AUTONOMOUS MOBILE DEVICE AND METHOD FOR CONTROLLING MOBILITY OF AUTONOMOUS MOBILE DEVICE

Abstract

To improve the accuracy of the detected angle of an object to be carried and to detect the angle of the object to be carried, from a distance longer than that in a conventional technique.SOLUTION: An autonomous mobile device having control means that controls movement includes detection means configured to detect an identification member, present in a detection area, by means of a sensor that optically scans the detection area by emitting light to the detection area and receives reflection light of the emitted light, reflected by an object present in the detection area. The identification member has a detection surface that is optically scanned by the sensor. Based on the light received by the sensor, the detection means obtains a distance of the detection surface and an angle relative to the detection surface. Based on the distance and the angle obtained by the detection means, the control means sets a target position and controls movement of the autonomous mobile device to the target position.SELECTED DRAWING: Figure 16

Description

[Technical field]

[0001] The present invention relates to an autonomous mobile device. and Method for controlling movement of autonomous mobile device By law Regarding. [Background technology]

[0002] Conventionally, the automation of transportation work in warehouses using an automated guided vehicle (AGV), which is an autonomous mobile device, has been widely studied. Specifically, a configuration is already known in which a connection mechanism is provided to an automated guided vehicle, and an object to be transported (carriage) is connected to the automated guided vehicle to transport it in a warehouse.

[0003] Patent Document 1 discloses a technique in which sensors are mounted on both an automated guided vehicle and a moving target of the automated guided vehicle, and the movement of the automated guided vehicle is controlled while communicating using these sensors. Patent Document 2 discloses a technique in which a sensor is provided only on the automated guided vehicle, and the movement of the automated guided vehicle is controlled using this sensor toward the moving target. Patent Document 2 further discloses a technique in which the orientation of the object to be transported (cart) is detected by detecting the corners (both ends) of the front of the object to be transported (cart) with a laser beam, and the automated guided vehicle is moved based on the detected orientation of the object to be transported (cart) to automatically couple with the object to be transported (cart). Summary of the Invention [Problem to be solved by the invention]

[0004] However, according to the technology disclosed in Patent Document 2, since the corners (both ends) of the front surface of the transport object (cart) are detected by laser light, there is a concern that erroneous detection may occur depending on the shape of the transport object (cart) or when there are objects (other carts or luggage) around the transport object (cart). Specifically, there is a concern that erroneous detection may occur for transport objects such as baskets whose shapes make it difficult to identify the ends. In addition, there is a concern that the possibility of erroneous detection may increase further when luggage is loaded on the basket or when multiple baskets are placed adjacent to each other.

[0005] Furthermore, according to the technology disclosed in Patent Document 2, in order to detect the orientation of the object to be transported (cart) by detecting the corners (both ends) of the front of the cart, a certain distance (length) is required at both ends, making it unsuitable for detection from long distances.

[0006] Therefore, the techniques disclosed in Patent Documents 1 and 2 have room for improvement in terms of the accuracy of angle detection and the distance at which the angle can be detected.

[0007] The present invention has been made in consideration of the above, and has an object to improve the accuracy of angle detection of a transported object and to enable detection of the angle of a transported object from a longer distance than with conventional techniques. [Means for solving the problem]

[0008] In order to solve the above problems and achieve the object, an autonomous mobile device of the present invention comprises: An autonomous mobile device, The present invention has a detection device that detects an identification member present in a detection area by optically scanning the detection area by emitting light into the detection area and using a sensor that receives light reflected from an object present in the detection area from the emitted light, the detection device having a reflection intensity detection means that detects a reflection intensity of light reflected from the object based on the light received by the sensor, and a distance detection means that detects a distance to a detection surface of the identification member based on the light received by the sensor, and the detection device detects candidates for the identification member from information detected by the reflection intensity detection means, and detects a shape plane of the candidate from information detected by the distance detection means. the identification member is attached to a vehicle to be transported, and the autonomous mobile device has a control means for moving the autonomous mobile device to a target position where the autonomous mobile device is coupled to the vehicle to be transported and coupling the autonomous mobile device to the vehicle to be transported at the target position, identification information written on the identification member attached to the vehicle to be transported is prepared for each type of the vehicle to be transported, and a movement amount is registered in association with the identification information, the detection device detects the identification information written on the identification member, and the control means changes the target position based on the movement amount linked to the identification information. , characterized in that Effect of the Invention

[0009] According to the present invention, it is possible to improve the accuracy of angle detection of a transported object and to detect the angle of the transported object from a longer distance than in the prior art. [Brief description of the drawings]

[0010] [Figure 1]FIG. 1 is an explanatory diagram showing a self-propelled robot and a basket cart in a transport system according to a first embodiment. [Diagram 2] FIG. 2 is a perspective view showing an example in which an ID panel is arranged on a cart. [Diagram 3] FIG. 3 is a diagram showing an example of an ID panel. [Figure 4] FIG. 4 is an explanatory diagram showing an example of a logistics warehouse. [Diagram 5] FIG. 5 is a block diagram showing an example of the hardware configuration of a controller of the self-running robot. [Figure 6] FIG. 6 is a block diagram showing an example of the functional configuration performed by the controller of the self-running robot. [Figure 7] FIG. 7 is a flowchart showing an outline of the flow of the ID panel detection process. [Figure 8] FIG. 8 is a diagram showing a peak value detection state in the detection of an ID panel. [Figure 9] FIG. 9 is a diagram illustrating a method for detecting a peak value. [Figure 10] FIG. 10 is a diagram showing a state of distance information value detection in detecting an ID panel. [Figure 11] FIG. 11 is a diagram showing the range in which the self-propelled robot and the basket cart can be connected. [Figure 12] FIG. 12 is a diagram showing an example of calculation of the inclination of the ID panel. [Figure 13] FIG. 13 is a flowchart showing the flow of the process of moving to the target position after the detection process of the ID panel is completed. [Figure 14] FIG. 14 is a diagram showing a method for detecting the tilt of an ID panel. [Figure 15] FIG. 15 is a diagram showing a method for detecting the orientation of an ID panel. [Figure 16] FIG. 16 is a diagram showing a method for calculating a relative target position. [Figure 17] FIG. 17 is a diagram showing a schematic diagram of a travel route to a relative target position. [Figure 18]FIG. 18 is a flowchart illustrating a schematic flow of the ID panel detection process according to the second embodiment. [Figure 19] FIG. 19 is a diagram showing a peak value detection state in the detection of an ID panel. [Figure 20] FIG. 20 is a diagram showing a state of approach to the ID panel. [Figure 21] FIG. 21 is a diagram showing an example of content identification of an ID panel. [Figure 22] FIG. 22 is a block diagram illustrating an example of a hardware configuration of a self-running robot in the transfer system according to the third embodiment. As illustrated in FIG. [Diagram 23] FIG. 23 is a flowchart showing an outline of the flow of the ID panel detection process. [Figure 24] FIG. 24 is a diagram showing an example of content identification of an ID panel. [Diagram 25] FIG. 25 is a flowchart showing the flow of the process of moving to the target position after the detection process of the ID panel according to the fourth embodiment is completed. [Figure 26] FIG. 26 is a diagram showing a method of shifting the relative target position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] With reference to the accompanying drawings, and Method for controlling movement of autonomous mobile device Law The embodiment will now be described in detail.

