Interlocking transport robots

Abstract

This invention provides an interlocking transport robot that improves the consistency of the spacing between transport robots. [Solution] The linked transport robot 1 of the present invention, which includes a first transport robot 10 and a second transport robot 20, comprises: the first transport robot 10 comprising a first one-sided LiDAR 19 provided on one side, and a first one-sided V-shaped groove V1 provided above or below the first one-sided LiDAR 19 and opening in the width direction of the first transport robot 10; the second transport robot 20 comprising a second other-sided LiDAR 29 provided on the other side, and a second other-sided V-shaped groove V2 provided above or below the second other-sided LiDAR 29 and opening in the width direction of the second transport robot 20, wherein the vertical positional relationship between the first one-sided LiDAR 19 and the first one-sided V-shaped groove V1 is the opposite of the vertical positional relationship between the second other-sided LiDAR 29 and the second other-sided V-shaped groove V2.

Description

Technical Field

[0001] The present invention relates to an interlocking transfer robot equipped with transfer robots including a first transfer robot and a second transfer robot.

Background Art

[0002] Patent Document 1 discloses a transport cart system comprising: a plurality of carts each configured to be movable in all directions by driving a plurality of omnidirectional wheels attached below it and provided with a placement portion for placing at least a part of a transport object above it; self-information acquisition means provided in each cart for acquiring self-information such as its current traveling speed, current position and direction (including the current relative position and direction with respect to a master described later when the cart itself is a slave described later); master control means provided in one cart (hereinafter referred to as the "master") set in advance as a master among the plurality of carts, for transmitting a master control signal for starting or stopping the master to the drive units of the omnidirectional wheels of the master to control the operation of the omnidirectional wheels of the master; slave instruction signal transmission means provided in the master for wirelessly transmitting a slave instruction signal for instructing the start or stop of one or more carts (hereinafter referred to as "slaves") set as slaves other than the master to the slaves substantially simultaneously with the transmission of the master control signal to the drive units of the omnidirectional wheels of the master; heteronomous control means provided in the slaves for controlling the operation of their respective omnidirectional wheels based on the slave instruction signal transmitted from the master; broadcast transmission means provided in each cart for periodically wirelessly broadcasting its own self-information to other carts; broadcast reception means provided in each cart for receiving information (self-information) about other carts broadcast from other carts; and autonomous control means provided in each cart for autonomously controlling the operation of its respective omnidirectional wheels based on its own self-information and information about other carts (self-information of other carts) broadcast from other carts.

Prior Art Documents

Patent Documents

[0003] [Patent Document 1] Japanese Patent Publication No. 2011-216007 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] By the way, Patent Document 1 determines the current position of the carts based on the movement of the rollers, but there is a risk that the distance between the carts may be misaligned, which could lead to the cargo falling or other problems.

[0005] This invention has been made in view of these circumstances, and one of its objectives is to provide an interlocking transport robot that improves the consistency of the spacing between transport robots. [Means for solving the problem]

[0006] To achieve the above objective, the present invention is understood by the following configuration. (1) The linked transport robot of the present invention is a linked transport robot comprising a transport robot including a first transport robot and a second transport robot, The aforementioned first transport robot, A first one-sided LiDAR is provided on one side, The first one-sided LiDAR is provided on the upper or lower side and comprises a first one-sided V-shaped groove that opens in the width direction of the first transport robot, The aforementioned second transport robot, A second LiDAR is provided on the other side, The second other-side V-shaped groove is provided above or below the second other-side LiDAR and opens in the width direction of the second transport robot, The vertical positional relationship between the first one-sided LiDAR and the first one-sided V-shaped groove is the opposite of the vertical positional relationship between the second other-sided LiDAR and the second other-sided V-shaped groove.

[0007] (2) In the configuration described in (1) above, The first transport robot is equipped with a first load receiving section at its upper part for receiving loads to be transported, The second transport robot is equipped with a second load receiving section at its upper part for receiving loads to be transported, The first load-receiving section is capable of being raised and lowered and rotated 360°. The second load-receiving section is capable of being raised and lowered and rotated 360°.

