Transport System

Abstract

To enable an autonomous travel conveyance robot to quickly move with a relatively simple configuration by setting a moving start point and a moving end point at arbitrary positions outside a virtual map obtained by virtually drawing vertical and horizontal grid lines crossing each other in a lattice shape.SOLUTION: If at least one of a moving start point P1 and a moving end point P2 is specified outside a virtual map 5 in a travel area 1, a magnetic guide 10 is provided so as to connect the specified position and an intersection point of the virtual map 5 located close to the specified position. A camera 11 for reading markers 8 and magnetic sensors 12 and 13 for reading the magnetic guide 10 are provided on a bottom surface of an autonomous travel conveyance robot 2. A management device 4 determines a travel path N from the moving start point P1 to the moving end point P2 by combining the markers 8 and the magnetic guide 10 in the case where at least one of the moving start point P1 and the moving end point P2 is set outside the virtual map 5 in the travel area 1.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a transport system. [Background technology]

[0002] Patent Document 1 describes how a start point and an end point of movement are identified within a movement area that is virtually depicted by grid lines connecting lattice points arranged at regular intervals, a movement path is created for moving an autonomous moving body from the start point to the end point of movement, and the autonomous moving body is moved along the movement path.

[0003] The movement path is designed so that markers are placed at any intersection (marker point) of grid lines that intersect vertically and horizontally in a grid pattern, and the autonomous moving body is configured to move up, down, left and right like a rook in shogi, while recognizing each of the markers one by one with a camera mounted on it.

[0004] When the autonomous moving body moves, for example, obliquely within the movement area, the autonomous moving body moves in a step-like manner. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2007-257276 A Summary of the Invention [Problem to be solved by the invention]

[0006] In the above-mentioned Patent Document 1, the movement start point and the movement end point can only be set to the position of the arbitrary marker. In other words, it is pointed out that the degree of freedom in setting the movement start point and the movement end point is low.

[0007] In view of these circumstances, the present invention aims to provide a transport system that has a relatively simple configuration and enables an autonomous transport robot to move quickly by setting the start and end points of movement at any position outside a virtual map that is virtually depicted as vertical and horizontal grid lines intersecting in a lattice pattern. [Means for solving the problem]

[0008] The present invention provides a transport system including an autonomous transport robot that transports luggage from a start point of travel set in a predetermined travel area to an end point of travel, a storage device that stores a virtual map in which vertical and horizontal grid lines intersecting in a lattice pattern are virtually depicted, markers that are provided at the intersections of the vertical and horizontal grid lines of the virtual map in the travel area of ​​the autonomous transport robot, and a management device that identifies the start point of travel and the end point of travel and creates a travel route from the start point of travel to the end point of travel, wherein at least one of the positions of the start point of travel and the end point of travel is identified outside the virtual map in the travel area. In this case, a magnetic guide consisting of a straight line, a curved line or a combination of these is provided to connect the specific position and an intersection of the virtual map located in the vicinity of the specific position, and a camera for reading the marker and a magnetic sensor for reading the magnetic guide are provided on the bottom surface of the autonomous mobile transport robot, and the management device is characterized in that when at least one of the start point and the end point of movement is set outside the virtual map in the traveling area, it determines a travel path from the start point of movement to the end point of movement by combining the marker and the magnetic guide.

[0009] According to this configuration, when the position of at least one of the start point and the end point of movement is identified outside the virtual map in the traveling area, the autonomous mobile transport robot can not only move in a step-like manner following each of the markers, but also move along a magnetic guide consisting of a straight line, a curved line, or a combination of these.

[0010] In other words, the starting point, which is the location where the luggage is picked up, and the end point, which is the destination of the luggage, can be set at any position outside the virtual map, thereby improving the freedom of setting the starting point and end point.