[0012] (First embodiment) 1 is an explanatory diagram showing a self-propelled robot 1 and a cage cart 2 in a transport system according to a first embodiment. This embodiment is an example of a transport system in which the self-propelled robot 1 is applied to an autonomous mobile device as an automated guided vehicle (AGV) that automatically connects to and tows a towed vehicle such as the cage cart 2 to be connected, thereby automatically transporting the cage cart 2 to a desired destination.

[0013] Self-propelled robot 1 is an autonomous mobile device that has the function of automatically coupling to basket cart 2 that carries objects to be transported. As a result, self-propelled robot 1 does not need to have a configuration capable of carrying objects, and can transport a large number of objects loaded on basket cart 2 by towing the basket cart 2 with a simple mobile device.

[0014] 1, self-propelled robot 1 includes robot main body 100, which is the device main body, a magnetic sensor 3, a controller 4, which is a detection device, a power source (battery) 6, a power motor 7, a motor driver 8, a range sensor 9, which is a first sensor, a coupling device 10, drive wheels 71, and driven wheels 72. Range sensor 9 recognizes the surrounding environment of self-propelled robot 1.

[0015] In the transport system of this embodiment, a magnetic tape is placed on the floor surface of the route that self-propelled robot 1 can travel, and the magnetic tape is detected by magnetic sensor 3, making it possible for self-propelled robot 1 to recognize that it is located on the route that it can travel. The guidance method for placing the tape on the floor surface is not limited to a configuration using magnetic tape (magnetic type), but may also be a configuration using optical tape (optical type). When optical tape is used, a reflective sensor or image sensor can be used instead of magnetic sensor 3.

[0016] Furthermore, the transportation system of this embodiment can perform autonomous traveling that recognizes its own position by comparing a two-dimensional or three-dimensional map with the detection result of the range sensor 9. The range sensor 9 is a scanning type laser distance sensor (laser range finder (LRF)) that irradiates an object with laser light and measures the distance to the object from the reflected light. Hereinafter, the range sensor 9 may be referred to as LRF9.

[0017] In addition, stereo cameras and depth cameras can also be used as sensors to recognize the vehicle's position by comparing the detection results with a two-dimensional or three-dimensional map.

[0018] Based on the detection results of the magnetic sensor 3 and the range sensor 9, the controller 4 controls the driving of the power motor 7 via the motor driver 8, and the power motor 7 drives the drive wheels 71 to rotate, thereby allowing the self-propelled robot 1 to move autonomously.

[0019] As shown in FIG. 1, the basket cart 2 includes a bottom plate 22 that holds the basket section 20, casters 23 arranged at the four corners of the rectangular bottom plate 22, and an ID panel 21, which is an identification member, arranged on the side of the basket section 20.

[0020] An ID panel 21 with a marker for recognition is attached to the basket cart 2 placed in a predetermined location. The marker is encoded with the identification number information (ID information) of the basket cart 2, destination information such as the delivery position, and delivery priority information using a strip-shaped retroreflective tape 21b (see FIG. 3) or the like. The identification number information (ID information) of the basket cart 2 can be recognized by referring to a table, etc.

[0021] Self-propelled robot 1 is equipped with a marker reading device. The marker reading device is made up of a range sensor 9, which is an ID recognition means, and a decoding unit. In this embodiment, controller 4 functions as the decoding unit. Controller 4 recognizes the marker code from the detection results of range sensor 9. The decoding unit of controller 4 decodes the code information of the recognized marker to obtain the identification number information, destination information, and priority information of basket cart 2.

[0022] In this embodiment, details will be described later, but retroreflective tape 21b is used as a marker attached to basket cart 2. Self-propelled robot 1 reads using range sensor 9 such as a laser range finder (LRF) that acquires the distance from the surrounding environment. Controller 4 calculates the position coordinates of ID panel 21 from distance information between ID panel 21, the position of which is recognized by range sensor 9, and range sensor 9. Using the calculated position coordinates of ID panel 21, controller 4 controls the drive of power motor 7, thereby positioning self-propelled robot 1 at a predetermined position on basket cart 2 in front of ID panel 21.

[0023] Next, the ID panel 21 will be described in detail.

[0024] Here, Fig. 2 is a perspective view showing an example in which ID panel 21 is arranged on cage cart 2. As shown in Fig. 2, ID panel 21 is arranged in approximately the center of the front of cage cart 2. More specifically, ID panel 21 is arranged in a position facing range sensor 9 of self-propelled robot 1 (see Fig. 1). ID panel 21 is detachable from cage cart 2, and is installed by an operator in a predetermined position such as the central framework (vertical bar) of cage cart 2. Note that the angle of ID panel 21 is synonymous with the angle of cage cart 2, so it is installed so as to be parallel to the front portion of cage cart 2.

[0025] In order for self-propelled robot 1 to couple with basket cart 2, self-propelled robot 1 needs to detect the distance and angle between basket cart 2 and self-propelled robot 1, and travel toward basket cart 2. However, when recognizing the shape of basket cart 2 with range sensor 9, it is difficult to accurately detect the distance and angle from basket cart 2 because the shape to be recognized changes depending on the loading condition of basket cart 2. Therefore, in this embodiment, ID panel 21 is attached to basket cart 2, and ID panel 21 is detected by range sensor 9 mounted on self-propelled robot 1.

[0026] Here, we will provide a technical explanation of the ID panel 21, which is an identification member. The ID panel 21 is an identification member for detecting and identifying a detection target by a detection device using electromagnetic waves, such as a laser range finder (LRF). In order to detect by electromagnetic waves, the detection surface (for example, the surface of the ID panel 21) on which the electromagnetic waves are detected is geometrically divided into at least three regions in a first direction, and among the divided regions, at least adjacent regions are set to have different reflectances to the electromagnetic waves.

[0027] The first direction is parallel to the scanning direction of the detection device. In the example of the ID panel 21 shown in Fig. 3, the area is divided in the lateral direction (horizontal direction) of the paper, and the scanning direction of the detection device is the lateral direction (horizontal direction) of the paper.

[0028] The detection device detects and identifies the detection target by detecting a specific pattern (signal) using differences in intensity of a reflected signal when an electromagnetic wave or the like is irradiated.

