TRANSPORTATION APPARATUS AND TRANSPORTATION METHOD

Abstract

The purpose of the present disclosure is to provide a conveyance device that can stably convey a cart without applying unnecessary stress to each frame that constitutes the cart. This conveyance device conveys a cart having a front frame, a rear frame, a coupling frame, and a plurality of casters, and comprises: at least one sensor that detects the surroundings of the conveyance device and the respective positions of the front frame, the rear frame and the coupling frame that constitute the cart; a clamping mechanism that holds the front frame and the rear frame; a clamping mechanism drive unit that drives the clamping mechanism; and a control unit that controls a device drive unit and the clamping mechanism drive unit. On the basis of the sensor detection results, the control unit controls the device drive unit to submerge the conveyance device into the cart, and then controls the clamping mechanism drive unit to slide the clamping mechanism outward and hold the front frame and rear frame from the inside.

Description

[Technical field]

[0001] The present disclosure relates to a transport device and a transport method for transporting a cart containing articles. [Background technology]

[0002] A cart for storing items includes a front frame, a rear frame facing the front frame, a connecting frame connecting the front frame and the rear frame, and a plurality of casters provided on a bottom mechanism, and is used in various situations. Recently, in order to save labor, the method of moving the cart has evolved from manual movement to automatic movement.

[0003] Conventionally, various technologies for automatically moving a cart have been developed. For example, a technology for moving a cart with a combined frame sandwiched between holding arms has been disclosed (see, for example, Patent Document 1). Also, a technology for lifting and moving the entire cart has been disclosed (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2005 / 105620 [Patent Document 2] JP 2020-187457 A Summary of the Invention [Problem to be solved by the invention]

[0005] In Patent Document 1, the cart is moved with the coupling frame sandwiched between the holding arms, so strong stress is applied to the joints between the coupling frame and the front frame and the joints between the coupling frame and the rear frame when the cart is moved, causing the problem that metal fatigue accumulates at these joints and deteriorates the cart. Patent Document 1 also has the problem that stress is applied to the contact points between the holding arms and the coupling frame, causing metal fatigue.

[0006] In Patent Document 2, there is a problem that the device for lifting the cart becomes large-scale and the cost increases. In addition, in Patent Document 2, when the cart is lifted from below, the items stored in the cart may be subjected to vibration. Furthermore, in Patent Document 2, depending on the position of the center of gravity of the cart, the cart may become unstable when moving.

[0007] The present disclosure has been made to solve such problems, and aims to provide a transport device and a transport method that are capable of transporting a cart stably without applying unnecessary stress to each frame that makes up the cart. [Means for solving the problem]

[0008] In order to solve the above problems, the transport device according to the present disclosure is a transport device that transports a cart having a front frame, a rear frame facing the front frame, a connecting frame connecting the front frame and the rear frame, and a plurality of casters, and is equipped with an equipment drive unit that drives the transport device, at least one sensor that detects the surrounding situation of the transport device and the respective positions of the front frame, rear frame, and connecting frame that constitute the cart, clamp mechanisms that hold the front frame and rear frame, respectively, a clamp mechanism drive unit that drives the clamp mechanism, and a control unit that controls the equipment drive unit and the clamp mechanism drive unit, and the control unit controls the equipment drive unit to move the transport device under the cart based on the detection result of the sensor, and then controls the clamp mechanism drive unit to slide the clamp mechanism outward to hold the front frame and rear frame from the inside. Effect of the Invention

[0009] According to the present disclosure, it is possible to transport the cart stably without applying unnecessary stress to each frame that constitutes the cart.

[0010] The objects, features, aspects, and advantages of the present disclosure will become more apparent from the following detailed description and the accompanying drawings. [Brief description of the drawings]

