unit (not shown) and a light-receiving unit. When the engaging member 52 is not in contact with the engaged portion 16 (when the support 48 is not in contact with the lower surface of the mounting portion 13), the piston 49 is pushed up by the elastic force of the spring S. Therefore, the lower end of the piston 49 does not protrude downward relative to the cylinder 50 (see Figure 8A), and light from the light-emitting unit is received by the light-receiving unit. As a result, the contact detection sensor 58 outputs an ON signal to the control unit 42. On the other hand, when the engaging member 52 is in contact with the engaged portion 16 (when the support 48 is in contact with the lower surface of the mounting portion 13), the piston 49 is pushed down against the elastic force of the spring S. Therefore, the lower end of the piston 49 protrudes downward relative to the cylinder 50 (see Figures 8B and 8C), blocking the light from the light-emitting unit. As a result, the contact detection sensor 58 outputs an OFF signal to the control unit 42.

[0028] The torque sensor 59 can detect the torque of the motor 46a. The torque sensor 59 outputs the detected torque of the motor 46a to the control unit 42.

[0029] As shown in Figure 1, store 60 displays and sells delivered goods. Store 60 has one or more transport robots 40 that can automatically move the carts 12. Store 60 also has the waiting space 30 described above. Store 60 has display shelves 69 for displaying goods, and workers display goods on these shelves. Store PC 61 is installed in store 60 and is configured as a management device for managing goods in store 60. This store PC 61 includes a control unit 62, a storage unit 63, and a communication unit 68. The control unit 62 has a CPU and is in charge of controlling the entire device. The storage unit 63 stores various application programs and various data files. The storage unit 63 stores delivery management information 64 and map information 66, etc. Delivery management information 64 is information used to manage the delivery of goods. Map information 66 is information about the map of store 60. The communication unit 68 communicates wirelessly with external devices such as the transport robot 40. The communication unit 68 also exchanges information with the control unit 70 and the logistics PC 21 via the network N.

[0030] The central control unit 70 is a device that manages the delivery system 10. This central control unit 70 comprises a control unit 72, a storage unit 73, and a communication unit 78. The control unit 72 has a CPU and is responsible for controlling the entire device. The storage unit 73 stores various application programs and various data files. The storage unit 73 stores delivery management information 74, which is a database used to manage the delivery of goods, and map information 76, which is a database of maps of the logistics center 20 and stores 60. The communication unit 78 exchanges information with external devices such as the logistics PC 21 and store PC 61 via the network N.

[0031] Next, using Figures 9 and 10, we will explain the process by which the transport robot 40 transports the cage cart 12 in the logistics center 20 in the delivery system 10 configured in this way. Here, we will explain the process by which the transport robot 40 transports the cage cart 12 to the delivery vehicle 18 as a specific example. Figure 9 is a flowchart of an example of a cart transport routine. Figures 10A to 10D are explanatory diagrams showing how the transport robot 40 transports (tows) the cage cart 12.

[0032] This routine is executed by the control unit 42 of the logistics PC 21 when it receives the current position and destination position of the cage trolley 12 to be transported, after the control unit 42 of the transport robot 40 has selected one of the multiple transport robots 40 and transmitted the current position and destination position of the cage trolley 12 to the transport robot 40.

[0033] When this routine is started, the control unit 42 of the transport robot 40 controls the drive unit 55 so that the transport robot 40 moves in front of the cage cart 12 to be transported, as shown in Figure 10A (S100). Based on the data input from the imaging unit 57, the control unit 42 estimates its own position in the logistics center 20 and controls the drive unit 55 so that the estimated position moves in front of the cage cart 12 to be transported.

[0034] Next, the control unit 42 controls the third camera 57c to capture an image of the marker M (AR marker) (S110). Subsequently, the control unit 42 derives the ground height of the mounting unit 13 (S120). This process is performed as follows: First, the control unit 42 recognizes the shape and size of the marker M based on the image captured in S120. Next, the control unit 42 determines the relative height of the marker M with respect to the third camera 57c based on the recognized shape and size of the marker M and the actual shape and size of the marker M stored in the storage unit 43. Next, the control unit 42 adds the relative height to the ground height of the third camera 57c to derive the ground height of the mounting unit 13.