[0029] Fig. 3 is a diagram showing an example of the ID panel 21. As shown in Fig. 3, in this embodiment, a plate-like member such as A4-sized cardboard is used as the ID panel 21, which is an identification member. A marker displaying an ID is formed by attaching retroreflective tape 21b to both ends and between the surface 21a of the plate-like member. In addition, the surface 21a of the plate-like member and the retroreflective tape 21b form a detection surface 21c.

[0030] Since the surface 21a of the plate-like member and the retroreflective tape 21b have different reflectivities for electromagnetic waves, etc., by configuring it in this manner, the detection surface that detects the above-mentioned electromagnetic waves, etc. is geometrically divided into at least three regions a, b, and c in a first direction, and the reflectivities for electromagnetic waves, etc. of at least adjacent regions in the divided multiple regions a, b, and c are set to be different.

[0031] As shown in Figure 3(a), the at least three divided regions are, from one end side to the other end side of the detection surface 21c in the first direction, a first region a of the retroreflective tape 21b, a second region b of the surface 21a of the plate-like member, and a third region c of the retroreflective tape 21b, and are configured so that the reflectivity of the first region a is different from the reflectivity of the second region b, and the reflectivity of the third region c is different from the reflectivity of the second region b.

[0032] Here, by attaching retroreflective tape 21b with different reflectance to the first region a and the third region c, it is possible to make the reflectance of the first region a, the reflectance of the second region b, and the reflectance of the third region c different. Also, by attaching retroreflective tape 21b with the same reflectance to the first region a and the third region c, the reflectance of the first region a and the reflectance of the third region c may be configured to be equal.

[0033] Furthermore, the reflectance of the first region a and the third region c do not need to be higher than the reflectance of the second region b, and at least one of the reflectance of the first region a and the third region c may be lower than the reflectance of the second region b.

[0034] Furthermore, the ID panel 21, which is an identification member, does not have to be configured from a single plate-like member, and the detection surface 21c may be configured by arranging, for example, two plate-like members.

[0035] A first sensor, the range sensor 9, detects a first amount of received light reflected from the first area a, a second amount of received light reflected from the second area b, and a third amount of received light reflected from the third area c, as well as a first distance from the range sensor 9 to the first area a, a second distance from the range sensor 9 to the second area b, and a third distance from the range sensor 9 to the third area c.

[0036] Although details will be described later, the ID panel 21 is identified based on the first amount of received light, the second amount of received light, the third amount of received light, the first distance, the second distance, and the third distance.

[0037] The retroreflective tapes 21b at both ends of the ID panel 21 represent a start bit and a stop bit, and define a recognition area. The information held by the ID panel 21 (identification number information of the basket cart 2, destination information, priority information) is displayed according to the position of the retroreflective tape 21b constituting a pattern affixed between the retroreflective tapes 21b at both ends representing the start bit and the stop bit. The retroreflective tape 21b constituting the pattern may be shorter (i.e., thinner) in the horizontal direction than the two retroreflective tapes 21b arranged at both ends of the substrate member 21a on the detection surface 21c. That is, the retroreflective tape 21b arranged in the second area b is a pattern having information.

[0038] In the example of ID panel 21 shown in Fig. 3, retroreflective tape 21b is attached to surface 21a of a plate-like member to divide the detection surface, which is the surface of ID panel 21, into rectangular regions, but the shape of the divided regions is not limited to rectangular and may be any geometric shape. Note that, because the example of ID panel 21 shown in Fig. 3 has retroreflective tape 21b attached, it is possible to manufacture the identification member simply and inexpensively.

[0039] The laser emitted from the range sensor 9 hits the retroreflective tape 21b of the ID panel 21 and the surface 21a of the plate-like member that constitutes the detection surface 21c, and is then reflected (with an intensity according to the reflectivity, incident angle, etc.) and detected by a detector inside the range sensor 9. Inside the range sensor 9, the distance is calculated from the time it takes for the laser to make a round trip, the reflection intensity is calculated from the intensity value of the detected laser light, and the result is sent to the controller 4.

[0040] According to the example of the ID panel 21 shown in Fig. 3(a), the information held by the ID panel 21 (the identification number information of the basket cart 2, the transport destination information, and the priority information) is identified according to each of the distances (widths) of Amm and Bmm. Also, according to the example of the ID panel 21 shown in Fig. 3(b), the information held by the ID panel 21 (the identification number information of the basket cart 2, the transport destination information, and the priority information) is identified according to each of the distances (widths) of Cmm, Dmm, and Emm.

[0041] The retroreflective tape 21b attached to the ID panel 21 only needs to have a difference in reflection (absolute value of brightness difference) with respect to the surface 21a of the plate-like member of the ID panel 21. Therefore, the member attached to the ID panel 21 is not limited to a member that retroreflects light, and may be a member that absorbs light.

[0042] By using the retroreflective tape 21b as the marker, it becomes suitable for reading using the range sensor 9, which is a laser range finder (LRF). In a configuration using the retroreflective tape 21b, the controller 4 obtains the distance and reflection intensity to the retroreflective tape 21b on both ends of the ID panel 21 obtained from the range sensor 9, and calculates the distance and angle between the basket cart 2 and the self-propelled robot 1 from the distance and reflection intensity.

[0043] Here, the reflection intensity is a numerical value that represents a voltage corresponding to the intensity of light received by the light receiving element inside the range sensor 9. The retroreflective tape 21b attached to the ID panel 21 has a high reflection intensity value, so that it can accurately identify the position and can be used as feedback information for positioning the self-propelled robot 1 when connected.

[0044] The transport system of this embodiment using self-propelled robot 1 automates the task of transporting an object with casters, such as a basket cart 2, in a logistics warehouse or the like. The transport operation by self-propelled robot 1 is divided into the following three tasks (1) to (3). (1) Searching for and connecting transport targets in the temporary storage area (2) Driving in the driving area (3) Searching for storage locations and unloading goods in the storage area

[0045] FIG. 4 is an explanatory diagram showing an example of a logistics warehouse 1000 to which a conveying system is expected to be applied. FIG. 4 shows a floor surface of the logistics warehouse 1000 as a plan view seen from the ceiling side. The XY plane shown in FIG. 4 is a plane parallel to the floor surface, and the Z axis indicates the height direction. In the logistics warehouse 1000 shown in FIG. 4, the temporary storage area A1 described above in (1) is expected to be a place where unloaded luggage is lined up. The storage area A2 described above in (3) is expected to be an area in front of an elevator when luggage is transferred to another floor by elevator or the like. In addition, the travel area A3 described above in (2) is expected to be a place where the arrow in FIG. 4 indicates the round trip route between the temporary storage area A1 and the storage area A2.