[0011] Moreover, since only relatively simple components such as the magnetic guide and the magnetic sensor are added, an increase in equipment costs can be suppressed. Effect of the Invention

[0012] The transport system of the present invention has a relatively simple configuration, and makes it possible to set the start and end points of movement at any position outside the virtual map, which is a virtual depiction of vertical and horizontal grid lines intersecting in a lattice pattern, thereby enabling the autonomous transport robot to move quickly. [Brief description of the drawings]

[0013] [Figure 1] 1 is a diagram showing a schematic configuration of a transport system according to the present invention; [Diagram 2] FIG. 2 is a plan view showing the configuration and shape of the autonomous traveling transport robot. [Diagram 3] FIG. 1 is a block diagram showing a schematic configuration of an autonomous transport robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the accompanying drawings.

[0015] An embodiment of the present invention is shown in Figures 1 to 3. In the figures, 1 is a travel area, 2 is an autonomous mobile robot (AMR: an abbreviation for Autonomous Mobile Robot), 3 is a storage device, and 4 is a management device.

[0016] The travel area 1 is an area in which the autonomous travelling transfer robot 2 travels, and may be, for example, a floor within a warehouse or factory, or an outdoor road on private land.

[0017] A virtual map 5, for example as shown in Fig. 1, is set in this travel area 1. This virtual map 5 is formed by virtually depicting vertical and horizontal grid lines 6, 7 that intersect in a lattice pattern.

[0018] A marker 8 is provided at each intersection of the vertical and horizontal grid lines 6, 7. In other words, the markers 8 are placed in a checkerboard pattern in the bottom region.

[0019] The marker 8 is, for example, a QR code and serves as a travel guide for the autonomous transport robot 2.

[0020] Furthermore, in the travel area 1, the position of a predetermined marker 8 on the virtual map 5 and an arbitrary position outside the virtual map 5 (a travel end point P2 described below) are connected by a magnetic guide 10.

[0021] The magnetic guide 10 is, for example, a magnetic tape, and may be, for example, a straight line, a curved line, or a combination of these.

[0022] The autonomous transport robot 2 will be described in detail later, but as is well known, it is an unmanned transport vehicle that has the function of transporting luggage (not shown) from a start point P1 to an end point P2 set in its travel area by autonomously traveling according to a predetermined program run by a computer without the need for tracks, guides, or human operation.

[0023] The luggage is, for example, an item other than a person, and has a size and shape that can be carried by the autonomous mobile transport robot 2. The start point P1 of the movement is the location where the luggage is placed and where the luggage is received. The end point P2 of the movement is the destination of the luggage, and is, for example, an arbitrary position outside the virtual map 5 in the travel area 1 (for example, the location where the chute 9 is placed). Thus, the magnetic guide 10 is installed so as to connect the location where the chute 9 is placed and the marker 8 located in the vicinity of that location. The end of this magnetic guide 10 is the location of the end point P2 of the movement.

[0024] Specifically, the autonomous traveling transport robot 2 includes a vehicle body 21, front driven wheels 23, rear driven wheels 24, a left driving wheel 25, a right driving wheel 26, LiDAR sensors 27a, 27b, a control device 28, and the like, as shown in, for example, Figures 2 and 3 .

[0025] As shown in FIG. 2, for example, the vehicle body 21 is formed in a substantially rectangular shape in plan view with an arc-shaped front and rear, and luggage (not shown) is loaded onto the vehicle body 21.

[0026] As shown in FIG. 2, the front-rear direction of the body 21 is the X axis, the left-right direction of the body 21 is the Y axis, and the swing angle (direction) from the center of the body 21 (see P) is θ.

[0027] A lower camera 11 is provided at a center P position on the underside of the vehicle body 21. Furthermore, magnetic sensors 12, 13 are provided at front and rear positions on the underside of the vehicle body 21.

[0028] The lower camera 11 is provided to recognize the markers 8 placed in the travel area 1.

[0029] The magnetic sensors 12 and 13 are for reading the magnetic guide 10 and are provided at the front and rear of the bottom surface of the body 21 of the autonomous transport robot 2, respectively.

[0030] The front driven wheels 23 and the rear driven wheels 24 are each configured as a pair of two wheels on the left and right, and are supported in a state in which they can rotate freely (forward and reverse).

