Conveying device, conveying system, control device, control method, and control program

Abstract

The objective is to provide a transport device, transport system, control device, control method, and control program that can appropriately perform autonomous driving according to the object being transported. [Solution] The transport device of the embodiment comprises a detection unit, a moving mechanism, a setting unit, an action planning unit, and a moving control unit. The detection unit is capable of detecting information about the surroundings of the transport device. The moving mechanism moves the transport device. The setting unit sets the parameters necessary for creating an action plan to autonomously move the transport device according to the type of object to be transported. The action planning unit creates an action plan using the detection results from the detection unit and the parameters set in the setting unit. The moving control unit controls the moving mechanism according to the action plan created by the action planning unit.

Description

Technical Field

[0001] Embodiments of the present invention relate to a transport device, a transport system, a control device, a control method, and a control program.

Background Art

[0002] In logistics sites, distribution sites, and other sites, the introduction of robots is being promoted to solve the labor shortage. One such type of robot is an autonomous mobile robot (AMR). This autonomous mobile robot is a robot that utilizes sensing technology such as cameras or sensors to automatically search for a route and travel to a destination while automatically avoiding people or obstacles. Patent Document 1 below discloses an autonomous mobile robot that pulls and transports an object to be transported.

[0003] Conventional autonomous mobile robots were designed assuming the case of transporting a specific object to be transported, so it was difficult to appropriately perform autonomous driving according to the object to be transported.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The problem to be solved by the present invention is to provide a transport device, a transport system, a control device, a control method, and a control program that can appropriately perform autonomous driving according to an object to be transported.

Means for Solving the Problems

[0006] The transport device of this embodiment comprises a detection unit, a moving mechanism, a setting unit, an action planning unit, and a movement control unit. The detection unit is capable of detecting information about the surroundings of the transport device. The moving mechanism moves the transport device. The setting unit sets the parameters necessary for creating an action plan to autonomously move the transport device according to the type of object to be transported. The action planning unit creates an action plan using the detection results from the detection unit and the parameters set in the setting unit. The movement control unit controls the moving mechanism according to the action plan created by the action planning unit. [Brief explanation of the drawing]

[0007] [Figure 1] A side view showing the configuration of the conveying device according to the first embodiment. [Figure 2] A perspective view showing the configuration of the conveying device according to the first embodiment. [Figure 3] Functional block diagram of the conveying device according to the first embodiment. [Figure 4] A flowchart illustrating the control method of the first embodiment. [Figure 5] A diagram illustrating the method for calculating the general shape in the first embodiment. [Figure 6] A diagram illustrating the method for calculating the rotation center, minimum proximity distance, and minimum turning radius in the first embodiment. [Figure 7] A diagram illustrating the method for calculating the rotation center, minimum proximity distance, and minimum turning radius in the first embodiment. [Figure 8] A diagram illustrating the method for calculating the rotation center, minimum proximity distance, and minimum turning radius in the first embodiment. [Figure 9] A diagram illustrating the calculation direction of the autonomous driving path in the first embodiment. [Figure 10] A side view showing the configuration of the conveying device according to the second embodiment. [Figure 11] Functional block diagram of the conveying device according to the second embodiment. [Figure 12] A flowchart illustrating the control method of the second embodiment. [Figure 13] Functional block diagram of the conveying device according to the third embodiment. [Figure 14] A flowchart illustrating the control method of the third embodiment. [Figure 15] A diagram illustrating the margins set in the third embodiment. [Figure 16] Functional block diagram of the conveying device according to the fourth embodiment. [Figure 17] A block diagram of a transport system including the transport device of the fifth embodiment. [Modes for carrying out the invention]

[0008] The transport device, transport system, control device, control method, and control program of this embodiment will be described below with reference to the drawings. The transport device of this embodiment may be, for example, an autonomous transport robot, and specifically, an unmanned transport vehicle such as an Autonomous Mobile Robot (AMR) or Automatic Guided Vehicle (AGV) can be used. Furthermore, the transport device of this embodiment is used to transport objects in distribution work sites where goods, products, etc. are loaded, such as in logistics, manufacturing work sites, or store backyards.

[0009] (First Embodiment) Figure 1 is a side view showing the configuration of the conveying device according to the first embodiment. Figure 2 is a perspective view showing the configuration of the conveying device according to the first embodiment. As shown in Figures 1 and 2, the conveying device 1A conveys the object to be conveyed D. The object to be conveyed D is, for example, a cage trolley. For the cage trolley, for example, one can be used in which the loading platform is enclosed by a mesh or grid-like steel frame, and wheels for movement are attached to the bottom of the loading platform. The object to be transported, D, comprises, for example, a rectangular plate-shaped base plate D1, a plurality of wheels C provided on the lower surface of the base plate D1, and a frame D2 provided on the upper surface of the base plate D1. The conveying device 1A moves while operating the driving means of the object D to be conveyed, and conveys it. For example, the conveying device 1A moves while rotating a plurality of wheels C of a cage cart on the floor surface E and conveys it. Also, for example, any one of each of the wheels C can be used which is rotatable within a predetermined rotation range or 360° about an axis intersecting the floor surface E as required. Also, for example, any one of each of the wheels C can be used which is fixed without rotating about an axis intersecting the floor surface E as required. A so-called caster structure can be used for the wheels C.

[0010] On the upper surface side of the bottom plate D1, an object to be conveyed (not shown) is placed. On the upper surface side of the bottom plate D1, a frame body D2 is provided so as to surround the object to be conveyed. The frame body D2 is formed so as to surround the four peripheral sides including the upper side of the bottom plate D1. At least one of the four sides of the frame body D2 is formed as a door that can be opened and closed. One side of the frame body D2 may be open without providing a door.

[0011] Four wheels C are arranged at the four corners on the lower surface side of the bottom plate D1. The plurality of wheels C move the bottom plate D1 with respect to the floor surface E. On the lower surface side of the bottom plate D1, two pairs of wheels C are arranged at a predetermined interval apart with respect to the direction P in FIG. 1. The wheels C may be fixed wheels or swivel wheels. For example, among the two pairs of wheels C, one pair of wheels C of one pair may be fixed wheels and the other pair of wheels C of the other pair may be swivel wheels, or all of the two pairs of wheels C may be swivel wheels. With the above configuration, the object D to be conveyed travels on the floor surface E by applying an external force in the direction P in FIG. 1, for example. The object D to be conveyed is conveyed to the target position by the conveying device 1A.

[0012] The conveying device 1A includes, for example, a moving carriage 2 that conveys a conveyance target object D, and a plurality of sensing detection units provided on the moving carriage 2. The plurality of detection units includes a first detection unit 10, a second detection unit 11, and a third detection unit 12. The moving carriage 2 includes, for example, a loading platform 3 on which a bottom plate D1 is placed on the upper surface side. A plurality of wheels 6 are provided on the lower surface side of the loading platform 3. The wheels 6 form a part of a moving mechanism 120 (see FIG. 3) as described later. The loading platform 3 can travel on the floor surface E when the wheels 6 are driven.