[0046] Self-propelled robot 1 moves along the main line using a guidance method that uses a sensor to recognize a magnetic tape line installed on the floor. It also detects area marks 52 next to the line to determine the area. ID panel 21 also contains information about storage area A2, the destination, and priority information.

[0047] 4, a line of magnetic tape for guiding self-propelled robot 1 is provided in travel area A3, providing travel line 51 along which self-propelled robot 1 travels. Furthermore, area marks 52 are placed near travel line 51 at the entrances to temporary placement area A1 and storage area A2 in travel area A3, allowing the robot to recognize which area it has arrived at.

[0048] In the program executed by self-propelled robot 1, which will be described later, it is possible to specify an operation for each area. Self-propelled robot 1 performs a connection operation in temporary storage area A1, and a parking operation in storage area A2.

[0049] In this embodiment, temporary placement area A1 and storage area A2 are located immediately beside travel line 51. Self-propelled robot 1 searches the temporary placement area A1 and storage area A2 while traveling on travel line 51. When a basket cart 2 to be transported is found in temporary placement area A1, the self-propelled robot 1 transitions to a coupling operation with the basket cart 2 from travel line 51. The self-propelled robot 1 also searches for an empty address in storage area A2 from travel line 51 and performs a parking operation.

[0050] 4, multiple retroreflective tapes 53 are installed on the opposite side of storage area A2 across travel line 51. Multiple retroreflective tapes 53 are installed in positions where they can be detected by range sensor 9 of self-propelled robot 1. Self-propelled robot 1 estimates its own position based on the installation information of multiple retroreflective tapes 53.

[0051] Next, controller 4 of self-running robot 1 will be described.

[0052] Fig. 5 is a block diagram showing an example of the hardware configuration of controller 4 of self-running robot 1. As shown in Fig. 5, controller 4 includes control device 11 such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit), main memory device 12 such as ROM (Read Only Memory) or RAM (Random Access Memory), auxiliary memory device 13 such as SSD (Solid State Drive), display device 14 such as a display, input device 15 such as a keyboard, and communication device 16 such as a wireless communication interface, and has a hardware configuration that utilizes a normal computer.

[0053] Control device 11 executes various programs stored in main memory device 12 and auxiliary memory device 13 to control the overall operation of controller 4 (self-running robot 1) and realize various functional units described below.

[0054] The programs executed by controller 4 of self-propelled robot 1 may be provided by being recorded in an installable or executable format on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a digital versatile disk (DVD).

[0055] Furthermore, the program executed by controller 4 of self-propelled robot 1 may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Also, the program executed by controller 4 of self-propelled robot 1 may be provided or distributed via a network such as the Internet.

[0056] Next, functions performed by controller 4 of self-propelled robot 1 will be described as a result of control device 11 of controller 4 of self-propelled robot 1 executing programs stored in main memory device 12 and auxiliary memory device 13. Note that a description of conventionally known functions will be omitted here, and only characteristic functions performed by controller 4 of self-propelled robot 1 of this embodiment will be described in detail.

[0057] Some or all of the functions performed by controller 4 of self-running robot 1 may be implemented using a dedicated processing circuit such as an IC (Integrated Circuit).

[0058] Fig. 6 is a block diagram showing an example of a functional configuration performed by controller 4 of self-running robot 1. As shown in Fig. 6, controller 4 of self-running robot 1 includes detection means 111, calculation means 112, and movement control means 113.

[0059] The detection means 111 detects the ID panel 21 via the range sensor 9 based on the distance between the retroreflective tapes 21b on the ID panel 21 and the positions of the retroreflective tapes 21b.

[0060] The calculation means 112 calculates the distance and angle to the ID panel 21 detected by the detection means 111 .

[0061] The movement control means 113 controls the movement to the target position in accordance with the distance and angle to the ID panel 21 calculated by the calculation means 112 .

[0062] Next, the detection process of ID panel 21 provided on basket cart 2 of self-running robot 1 will be described in detail.

[0063] Here, Fig. 7 is a flowchart that shows an outline of the flow of detection processing of ID panel 21. As shown in Fig. 7, controller 4 (detection means 111) of self-running robot 1 detects a peak from the reflection intensity value of range sensor 9 (step S1).

[0064] Fig. 8 is a diagram showing a peak value detection state in the detection of ID panel 21. As shown in Fig. 8, controller 4 (detection means 111) of self-running robot 1 travels on travel line 51 in travel area A3 while checking the value of range sensor 9. Note that the detection range of range sensor 9 shown in Fig. 8(a) is approximately 270 degrees in this embodiment.

[0065] Then, controller 4 (detection means 111) of self-running robot 1 detects the peak value of the reflection intensity from range sensor 9, as shown in FIG. 8(b).

[0066] Fig. 9 is a diagram for explaining a method for detecting a peak value. As shown in Fig. 9(a), when the distance to the reflecting member is long, the reflection intensity value output by the range measurement sensor 9 becomes low. Note that for a certain material, a correspondence equation for reflection intensity values ​​according to distance is calculated in advance. Then, as shown in Fig. 9(b), for values ​​normalized using the correspondence equation, a value with a ratio equal to or greater than a certain value (80% in this case) is regarded as a peak.

[0067] Returning to FIG. 7, when the controller 4 (detection means 111) of the self-propelled robot 1 detects a peak from the reflection intensity value of the range sensor 9 (step S1), it determines whether the distance (width) between the detected peaks corresponds to the distance (width) between the retroreflective tapes 21b of the ID panel 21 (step S2).

[0068] Specifically, as shown in FIG. 8(b), controller 4 (detection means 111) of self-running robot 1 calculates the distance (width) between the detected peaks and compares it with the distance between retroreflective tapes 21b of ID panel 21.

[0069] If the controller 4 (detection means 111) of the self-propelled robot 1 determines that the detected inter-peak distance corresponds to the distance (width) between the retroreflective tapes 21b of the ID panel 21 (Yes in step S2), it selects it as a candidate for the ID panel 21 and proceeds to step S3.

[0070] On the other hand, if the controller 4 (detection means 111) of the self-propelled robot 1 determines that the detected peak-to-peak distance does not correspond to the distance (width) between the retroreflective tapes 21b of the ID panel 21 (No in step S2), it does not consider it a candidate for the ID panel 21 and returns to step S1.

[0071] Next, controller 4 (detection means 111) of self-running robot 1 determines the distance information value of range measurement sensor 9 between peaks, including the peak, as described below (step S3).

[0072] Here, Fig. 10 is a diagram showing a distance information value detection state in detecting the ID panel 21. In Fig. 10, the cart 2 is shown as a plan view seen from the ceiling side. As shown in Fig. 10, for the area of ​​the ID panel 21 that is determined as a candidate in step S2, the distance from the range sensor 9 to the ID panel 21 is obtained. The distance from the range sensor 9 can be obtained by the time it takes for the laser to return. Then, based on the distance information value, the range sensor 9 can detect the shape of an object within the detection range as seen from the range sensor 9. If the ID panel 21 is present within the detection range, it can detect the shape (surface shape) of the detection surface 21c of the ID panel 21 as seen from the range sensor 9.