[0031] The front driven wheels 23 are disposed on the front side of the vehicle body 21, and the rear driven wheels 24 are disposed on the rear side of the vehicle body 21.

[0032] The left driving wheel 25 is provided on the left side and in the middle of the vehicle body 21 in the longitudinal direction, and the right driving wheel 26 is provided on the right side and in the middle of the vehicle body 21 in the longitudinal direction.

[0033] The left driving wheel 25 and the right driving wheel 26 are each a single wheel of a differential drive type that is independently driven by separate motors 25a, 26a (shown only in FIG. 3).

[0034] Encoders 25b, 26b (shown only in FIG. 3) are provided on the underside of the vehicle body 21 near the left driving wheel 25 and the right driving wheel 26, respectively.

[0035] The encoders 25b, 26b detect the rotation direction, rotation angle, rotation speed, etc. of the left driving wheel 25 and the right driving wheel 26, respectively.

[0036] As is well known, the LiDAR sensors 27a and 27b use laser light to measure the shape and distance of an object at a distance, and are provided midway between the front and rear of the vehicle body 21 in the left-right direction.

[0037] The detection outputs of the encoders 25b and 26b and the LiDAR sensors 27a and 27b are used when the autonomous traveling transfer robot 2 travels autonomously.

[0038] The control device 28 is a computer that controls various operations of the autonomous traveling transport robot 2, and is capable of communicating with a management device 4 located externally via an interface 28a, for example, as shown in FIG. 3.

[0039] The storage device 3 stores the virtual map 5 and is a known external storage device such as a hard disk drive.

[0040] The management device 4 is a computer that executes at least the following processes: a process of identifying the start point P1 and the end point P2 of the autonomous traveling transport robot 2; a process of creating a movement path N from the start point P1 to the end point P2; and a process of transmitting information about the created movement path N to the control device 28 of the autonomous traveling transport robot 2.

[0041] When at least one of the start point P1 and the end point P2 of the movement is set outside the virtual map 5 in the driving area 1, the management device 4 determines the travel route N from the start point P1 to the end point P2 of the movement by combining a marker 8 and a magnetic guide 10.

[0042] In addition, the management device 4 executes a process of transferring the luggage on the autonomous traveling transfer robot 2 to a chute 9 when the autonomous traveling transfer robot 2 reaches the destination.

[0043] Next, the operation of the autonomous transport robot 2 with respect to transporting luggage will be described.

[0044] 1, the movement start point P1 is specified to be near a marker 8 placed at X, Y coordinates (2, 1) on a virtual map 5 in the travel area 1, and the movement end point P2 is specified to be near a marker 8 placed at X, Y coordinates (5, 1) outside the virtual map 5 in the travel area 1 (the end of the magnetic guide 10). The movement path N is determined by combining the marker 8 and the magnetic guide 10.

[0045] First, the management device 4 executes a process of identifying the start point P1 and the end point P2 of the autonomous traveling transport robot 2, a process of creating a movement path N from the start point P1 to the end point P2, and a process of transmitting information of the created movement path N to the control device 28 of the autonomous traveling transport robot 2.

[0046] When the control device 28 of the autonomous mobile transport robot 2 receives information about the movement route N created by the management device 4, it controls the autonomous mobile transport robot 2 to reach the movement starting point P1 based on the received information about the movement route N.

[0047] At this time, the autonomous traveling transport robot 2 travels autonomously by having the control device 28 recognize multiple markers 8 placed on the travel area 1 one by one using the lower camera 11 installed on the autonomous traveling transport robot 2, and based on the recognition results, checks whether the actual travel path of the autonomous traveling transport robot 2 deviates from the specified travel path N.

[0048] Then, at the movement start point P1, a process is executed to load luggage onto the autonomous traveling transfer robot 2. This loading work is performed by a working robot or a worker.

[0049] Thereafter, the control device 28 of the autonomous traveling transfer robot 2 controls the autonomous traveling transfer robot 2 based on the information of the movement route N so as to reach the movement end point P2.