[0035] Then, as shown in Figure 10B, the control unit 42 controls the drive unit 55 so that the vehicle body 41 (horizontal section 41a) slides under the cage trolley 12 (mounting section 13) (S130). Next, based on the ground height of the mounting section 13 derived in S120, the engagement position of the engaging member 52 is set (S140). Specifically, the control unit 42 sets the engagement position of the engaging member 52 to a position slightly lower than the ground height of the mounting section 13.

[0036] Next, the control unit 42 raises the engaging member to the engagement position (S150). Specifically, the control unit 42 derives the drive amount for the motor 46a based on the difference between the engagement position determined in S140 and the initial position, and controls the motor 46a to drive by the derived drive amount. This allows the engaging member 52 to be positioned precisely with respect to the engaged portion 16, thereby ensuring that the engaging member 52 is reliably engaged with the engaged portion 16.

[0037] The control unit 42 then searches for a route from the current location to the destination based on the map information and controls the drive unit 55 so that the cage trolley 12 is transported to the destination according to the route (S160). When the transport robot 40 arrives at the destination, the control unit 42 controls the lifting device 46 so that the engaging member 52 descends to its initial position (S170). After that, the control unit 42 terminates this routine.

[0038] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. In this embodiment, the transport robot 40 corresponds to the transport device, the engaging member 52 corresponds to the engaging member, the third camera 57c corresponds to the camera, the control unit 42 corresponds to the height detection unit, and the control unit 42 corresponds to the control unit.

[0039] As described above, the transport robot 40 can more reliably engage the engaging member 52 with the cage trolley 12 and tow the cage trolley 12.

[0040] Furthermore, the transport robot 40 is equipped with a lifting device 46 that raises and lowers the engaging member 52 between an initial position lower than the mounting section 13 of the cage trolley 12 and an engagement position higher than the initial position. The control unit 42 processes the image from the third camera 57c to detect the ground height of the cage trolley 12 (mounting section 13), controls the drive unit 55 so that the engaging member 52 slides under the cage trolley 12, and then controls the lifting device 46 so that the engaging member 52 rises within a range that does not cause excessive or insufficient upward movement and engages with the mounting section 13 of the cage trolley 12, based on the ground height of the cage trolley 12. As a result, the required thrust can be reduced compared to when the cage trolley 12 is lifted and transported, reducing energy consumption and allowing the lifting device 46 to be miniaturized.

[0041] It goes without saying that this disclosure is not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of this disclosure.

[0042] In the embodiment described above, an image of marker M was captured using the third camera 57c in the trolley transport routine S110. However, marker M may also be captured using the fifth camera 57e.

[0043] In the embodiment described above, the cage trolley 12 is towed by the transport robot 40. However, the transport robot 40 may also lift and transport the cage trolley 12. In that case, in step S140 of the trolley transport routine, the engagement position should be set to a position slightly higher than the height of the mounting portion 13 of the cage trolley 12.

[0044] In the embodiment described above, the marker M includes identification information for the cage trolley 12. However, the marker M may also include identification information for the cargo placed on the cage trolley 12.

[0045] In step S120 of the trolley transport routine of the above-described embodiment, the control unit 42 may detect the ground height of the mounting unit 13 based on a depth image created from image data input from the third camera 57c. In this case, the control unit 42 detects the ground height of the mounting unit 13 as follows: First, the control unit 42 controls the drive unit 55 so that the transport robot 40 approaches the cage trolley 12. Next, the control unit 42 recognizes the marker M and caster 14 based on image data input from the third camera 57c. Subsequently, the control unit 42 creates a depth image based on image data input from the third camera 57c. Then, the control unit 42 obtains the distance from the transport robot 40 (third camera 57c) to the marker M based on the depth image. The control unit 42 performs these processes until the distance to the marker M becomes a predetermined distance. Subsequently, the control unit 42 determines the number of pixels from the marker M to the lower end of the caster 14. The control unit 42 then detects the ground height of the mounting unit 13 by multiplying the calculated number of pixels by the length per pixel. The reason the ground height of the mounting unit 13 can be detected in this way is that the distance to the marker M is a predetermined (constant) distance and the length per pixel is a known length. If the distance between the third camera 57c and the marker M is not a predetermined distance, the ground height of the mounting unit 13 can be detected as follows. That is, first the control unit 42 calculates the number of pixels from the marker M to the lower end of the caster 14. Then the control unit 42 calculates the ground height of the mounting unit 13 by multiplying the calculated number of pixels by the length per pixel corresponding to the distance between the third camera 57c and the marker M.