[0073] For example, when the range sensor 9 performs a detection operation by facing the detection surface 21c of the ID panel 21 from the front with respect to the center of the detection surface 21c of the ID panel 21 in the scanning direction of the range sensor 9 (when the positional relationship between the range sensor 9 and the detection surface 21c of the ID panel 21 is as shown in Figure 10(a)), the distance information values ​​to the ID panel 21 detected by the range sensor 9 will be approximately the same value (strictly speaking, both ends will be at long distances, but for simplicity, the distance information values ​​will be described here as approximately the same value), so it can be determined that an object whose shape is flat when viewed from the range sensor 9 is present within the detection range.

[0074] Furthermore, when the detection surface 21c of the ID panel 21 is at an angle to the distance measurement sensor 9, the distance information value to the ID panel 21 detected by the range measurement sensor 9 changes at a constant rate from one side to the other in the scanning direction of the range measurement sensor 9, so it can be determined that an object with a planar shape as seen from the range measurement sensor 9 is present within the detection range.

[0075] In addition, if the detection surface 21c of the ID panel 21 is curved, it can be determined that an object whose shape is curved as seen by the range sensor 9 is present within the detection range by determining whether the distance information value to the ID panel 21 detected by the range sensor 9 changes depending on the positional relationship between the range sensor 9 and the detection surface 21c of the ID panel 21 and the curvature of the detection surface 21c.

[0076] 10(a), when the range sensor 9 performs a detection operation facing the detection surface 21c of the ID panel 21 from the front with respect to the center of the detection surface 21c of the ID panel 21 in the scanning direction of the range sensor 9, the distance information values ​​detected by the range sensor 9 between peaks including the peak of the reflection intensity are almost the same value. In this case, it is determined to be a candidate for the ID panel 21.

[0077] In this manner, candidates for the ID panel 21 are detected based on the distance information values ​​between peaks including the peaks, in other words, the distance information values ​​from the first region a to the second region b and the third region c.

[0078] As shown in FIG. 10(b), it is known that the frame of the cage cart 2 also has a high reflection intensity value. Therefore, there is a possibility that the frame of the cage cart 2 may be mistaken for the ID panel 21 simply by looking at the peak value of the reflection intensity ratio. Therefore, candidates for the ID panel 21 are detected by making a judgment based on the distance information value between the peaks, including the reflection intensity peaks, detected by the range measurement sensor 9. When the frame of the cage cart 2 is detected, the distance between the ID panel 21 and the frame is different, so it is excluded from the candidates for the ID panel 21 based on the distance information value between the peaks, including the reflection intensity peaks, detected by the range measurement sensor 9.

[0079] In this way, the distance information measured by the range sensor 9 can prevent a small, thin object that generates high reflection, such as the frame of the basket cart 2, from being mistakenly recognized as the retroreflective tape 21b of the ID panel 21. This is the same even if there is baggage on the basket cart 2.

[0080] If controller 4 (detection means 111) of self-running robot 1 determines that it corresponds to detection surface 21c of an ID panel (Yes in step S3), it regards it as a candidate for ID panel 21, and proceeds to step S4.

[0081] On the other hand, if controller 4 (detection means 111) of self-running robot 1 determines that it does not correspond to detection surface 21c of an ID panel (No in step S3), it does not consider it as a candidate for ID panel 21 and returns to step S1.

[0082] As a result of the above, controller 4 (detection means 111) of self-running robot 1 determines the current measurement value of range measurement sensor 9 as a candidate for ID panel 21 (step S4).

[0083] Next, controller 4 (detection means 111) of self-propelled robot 1 determines whether self-propelled robot 1 and basket cart 2 are in a positional relationship that allows connection between them by determining whether the angle of the inter-peak position in the scanning angle of range sensor 9 for the candidate ID panel 21 (the scanning angle when the candidate ID panel 21 is detected) is within the range in which self-propelled robot 1 and basket cart 2 can connect (step S5).

[0084] Here, Fig. 11 is a diagram showing the range in which self-propelled robot 1 and basket cart 2 can be connected to each other. As shown in Fig. 11, the range (angle) in which self-propelled robot 1 and basket cart 2 can be connected to each other is determined.

[0085] Fig. 11(a) is a diagram showing a case where the basket cart 2 is not present within the connectable range of the self-propelled robot 1. As shown in Fig. 11(a), if the angle of the inter-peak position in the scanning angle of the range measurement sensor 9 (the scanning angle when the candidate for ID panel 21 is detected) is not within the connectable range (angle), it is determined that the self-propelled robot 1 and the basket cart 2 are not in a positional relationship that allows connectability.

[0086] On the other hand, Fig. 11(b) is a diagram showing a case where the basket cart 2 is present within the connectable range of the self-propelled robot 1. As shown in Fig. 11(b), if the angle of the inter-peak position in the scanning angle of the range measurement sensor 9 (the scanning angle when the candidate for ID panel 21 is detected) is within the connectable range (angle), it is determined that the self-propelled robot 1 and the basket cart 2 are in a positional relationship that allows connectability.

[0087] If the controller 4 (detection means 111) of the self-propelled robot 1 determines that the angle of the peak position in the scanning angle of the range sensor 9 for the candidate ID panel 21 (the scanning angle when the candidate ID panel 21 is detected) is in a positional relationship that allows connection between the self-propelled robot 1 and the basket cart 2 (Yes in step S5), the controller 4 (detection means 111) proceeds to step S6.

[0088] On the other hand, if controller 4 (detection means 111) of self-propelled robot 1 determines that the angle of the peak position in the scanning angle of range sensor 9 for the candidate ID panel 21 (the scanning angle when the candidate ID panel 21 is detected) is not in a positional relationship that allows connection between self-propelled robot 1 and basket cart 2 (No in step S5), it returns to step S1.

[0089] Next, controller 4 (detection means 111) of self-running robot 1 calculates the inclination of ID panel 21 for the candidate for ID panel 21 from the distance information of range measurement sensor 9 (step S6).

[0090] Here, Fig. 12 is a diagram showing a calculation example of the tilt of the ID panel 21. As shown in Fig. 12, the tilt of the ID panel 21 can be detected from distance information of the peak value detected by the range measurement sensor 9 (distance information of the first region a and distance information of the third region c on the detection surface 21c of the ID panel 21).

[0091] Next, controller 4 (detection means 111) of self-running robot 1 determines whether the inclination of ID panel 21 is within a connectable range (step S7). If the inclination is within a predetermined range (angle θ shown in FIG. 12 is equal to or smaller than a predetermined angle), controller 4 (detection means 111) of self-running robot 1 determines that basket cart 2 is placed at an inclination within the allowable range that allows connection (Yes in step S7), and proceeds to step S8.