[0013] The wheels 6 are driven to move in an arbitrary direction by a general two-wheel independent drive method. For example, two pairs of wheels 6 are arranged at a predetermined interval with respect to the direction P in FIG. 1. The number of wheels 6 may be three or less, or may be five or more. Note that the wheels 6 may be driven to move in all directions using special wheels such as omni wheels or mecanum wheels. The conveying device 1 can move in all directions using omni wheels or mecanum wheels or the like for the wheels 6, and can convey and move it in response to the movement of various types of conveyance target objects D.

[0014] The loading platform 3 is set to a height that allows it to enter between the bottom plate D1 of the conveyance target object D and the floor surface E. A lifter 4 with an adjustable height is provided on the upper surface side of the loading platform 3. The lifter 4 is controlled by a control device 140 (see FIG. 2) as described later. When the loading platform 3 is inserted between the bottom plate D1 and the floor surface E, the lifter 4 raises its height position and acts to support the conveyance target object D from below. The conveying device 1A moves while supporting the conveyance target object D from below by the lifter 4 of the loading platform 3 and conveys it. At this time, the conveying device 1A conveys the conveyance target object D while rotating the plurality of wheels C on the floor surface E while supporting the conveyance target object D from below. The loading platform 3 may convey the conveyance target object D by the friction between the lower surface side of the bottom plate D1 of the conveyance target object D and the upper surface side of the lifter 4. The moving carriage 2 may also tow and convey the conveyance target object D in a state where it is hooked using a pin or the like without providing the loading platform 3 and the lifter 4. Thus, the conveyance target object D is conveyed in a state integrated with the conveying device 1A.

[0015] The loading platform 3 is provided with a housing 7 on the front side with respect to direction P, which houses the control device 140 described later. The housing 7 is formed in the shape of a rectangular parallelepiped. The housing 7 is mounted on the front side of the loading platform 3, rising upward from the top surface. A rotating light K is provided on the top surface of the housing 7 to alert those nearby of its approach. The rotating light K rotates, for example, so that it is visible to workers in the vicinity, drawing their attention to the approach of the mobile cart 2.

[0016] A support member 8, further formed of rod-shaped members, is provided on the upper surface of the housing 7. The support member 8 is configured to stand upright above. The support member 8 is formed in a frame shape when viewed from a direction along direction P. More specifically, the support member 8 is configured with two rod-shaped members standing upright above, and one more rod-shaped member connecting to these two rod-shaped members in an intersecting manner. The support member 8 may be formed as a truss structure or other structure reinforced to increase bending rigidity in the front-rear direction to prevent vibration.

[0017] In the transport device 1A, the first detector 10 is installed at a higher position than the floor surface E to detect surrounding information. The first detector 10 is installed at a higher position than the second detector 11 and the second detector 12, with respect to the floor surface E. The transport device 1A uses the first detector 10 at a higher position to detect surrounding information with high accuracy, such as the presence or absence of objects that may obstruct movement.

[0018] The upper end of the support member 8 is provided with a first detection unit 10 for detecting surrounding objects and a rotating light K. The first detection unit 10 is, for example, an LRF (Laser Range Finder). The first detection unit 10 scans a laser beam, receives reflected light from an object, and measures the distance to the object's surface based on the phase difference and arrival time difference of the reflected light. The first detection unit 10 detects first data obtained by scanning a first range around the mobile cart 2. The first detection unit 10 scans a predetermined angular range in the horizontal plane around itself, for example, and detects first data of the distance to the surface of an object around itself at multiple points.

[0019] In direction P, a second detection unit 11 is provided on the front side of the housing 7 to detect second data obtained by scanning a second range around the mobile trolley 2. The second detection unit 11 is, for example, an LRF. The second detection unit 11 scans a laser beam, receives reflected light from an object, and measures the distance to the object's surface based on the phase difference and arrival time difference of the reflected light. The second detection unit 11 scans a predetermined angular range in the horizontal plane in front of itself, for example, and detects second data of the distance to the surface of an object in front of itself at multiple points.

[0020] In direction P, a third detection unit 12 is provided on the rear side of the loading platform 3. The third detection unit 12 detects third data relating to the position of the wheels C located on the underside of the transported object D. The third detection unit 12 is, for example, an LRF (Light Rail Finder). The third detection unit 12 is mounted at a low position to detect the wheels 6. The third detection unit 12 scans a laser beam, receives reflected light from the wheels 6, and measures the distance to the surface of the wheels 6 based on the phase difference and arrival time difference of the reflected light.

[0021] The third detection unit 12 scans a predetermined angular range in the horizontal plane direction of the laser scanning direction and detects third data at multiple points, which is the distance to the surface of the wheel C in front of it. Based on the third data detected by the third detection unit 12, the positions of multiple wheels C supporting the object to be transported D are detected, and the loading platform 3 can be inserted between a pair of wheels C arranged opposite each other with respect to direction P. The third detection unit 12 may use not only an LRF but also a depth camera capable of acquiring distance information, and may be composed of multiple infrared distance sensors.

[0022] Figure 3 is a functional block diagram of the transport device according to the first embodiment. As shown in Figure 3, the transport device 1A includes a detection unit 110, a moving mechanism 120, a storage device 130, and a control device 140. The detection unit 110 includes a first detection unit 10, a second detection unit 11, and a third detection unit 12, as described using Figures 1 and 2, and is capable of detecting information about the surroundings of the transport device 1A.

[0023] The moving mechanism 120 is a drive mechanism for moving the transport device 1A. The moving mechanism 120 includes an electric motor (not shown) controlled by the control device 140, wheels 6 shown in Figures 1 and 2, and a transmission mechanism for transmitting the driving force of the electric motor to the wheels 6.

[0024] The storage device 130 stores various types of data. For example, the storage device 130 stores various parameters PR necessary for the control device 140 to control the transport device 1A. For example, the storage device 130 stores parameters PR such as parameters indicating the shape of the transport device 1A and the transport object D, and parameters indicating the wheel configuration of the transport device 1A and the transport object D. The storage device 130 stores parameters indicating the shape and wheel configuration of the transport object D for each type of transport object D.

[0025] Parameters indicating the shape of the conveying device 1A and the conveyed object D include, for example, parameters indicating the length, width, and height dimensions of the conveying device 1A and the conveyed object D. Parameters indicating the wheel configuration of the conveying device 1A and the conveyed object D include parameters indicating whether the wheels 6 on the conveying device 1A and the wheels C on the conveyed object D are fixed wheels or swivel wheels, parameters indicating the mounting position of the wheels 6 on the loading platform 3 of the conveying device 1A, and parameters indicating the mounting position of the wheels C on the bottom plate D1 of the conveyed object D.