[0011] [Figure 1] 1 is a block diagram showing an example of a configuration of a transport device according to a first embodiment. [Diagram 2] 1 is a block diagram showing an example of a configuration of a transport device according to a first embodiment. [Diagram 3] FIG. 2 is a diagram showing an example of a configuration of a cart according to the first embodiment. [Figure 4] FIG. 1 is a diagram showing the appearance of a transport device according to a first embodiment. [Diagram 5] FIG. 2 is a plan view showing an example of a clamp mechanism according to the first embodiment. [Figure 6] FIG. 2 is a side view showing an example of the clamp mechanism according to the first embodiment. [Figure 7] FIG. 2 is a front view showing an example of a clamp mechanism according to the first embodiment. [Figure 8] 5 is a flowchart showing an example of the operation of the transport device according to the first embodiment. [Figure 9] FIG. 4 is a diagram for explaining the movement of the transport device according to the first embodiment. [Figure 10] FIG. 4 is a diagram for explaining the movement of the transport device according to the first embodiment. [Figure 11] FIG. 4 is a diagram for explaining the movement of the transport device according to the first embodiment. [Figure 12] 5A to 5C are diagrams for explaining the effects of the transport device according to the first embodiment. [Figure 13] 5A to 5C are diagrams for explaining the effects of the transport device according to the first embodiment. [Figure 14] FIG. 2 is a diagram showing an example of a configuration of a clamp mechanism according to a first modification of the first embodiment. [Figure 15] FIG. 2 is a diagram showing an example of a configuration of a clamp mechanism according to a first modification of the first embodiment. [Figure 16] FIG. 2 is a diagram showing an example of a configuration of a clamp mechanism according to a first modification of the first embodiment. [Figure 17]11 is a plan view showing an example of the configuration of a bumper mechanism according to a second modification of the first embodiment. FIG. [Figure 18] 11 is a side view showing an example of a configuration of a bumper mechanism according to a second modification of the first embodiment. FIG. [Figure 19] FIG. 11 is a front view showing an example of a configuration of a bumper mechanism according to a second modification of the first embodiment. [Figure 20] 13 is a side view for explaining the movement of the clamp mechanism according to the third modification of the first embodiment. FIG. [Figure 21] 13 is a side view for explaining the movement of the clamp mechanism according to the third modification of the first embodiment. FIG. [Figure 22] 13 is a side view for explaining the movement of the clamp mechanism according to the third modification of the first embodiment. FIG. [Diagram 23] 13 is a front view for explaining the movement of the clamp mechanism according to the third modification of the first embodiment. FIG. [Figure 24] FIG. 13 is a side view showing an example of the configuration of a bumper mechanism according to a third modification of the first embodiment. [Diagram 25] FIG. 13 is a plan view showing an example of the configuration of a bumper mechanism according to a third modification of the first embodiment. [Figure 26] FIG. 13 is a plan view showing an example of the configuration of a bumper mechanism according to a third modification of the first embodiment. [Figure 27] FIG. 11 is a block diagram showing an example of the configuration of a transport device according to a second embodiment. [Figure 28] FIG. 11 is a diagram showing the appearance of a transport device according to a second embodiment. [Figure 29] 11 is a flowchart showing an example of the operation of the transport device according to the second embodiment. [Diagram 30] 13 is a plan view showing an example of the configuration of a guide mechanism according to the second embodiment. FIG. [Diagram 31] 13 is a plan view showing an example of the configuration of a guide mechanism according to the second embodiment. FIG. [Diagram 32] 13 is a front view showing an example of the configuration of a guide mechanism according to the second embodiment. FIG. [Diagram 33] 13 is a side view showing an example of the configuration of a guide mechanism according to the second embodiment. FIG. [Diagram 34] 13 is a front view showing an example of the configuration of a guide mechanism according to the second embodiment. FIG. [Diagram 35] 13 is a diagram showing an example of a configuration in which a sensor is provided in a guide mechanism according to a first modification of the second embodiment. FIG. [Diagram 36] 13 is a diagram showing an example of a configuration in which a sensor is provided in a guide mechanism according to a first modification of the second embodiment. FIG. [Figure 37] FIG. 11 is a block diagram showing an example of the configuration of a transport device according to a third embodiment. [Figure 38] FIG. 11 is a diagram showing the appearance of a transport device according to a third embodiment. [Figure 39] FIG. 11 is a diagram showing an arrangement of sensors according to a third embodiment. [Diagram 40] FIG. 2 is a diagram illustrating an example of a hardware configuration of the transport device according to the first to third embodiments. [Diagram 41] FIG. 2 is a diagram illustrating an example of a hardware configuration of the transport device according to the first to third embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] <Embodiment 1> <Configuration> FIG. 1 is a block diagram showing an example of the configuration of a conveyance device 1 according to the first embodiment.

[0013] The transport device 1 includes a device drive unit 2, at least one sensor 3, a clamping mechanism 4, a clamping mechanism drive unit 5, and a control unit 6.

[0014] The device drive unit 2 drives the transport device 1. The sensor 3 detects the surrounding conditions of the transport device 1 and the respective positions of a front frame 15, a rear frame 16, and a connecting frame 17 that constitute a cart shown in Fig. 3, which will be described later.