[0092] On the other hand, if the inclination is outside the specified range (angle θ shown in Figure 12 is greater than the specified angle), the controller 4 (detection means 111) of the self-running robot 1 determines that the basket cart 2 is not placed at an inclination within the allowable range for connection (No in step S7), and returns to step S1.

[0093] Controller 4 (detection means 111) of self-running robot 1 then completes the detection process for ID panel 21 (step S8).

[0094] Next, an operation for detecting the angle of the detected surface of ID panel 21 and the angle between self-running robot 1 will be described.

[0095] In general, by taking advantage of the fact that detection surface 21c of ID panel 21 attached to the object to be transported (cage cart 2) is flat, the angle of the detected detection surface 21c of ID panel 21 and the angle between self-propelled robot 1 are taken as the angle between the object to be transported (cage cart 2) and self-propelled robot 1, and are used to automatically connect self-propelled robot 1 and the object to be transported (cage cart 2).

[0096] Next, movement of self-running robot 1 to a target position after completion of the detection process of ID panel 21 will be described.

[0097] Here, Fig. 13 is a flowchart showing the flow of the process of moving to the target position after completion of the process of detecting the ID panel 21. As shown in Fig. 13, the controller 4 (calculation means 112) of the self-running robot 1 starts moving toward the ID panel 21 (step S31), and acquires the distance to the ID panel 21 and reflection intensity information from the range sensor 9 (step S32).

[0098] Next, controller 4 (calculation means 112) of self-propelled robot 1 detects the relative position and inclination of ID panel 21 with respect to self-propelled robot 1 from the distance and reflection intensity information, referring to design information of ID panel 21 (size, spacing of retroreflective tape 21b, etc.) (step S33).

[0099] 14 to 17, which will be explained next, show self-propelled robot 1 and ID panel 21 as plan views seen from the ceiling side. As already mentioned, ID panel 21 is attached to cart 2, but to avoid complicating the drawings, cart 2 is omitted and only ID panel 21 is shown.

[0100] Figure 14 is a diagram showing a method for detecting the inclination of ID panel 21. As shown in Figure 14, the center of self-propelled robot 1 is the center of the axle of driven wheel 72, which is the rear wheel. The position of ID panel 21 is the center of ID panel 21. The inclination of ID panel 21 is the angle (θ1 in Figure 14) made between a line parallel to the axle direction of driven wheel 72, which is the rear wheel of self-propelled robot 1, and a line parallel to the panel surface of ID panel 21.

[0101] Fig. 15 is a diagram showing a method for detecting the orientation of ID panel 21. As shown in Fig. 15, the orientation of ID panel 21 is the angle (θ2 in Fig. 15) between a line that is perpendicular to the axial direction of driven wheels 72, which are the rear wheels of self-propelled robot 1, and passes through the center of self-propelled robot 1, and a line connecting the center of self-propelled robot 1 and the center of ID panel 21.

[0102] If the relative position and inclination of ID panel 21 with respect to self-propelled robot 1 are not detected (No in step S34), controller 4 (calculation means 112) of self-propelled robot 1 temporarily stops (step S35) and again acquires the distance to ID panel 21 and reflection intensity information from range sensor 9 (step S32).

[0103] Note that while it is difficult to imagine that self-propelled robot 1 will be unable to detect ID panel 21 after detecting it, considering the relative positions of self-propelled robot 1 and ID panel 21 (cage cart 2), a temporary suspension process (step S35) is provided as a measure to be taken when ID panel 21 cannot be detected due to a drive error of self-propelled robot 1 or an error of range sensor 9. Note that if the temporary suspension period exceeds a predetermined time, an abnormality is detected, and the self-propelled robot 1 is stopped and a message is displayed indicating that the connection to the cage cart 2 has failed.

[0104] If the relative position and inclination of ID panel 21 with respect to self-propelled robot 1 have been detected (Yes in step S34), controller 4 (calculation means 112) of self-propelled robot 1 detects a relative target position based on the position and inclination of ID panel 21 (step S36).

[0105] Here, Fig. 16 is a diagram showing a method for calculating the relative target position. As shown in Fig. 16, a certain distance in the vertical direction from the center of the ID panel 21 and an angle directly facing the ID panel 21 is the relative target position (x', y', θ').

[0106] Next, controller 4 (movement control means 113) of self-running robot 1 sets the current position to (x, y, θ) = (0, 0, 0), determines the direction angle θ3 to the target position based on the difference between the current position and the relative target position (x', y', θ'), and runs (step S37).

[0107] Controller 4 of self-running robot 1 repeats the processes of steps S32 to S37 until self-running robot 1 arrives at a relative target position (x', y', θ') set at a position perpendicular to the surface of ID panel 21 (Yes in step S38).

[0108] Here, Fig. 17 is a diagram showing a schematic diagram of a travel path to a relative target position. As shown in Fig. 17, controller 4 of self-running robot 1 may reduce the speed of self-running robot 1 as it approaches the relative target position. For example, controller 4 of self-running robot 1 may perform control according to the following equation. v[m / S]=α*(x 2 +Y 2 ) 1 / 2 α: Parameter

[0109] Controller 4 of self-running robot 1 also sets the rotation speed based on the orientation of ID panel 21 (FIG. 15). ω[rad / S]=β*θ *β is a parameter

[0110] As described above, according to this embodiment, when detecting the ID panel 21, the ID panel 21 is detected using the code generated on the detection surface 21c of the ID panel 21 and distance information to the detection surface 21c of the ID panel 21 (in other words, distance information to the first area a, the second area b, and the third area c of the detection surface 21c of the ID panel 21). As a result, the code for detecting the ID panel 21 may be simple with a small amount of information, so the sensor for detecting the ID panel 21 may have a simple configuration and the transport object (ID panel 21) can be stably detected even from a long distance. Furthermore, according to this embodiment, the accuracy of angle detection of the transport object (ID panel 21) is improved, and the angle of the transport object (ID panel 21) can be detected from a long distance compared to the conventional technology.

[0111] (Second embodiment) Next, a second embodiment will be described.

[0112] The transport system of the second embodiment differs from the first embodiment in that the transport system has two steps: detection of the ID panel 21 and identification of the contents of the ID panel 21. In the following explanation of the second embodiment, the explanation of the same parts as in the first embodiment will be omitted, and only the differences from the first embodiment will be explained.

[0113] In the first embodiment, the amount of information in ID panel 21 depends on the number of retroreflective tapes 21b on detection surface 21c (particularly second region b) of ID panel 21. However, arranging retroreflective tapes 21b at intervals finer than the resolution of range sensor 9 is meaningless in terms of increasing the amount of information. In addition, the angular resolution of range sensor 9 deteriorates with distance, so the amount of information of ID panels 21 located farther from self-propelled robot 1 decreases.