[0026] In addition to the parameter PR described above, the storage device 130 may also store various programs used by the control device 140, information about environment-specific objects such as surrounding walls or fixed equipment, detection results from the detection unit 110, and information necessary for the control device 140 to autonomously drive the transport device 1A (for example, route information). The storage device 130 can be implemented using a storage medium such as RAM (Random Access Memory), ROM (Read Only Memory), HDD (Hard Disk Drive), or SSD (Solid State Drive).

[0027] The storage device 130 is housed in the casing 7 of the transport device 1A, for example, similar to the control device 140. However, the storage device 130 does not necessarily have to be located within the transport device 1A. For example, the storage device 130 may be located outside the transport device 1A and be connected to the control device 140 of the transport device 1A in a communication-enabled manner.

[0028] The control device 140 comprises a sensor control unit 141, a sensor processing unit 142, a setting unit 143, an operation planning unit 144, and a movement control unit 145. The sensor control unit 141 controls the detection unit 110 to start or stop the measurement of surrounding information of the transport device 1A. The sensor control unit 141 also acquires the detection results output from the detection unit 110.

[0029] The sensor processing unit 142 acquires the detection result from the detection unit 110 from the sensor control unit 141 and performs predetermined processing on the detection result from the detection unit 110. For example, the sensor processing unit 142 performs processing to remove noise from the detection result from the detection unit 110. For example, the sensor processing unit 142 applies a median filter to the detection result from the detection unit 110 to remove noise. The sensor processing unit 142 may also perform processing other than noise removal on the detection result from the detection unit 110.

[0030] The setting unit 143 sets the parameters necessary for creating an operation plan to autonomously move the transport device 1A. The setting unit 143 reads and sets the parameters necessary for creating the above operation plan from the storage device 130. For example, if the transport device 1A does not transport the object to be transported D (when the transport device 1A moves on its own), the setting unit 143 reads and sets only the parameters related to the transport device 1A. Parameters related to the transport device 1A include, for example, parameters indicating the shape of the transport device 1A and parameters indicating the wheel configuration of the transport device 1A.

[0031] In response to this, when the conveying device 1A is conveying an object D, the setting unit 143 reads and sets parameters related to the conveying device 1A as well as parameters related to the object D. Parameters related to the object D include, for example, a parameter indicating the shape of the object D, a parameter indicating the wheel configuration of the object D, and so on. The setting unit 143 may also set the parameters related to the conveying device 1A by default and change the set parameters according to the type of object D being conveyed.

[0032] The motion planning unit 144 uses the detection results from the detection unit 110, which have been processed by the sensor processing unit 142, and the parameters set by the setting unit 143 to create a motion plan for the autonomous movement of the transport device 1A. For example, the motion planning unit 144 determines the path necessary to transport the object to be transported D to the target position. At this time, regardless of the type of object to be transported D, the motion planning unit 144 determines a path that allows the object to be transported D to be transported without people, obstacles, etc., hindering its movement. Here, "people" refers to workers, etc., at sites such as logistics, distribution, or manufacturing. Obstacles refer to other transport devices and other objects to be transported at the aforementioned work sites. Other obstacles include so-called environment-specific objects, such as surrounding walls, building structures such as columns, or fixed equipment at the aforementioned sites.

[0033] For example, the motion planning unit 144 determines the general shape and rotation center of the transport device 1A and the transport object D when they are integrated, for example, with the transport object D supported by the lifter 4 of the transport device 1A. The rotation center is also the control center when controlling the movement of the transport device 1A. Based on the determined general shape and rotation center, the motion planning unit 144 determines the minimum proximity distance and minimum turning radius of the transport device 1A when it is integrated with the transport object D. Then, considering the determined minimum proximity distance and minimum turning radius, the motion planning unit 144 determines a path that allows the transport object D to be transported without obstacles or other objects hindering its movement.

[0034] Here, the minimum proximity distance is the distance between the transport device 1A (including the transport device 1A integrated with the object to be transported D) and the obstacle, which is the distance at which the transport device 1A can approach the obstacle as closely as possible without interference. The minimum turning radius is the smallest turning radius at which the transport device 1A (including the transport device 1A integrated with the object to be transported D) can rotate without interference with the obstacle.

[0035] The movement control unit 145 controls the operation of the transport device 1A by controlling the movement mechanism 120 according to the movement plan created by the movement planning unit 144. The movement control unit 145 calculates the movement control value by methods such as the Dynamic Window Approach or the Elastic Band method. The movement control unit 145 may also calculate the movement control value by other methods.

[0036] The control device 140 is, for example, a program-executable device (computer) equipped with a processor and memory. Each function of the control device 140 is realized by one or more processors, such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), executing a program stored in program memory. In other words, the control device 140 is realized through the cooperation of software and hardware resources.

[0037] However, all or part of the functions of the control device 140 may be implemented by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), or PLD (Programmable Logic Device) (e.g., circuitry). Furthermore, all or part of the above functions may be implemented by a combination of software and hardware.

[0038] Figure 4 is a flowchart of the control method of the first embodiment. The process shown in the flowchart in Figure 4 is started each time the conveying device 1A conveys the object to be conveyed D. For the sake of simplicity, it is assumed that the object to be conveyed D is supported by the lifter 4 of the conveying device 1A, and that the conveying device 1A and the object to be conveyed D are integrated into one unit.

[0039] (Step S11) The control device 140 first identifies the type of object D to be transported. For example, information indicating the type of object D to be transported is stored in the storage device 130 beforehand. The control device 140 identifies the type of object D to be transported based on the information stored in the storage device 130.

[0040] (Step S12) Next, the control device 140 sets parameters according to the object to be transported D. Specifically, the setting unit 143 of the control device 140 reads the parameters of the object to be transported D based on the type of object to be transported D identified in step S11, and sets them as parameters necessary for creating an operation plan to autonomously move the transport device 1A. For example, the setting unit 143 sets parameters indicating the shape of the transport device 1A and the object to be transported D, and parameters indicating the wheel configuration of the transport device 1A and the object to be transported D, as parameters necessary for creating an operation plan to autonomously move the transport device 1A.

[0041] (Step S13) Next, the control device 140 performs so-called self-position estimation and starts autonomous movement while observing its surroundings. Specifically, the sensor control unit 141 of the control device 140 controls the detection unit 110 to start measuring surrounding information of the transport device 1A and acquires the detection results output from the detection unit 110. The sensor processing unit 142 of the control device 140 also acquires the detection results from the detection unit 110 from the sensor control unit 141 and performs predetermined processing on the detection results from the detection unit 110. For example, the sensor processing unit 142 performs processing on the detection results from the detection unit 110 to remove noise.

[0042] (Step S14) Next, the control device 140 creates an autonomous movement plan. Specifically, the movement planning unit 144 of the control device 140 uses the detection results of the detection unit 110, which have been processed by the sensor processing unit 142, and the parameters set by the setting unit 143 to create an autonomous movement plan for the transport device 1A. For example, the movement planning unit 144 determines a path that will transport the object to be transported D to the target position without obstacles or other objects hindering its movement.