[0008] (3) In the configuration described in (1) above, The first one-sided LiDAR and the first one-sided V-shaped groove are located in the center of the width direction of the first transport robot. The second other-side LiDAR and the second other-side V-shaped groove are located in the center of the width direction of the second transport robot.

[0009] (3) In the configuration described in (1) above, The first one-sided LiDAR and the first one-sided V-shaped groove are located in the center of the width direction of the first transport robot. The second other-side LiDAR and the second other-side V-shaped groove are located in the center of the width direction of the second transport robot.

[0010] (4) In any of the configurations described in (1) to (3) above, The aforementioned interlocking transport robot is The system comprises one or more third transport robots located between the first transport robot and the second transport robot, The aforementioned third transport robot, A third LiDAR is provided on one side, A third V-shaped groove is provided on the upper or lower side of the third one-sided LiDAR, and opens in the width direction of the third transport robot, A third LiDAR is provided on the other side, The third other-side V-shaped groove is provided above or below the third other-side LiDAR and opens in the width direction of the third transport robot, The vertical positional relationship between the third one-sided LiDAR and the third one-sided V-groove is opposite to the vertical positional relationship between the third other-sided LiDAR and the third other-sided V-groove. The vertical positional relationship between the third other-sided LiDAR and the third other-sided V-groove is opposite to the vertical positional relationship between the first one-sided LiDAR and the first one-sided V-groove.

[0011] (5) In the configuration of (4) above, The third transfer robot includes a third load receiving part for receiving the load to be transferred at the upper part. The third load receiving part can move up and down and rotate 360°.

[0012] (6) In the configuration of (4) above, The third one-sided LiDAR, the third one-sided V-groove, the third other-sided LiDAR, and the third other-sided V-groove are located at the center in the width direction of the third transfer robot.

Effect of the Invention

[0013] According to the present invention, it is possible to provide an interlocking type transfer robot that improves the constancy of the interval between transfer robots.

Brief Explanation of Drawings

[0014] [Figure 1] It is a perspective view of the interlocking type transfer robot according to the first embodiment of the present invention. [Figure 2] It is a perspective view of the first transfer robot according to the first embodiment of the present invention. [Figure 3] It is a perspective view of the drive steering part including wheels according to the first embodiment of the present invention. [Figure 4] It is a perspective view showing a state in which the mounting part of the first transfer robot according to the first embodiment of the present invention is raised. [Figure 5] It is a perspective view showing a state in which a load is transferred by the interlocking type transfer robot according to the first embodiment of the present invention. [Figure 6] It is a side view of the interlocking type transfer robot according to the second embodiment of the present invention. [Modes for carrying out the invention]

[0015] Hereinafter, embodiments for carrying out the present invention (hereinafter referred to as "embodiments") will be described in detail with reference to the attached drawings. Throughout the description of the embodiments, the same elements are assigned the same numbers or reference numerals.

[0016] However, please note that, for the sake of readability in the drawings, not all identical elements are assigned numbers or symbols, and some elements do not have numbers or symbols assigned.

[0017] <<First Embodiment>> The first embodiment of the interlocking transport robot 1 according to the present invention will be described. Figure 1 is a perspective view of an interlocking transport robot 1 according to a first embodiment of the present invention, showing the first transport robot 10 and the second transport robot 20 in a line during interlocking operation.

[0018] Note that Figure 1 is a perspective view taken from a direction where the other end EN1 of the first transport robot 10 and the second transport robot 20 are visible.

[0019] As shown in Figure 1, the linked transport robot 1 comprises a first transport robot 10 and a second transport robot 20. In other words, the linked transport robot 1 includes transport robots, including a first transport robot 10 and a second transport robot 20.

[0020] As shown in Figure 1, the linked transport robot 1 consists of a first transport robot 10 and a second transport robot 20 that operate in a series configuration.

[0021] In the following, the forward direction (left direction in Figure 1) and the reverse direction (right direction in Figure 1) of the linked transport robot 1 may be referred to as the X direction, and in the X direction, the reverse direction side will be referred to as one side and the forward direction side as the other side.