[0050] At this time, the autonomous traveling of the autonomous traveling transport robot 2 is performed by the control device 28 recognizing the multiple markers 8 installed on the travel area 1 one by one with the lower camera 11 installed on the autonomous traveling transport robot 2, and based on the recognition result, it is confirmed whether the actual travel route of the autonomous traveling transport robot 2 does not deviate from the designated travel route N. Furthermore, when the autonomous traveling transport robot 2 reaches the marker 8 near the travel end point P2, the magnetic guide 10 from this marker 8 to the travel end point P2 is recognized one by one with the magnetic sensors 12, 13 installed on the autonomous traveling transport robot 2, and based on the recognition result, it is confirmed whether the actual travel route of the autonomous traveling transport robot 2 does not deviate from the travel route N instructed by the management device 4.

[0051] In this way, when the autonomous mobile transport robot 2 reaches the movement end point P2, which is the transport destination of the luggage, and stops, the autonomous mobile transport robot 2 transfers the luggage loaded on the autonomous mobile transport robot 2 to the chute 9. This transfer work is performed by a working robot or a worker.

[0052] As described above, according to an embodiment of the present invention, when at least one of the start point P1 and the end point P2 of movement is identified outside the virtual map 5 in the traveling area 1, the autonomous mobile transport robot 2 can not only move in a step-like manner following each marker 8, but also move along a magnetic guide 10 consisting of a straight line, a curved line, or a combination of these.

[0053] In other words, the starting point P1, which is the location where the luggage is picked up, and the end point P2, which is the destination of the luggage, can be set at any position outside the virtual map 5, thereby improving the freedom of setting the starting point P1 and the end point P2.

[0054] Moreover, since only relatively simple components such as the magnetic guide 10 and the magnetic sensors 12 and 13 are added, an increase in equipment costs can be suppressed.

[0055] In addition, the configurations described in the above embodiments are merely examples of the present invention and are not limited to them. They can be modified as appropriate within the scope of the claims and within the scope equivalent to said scope.

[0056] (1) In the above embodiment, the configuration of the autonomous traveling transfer robot 2 and the outer shape of the vehicle body 21 are not particularly limited.

[0057] (2) In the above embodiment, an example is given in which only the end point P2 of the movement is specified outside the virtual map 5, but the present invention is not limited to this. For example, although not shown in the figure, it is possible to specify the start point P1 of the movement outside the virtual map 5. [Industrial Applicability]

[0058] The present invention can be suitably used in a transport system. [Explanation of symbols]

[0059] 1. Driving area 2. Autonomous transport robot 21 Body 23 Front driven wheel 24 Rear driven wheel 25 Left driving wheel 25a motor 25b Encoder 26 Right drive wheel 26a Motor 26b Encoder 27a,27b LiDAR sensor 28 Control device 28a Interface 3 Storage device 4 Management device 5 Virtual Maps 6 Vertical Grid Lines 7 Horizontal Grid Lines 8 Markers 9 Shooter 10 Magnetic Guide 11 Lower Camera 12,13 Magnetic sensors P Center of lift table P1 Movement start point P2 Movement end point N Movement Path

Claims

[Claim 1] an autonomous traveling and transporting robot that transports luggage from a travel start point to a travel end point set in a predetermined travel area; a storage device that stores a virtual map in which vertical and horizontal grid lines that intersect in a lattice pattern are virtually depicted; Markers are provided at intersections of the vertical and horizontal grid lines of the virtual map in a travel area of ​​the autonomous transport robot; A management device that identifies the start point and the end point of movement and creates a movement route from the start point of movement to the end point of movement, When at least one of the movement start point and the movement end point is specified outside the virtual map in the travel area, a magnetic guide consisting of a straight line, a curved line, or a composite line thereof is provided so as to connect the specified position and an intersection point of the virtual map located in the vicinity of the specified position; A camera that reads the marker and a magnetic sensor that reads the magnetic guide are provided on a bottom surface of the autonomous transport robot, A conveying system characterized in that, when at least one of the start point and the end point of movement is set outside the virtual map in the traveling area, the management device determines a travel route from the start point of movement to the end point of movement by combining the marker and the magnetic guide.

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