[0043] At this time, the motion planning unit 144 determines the general shape and rotation center of the state in which the object to be transported D is supported by the lifter 4 of the transport device 1A and the transport device 1A and the object to be transported D are integrated, based on the parameters set by the setting unit 143. The motion planning unit 144 also determines the minimum proximity distance and minimum turning radius of the transport device 1A in the state integrated with the object to be transported D, based on the determined general shape and rotation center. Then, the motion planning unit 144 determines a path that allows the object to be transported D to be transported without obstacles or the like hindering its movement, taking into consideration the determined minimum proximity distance and minimum turning radius.

[0044] Figure 5 is a diagram illustrating the method for calculating the general shape in the first embodiment. Figure 5 is a schematic top view illustrating the integrated conveying device 1A and conveyed object D as viewed from above, intersecting their direction of travel. Figure 5 schematically illustrates the planar shape of the integrated conveying device 1A and conveyed object D.

[0045] This includes cases where the transported object D is positioned on the transported device 1A, either directly or indirectly, or where the transported device 1A is directly or indirectly connected to the transported object D so that the transported device 1A can tow and transport the object D. In the former case, a cage trolley or the like is used for the transported object D. In the latter case, a dolly, hand truck or the like is used for the transported object D.

[0046] The motion planning unit 144 uses parameters indicating the shape of the transport device 1A and the transport object D set by the setting unit 143 to determine the general shape OL of the integrated transport device 1A and transport object D. For example, the motion planning unit 144 determines the smallest rectangular shape that includes the general shapes of the integrated transport device 1A and transport object D in a plan view as the general shape OL of the integrated transport device 1A and transport object D.

[0047] Here, the approximate shape OL of the integrated transport device 1A and transport object D may change depending on how far the loading platform 3 penetrates between the bottom plate D1 of the transport object D (see Figure 1) and the floor surface E. For this reason, for example, the degree to which the loading platform 3 penetrates between the bottom plate D1 of the transport object D and the floor surface E may be detected using the detection results of the third detection unit 12, and the approximate shape OL of the integrated transport device 1A and transport object D may be determined by taking this detection result into consideration.

[0048] Figures 6 to 8 illustrate the method for calculating the rotation center, minimum proximity distance, and minimum turning radius in the first embodiment. Figures 6 to 8 are schematic top views illustrating the integrated transport device 1A and transport object D as viewed from above. Figure 6 is an explanatory diagram for the case where the front wheels W1 of the transported object D are fixed wheels and the rear wheels W2 are swivel wheels. Figure 7 is an explanatory diagram for the case where both the front wheels W1 and rear wheels W2 of the transported object D are swivel wheels. Figure 8 is an explanatory diagram for the case where the front wheels W1 of the transported object D are swivel wheels and the rear wheels W2 are fixed wheels.

[0049] As shown in Figure 6(a), when the front wheel W1 of the object to be transported D is a fixed wheel and the rear wheel W2 is a swivel wheel, the motion planning unit 144 determines, for example, the midpoint of the front wheel W1, which is the fixed wheel of the object to be transported D, as the rotation center Q. As shown in Figure 6(b), the motion planning unit 144 determines the radius of the circumscribed circle CR1 of the general shape OL of the integrated transport device 1A and the object to be transported D, with the rotation center Q as the center, as the minimum turning radius R1. Also, as shown in Figure 6(c), the motion planning unit 144 determines the radius of the inscribed circle CR2 in the left-right direction of the general shape OL of the integrated transport device 1A and the object to be transported D, with the rotation center Q as the center, as the minimum proximity distance R2.

[0050] As shown in Figure 7(a), when the front wheels W1 and rear wheels W2 of the object to be transported D are swivel wheels, the motion planning unit 144 determines the rotation center Q as the point where a line passing through the midpoint of the front wheel W1 and the midpoint of the rear wheel W2 of the object to be transported D intersects with the front end of the object to be transported D. As shown in Figure 7(b), the motion planning unit 144 determines the minimum turning radius R1 as the radius of the circumscribed circle CR1 of the general shape OL of the integrated transport device 1A and object to be transported D, with the rotation center Q as the center. Also, as shown in Figure 7(c), the motion planning unit 144 determines the minimum proximity distance R2 as the radius of the inscribed circle CR2 in the left-right direction of the general shape OL of the integrated transport device 1A and object to be transported D, with the rotation center Q as the center as the center.

[0051] As shown in Figure 8(a), when the front wheel W1 of the object to be transported D is a swivel wheel and the rear wheel W2 is a fixed wheel, the motion planning unit 144 determines, for example, the midpoint of the rear wheel W2, which is the fixed wheel of the object to be transported D, as the rotation center Q. As shown in Figure 8(b), the motion planning unit 144 determines the radius of the circumscribed circle CR1 of the general shape OL of the integrated transport device 1A and the object to be transported D, with the rotation center Q as the center, as the minimum turning radius R1. Also, as shown in Figure 8(c), the motion planning unit 144 determines the radius of the inscribed circle CR2 in the left-right direction of the general shape OL of the integrated transport device 1A and the object to be transported D, with the rotation center Q as the center, as the minimum proximity distance R2.

[0052] Figure 9 is a diagram illustrating the calculation direction of the autonomous driving path in the first embodiment. Here, we will explain using the example of calculating the path when traveling from a relatively wide passage A1 to a relatively narrow passage A2 that is bent at a 90-degree angle to passage A1.

[0053] As shown in Figure 9(a), the operation planning unit 144 uses, for example, information about environment-specific objects stored in the memory device 130 to set a restricted area B1 with a minimum proximity distance R2 width from the wall surface WL to the inside of the passages A1 and A2. Environment-specific objects refer to the surrounding walls or fixed equipment, etc. The reason for setting such a restricted area B1 is that if the rotation center Q, which is the control center when controlling the movement of the transport device 1A, were to pass through the restricted area B1, the wall surface WL would obstruct the movement of the transport device 1A.

[0054] Furthermore, as shown in Figure 9(b), the motion planning unit 144 uses, for example, information about environment-specific objects stored in the memory device 130 to set a caution area B2 with a width of minimum turning radius R1 from the wall surface WL to the inside of passages A1 and A2. The reason for setting such a caution area B2 is that if the rotation center Q, which is the control center when controlling the movement of the transport device 1A, passes through the caution area B2, the wall surface WL may obstruct the movement of the transport device 1A depending on the posture of the transport device 1A. This caution area B2 is an area that includes the prohibited area B1. In the example shown in Figure 9(b), since the width of passage A2 is narrower than twice the width of the minimum turning radius R1, the entire passage A1 is set as the caution area B2.

[0055] The motion planning unit 144 uses the prohibited area B1 shown in Figure 9(a) and the caution area B2 shown in Figure 9(b) to determine, for example, the path PT shown in Figure 9(c). Specifically, the motion planning unit 144 determines a path in which the rotation center Q, which is the control center when controlling the movement of the transport device 1A, does not pass through the prohibited area B1. If the determined path (the path of the rotation center Q) passes through the caution area B2, the motion planning unit 144 sets the posture of the transport device 1A so that the wall surface WL does not obstruct passage. When making this setting, information showing the general shape OL of the integrated transport device 1A and the transport object D may be used.