[0022] Furthermore, in order to clarify the related configurations between the first transport robot 10 and the second transport robot 20, the definitions of "one side" and "the other side" are assumed to be based on the state in which the first transport robot 10 and the second transport robot 20 are aligned in a line during linked operation, as shown in Figure 1.

[0023] However, the forward direction side may be considered one side and the reverse direction side the other side. In that case, you should simply replace "one side" with "other side" in the following explanation, and vice versa. Please note that the forward direction side is not limited to the other side, nor is the reverse direction side limited to one side.

[0024] In addition, the width direction of the transport robots (first transport robot 10 and second transport robot 20), that is, the horizontal direction perpendicular to the X direction, is sometimes referred to as the Y direction.

[0025] Furthermore, the vertical direction of the transport robots (first transport robot 10 and second transport robot 20), that is, the vertical direction perpendicular to both the X and Y directions, is sometimes referred to as the Z direction.

[0026] Figure 2 is a perspective view of the first transport robot 10 according to the first embodiment of the present invention, and is a perspective view taken from a direction in which one end EN2 of the first transport robot 10 is visible.

[0027] As shown in Figure 2, the first transport robot 10 comprises a main body 11 with an outer shape that is approximately rectangular, and wheels 12A (see Figure 3) provided on the underside of the main body 11, corresponding to the four corners of the main body 11, although these are not visible in the figure.

[0028] For example, the main body 11, which is roughly rectangular in shape, has a width of 1200 to 3500 mm, a length of 1800 to 2400 mm, and a height of 500 to 580 mm.

[0029] However, the dimensions do not need to be limited to these; the dimensions themselves can be determined as appropriate according to the intended use, for example, the type of cargo being transported (also simply referred to as cargo TFO).

[0030] As can be seen in Figure 1, the second transport robot 20 also has a main body 21 with an almost rectangular parallelepiped shape, and wheels 12A (see Figure 3) provided on the underside of the main body 21, corresponding to the four corners of the main body 21, although these are not visible in the figure. The width, length, and height of the almost rectangular parallelepiped main body 21 are the same as those of the main body 11.

[0031] Figure 3 is a perspective view of a drive steering unit 12 including a wheel 12A according to the first embodiment of the present invention, showing one of the four drive steering units 12 provided by the first transport robot 10 and the second transport robot 20, respectively.

[0032] The first transport robot 10 and the second transport robot 20 of the first embodiment are four-wheel drive, and each drive steering unit 12 includes a wheel 12A, a drive encoder 12B for detecting the rotation state of the wheel 12A, and a steering encoder 12C for detecting the rotation state of the wheel 12A about the vertical axis (up and down axis).

[0033] Therefore, since the rotation and movement states of each of the four wheels can be detected and controlled, the first transport robot 10 and the second transport robot 20 are capable of a variety of movements, including moving forward, backward, rotating in place, and moving laterally.

[0034] Furthermore, the main body 11 of the first transport robot 10 comprises a lower part 11A and an upper part 11B, as shown in Figure 2. Although not visible in the diagram, the first transport robot 10 is equipped with a drive unit, a secondary battery (so-called battery), and a speaker, etc., located in the lower part 11A of the main body 11.

[0035] Furthermore, as shown in Figure 1, the main body 21 of the second transport robot 20 is equipped with a lower part 21A and an upper part 21B, similar to the first transport robot 10. Although not visible in the diagram, the second transport robot 20 also includes a drive unit, a secondary battery (so-called battery), and a speaker, etc., located within the lower part 21A of the main body 21.

[0036] On the other hand, as shown in Figures 1 and 2, the first transport robot 10 includes a power switch 13 provided on one side of the upper part 11B of the main body 11, LEDs serving as direction indicators 14 provided at each of the four upper corners of the upper part 11B of the main body 11, and emergency stop buttons 15 provided at one end EN2 and the other end EN1 of the upper part 11B of the main body 11.

[0037] The second transport robot 20, like the first transport robot 10, is equipped with a power switch located on the other side of the upper part 21B of the main body 21 (the side not visible in Figure 1), LEDs serving as direction indicators 24 located at each of the four upper corners of the upper part 21B of the main body 21, and emergency stop buttons 25 located at one end EN2 and the other end EN1 of the upper part 21B of the main body 21.