[0046] In the embodiment described above, the ground height of the mounting unit 13 was detected by recognizing the marker M from the image of the third camera 57c. However, the ground height of the mounting unit 13 may also be detected by recognizing the side view of the mounting unit 13 from the image of the third camera 57c.

[0047] In the embodiment described above, a trolley transport routine as shown in Figure 11 may be executed. In the trolley transport routine shown in Figure 11, the same processes as in the embodiment described above are given the same step numbers and detailed explanations are omitted. When this routine is started, the control unit 42 controls the drive unit 55 to move in front of the cage trolley 12 to be moved, and also controls the drive unit 55 so that the body 41 (horizontal part 41a) goes under the cage trolley 12 (mounting part 13) (S130). Next, the control unit 42 controls the lifting device 46 by speed feedback so that the engaging member 52 rises at a constant speed (S200). Then, the control unit 42 receives the detected torque value of the motor 56a from the torque sensor 59 (S210). Subsequently, the control unit 42 determines whether the detected torque value input in S200 is greater than or equal to a predetermined value (S220). When the engaging member 52 comes into contact with the mounting part 13 during speed feedback, the torque of the motor 46 increases due to the action of speed feedback. By detecting this, the engagement of the engaging member 52 can be detected. If a negative determination is made in S220, the control unit 42 returns to S200. On the other hand, if an affirmative determination is made in S220, the control unit 42 controls the lifting device 46 so that the upward movement of the engaging member 52 stops (S230). Next, the control unit 42 controls the drive unit 55 so that the cage trolley 12 is transported to the destination (S160). Then, the control unit 42 controls the lifting device 46 so that the engaging member 52 descends to its initial position (S170). In addition, in S200, the engaging member 52 may be raised by position control. Position control is performed by driving the motor 46a by feedback control based on the deviation between the position of the engaging member 52 detected by a position sensor (not shown) and the target position so that the position of the engaging member 52 matches the target position. In this case, the target position only needs to be set higher than the lower surface of the mounting section 13, regardless of the type of cage trolley 12.

[0048] That is, a transport device capable of transporting a trolley having multiple wheels on its bottom, comprising: a mobile body; an engaging member provided on the body and capable of moving up and down by a lifting device between an initial position lower than the bottom of the trolley and an engaging position higher than the initial position; a motor as a drive source for the lifting device; a torque sensor capable of detecting the torque of the motor; and a control unit that controls the body so that the engaging member slides under the trolley, then drives the motor by position control or speed control, and stops the motor when the value detected by the torque sensor exceeds a predetermined value, thereby engaging the engaging member with the bottom of the trolley.

[0049] In the embodiment described above, a trolley transport routine as shown in Figure 12 may be executed. In the trolley transport routine shown in Figure 12, the same processes as in the embodiment described above are given the same step numbers and detailed explanations are omitted. When this routine is started, the control unit 42 controls the drive unit 55 to move in front of the cage trolley 12 to be moved, and also controls the drive unit 55 so that the body 41 (horizontal part 41a) goes under the cage trolley 12 (mounting part 13) (S130). Next, the control unit 42 controls the lifting device 46 so that the engaging member 52 rises at a constant speed (S300). Then, the control unit 42 waits until it receives a contact detection signal from the contact detection sensor 58 (S310). Once a contact detection signal is received, the control unit 42 controls the lifting device 46 so that the rising of the engaging member 52 stops (S320). Next, the control unit 42 controls the drive unit 55 so that the cage trolley 12 is transported to its destination (S160). Then, the control unit 42 controls the lifting device 46 so that the engaging member 52 descends to its initial position (S170).