[0056] If the wall surface WL obstructs passage, the motion planning unit 144 determines a different path from the previously determined path, such that the rotation center Q does not pass through the prohibited area B1. Then, if the determined path (the path of the rotation center Q) passes through the caution area B2, the motion planning unit 144 sets the posture of the transport device 1A so that the wall surface WL does not obstruct passage. Through this process, for example, the path PT shown in Figure 9(c) is determined.

[0057] (Step S15) Next, the control device 140 drives the transport device 1A according to the motion plan. Specifically, the movement control unit 145 of the control device 140 moves the transport device 1A by controlling the movement mechanism 120 according to the motion plan created by the motion planning unit 144. In the process of moving the transport device 1A in this way, the posture of the transport device 1A is controlled according to the motion plan. The movement control unit 145 calculates the movement control value by methods such as the Dynamic Window Approach or the Elastic Band method.

[0058] (Step S16) Next, the control device 140 determines whether or not the destination has been reached. If it determines that the destination has not been reached ("NO"), the control device 140 repeats the processes in steps S14 and S15. On the other hand, if it determines that the destination has been reached ("YES"), it proceeds to the process in step S17.

[0059] (Step S17) The control device 140 terminates autonomous movement. The control device 140 may also perform a process to notify the surroundings that autonomous movement has ended. For example, the control device 140 may notify the surroundings that autonomous movement has ended by turning on the rotating light K.

[0060] The transport device 1A of this embodiment includes a detection unit 110, a moving mechanism 120, a setting unit 143, an operation planning unit 144, and a movement control unit 145. The detection unit 110 can detect information about the surroundings of the transport device 1A. The moving mechanism 120 moves the transport device 1A. The setting unit 143 sets the parameters necessary for creating an operation plan to autonomously move the transport device 1A according to the type of object to be transported D. The operation planning unit 144 creates an operation plan using the detection results of the detection unit 110 and the parameters set in the setting unit 143. The movement control unit 145 controls the moving mechanism 120 according to the operation plan created by the operation planning unit 144. This enables appropriate autonomous movement according to the object to be transported D.

[0061] As described above, according to this embodiment, an autonomous transport robot is used as the transport device, and different types of transportable objects can be transported flexibly. For example, in a site where cage trolleys of different dimensions or wheel configurations (fixed wheels, swivel wheels) are used, regardless of which type of cage trolley is being transported, obstacles and the like can be prevented from hindering its movement.

[0062] Furthermore, this embodiment can be applied to wheel configurations of the transported object D other than the 4-wheel configuration (a configuration with four wheels C), such as a 3-wheel configuration or a configuration with five or more wheels. In this embodiment, even when the transported object D has a 3-wheel configuration or a configuration with five or more wheels, the same effects as when using the 4-wheel configuration described above can be obtained by following the procedure and approach described above.

[0063] (Second embodiment) Figure 10 is a side view showing the configuration of the transport device according to the second embodiment. In Figure 10, the same reference numerals are used for components corresponding to the configurations shown in Figures 1 and 2. As shown in Figure 10, the transport device 1B of this embodiment has a configuration in which a reading device 20 is added to the transport device 1A shown in Figures 1 and 2. Such a transport device 1B automatically acquires information (first information) indicating the type of object to be transported D, and automatically sets the parameters necessary for creating an operation plan to autonomously move the transport device 1B based on the acquired information.

[0064] The reader 20 is equipped with, for example, a code reader or a camera, and reads (recognizes) the code CD. The code CD that the reader 20 can read may be a one-dimensional code (barcode) or a two-dimensional code. The code CD contains an identifier that identifies the type of object to be transported D, and is affixed to the object to be transported D of the type identified by that identifier.

[0065] The reader 20 is preferably installed in a position where it can read the code CD attached to the object to be transported D. For example, the reader 20 is installed at the upper end of the support member 8 of the transport device 1B so as to be able to read the code CD attached to the object to be transported D when it is integrated with the transport device 1B. Note that this installation position is merely an example, and it can be installed at any position on the transport device 1B as long as it can read the code CD attached to the object to be transported D.

[0066] Figure 11 is a functional block diagram of the transport device according to the second embodiment. In Figure 11, components corresponding to the configuration shown in Figure 3 are denoted by the same reference numerals. As shown in Figure 11, the transport device 1B of this embodiment has a configuration in which an acquisition unit 150 is added to the transport device 1A shown in Figure 3. The acquisition unit 150 is equipped with a reading device 20 shown in Figure 10, and acquires the information read by the reading device 20 and outputs it to the setting unit 143.

[0067] Based on the information output from the acquisition unit 150, the setting unit 143 reads and sets the parameters necessary for creating an operation plan to autonomously move the transport device 1B from the storage device 130. The parameters read by the setting unit 143 from the storage device 130 are the same as the parameters read by the setting unit 143 from the storage device 130 in the first embodiment.

[0068] Figure 12 is a flowchart of the control method of the second embodiment. In Figure 12, steps similar to those in the flowchart shown in Figure 4 are denoted by the same reference numerals. The flowchart shown in Figure 12 is the same as the flowchart shown in Figure 4, but with step S11 replaced by step S21. Here again, for the sake of simplicity, it is assumed that the object to be transported D is supported by the lifter 4 of the transport device 1B, and that the transport device 1B and the object to be transported D are integrated.

[0069] (Step S21) The control device 140 first controls the acquisition unit 150 to read the code CD. The acquisition unit 150 causes the reader 20 to read the code CD attached to the transport object D, which is integrated with the transport device 1B, and acquires the information read by the reader 20. The acquisition unit 150 outputs the acquired information to the setting unit 143.

[0070] (Step S12) Next, the control device 140 sets parameters according to the object to be transported D. Specifically, the setting unit 143 of the control device 140 reads and sets the parameters necessary for creating an operation plan to autonomously move the transport device 1B from the storage device 130, based on the information output from the acquisition unit 150. These parameters are those related to the object to be transported D, which was identified by the information read by the reading device 20.

[0071] Once the above processes are completed, steps S13 to S17 are performed in the same manner as in the first embodiment. That is, an operation plan is created to autonomously move the transport device 1B using the parameters set in step S12, and the transport device 1B is driven according to the created operation plan to move the transport device 1B, with the transport object D integrated into it, to the destination.

[0072] As described above, the transport device 1B of this embodiment, like the transport device 1A of the first embodiment, has a detection unit 110, a movement mechanism 120, a setting unit 143, an operation planning unit 144, and a movement control unit 145. This allows for appropriate autonomous movement according to the object to be transported D. Furthermore, the transport device 1B of this embodiment has an acquisition unit 150 that acquires information indicating the type of object to be transported D. This allows for the automatic acquisition of information indicating the type of object to be transported D, and the automatic setting of parameters necessary for creating an operation plan to autonomously move the transport device 1B based on the acquired information.