[0038] Furthermore, the first transport robot 10 and the second transport robot 20 are equipped with wireless communication units (for example, communication devices capable of Wi-Fi® communication), and when either the emergency stop button 15 or the emergency stop button 25 is pressed, the first transport robot 10 and the second transport robot 20 will simultaneously come to an emergency stop.

[0039] Furthermore, as shown in Figures 1 and 2, the first transport robot 10 is equipped with bumper sensors 16 located on the underside of one end EN2 and the other end EN1 of the lower part 11A of the main body 11.

[0040] Furthermore, the second transport robot 20, like the first transport robot 10, is equipped with bumper sensors 26 located at one end of the lower part 21A of the main body 21 and on the underside of the other end EN1.

[0041] The bumper sensors 16 and 26 each include, for example, a cushioning material (e.g., rubber) that absorbs impact during a collision, and a switch provided on the back of the cushioning material. When the cushioning material collides with something, the switch is activated and an emergency stop is performed.

[0042] In addition, similar to the emergency stop buttons 15 and 25, the bumper sensors 16 and 26 are also designed so that if either one collides with something and activates a switch, the first transport robot 10 and the second transport robot 20 will simultaneously come to an emergency stop.

[0043] Furthermore, as shown in Figures 1 and 2, the first transport robot 10 is equipped with LiDAR 17s located at each of the four corners between the lower part 11A and the upper part 11B.

[0044] More specifically, LiDAR17 is a 3D-LiDAR that can acquire three-dimensional point cloud data on the forward side within a predetermined angular range, and can acquire the shape of structures (e.g., obstacles, etc.) and the distance to the structures in three dimensions.

[0045] The pair of LiDARs 17 located on the other side function as navigation LiDARs for the first transport robot 10, which acts as a master, when moving in the forward direction, while the pair of LiDARs 17 located on one side function as obstacle avoidance LiDARs.

[0046] Similar to the first transport robot 10, the second transport robot 20 is equipped with LiDAR 27s located at each of the four corners between the lower part 21A and the upper part 21B.

[0047] Like LiDAR17, LiDAR27 is a 3D-LiDAR that can acquire 3D point cloud data on the forward side within a predetermined angular range, and can acquire the shape of structures (e.g., obstacles, etc.) and the distance to those structures in 3D.

[0048] Furthermore, the pair of LiDAR 27s located on one side function as navigation LiDARs for the second transport robot 20, which acts as the master, when moving in the reverse direction, while the pair of LiDAR 27s located on the other side function as obstacle avoidance LiDARs.

[0049] Figure 4 is a perspective view showing the state in which the mounting section 18A of the first transport robot 10 of the first embodiment of the present invention is raised. Figure 5 is a perspective view showing the state in which the interlocking transport robot 1 of the first embodiment of the present invention is transporting a load TFO.

[0050] As shown in Figures 1, 2, and 4, the first transport robot 10 is equipped with a first load receiving section 18 that receives the load TFO (see Figure 5) to be transported at its top.

[0051] Specifically, the first load-receiving section 18 includes a mounting section 18A having a disc-shaped base 18A1 and a pair of position-fixing pins 18A2 provided above the base 18A1, and a lifting mechanism 18B (see Figure 4) that raises and lowers the mounting section 18A within a range of, for example, about 100 mm.

[0052] For example, if the size of the first transport robot 10 is small, the lifting mechanism 18B may be an electric lifting mechanism. Conversely, if the size of the first transport robot 10 is large, it is preferable to use a hydraulic lifting mechanism because the weight of the load TFO to be transported is expected to be heavy.

[0053] Furthermore, the first load receiving section 18 is capable of 360° rotation, allowing it to absorb slight rotational movements of the load TFO during transport. Furthermore, it is sufficient that at least the mounting section 18A is capable of rotation.

[0054] On the other hand, as shown in Figure 1, the second transport robot 20, like the first transport robot 10, is equipped with a second load receiving section 28 that receives the load TFO (see Figure 5) to be transported from above.