[0050] That is, a transport device capable of transporting a trolley having multiple wheels on its bottom, comprising: a mobile body; an engaging member provided on the body and capable of moving up and down by a lifting device between an initial position lower than the bottom of the trolley and an engaging position higher than the initial position; a contact detection sensor capable of detecting contact between the engaging member and the bottom of the trolley; and a control unit that controls the body so that the engaging member slides under the trolley, and then drives the lifting device to raise the engaging member until a detection signal indicating contact between the engaging member and the bottom of the trolley is input from the contact detection sensor, and then stops driving the lifting device when the detection signal is input from the contact detection sensor, thereby engaging the engaging member with the bottom of the trolley.

[0051] In the embodiments described above, this disclosure was explained as a transport robot 40, but it may also be a transport method.

[0052] Furthermore, this specification also discloses a technical idea in which the "conveying device described in claim 1 or 2" in the original claim 4 was changed to "conveying device described in any one of claims 1 to 3". [Industrial applicability]

[0053] This disclosure is available for use in logistics centers. [Explanation of Symbols]

[0054] 10 Delivery system, 12 Cage trolley, 13 Mounting section, 14 Caster, 15 Fence member, 16 Engaged part, 18 Delivery vehicle, 20 Logistics center, 21 Logistics PC, 22 Control unit, 23 Memory unit, 24 Delivery management information, 26 Map information, 28 Communication unit, 30 Waiting space, 31 Door, 32 Wall section, 33 Charging device, 40 Transport robot, 41 Body section, 42 Control unit, 43 Memory unit, 44 Loading section, 45 Lifting section, 46 Lifting device, 46a Motor, 47 Elastic support member, 48 Support body, 49 Piston, 50 Cylinder, 51 Connecting member, 52 Engaged member, 53 Communication unit, 55 Drive unit, 56 Driving wheels, 57 Imaging unit, 57a First camera, 57b Second camera, 57c Third camera, 57d 4th camera, 57e 5th camera, 58 Contact detection sensor, 59 Torque sensor, 60 Store, 61 Store PC, 62 Control unit, 63 Memory unit, 64 Delivery management information, 66 Map information, 68 Communication unit, 69 Display shelf, 70 Control unit, 72 Control unit, 73 Memory unit, 74 Delivery management information, 76 Map information, 78 Communication unit, M Marker, N Network, S Spring.

Claims

1. A transport device capable of transporting or towing a trolley having multiple wheels on its bottom, A mobile body, An engaging member provided on the main body and capable of engaging with a predetermined position on the trolley, A camera capable of capturing images of the aforementioned trolley, A height detection unit that processes the image from the camera to detect the height of a predetermined position on the trolley, A control unit controls the engagement member to engage with the predetermined position on the trolley based on the height of the predetermined position on the trolley detected by the height detection unit, A conveying device equipped with the following features.

2. A conveying device according to claim 1, The engaging member is provided with a lifting device that raises and lowers it between an initial position lower than the bottom of the trolley and a position higher than the initial position. The aforementioned predetermined position is the bottom of the trolley, The control unit controls the main body so that the engaging member slides under the trolley, and then controls the lifting device so that the engaging member rises within a range that does not result in excessive or insufficient upward movement, based on the height of a predetermined position on the trolley, and engages with the predetermined position on the trolley. Conveying device.

3. A conveying device according to claim 1 or 2, The trolley is provided with a tag member that includes identification information for the trolley or identification information for the luggage placed on the trolley. The camera captures an image of the trolley including the tag member, The height detection unit recognizes the tag member from the camera image and detects the height of the predetermined position. Conveying device.

4. A conveying device according to claim 1 or 2, The aforementioned camera is a depth camera, The height detection unit creates a depth image based on the image captured by the camera and detects the height of the predetermined position based on the distance to the trolley obtained from the depth image. Conveying device.

5. The camera captures an image of the trolley, The image from the camera is processed to detect the height of a predetermined position on the trolley. Engage the engaging member with the predetermined position on the trolley, With the engaging member engaged with the trolley, the trolley is transported or towed to the destination. Method of transport.

Images