[0073] (Third embodiment) Figure 13 is a functional block diagram of the transport device according to the third embodiment. In Figure 13, components corresponding to the configurations shown in Figure 3 or Figure 11 are denoted by the same reference numerals. As shown in Figure 13, the transport device 1C of this embodiment has a configuration in which a measuring unit 160 is added to the transport device 1B shown in Figure 11. Such a transport device 1C is designed to automatically set the parameters necessary for creating an operation plan to autonomously move the transport device 1C based on information indicating the type of object to be transported D (first information) and information indicating the weight of the object to be transported D (second information).

[0074] The measuring unit 160 measures the weight of the object to be transported D. This measuring unit 160 is attached to, for example, the lifter 4 shown in Figures 1 and 2, and measures the weight of the object to be transported D while it is supported by the lifter 4. The measuring unit 160 outputs the measurement result of the weight of the object to be transported D to the setting unit 143 of the control device 140. Note that the measuring unit 160 does not necessarily have to be provided in the transport device 1C. For example, the measuring unit 160 may be provided outside the transport device 1C and be connected to the control device 140 of the transport device 1C in a communicative manner. In other words, the transport device 1C may be configured to acquire the measurement result of the measuring unit 160 provided externally via communication.

[0075] In this embodiment, the setting unit 143 automatically sets the parameters necessary for creating an autonomous movement plan for the transport device 1C based on the information output from the acquisition unit 150 and the measurement results output from the measurement unit 160. The reason for considering the measurement results (weight of the transport object D) output from the measurement unit 160 when setting the parameters is to allow for a margin when creating an autonomous movement plan for the transport device 1C.

[0076] Depending on the weight of the object to be transported D and the magnitude of the acceleration of the transport device 1C, slippage of the wheels 6 of the transport device 1C may occur. For example, when transporting an object D that is relatively heavy, if the acceleration at the start of travel is set relatively high, the wheels 6 may slip and the device may not be able to move. Also, if the device accelerates or decelerates while transporting an object D that is relatively heavy, the wheels 6 may slip and the device may deviate from the path determined by the motion plan. For this reason, in this embodiment, a margin is set according to the weight of the object to be transported D. Examples of margins to be set include a margin for the minimum turning radius R1 or the minimum approach distance R2.

[0077] Figure 14 is a flowchart of the control method according to the third embodiment. In Figure 14, steps similar to those in the flowcharts shown in Figures 4 and 12 are denoted by the same reference numerals. The flowchart shown in Figure 14 has a step S31 added between steps S21 and S12 of the flowchart shown in Figure 12. Here again, for the sake of simplicity, it is assumed that the object to be transported D is supported by the lifter 4 of the transport device 1C, and that the transport device 1C and the object to be transported D are integrated.

[0078] (Step S21) The control device 140 first controls the acquisition unit 150 to read the code CD. The acquisition unit 150 causes the reader 20 to read the code CD attached to the transport object D, which is integrated with the transport device 1C, and acquires the information read by the reader 20. The acquisition unit 150 outputs the acquired information to the setting unit 143.

[0079] (Step S31) Next, the control device 140 controls the measuring unit 160 to measure the weight of the object to be transported D. The measuring unit 160 measures the weight of the object D while it is integrated with the transport device 1C and supported by the lifter 4. The measuring unit 160 outputs the measurement result of the weight of the object to be transported D to the setting unit 143.

[0080] (Step S12) Next, the control device 140 sets parameters according to the object to be transported D. Specifically, the setting unit 143 of the control device 140 reads and sets the parameters necessary for creating an operation plan to autonomously move the transport device 1C from the storage device 130, based on the information output from the acquisition unit 150 and the measurement results output from the measurement unit 160. These parameters are parameters related to the object to be transported D identified by the information read by the reading device 20. These parameters also include margins set for the minimum turning radius R1 and minimum proximity distance R2 according to the weight of the object to be transported D.

[0081] Figure 15 is a diagram illustrating the margin set in the third embodiment. In Figure 15, the transported object D (transported object D shown in Figure 6) is used as an example, in which the front wheels W1 are fixed wheels and the rear wheels W2 are swivel wheels. In the first embodiment, as explained using Figure 6(b), the motion planning unit 144 determined the minimum turning radius R1 to be the radius of the circumscribed circle CR1 of the general shape OL of the transported device 1C and the transported object D in an integrated state, with the rotation center Q as the center. In contrast, in this embodiment, as shown in Figure 15(a), the motion planning unit 144 determines the minimum turning radius R1 to be the radius of the circle CR11 obtained by adding a margin m1 to the radius of the circumscribed circle of the general shape OL of the transported device 1C and the transported object D in an integrated state, with the rotation center Q as the center. In the example shown in Figure 15(a), the margin set for the minimum turning radius R1 is the margin m1.

[0082] Furthermore, in the first embodiment, as explained with reference to Figure 6(c), the motion planning unit 144 determined the minimum proximity distance R2 by the radius of the inscribed circle CR2 in the left-right direction of the general shape OL of the integrated transport device 1C and transport object D, with the rotation center Q as the center. In contrast, in this embodiment, as shown in Figure 15(b), the motion planning unit 144 determines the minimum proximity distance R2 by the radius of the circle CR21 obtained by adding a margin m2 to the radius of the inscribed circle CR2 in the left-right direction of the general shape OL of the integrated transport device 1C and transport object D, with the rotation center Q as the center. In the example shown in Figure 15(b), the margin set for the minimum proximity distance R2 is the margin m2.

[0083] Once the above processing is completed, steps S13 to S17 are performed in the same manner as in the first and second embodiments. That is, an operation plan is created to autonomously move the transport device 1C using the parameters set in step S12, and the transport device 1C is driven according to the created operation plan to move the transport device 1C, with the transport object D integrated into it, to the destination. When creating the above operation plan, the minimum turning radius R1 with a margin m1 added, and the minimum proximity distance R2 with a margin m2 added are used.

[0084] As described above, the transport device 1C of this embodiment, like the transport device 1C of the first embodiment and the transport device 1B of the second embodiment, has a detection unit 110, a moving mechanism 120, a setting unit 143, an operation planning unit 144, and a movement control unit 145. This allows for appropriate autonomous movement according to the object to be transported D. Furthermore, the transport device 1C of this embodiment, like the transport device 1B of the second embodiment, has an acquisition unit 150 that acquires information indicating the type of object to be transported D. This allows for the automatic acquisition of information indicating the type of object to be transported D, and the automatic setting of parameters necessary for creating an operation plan to autonomously move the transport device 1B based on the acquired information. In addition, the transport device 1C of this embodiment has a measurement unit 160 that measures the weight of the object to be transported D. This allows for the automatic setting of parameters necessary for creating an operation plan to autonomously move the transport device 1C, taking the weight of the object to be transported D into consideration.