[0055] Furthermore, similar to the first load-receiving section 18, the second load-receiving section 28 includes a mounting section 28A having a disc-shaped base 28A1 and a pair of position-fixing pins 28A2 provided above the base 28A1, and a lifting mechanism (not shown) for raising and lowering the mounting section 28A within a range of, for example, about 100 mm.

[0056] As explained earlier, the lifting mechanism (not shown) of the second load receiving section 28 may be an electric lifting mechanism if the second transport robot 20 is small, while if the second transport robot 20 is large, it is preferable to use a hydraulic lifting mechanism because the weight of the load TFO to be transported is expected to be heavier.

[0057] Furthermore, similar to the first load receiving section 18, the second load receiving section 28 is capable of 360° rotation, allowing it to absorb slight rotational movements of the load TFO during transport. Furthermore, it is sufficient that at least the mounting section 28A is capable of rotation.

[0058] Then, as shown in Figure 5, the linked transport robot 1 transports the load TFO with the load TFO positioned so as to bridge the gap between the first load receiving section 18 of the first transport robot 10 (see Figure 1) and the second load receiving section 28 of the second transport robot 20 (see Figure 1), while the first transport robot 10 and the second transport robot 20 work in conjunction to maintain a constant distance between them.

[0059] In Figure 5, the first receiving section 18 (see Figure 1) and the second receiving section 28 (see Figure 1) directly receive the load TFO. However, the first receiving section 18 (see Figure 1) and the second receiving section 28 (see Figure 1) may also receive the load TFO indirectly.

[0060] For example, a pallet or the like for placing the TFO can be placed between the first receiving section 18 of the first transport robot 10 (see Figure 1) and the second receiving section 28 of the second transport robot 20 (see Figure 1), and the TFO can be placed on the pallet or the like, so that the first receiving section 18 (see Figure 1) and the second receiving section 28 (see Figure 1) indirectly receive the TFO via the pallet or the like.

[0061] Furthermore, as explained earlier, both the first load receiving section 18 of the first transport robot 10 (see Figure 1) and the second load receiving section 28 of the second transport robot 20 (see Figure 1) are capable of being raised and lowered. Therefore, even if the height of the underside of the load TFO differs slightly between the section corresponding to the first load receiving section 18 and the section corresponding to the second load receiving section 28, the load TFO can be received by raising or lowering the sections.

[0062] As shown in Figure 5, the load TFO is positioned to bridge the gap between the first load receiving section 18 of the first transport robot 10 (see Figure 1) and the second load receiving section 28 of the second transport robot 20 (see Figure 1). In order to transport the load TFO without it falling, it is important that the distance between the first transport robot 10 and the second transport robot 20 remains constant during transport. Next, the configuration for achieving this will be explained.

[0063] As shown in Figure 2, the first transport robot 10 includes a first one-sided LiDAR 19 provided on one side, and a first one-sided V-shaped groove V1 provided above the first one-sided LiDAR 19, which opens toward one side in the width direction (Y direction) of the first transport robot 10.

[0064] More specifically, the first one-sided LiDAR 19 and the first one-sided V-shaped groove V1 are positioned in the center of the width direction (Y direction) of the first transport robot 10.

[0065] On the other hand, as shown in Figure 1, the second transport robot 20 includes a second other-side LiDAR 29 provided on the other side, and a second other-side V-shaped groove V2 provided below the second other-side LiDAR 29, which opens toward the other side in the width direction of the second transport robot 20.

[0066] More specifically, the second other-side LiDAR 29 and the second other-side V-shaped groove V2 are positioned in the center of the width direction (Y direction) of the second transport robot 20.

[0067] As described above, the vertical positional relationship between the first one-sided LiDAR 19 and the first one-sided V-shaped groove V1 is reversed compared to the vertical positional relationship between the second other-sided LiDAR 29 and the second other-sided V-shaped groove V2. The vertical (Z-direction) height positions of the first one-sided LiDAR 19 and the second other-sided V-shaped groove V2 are set to be approximately the same, and the vertical (Z-direction) height positions of the second other-sided LiDAR 29 and the first one-sided V-shaped groove V1 are set to be approximately the same.