[0015] The clamp mechanism 4 holds the front frame 15 and the rear frame 16, respectively. The clamp mechanism drive unit 5 drives the clamp mechanism 4. Based on the detection result of the sensor 3, the control unit 6 controls the device drive unit 2 to move the transport device 1 under the cart, and then controls the clamp mechanism drive unit 5 to slide the clamp mechanism 4 outward and hold the front frame 15 and the rear frame 16 from the inside.

[0016] Next, another configuration of the transport device including the transport device 1 shown in Fig. 1 and a cart transported by the transport device will be described. Fig. 2 is a block diagram showing an example of the configuration of the transport device 7 according to another configuration. Fig. 3 is a diagram showing an example of the configuration of the cart transported by the transport device 7. Below, the configuration of the cart will be described first, and then the configuration of the transport device 7 will be described.

[0017] <Cart configuration> As shown in FIG. 3, the cart includes a front frame 15, a rear frame 16, a connecting frame 17, casters 18, caster brakes 19, support frames 20 and 21, and a tray 22.

[0018] The front frame 15 is a frame provided at the front of the cart. The rear frame 16 is a frame provided at the rear of the cart facing the front frame 15. The connecting frame 17 is a frame that connects the front frame 15 and the rear frame 16. The position of the connecting frame 17 is higher than the positions of the front frame 15 and the rear frame 16.

[0019] The casters 18 are provided on each of the left and right ends of the front frame 15, and on each of the left and right ends of the rear frame 16. The caster brakes 19 are used to fix the casters 18 so that they do not move, and the user can fix the cart so that it does not move by operating the caster brakes 19. It is noted that the caster brakes 19 do not necessarily have to be provided on the cart.

[0020] The support frame 20 is provided vertically on the front frame 15. The support frame 21 is provided vertically on the rear frame 16. The tray 22 is placed on the support frames 20 and 21, and articles can be placed on the tray 22. Note that, although two trays 22 are provided in FIG. 3, the number of trays 22 is not limited to this.

[0021] <Configuration of the conveying device 7> 2, the transport device 7 includes a device drive unit 2, a clamp mechanism 4, a clamp mechanism drive unit 5, a control unit 6, a Lidar 11, a 3D camera 12, and a communication unit 13. The device drive unit 2, the clamp mechanism drive unit 5, the control unit 6, and the communication unit 13 are provided in a bottom mechanism 8. The Lidar 11 and the 3D camera 12 correspond to the sensor 3 shown in FIG.

[0022] 4 is a diagram showing the external appearance of the transport device 7. Casters 9 are provided at the four corners of the bottom mechanism 8.

[0023] The device drive unit 2 is a motor that drives the drive wheels 10 according to instructions from the control unit 6. The drive wheels 10 are provided on the left and right sides of the conveyor device 7. Note that a motor serving as the device drive unit 2 may be provided for each drive wheel 10.

[0024] The clamp mechanism 4 is a pair of mechanisms that press and hold the front frame 15 and rear frame 16 of the cart from the inside.

[0025] Fig. 5 is a plan view showing an example of the clamp mechanism 4, Fig. 6 is a side view showing an example of the clamp mechanism 4, and Fig. 7 is a front view showing an example of the clamp mechanism 4. Figs. 5 to 7 show a state in which the clamp mechanism 4 presses and holds the front frame 15 from the inside, but the clamp mechanism 4 on the rear frame 16 side is similar.

[0026] Note that the clamp mechanism 4 is not limited to the structure shown in Figs. 5 to 7 as long as it can slide outward and spread out to press against and hold the front frame 15 (and rear frame 16) from the inside. The shape of the clamp mechanism 4 is not limited to the rectangular parallelepiped shape shown in Figs. 5 to 7 in plan view. The shape of the clamp mechanism 4 may be a trapezoid with a tapered tip in plan view, or may be divided into multiple parts, and may have a shape that matches the shape of the front frame 15 and rear frame 16 if the shapes of the front frame 15 and rear frame 16 of the cart are not linear.

[0027] The clamp mechanism drive unit 5 slides the clamp mechanism 4 from the inside to the outside of the cart. The clamp mechanism drive unit 5 may employ various mechanisms such as a hydraulic mechanism or an electric mechanism.