[0114] Therefore, in this embodiment, as described below, when detecting ID panel 21 (when the distance between ID panel 21 and self-propelled robot 1 is large), only retroreflective tape 21b (first area a and third area c) on both ends of ID panel 21 is viewed. After detecting the position of ID panel 21, self-propelled robot 1 approaches ID panel 21 and identifies the contents of ID panel 21.

[0115] Fig. 18 is a flow chart showing an outline of the flow of the ID panel detection process according to the second embodiment. Note that steps S1 to S8 in Fig. 18 are the same as steps S1 to S8 in Fig. 7 described in the first embodiment, and therefore will not be described here.

[0116] When controller 4 of self-propelled robot 1 completes the detection process for ID panel 21 (step S8), it stops self-propelled robot 1 at a position on travel line 51 where self-propelled robot 1 can be connected to basket cart 2 (step S9).

[0117] Here, Fig. 19 is a diagram showing a peak value detection state in detecting ID panel 21. As shown in Fig. 19, in this embodiment, when controller 4 of self-propelled robot 1 detects ID panel 21, upon detecting peaks corresponding to retroreflective tapes 21b on both ends of ID panel 21, the detection process for ID panel 21 is completed.

[0118] Next, controller 4 of self-running robot 1 causes self-running robot 1 to turn 90 degrees (step S10).

[0119] Next, controller 4 of self-running robot 1 causes self-running robot 1 to proceed toward ID panel 21 (step S11). Controller 4 of self-running robot 1 causes self-running robot 1 to proceed toward ID panel 21 (step S11) until the distance information value from range sensor 9 to ID panel 21 becomes 50 cm or less (Yes in step S12).

[0120] Here, Fig. 20 is a diagram showing a state in which self-running robot 1 approaches ID panel 21. As shown in Fig. 20, self-running robot 1 approaches ID panel 21 to a distance of 50 cm.

[0121] When the distance information value from range sensor 9 to ID panel 21 becomes 50 cm or less (Yes in step S12), controller 4 of self-propelled robot 1 acquires a peak from the reflection intensity value of range sensor 9 (step S13). Then, controller 4 of self-propelled robot 1 identifies the contents of ID panel 21 from the peak positions other than the peaks corresponding to retroreflective tape 21b on both ends of ID panel 21 (step S14).

[0122] Here, Fig. 21 is a diagram showing an example of identifying the contents of ID panel 21. As shown in Fig. 21, when identifying the contents of ID panel 21, controller 4 of self-propelled robot 1 searches for peaks other than the peaks corresponding to retroreflective tape 21b on both ends of ID panel 21. As shown in Fig. 21, self-propelled robot 1 has approached to within 50 cm of ID panel 21, so detection can be performed with a higher resolution than when detecting ID panel 21.

[0123] As described above, according to this embodiment, the detection of the ID panel 21 and the identification of the contents of the ID panel 21 are performed separately, so that the ID panel 21 can be stably detected even from a long distance using a simply configured sensor (range measurement sensor 9), and then detailed information such as the identification number information, destination information, and transport priority information can be obtained by approaching the detected ID panel 21.

[0124] (Third embodiment) Next, a third embodiment will be described.

[0125] The transport system of the third embodiment differs from the first and second embodiments in that it further includes an identification means (e.g., a barcode reader) for reading the code in the ID panel 21. In the following explanation of the third embodiment, explanations of the same parts as in the first and second embodiments will be omitted, and only differences from the first and second embodiments will be explained.

[0126] Fig. 22 is a block diagram showing an example of a hardware configuration of a self-propelled robot in a transport system according to the third embodiment. As shown in Fig. 22, self-propelled robot 1 of the present embodiment includes camera 5, which is a second sensor. Also, a barcode (image pattern) placed in second area b of ID panel 21 is a pattern having information.

[0127] The camera 5, together with the controller 4 functioning as a decoding section, constitute a marker reading device. The controller 4 recognizes the marker code by image recognition of the marker features from the image captured by the camera 5. The decoding section of the controller 4 decodes the recognized marker code information to obtain the identification number information, destination information, and priority information of the cart 2.

[0128] Marker IDs can be displayed using standard barcodes or QR codes (registered trademarks) as image patterns. In addition, by increasing the amount of information per unit area using image patterns such as color codes or grayscale barcodes as IDs, the markers can be recognized from a greater distance.

[0129] In this embodiment, a barcode is used as the marker attached to the cart 2, and the camera 5 is used as a barcode reader to read it. If the marker displaying the ID is a QR code, a QR code reader can be used as the ID recognition means.

[0130] Fig. 23 is a flow chart showing an outline of the flow of the ID panel detection process according to the third embodiment. Note that steps S1 to S11 in Fig. 23 are the same as steps S1 to S11 in Fig. 18 described in the second embodiment, and therefore will not be described here.

[0131] When controller 4 of self-propelled robot 1 moves self-propelled robot 1 toward ID panel 21 (step S11), it calculates the distance between camera 5 and ID panel 21 from the distance information value of range sensor 9 and the relationship between the distance between range sensor 9 and camera 5 (step S21).

[0132] Next, controller 4 of self-running robot 1 advances self-running robot 1 toward ID panel 21 (step S11) until the distance between camera 5 and ID panel 21 becomes equal to or less than the readable range of the barcode (Yes in step S22).

[0133] When the distance information value from camera 5 to ID panel 21 falls within the readable range of the barcode (Yes in step S22), controller 4 of self-running robot 1 causes camera 5 to read the barcode on ID panel 21 (step S23).

[0134] Controller 4 of self-running robot 1 then identifies the contents of ID panel 21 from the contents of the barcode (step S24).

[0135] Fig. 24 is a diagram showing an example of identifying the contents of ID panel 21. As shown in Fig. 24, when identifying the contents of ID panel 21, controller 4 of self-propelled robot 1 moves self-propelled robot 1 close to ID panel 21 as far as the barcode can be read and reads the barcode on ID panel 21 with camera 5, thereby increasing the amount of information on ID panel 21.

[0136] As described above, according to this embodiment, the detection of the ID panel 21 and the identification of the contents of the ID panel 21 are performed separately, so that the ID panel 21 can be stably detected even from a long distance using a simply configured sensor (range measurement sensor 9), and then detailed information such as the identification number information, destination information, and transport priority information can be obtained by approaching the detected ID panel 21.

[0137] In this embodiment, a barcode or a QR code is used as the marker placed on the basket cart 2, but the present invention is not limited to this. For example, a shading barcode, a color code, or the like may be used as the marker placed on the basket cart 2. By reading the color code using the camera 5, the position information of the code can be read at the same time, so that the position where the basket cart 2 is placed can be recognized. Furthermore, since the shading barcode can be read by the range sensor 9, more accurate position information can be obtained, and it is effective as feedback information for connection positioning.