[0068] Furthermore, both the first LiDAR 19 on one side and the second LiDAR 29 on the other side are 3D-LiDARs capable of acquiring three-dimensional point cloud data on the forward side within a predetermined angular range, and can acquire the shape of structures (e.g., obstacles, etc.) and the distance to the structures in three dimensions.

[0069] Therefore, the first LiDAR 19 detects the inner surface shape (also called the second triangular recess) of the second V-shaped groove V2 located at the same height on the front, which becomes narrower as it goes deeper into the groove, and the second LiDAR 29 detects the inner surface shape (also called the first triangular recess) of the first V-shaped groove V1 located at the same height on the front, which becomes narrower as it goes deeper into the groove.

[0070] Furthermore, since the center of the second triangular recess on the other side is the center of the second transport robot 20 in the width direction, the first transport robot 10 can align itself with the second transport robot 20 in the width direction based on this, and can also accurately detect the distance.

[0071] Furthermore, since the center of the first triangular recess on one side in the width direction is the center of the first transport robot 10 in the width direction, the second transport robot 20 can align itself with the first transport robot 10 in the width direction based on this, and can also accurately detect the distance.

[0072] Thus, in the first embodiment, the widthwise position and separation distance between the first transport robot 10 and the second transport robot 20 are directly measured by the first LiDAR 19 on one side and the second LiDAR 29 on the other side, making it less likely for misalignment to occur.

[0073] Furthermore, in order to improve the measurement accuracy of the first LiDAR 19 on one side, the measurement target is set to the second V-shaped groove V2 on the other side, which is a highly recognizable V-shaped recess, and in order to improve the measurement accuracy of the second LiDAR 29 on the other side, the measurement target is set to the first V-shaped groove V1 on one side, which is a highly recognizable V-shaped recess, so that the position in the width direction and the distance between them can be measured accurately.

[0074] For example, when the linked transport robot 1 moves in the forward direction, the first transport robot 10 performs navigational movement, and the second transport robot 20 follows it based on the widthwise position and distance from the first transport robot 10, which are accurately measured.

[0075] Conversely, when the linked transport robot 1 moves in the reverse direction, the second transport robot 20 performs navigation and follows the first transport robot 10 based on the widthwise position and distance from the second transport robot 20, which the first transport robot 10 has accurately measured.

[0076] In the first embodiment, when the linked transport robot 1 moves laterally, the first transport robot 10 performs navigation and the second transport robot 20 follows it; however, the reverse may also be used.

[0077] Furthermore, if the vertical positional relationship between the first one-sided LiDAR 19 and the first one-sided V-shaped groove V1 is reversed from the vertical positional relationship between the second other-sided LiDAR 29 and the second other-sided V-shaped groove V2, then the first one-sided LiDAR 19 and the second other-sided V-shaped groove V2 can face each other at the same height, and the second other-sided LiDAR 29 and the first one-sided V-shaped groove V1 can face each other at the same height. Therefore, the upper limit relationship explained earlier may be reversed.

[0078] In other words, the first transport robot 10 may include a first one-sided LiDAR 19 provided on one side, and a first one-sided V-shaped groove V1 provided below the first one-sided LiDAR 19 and opening toward the one side in the width direction (Y direction) of the first transport robot 10, while the second transport robot 20 may include a second other-sided LiDAR 29 provided on the other side, and a second other-sided V-shaped groove V2 provided above the second other-sided LiDAR 29 and opening toward the other side in the width direction of the second transport robot 20.

[0079] <<Second Embodiment>> Next, a second embodiment of the linked transport robot 1 according to the present invention will be described. Figure 6 is a side view of the linked transport robot 1 according to the second embodiment of the present invention, and is a side view of the linked operation in which the first transport robot 10, the second transport robot 20, and the third transport robot 30 are arranged in a line.

[0080] In Figure 6, the first transport robot 10, the second transport robot 20, and the third transport robot 30 are shown in simplified schematic diagrams.

[0081] Furthermore, Figure 6 shows a case where the linked transport robot 1 is equipped with one or more (two in this example) third transport robots 30 in addition to the first transport robot 10 and the second transport robot 20.