[0028] The Lidar 11 detects the surrounding conditions of the transport device 7 by measuring the distance to objects present around the transport device 7. The 3D camera 12 photographs the surroundings of the transport device 7 to obtain a distance image, and performs image processing on the distance image to obtain the distance to objects present around the transport device 7. The Lidar 11 and the 3D camera 12 also detect the positions of each part of the cart, including the front frame 15, rear frame 16, and connecting frame 17. Note that the configuration may include either the Lidar 11 or the 3D camera 12.

[0029] The control unit 6 controls the entire transport device 7 including the device drive unit 2 and the clamp mechanism drive unit 5.

[0030] The communication unit 13 communicates with an instruction center 14 provided outside the transport device 7 .

[0031] The instruction center 14 monitors the transport device 7 and instructs the transport device 7 to transport the cart.

[0032] <Operation> In the following, the transport device 7 waits at a predetermined waiting position Prest inside a building, and upon receiving an instruction from the instruction center 14, detects a cart stopped at a point Pa and transports the cart to a destination Pb.

[0033] The control unit 6 includes a system on a chip (SoC) and has a built-in program for causing the entire transport device 7 to travel autonomously.

[0034] FIG. 8 is a flowchart showing an example of the operation of the transport device 7.

[0035] In step S11, the control unit 6 receives a movement command transmitted from the instruction center 14 via the communication unit 13. The movement command is a command to transport the cart stopped at point Pa to destination Pb, and includes position information of the cart (position information of point Pa) and position information of the destination of the cart (destination Pb).

[0036] In step S12, the control unit 6 calculates a route from the waiting position Prest of the transport device 7 to the point Pa where the cart is located, based on map information inside a building (not shown). Then, the control unit 6 controls the device driving unit 2 to autonomously travel to the point Pa while avoiding moving objects or obstacles existing around the transport device 7, based on the surrounding conditions detected by the Lidar 11 and the 3D camera 12. When the control unit 6 finds the cart near the point Pa, it controls the device driving unit 2 to stop the transport device 7.

[0037] Here, the case where the control unit 6 calculates the route from the standby position Prest to the point Pa has been described, but the present invention is not limited to this. The instruction center 14 may calculate the route from the standby position Prest to the point Pa and notify the transport device 7 of the route.

[0038] The map information for the inside of the building may be held by the control unit 6, or may be obtained from an external source such as the instruction center 14 as necessary.

[0039] In step S13, the control unit 6 formulates a movement plan for moving the conveying device 7 into the cart. Then, the control unit 6 controls the device driving unit 2 so that the conveying device 7 moves into the cart based on the formulated movement plan and the surrounding conditions detected by the Lidar 11 and the 3D camera 12. Figure 9 shows the conveying device 7 moving into the cart.

[0040] In step S14, the control unit 6 rotates the clamp mechanism 4 so as to be parallel to the front frame 15 and rear frame 16 of the cart based on the positions of the front frame 15 and rear frame 16 of the cart detected by the Lidar 11 and the 3D camera 12. Figure 10 shows the state after the conveying device 7 has rotated.

[0041] In step S15, the clamp mechanism driving unit 5, in accordance with an instruction from the control unit 6, slides the clamp mechanism 4 from the inside to the outside of the cart and presses and holds the clamp mechanism 4 against the inside of the front frame 15 and the inside of the rear frame 16. Fig. 11 shows the state in which the clamp mechanism 4 is pressed and held against the inside of the front frame 15 and the inside of the rear frame 16.

[0042] In step S16, the control unit 6 calculates a route from the point Pa to the destination Pb based on map information inside a building (not shown). Then, the control unit 6 controls the device driving unit 2 to autonomously travel to the destination Pb while avoiding moving objects or obstacles existing around the transport device 7 based on the surrounding conditions detected by the Lidar 11 and the 3D camera 12. In this way, the cart is transported from the point Pa to the destination Pb.

[0043] Although the control unit 6 calculates the route from the point Pa to the destination Pb in the above embodiment, the present invention is not limited to this embodiment. The instruction center 14 may calculate the route from the point Pa to the destination Pb and notify the transport device 7 of the route.

[0044] When the cart arrives at the destination Pb, staff in the building collects the items placed on the tray 22 of the cart. After that, when the control unit 6 of the transport device 7 receives a command to return to the waiting position Prest from the instruction center 14 via the communication unit 13, it controls the device driving unit 2 to autonomously travel from the destination Pb to the waiting position Prest. Alternatively, the movement command received by the control unit 6 from the instruction center 14 in step S11 may include a command to autonomously travel to the waiting position Prest after the transport device 7 arrives at the destination Pb.