[0085] (Fourth embodiment) Figure 16 is a functional block diagram of the conveying device according to the fourth embodiment. In Figure 14, the same reference numerals are used for components corresponding to those shown in Figures 3, 11, or 13. As shown in Figure 16, the conveying device 1D of this embodiment omits the measuring unit 160 of the conveying device 1C shown in Figure 13, and the control device 140 is equipped with a weight calculation unit 146 (calculation unit). Such a conveying device 1D calculates information (second information) indicating the weight of the object to be conveyed D.

[0086] The weight calculation unit 146 determines the weight of the object to be transported D. Specifically, the weight calculation unit 146 determines the weight of the object to be transported D using various measurement information output from the moving mechanism 120. For example, the weight calculation unit 146 calculates the torque using the measurement result of the current flowing through an electric motor (not shown) provided in the moving mechanism 120, and determines the weight of the object to be transported D estimated from this torque. If a torque sensor for measuring the torque of an electric motor (not shown) provided in the moving mechanism 120 is installed, the weight calculation unit 146 may determine the weight of the object to be transported D using the measurement result of the torque sensor. The method by which the weight calculation unit 146 determines the weight of the object to be transported D is not limited to the method described above, and any known method can be used.

[0087] As described above, the transport device 1D of this embodiment, like the transport device 1A of the first embodiment, the transport device 1B of the second embodiment, and the transport device 1C of the third embodiment, has a detection unit 110, a moving mechanism 120, a setting unit 143, an operation planning unit 144, and a movement control unit 145. This allows for appropriate autonomous movement according to the object to be transported D. Furthermore, the transport device 1D of this embodiment, like the transport device 1B of the second embodiment and the transport device 1C of the third embodiment, has an acquisition unit 150 that acquires information indicating the type of object to be transported D. This allows for the automatic acquisition of information indicating the type of object to be transported D, and the automatic setting of parameters necessary for creating an operation plan to autonomously move the transport device 1D based on the acquired information. In addition, the transport device 1D of this embodiment has a weight calculation unit 146 that calculates the weight of the object to be transported D. This allows for the weight of the object to be transported D to be determined even without a measurement unit 160 like the transport device 1C of the third embodiment. As a result, in this embodiment as well, the parameters necessary for creating an operation plan to autonomously move the transport device 1D can be automatically set, taking into account the weight of the object to be transported D.

[0088] (Fifth embodiment) Figure 17 is a block diagram of a transport system including a transport device according to the fifth embodiment. In Figure 17, components corresponding to those shown in Figures 3 and 11 are denoted by the same reference numerals. As shown in Figure 17, the transport system SY comprises a transport device 1E and a control device 200.

[0089] The transport device 1E of this embodiment is configured by replacing the acquisition unit 150 of the transport device 1B shown in Figure 11 with a communication unit 170 (acquisition unit). Such a transport device 1E acquires information (first information) indicating the type of object to be transported D from the management device 200, and automatically sets the parameters necessary for creating an operation plan to autonomously move the transport device 1E based on the acquired information.

[0090] The communication unit 170 is connected to the management device 200 via a network (not shown) in a communicative manner. The communication unit 170 communicates with the management device 200 under the control of the control device 140. The communication unit 170 may be connected to the management device 200 in a communicative manner via wireless communication or via wired communication. The network (not shown) connecting the communication unit 170 and the management device 200 may include both wireless communication paths and wired communication paths.

[0091] The management device 200 centrally manages the operation of the transport device 1E. For example, the management device 200 manages the operation of the transport device 1E by instructing it on the transport object D to be transported, the transport start position, the transport end position, the transport time, etc. The management device 200 instructs, for example, an identifier that identifies the type of transport object D as information indicating the transport object D to be transported. The management device 200 may also manage the parameters PR stored in the storage device 130 of the transport device 1E. By having the management device 200 manage the parameters PR, for example, it becomes unnecessary to store the parameters of the transport object D in each unit of the transport device 1E.

[0092] The operation of the conveying device 1E in this embodiment is basically the same as the operation of the conveying device 1B in the second embodiment. The difference between the conveying device 1B in the second embodiment and the conveying device 1E in this embodiment is that the conveying device 1B in the second embodiment obtains information indicating the type of object to be conveyed D by reading a code CD attached to the object to be conveyed D, whereas the conveying device 1E in this embodiment obtains this information from the management device 200. The flowchart showing the operation of the conveying device 1E in this embodiment is obtained by reinterpreting step S21 of the flowchart shown in Figure 12 as "obtain information indicating the type of object to be conveyed from the management device 200". For this reason, a detailed explanation of the operation of the conveying device 1E in this embodiment is omitted.

[0093] As described above, the transport device 1E of this embodiment, like the transport device 1A of the first embodiment, has a detection unit 110, a movement mechanism 120, a setting unit 143, an operation planning unit 144, and a movement control unit 145. This allows for appropriate autonomous movement according to the object to be transported D. Furthermore, the transport device 1E of this embodiment has a communication unit 170 that acquires information indicating the type of object to be transported D from the management device 200. This allows for automatic acquisition of information indicating the type of object to be transported D, similar to the transport device 1B of the second embodiment, and automatic setting of the parameters necessary for creating an operation plan to autonomously move the transport device 1E based on the acquired information.

[0094] Furthermore, the second to fifth embodiments described here are applicable not only to the case of a four-wheel configuration (a configuration with four wheels C) for the wheel configuration of the transported object D, but also to a three-wheel configuration or a configuration with five or more wheels. In the second to fifth embodiments described here, even when the transported object D has a three-wheel configuration or a configuration with five or more wheels, the same effects as in the case of the four-wheel configuration described above can be obtained by following the procedures and concepts described above.

[0095] Although several embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be carried out in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents.

[0096] The embodiments described above can be combined as appropriate. For example, the fifth embodiment can be combined with the third and fourth embodiments. This makes it possible to realize transport devices 1D and 1E that are equipped with a communication unit 170 instead of the acquisition unit 150 and are configured to communicate with the management device 200.

[0097] In the embodiments described above, the case where the object to be transported D is a cage trolley was used as an example, but the object to be transported D is not limited to a cage trolley. The object to be transported D may be, for example, a dolly, a hand truck, or other objects. When the object to be transported D is a dolly or a hand truck, for example, the transport device and the object to be transported are transported while connected by a coupling means. Even if the object to be transported D is something other than a cage trolley, control similar to that of the transport devices 1A to 1E in the embodiments described above is possible as long as there are parameters indicating the shape of the transport device and the object to be transported D, and parameters indicating the wheel configuration.

[0098] In the embodiment described above, the smallest rectangular shape that includes the general shape of the integrated transport devices 1A to 1E and the transported object D was determined as the general shape OL of the integrated transport devices 1A to 1E and the transported object D. However, it is not always necessary to determine the smallest rectangular shape as the general shape OL. For example, a rectangular shape with a margin added to the smallest rectangular shape may be determined as the general shape OL. If the transported object D is a dolly or a hand truck, the general shape is calculated including, for example, the connecting means described above.

[0099] With respect to the above embodiments, the following additional notes are disclosed as aspects of the invention and selective features.