[0138] (Fourth embodiment) Next, a fourth embodiment will be described.

[0139] The transport system of the fourth embodiment differs from the first embodiment in that coupling device 10 of self-propelled robot 1 connects at an optimal position for basket cart 2. In the following explanation of the fourth embodiment, explanations of the same parts as in the first embodiment will be omitted, and only differences from the first embodiment will be explained.

[0140] Depending on the positional relationship of the framework of cage cart 2, it may be necessary to change the connection position of coupling device 10 in self-propelled robot 1. Therefore, in this embodiment, a panel ID (identification number) of ID panel 21 is prepared for each type of cage cart 2, taking into consideration the desired connection position of cage cart 2. Self-propelled robot 1 detects the panel ID, changes the relative target position for each panel ID, and connects at the optimal position for each cage cart 2.

[0141] Fig. 25 is a flow chart showing the flow of the process of moving to a target position after the detection process of ID panel 21 is completed according to the fourth embodiment. As shown in Fig. 25, controller 4 (calculation means 112) of self-running robot 1 starts moving toward ID panel 21 (step S31), and acquires the distance to ID panel 21 and reflection intensity information from range sensor 9 (step S32).

[0142] Next, controller 4 (calculation means 112) of self-propelled robot 1 refers to design information of ID panel 21 (size, spacing of retroreflective tape 21b, etc.) and detects the relative position and inclination of ID panel 21 with respect to self-propelled robot 1 from the distance and reflection intensity information, and detects the panel ID of ID panel 21 (step S41).

[0143] If the relative position and inclination of ID panel 21 with respect to self-propelled robot 1 and the panel ID of ID panel 21 are not detected (No in step S34), controller 4 (calculation means 112) of self-propelled robot 1 temporarily stops (step S35) and again acquires the distance to ID panel 21 and reflection intensity information from range sensor 9 (step S32).

[0144] On the other hand, if the relative position and inclination of ID panel 21 with respect to self-running robot 1 and the panel ID of ID panel 21 are detected (Yes in step S34), a setting file is read (step S42). In the setting file, the movement amount is registered in association with the panel ID.

[0145] Next, controller 4 (calculation means 112) of self-propelled robot 1 calculates a relative target position based on the position and inclination of ID panel 21, and shifts the relative target position in a direction parallel to the panel surface of ID panel 21 by an amount of movement linked to the panel ID registered in the setting file (step S43).

[0146] Here, Fig. 26 is a diagram showing a method for shifting the relative target position. As shown in Fig. 26, the relative target position is shifted in a direction parallel to the panel surface of the ID panel 21 by an amount of movement associated with the panel ID registered in the setting file. For example, in the case of ID=2, the position is shifted by 30 mm in the plus direction parallel to the panel surface of the ID panel 21.

[0147] Next, controller 4 (movement control means 113) of self-running robot 1 sets the current position to (x, y, θ) = (0, 0, 0), determines the direction angle θ3 to the target position based on the difference between the current position and the relative target position (x', y', θ'), and runs (step S37).

[0148] Controller 4 of self-running robot 1 repeats the processes of steps S32 to S37 until self-running robot 1 arrives at a relative target position (x', y', θ') set at a position perpendicular to the surface of ID panel 21 (Yes in step S38).

[0149] According to this embodiment, by preparing a panel ID for each type of cart 2, the AGV can detect the panel ID, change the relative target position for each ID, and connect at the optimal position for each cart.

[0150] In each embodiment, an example has been described in which the self-propelled robot 1 is applied to an autonomous mobile device as an automated guided vehicle (AGV) that automatically connects to and tows a towed vehicle, such as a basket cart 2, which is the object to be connected, and automatically transports the basket cart 2 to a desired destination. However, it goes without saying that the present invention is not limited to this and can be applied to various types of autonomous mobile devices. [Explanation of symbols]

[0151] 1. Autonomous mobility device 4. Detection Methods 5 Second Sensor 9 First Sensor 21 Identification members (ID panels, plate-shaped members) 21a Surface of plate-like member 21b Retroreflective tape 111 Detection device 112 Calculation Method 113 Movement control means [Prior art documents] [Patent documents]

[0152] [Patent Document 1] JP 2000-242335 A [Patent Document 2] Patent No. 6109616

Claims

1. An autonomous mobile device, a detection device that detects an identification member present in a detection area by emitting light to the detection area and optically scanning the detection area and receiving light reflected by an object present in the detection area from the emitted light, The detection device includes: a reflection intensity detection means for detecting a reflection intensity of light reflected from the object based on the light received by the sensor; a distance detection means for detecting a distance to a detection surface of the identification member based on the light received by the sensor, the detection device detects a candidate for the identification member from the information detected by the reflection intensity detection means, and detects a shape plane of the candidate from the information detected by the distance detection means; The identification member is attached to a vehicle to be transported, a control means for moving the autonomous mobile device to a target position where the autonomous mobile device is to be coupled to the target vehicle and coupling the autonomous mobile device to the target vehicle at the target position; The identification information written on the identification member attached to the transportation target vehicle is prepared for each type of the transportation target vehicle, and a movement amount is registered in association with the identification information, The detection device detects the identification information written on the identification member, The control means changes the target position based on a movement amount associated with the identification information. An autonomous mobile device comprising:

2. the control means sets the target position such that a directional angle to the target position based on the position and inclination of the detection surface is equal to or smaller than a predetermined angle.

2. The autonomous mobile device according to claim 1 .

3. A method for controlling movement of an autonomous mobile device, comprising: The autonomous mobile device is a detection device that detects an identification member present in a detection area by emitting light to the detection area and optically scanning the detection area and receiving light reflected by an object present in the detection area from the emitted light, The detection device includes a reflection intensity detection unit that detects a reflection intensity of light reflected from the object based on the light received by the sensor; a distance detection means for detecting a distance to a detection surface of the identification member based on the light received by the sensor, the detection device detects a candidate for the identification member from the information detected by the reflection intensity detection means, and detects a shape plane of the candidate from the information detected by the distance detection means; The identification member is attached to a vehicle to be transported, the autonomous mobile device has a control means for moving the autonomous mobile device to a target position where the autonomous mobile device is to be coupled to the target vehicle, and coupling the autonomous mobile device to the target vehicle at the target position; The identification information written on the identification member attached to the transportation target vehicle is prepared for each type of the transportation target vehicle, and a movement amount is registered in association with the identification information, The detection device detects the identification information written on the identification member, The control means changes the target position based on a movement amount associated with the identification information. A method for controlling movement of an autonomous mobile device comprising the steps of:

Images