[0045] The use of the conveying device 7 includes, for example, the delivery of medicines or food in a hospital, the delivery of food in a school, the delivery of food or goods in an office, or the transportation of parts in a manufacturing plant.

[0046] <Effects> As shown in FIG. 12, in a conventional conveying device such as that disclosed in Patent Document 1, a clamping mechanism holds the connecting frame, which causes stress to be applied to the points indicated by circles in the figure, resulting in unstable movement of the cart during transportation.

[0047] On the other hand, as shown in FIG. 13, in the conveying device 7 according to embodiment 1, the clamping mechanism 4 is pressed against the inside of the front frame 15 and the rear frame 16, and the front frame 15 and the rear frame 16 are held by the clamping mechanism 4 (holding them in a square shape as shown in the figure), so that the cart can be transported stably without applying unnecessary stress to each frame that makes up the cart.

[0048] <First Modification of First Embodiment> There are various configurations for the front frame 15, rear frame 16, and connecting frame 17 of the cart. The frame configurations shown in Fig. 3 are merely examples, and the transport device 7 of the first embodiment can be applied to other configurations described below.

[0049] For example, as shown in FIG. 14, even if two connecting frames 17 are provided on the cart, the clamp mechanism 4 is pressed against the inside of the front frame 15 and the rear frame 16, and the front frame 15 and the rear frame 16 are held by the clamp mechanism 4, thereby achieving the same effect as in embodiment 1.

[0050] 15, when the front frame 15 and the rear frame 16 have a long axis and the connecting frame 17 has a short axis, a conveying device having a shorter length between the ends of the clamping mechanism 4 than the conveying device 7 shown in FIG 4 can be designed to match the length of the connecting frame 17. With a conveying device designed in this way, the same effects as those of the first embodiment can be obtained.

[0051] 16, when the front frame 15, rear frame 16, and two connecting frames 17 form a rectangular shape in a plan view, the clamp mechanism 4 may be pressed against the inside of the front frame 15 and rear frame 16, which are the long axis, to hold the front frame 15 and the rear frame 16, or the clamp mechanism 4 may be pressed against the inside of the connecting frame 17, which is the short axis, to hold the connecting frame 17, or both of these may be used. When both are used, two pairs of clamp mechanisms 4 need to be provided.

[0052] <Modification 2 of the First Embodiment> 17 to 19, a bumper mechanism 23 may be provided on the outside of the clamp mechanism 4. Fig. 17 is a plan view showing an example of the bumper mechanism 23, Fig. 18 is a side view showing an example of the bumper mechanism 23, and Fig. 19 is a front view showing an example of the bumper mechanism 23.

[0053] 17 to 19 show the bumper mechanism 23 provided on the clamp mechanism 4 on the front frame 15 side, but the clamp mechanism 4 on the rear frame 16 side is also provided with a bumper mechanism 23.

[0054] At least a portion of the bumper mechanism 23 protrudes outward beyond the front frame 15 and the rear frame 16 when the clamp mechanism 4 is pressed against the inside of the front frame 15 and the rear frame 16. By providing the bumper mechanism 23, it is possible to reduce the impact when the bottom of the cart comes into contact with an obstacle.

[0055] If a portion of the tray 22 or cart protrudes outward beyond the front frame 15 and the rear frame 16, the clamp mechanism 4 may be provided with a bumper mechanism 23 that protrudes outward beyond the protruding portion.

[0056] The shape of the bumper mechanism 23 is not limited to the shapes shown in Figures 17 to 19, and may be any shape that protrudes outward beyond the cart. Furthermore, the clamp mechanism 4 and the bumper mechanism 23 may be integrally formed.

[0057] <Third Modification of First Embodiment> Depending on the cart, the height of the front frame 15 and the rear frame 16 may be equal to or greater than the height of the connecting frame 17. In this case, in the transport device 7 described in the first embodiment, even if the clamp mechanism 4 is slid after entering the cart, the clamp mechanism 4 passes under the front frame 15 and the rear frame 16, and therefore the clamp mechanism 4 cannot hold the front frame 15 and the rear frame 16.

[0058] To address this problem, the clamp mechanism 4 is made movable in the vertical direction, as shown in Figures 20 to 23. Figure 20 is a side view showing the clamp mechanism 4 in its initial state, Figure 21 is a side view showing the clamp mechanism 4 rising, Figure 22 is a side view showing the clamp mechanism 4 being pressed against the inside of the front frame 15, and Figure 23 is a front view showing the clamp mechanism 4 being pressed against the inside of the front frame 15.