[0082] In the first embodiment, a case was described in which the linked transport robot 1 comprises two transport robots, a first transport robot 10 and a second transport robot 20. However, the linked transport robot 1 may comprise three or more transport robots. In the second embodiment, a case will be described in which the linked transport robot 1 further comprises one or more third transport robots 30 located between the first transport robot 10 and the second transport robot 20.

[0083] Since the third transport robot 30 basically has the same configuration as described for the first transport robot 10 and the second transport robot 20, the following explanation will mainly focus on the differences in configuration, and explanations of similar configurations may be omitted.

[0084] As shown in Figure 6, the linked transport robot 1 includes one or more (two in this example) third transport robots 30 located between the first transport robot 10 and the second transport robot 20. The third transport robot 30, like the first transport robot 10 and the second transport robot 20, includes a main body 31 with a lower part 31A and an upper part 31B.

[0085] Although not shown in the illustration, the third transport robot 30, like the first load receiving section 18 of the first transport robot 10 and the second load receiving section 28 of the second transport robot 20, is equipped with a third load receiving section that receives the load TFO (not shown) to be transported from above, and this third load receiving section is also capable of moving up and down and rotating 360°.

[0086] The third transport robot 30 includes a third one-sided LiDAR 392 provided on one side, a third one-sided V-shaped groove V32 provided above the third one-sided LiDAR 392 and opening toward one side in the width direction of the third transport robot 30, a third other-sided LiDAR 391 provided on the other side, and a third other-sided V-shaped groove V31 provided below the third other-sided LiDAR 391 and opening toward the other side in the width direction of the third transport robot 30.

[0087] In other words, the vertical positional relationship between the third LiDAR 392 and the third V-shaped groove V32 is the opposite of the vertical positional relationship between the third LiDAR 391 and the third V-shaped groove V31.

[0088] Furthermore, similar to the first one-sided LiDAR 19 and the first one-sided V-shaped groove V1 of the first transport robot 10, the third one-sided LiDAR 392 and the third one-sided V-shaped groove V32 of the third transport robot 30 are positioned in the center of the width direction (Y direction) of the third transport robot 30.

[0089] Furthermore, similar to the second other-side LiDAR 29 and the second other-side V-shaped groove V2 of the second transport robot 20, the third other-side LiDAR 391 and the third other-side V-shaped groove V31 of the third transport robot 30 are positioned in the center in the width direction (Y direction).

[0090] Furthermore, the vertical positional relationship between the third other-side LiDAR 391 and the third other-side V-shaped groove V31 is the opposite of the vertical positional relationship between the first one-side LiDAR 19 and the first one-side V-shaped groove V1.

[0091] Therefore, the vertical (Z-direction) height positions of the first LiDAR 19 on one side and the third V-shaped groove V31 on the other side are set to be approximately the same, and the vertical (Z-direction) height positions of the third LiDAR 391 on the other side and the first V-shaped groove V1 on one side are set to be approximately the same.

[0092] Furthermore, the vertical positional relationship between the third one-sided LiDAR 392 and the third one-sided V-shaped groove V32 is the opposite of the vertical positional relationship between the second other-sided LiDAR 29 and the second other-sided V-shaped groove V2.

[0093] Therefore, the vertical (Z-direction) height positions of the second LiDAR 29 on the other side and the third V-shaped groove V32 on the other side are set to be approximately the same, and the vertical (Z-direction) height positions of the third LiDAR 392 on the other side and the second V-shaped groove V2 on the other side are set to be approximately the same.

[0094] Furthermore, even when viewed between adjacent third transport robots 30, the vertical positional relationship between the third LiDAR 392 on one side of the third transport robot 30 located on the other side and the third V-shaped groove V32 on one side is the opposite of the vertical positional relationship between the third LiDAR 391 on the other side of the third transport robot 30 located on one side and the third V-shaped groove V31 on the other side of the third transport robot 30.

[0095] Therefore, even when viewed between adjacent third transport robots 30, the vertical (Z-direction) height positions of the third LiDAR 392 on one side of the third transport robot 30 located on the other side and the third V-shaped groove V31 on the other side of the third transport robot 30 located on the one side are set to be approximately the same height, and the vertical (Z-direction) height positions of the third LiDAR 391 on the other side of the third transport robot 30 located on the one side and the third V-shaped groove V32 on the other side of the third transport robot 30 located on the other side are set to be approximately the same height.