[0100] (Note 1) A transport device configured to transport objects and capable of autonomous movement, A detection unit capable of detecting information about the surroundings of the transport device, A moving mechanism for moving the aforementioned transport device, A setting unit sets parameters necessary for creating an operation plan to autonomously move the transport device according to the type of object to be transported, An operation planning unit creates the operation plan using the detection results of the detection unit and the parameters set in the setting unit. A movement control unit controls the movement mechanism according to the movement plan created by the movement planning unit, A conveying device equipped with the following features.

[0101] (Note 2) In the conveying device described in Appendix 1, The system further includes an acquisition unit that acquires first information indicating the type of object to be transported, The setting unit may set the parameters based on the first information acquired by the acquisition unit.

[0102] (Note 3) In the conveying device described in Appendix 2, The setting unit may set the parameters based on the first information acquired by the acquisition unit and the second information indicating the weight of the object to be transported.

[0103] (Note 4) In the conveying device described in Appendix 3, The system may include a measuring unit that measures the weight of the object being transported to obtain the second information.

[0104] (Note 5) In the conveying device described in Appendix 3, The system may include a calculation unit that determines the second information based on the transport status of the transported object.

[0105] (Note 6) In a conveying device described in any of the appendices 3 to 5, The acquisition unit may obtain the first information by recognizing an identifier attached to the object to be transported.

[0106] (Note 7) In a conveying device described in any of the appendices 3 to 5, The acquisition unit may acquire the first information transmitted from the management device that manages the transport device.

[0107] (Note 8) In a conveying device described in any of the appendices 1 to 7, The operation planning unit uses the parameters set in the setting unit, The general shape of the object to be transported and the transporting device when they are integrated, The minimum proximity distance to an obstacle when the object to be transported and the transporting device are integrated, The minimum turning radius when the object to be transported and the transporting device are integrated, The aforementioned operation plan may be created based on the results obtained.

[0108] (Note 9) A conveying device as described in any of Appendix 1 to Appendix 7, A management device that transmits information indicating the type of object to be transported to the transport device, A transport system equipped with the following features.

[0109] (Note 10) A control device for a transport device that is configured to transport objects and is capable of autonomous movement, A setting unit sets parameters necessary for creating an operation plan to autonomously move the transport device according to the type of object to be transported, An operation planning unit creates the operation plan using the detection results of a detection unit capable of detecting information about the surroundings of the transport device and the parameters set in the setting unit. A movement control unit controls a movement mechanism that moves the transport device according to the movement plan created by the movement planning unit, A control device equipped with the following features.

[0110] (Note 11) A control method for a transport device that is configured to transport objects and is capable of autonomous movement, The setting unit sets the parameters necessary to create an operation plan for autonomously moving the transport device according to the type of object to be transported. The motion planning unit creates the motion plan using the detection results from the detection unit, which is capable of detecting information about the surroundings of the transport device, and the parameters set in the setting unit. The movement control unit controls the movement mechanism that moves the transport device according to the movement plan created by the movement planning unit. Control method.

[0111] (Note 12) A control program for a transport device that is configured to transport objects and is capable of autonomous movement, On the computer, Depending on the type of object to be transported, the parameters necessary for creating an autonomous movement plan for the transport device are set. Using the detection results from the detection unit capable of detecting information about the surroundings of the transport device, and the set parameters, the operation plan is created. The movement mechanism that moves the transport device is controlled according to the created operation plan. Control program. [Explanation of Symbols]

[0112] 1A-1E…Conveying device, 110…Detection unit, 120…Movement mechanism, 140…Control device, 143…Setting unit, 144…Motion planning unit, 145…Movement control unit, 146…Weight calculation unit, 150…Acquisition unit, 160…Measurement unit, 170…Communication unit, 200…Management device, CD…Code, D…Object to be conveyed, OL…General shape, PR…Parameter, R1…Minimum turning radius, R2…Minimum proximity distance, SY…Conveying system

Claims

1. A transport device configured to transport objects and capable of autonomous movement, A detection unit capable of detecting information about the surroundings of the transport device, A moving mechanism for moving the aforementioned transport device, A setting unit sets parameters necessary for creating an operation plan to autonomously move the transport device according to the type of object to be transported, An operation planning unit creates the operation plan using the detection results of the detection unit and the parameters set in the setting unit. A movement control unit controls the movement mechanism according to the movement plan created by the movement planning unit, A conveying device equipped with the following features.

2. The system further includes an acquisition unit that acquires first information indicating the type of object to be transported, The setting unit sets the parameters based on the first information acquired by the acquisition unit. The conveying device according to claim 1.

3. The setting unit sets the parameters based on the first information acquired by the acquisition unit and the second information indicating the weight of the object to be transported. The conveying device according to claim 2.

4. The conveying device according to claim 3, further comprising a measuring unit that measures the weight of the conveyed object and obtains the second information.

5. The conveying device according to claim 3, further comprising a calculation unit that obtains the second information based on the conveying status of the object to be conveyed.

6. The transport device according to claim 2, wherein the acquisition unit obtains the first information by recognizing an identifier attached to the object to be transported.

7. The transport device according to claim 2, wherein the acquisition unit acquires the first information transmitted from a management device that manages the transport device.

8. The operation planning unit uses the parameters set in the setting unit, The general shape of the object to be transported and the transporting device when they are integrated, The minimum proximity distance to an obstacle when the object to be transported and the transporting device are integrated, The minimum turning radius when the object to be transported and the transporting device are integrated, A transport device according to claim 1, which creates the aforementioned operation plan by obtaining the following.

9. A conveying device according to any one of claims 1 to 8, A management device that transmits information indicating the type of object to be transported to the transport device, A transport system equipped with the following features.

10. A control device for a transport device that is configured to transport objects and is capable of autonomous movement, A setting unit sets parameters necessary for creating an operation plan to autonomously move the transport device according to the type of object to be transported, An operation planning unit creates the operation plan using the detection results of a detection unit capable of detecting information about the surroundings of the transport device and the parameters set in the setting unit. A movement control unit controls a movement mechanism that moves the transport device according to the movement plan created by the movement planning unit, A control device equipped with the following features.

11. A control method for a transport device that is configured to transport objects and is capable of autonomous movement, The setting unit sets the parameters necessary to create an operation plan for autonomously moving the transport device according to the type of object to be transported. The motion planning unit creates the motion plan using the detection results from the detection unit, which is capable of detecting information about the surroundings of the transport device, and the parameters set in the setting unit. The movement control unit controls the movement mechanism that moves the transport device according to the movement plan created by the movement planning unit. Control method.

12. A control program for a transport device that is configured to transport objects and is capable of autonomous movement, On the computer, Depending on the type of object to be transported, the parameters necessary for creating an autonomous movement plan for the transport device are set. Using the detection results from the detection unit capable of detecting information about the surroundings of the transport device, and the set parameters, the operation plan is created. The movement mechanism that moves the transport device is controlled according to the created operation plan. Control program.

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