[0096] Therefore, as described in the first embodiment, the widthwise position and separation distance between the first transport robot 10 and the third transport robot 30, between the third transport robot 30 and the third transport robot 30, and between the third transport robot 30 and the second transport robot 20 can be accurately measured, enabling smooth coordinated operation of the first transport robot 10, the second transport robot 20, and the third transport robot 30.

[0097] However, as the number of transport robots increases, the cost also increases. If the load TFO is long, the distance between the first transport robot 10 and the second transport robot 20 can be set to a longer distance to accommodate long objects. Therefore, it is considered preferable for the linked transport robot 1 to consist of only two transport robots, the first transport robot 10 and the second transport robot 20.

[0098] Furthermore, the present invention also includes modifications and improvements to the above embodiments, which will be apparent to those skilled in the art from the claims. [Explanation of Symbols]

[0099] 1... Interlocking transport robot, 10... First transport robot, 18... First load receiving unit, 19... First one-sided LiDAR, 20... Second transport robot, 28... Second load receiving unit, 29... Second other-sided LiDAR, 30... Third transport robot, 391... Third other-sided LiDAR, 392... Third one-sided LiDAR, V1... First one-sided V-groove, V2... Second other-sided V-groove, V31... Third other-sided V-groove, V32... Third one-sided V-groove

Claims

1. An interlocking transport robot comprising transport robots including a first transport robot and a second transport robot, The first transport robot is, A first one-sided LiDAR is provided on one side, The first one-sided LiDAR is provided on the upper or lower side and comprises a first one-sided V-shaped groove that opens in the width direction of the first transport robot, The aforementioned second transport robot, A second other-side LiDAR is provided on the other side, The second other-side V-shaped groove is provided on the upper or lower side of the second other-side LiDAR and opens in the width direction of the second transport robot, An interlocking transport robot characterized in that the vertical positional relationship between the first one-sided LiDAR and the first one-sided V-shaped groove is the opposite of the vertical positional relationship between the second other-sided LiDAR and the second other-sided V-shaped groove.

2. The first transport robot is equipped with a first load receiving section at its upper part for receiving loads to be transported, The second transport robot is equipped with a second load receiving section at its upper part for receiving loads to be transported, The first load-receiving section is capable of being raised and lowered and rotated 360°. The linked transport robot according to claim 1, characterized in that the second load receiving section is capable of vertical movement and 360° rotation.

3. The first one-sided LiDAR and the first one-sided V-shaped groove are located in the center of the width direction of the first transport robot. The linked transport robot according to claim 1, characterized in that the second other-side LiDAR and the second other-side V-shaped groove are located in the center in the width direction of the second transport robot.

4. The aforementioned interlocking transport robot is The system includes one or more third transport robots located between the first transport robot and the second transport robot, The above-mentioned transport robot, A third LiDAR is provided on one side, A third V-shaped groove is provided on the upper or lower side of the third one-sided LiDAR, and opens in the width direction of the third transport robot, A third other-side LiDAR is provided on the other side, The third other-side V-shaped groove is provided on the upper or lower side of the third other-side LiDAR and opens in the width direction of the third transport robot, The vertical positional relationship between the third LiDAR on one side and the third V-shaped groove on one side is the opposite of the vertical positional relationship between the third LiDAR on the other side and the third V-shaped groove on the other side. The interlocking transport robot according to any one of claims 1 to 3, characterized in that the vertical positional relationship between the third other-side LiDAR and the third other-side V-shaped groove is the opposite of the vertical positional relationship between the first one-side LiDAR and the first one-side V-shaped groove.

5. The third transport robot is equipped with a third load receiving section at its upper part for receiving loads to be transported, The linked transport robot according to claim 4, characterized in that the third load receiving section is capable of being raised and lowered and rotated 360°.

6. The linked transport robot according to claim 4, characterized in that the third one-sided LiDAR, the third one-sided V-shaped groove, the third other-sided LiDAR, and the third other-sided V-shaped groove are located in the center in the width direction of the third transport robot.

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