[0059] 20 to 23 show the clamp mechanism 4 on the front frame 15 side, the clamp mechanism 4 on the rear frame 16 side is the same.

[0060] The vertical movement of the clamp mechanism 4 is achieved by the clamp mechanism drive unit 5 driving the clamp mechanism 4 .

[0061] The clamp mechanism 4 rises from the initial state shown in Fig. 20 to the same height as the front frame 15 and the rear frame 16 as shown in Fig. 21, and then slides and presses against the inside of the front frame 15 as shown in Fig. 22. As a result, the front frame 15 is held by the clamp mechanism 4.

[0062] In order to prevent the clamp mechanism 4 from coming into contact with the coupling frame 17 when the clamp mechanism 4 is raised, the clamp mechanism 4 has a concave shape as shown in Fig. 23. By adjusting the dimensions of the concave shape of the clamp mechanism 4 to the dimensions of the coupling frame 17, the clamp mechanism 4 may have the same function as the guide mechanism of the second embodiment described later.

[0063] As shown in Fig. 24, the bumper mechanism 23 described in the second modification may be provided on the outside of the clamp mechanism 4. In this case, the bumper mechanism 23 may be of a concave type as shown in Fig. 25. Also, as shown in Fig. 26, the bumper mechanism 23 may have a U-shape in plan view with a tip portion longer than the front frame 15 and the rear frame 16 of the cart. By making the bumper mechanism 23 of a U-shape, the strength of the bumper mechanism 23 can be increased.

[0064] <Fourth Modification of First Embodiment> In the first embodiment, the description is given on the assumption that the transport device 7 transports the cart in a place on the same floor of a building where there is no door, etc. However, the transport device 7 can transport the cart even in a case where the cart is moved in a place where a door exists or where the cart is moved to another floor using an elevator.

[0065] For example, the command center 14 is configured to have a function of controlling the opening and closing of elevators and doors installed in a building and monitoring the status of the conveying device 7. The command center 14 may control the opening and closing of doors, the opening and closing of elevators, or the raising and lowering of elevators according to the movement of the conveying device 7, so that the conveying device 7 can autonomously travel to the destination. Alternatively, the control unit 6 of the conveying device 7 may communicate with the elevator control unit and the door opening and closing control unit via the communication unit 13, so that the conveying device 7 can autonomously travel to the destination.

[0066] <Embodiment 2> <Configuration> Fig. 27 is a block diagram showing an example of the configuration of the transport device 24 according to the embodiment 2. Fig. 28 is a diagram showing the external appearance of the transport device 24.

[0067] 27, the transport device 24 is characterized by including a guide mechanism driving unit 25 and a guide mechanism 26. Other configurations are similar to those of the transport device 7 described in the first embodiment, so detailed description will be omitted here.

[0068] The guide mechanism 26 is a mechanism that fits into the coupling frame 17 of the cart. Specifically, the guide mechanism 26 does not fit into the coupling frame 17 so as to hold the coupling frame 17, but rather fits loosely into the coupling frame 17.

[0069] The guide mechanism drive unit 25 is provided on the bottom mechanism 8 and drives the guide mechanism 26 in the vertical direction.

[0070] <Operation> Fig. 29 is a flow chart showing an example of the operation of the transport device 24. Steps S21 to S23, S26, and S27 in Fig. 29 are similar to steps S11 to S13, S15, and S16 in Fig. 8 described in the first embodiment, and therefore will not be described here. Steps S24 and S25 will be described below.

[0071] In step S24, the control unit 6 rotates the guide mechanism 26 to a position where the connecting frame 17 can be fitted based on the positions of the front frame 15, rear frame 16, and connecting frame 17 of the cart detected by the Lidar 11 and the 3D camera 12.

[0072] In step S25, the guide mechanism driving unit 25, in accordance with an instruction from the control unit 6, raises the guide mechanism 26 and engages it with the coupling frame 17. FIG. 28 shows the state in which the guide mechanism 26 has been raised and is engaged with the coupling frame 17.

[0073] Fig. 30 is a plan view showing the guide mechanism 26 fitted into the coupling frame 17. Fig. 31 is a plan view showing the guide mechanism 26 fitted into the coupling frame 17, Fig. 32 is a front view showing the guide mechanism 26 fitted into the coupling frame 17, and Fig. 33 is a side view showing the guide mechanism 26 fitted into the coupling frame 17.

[0074] As shown in FIGS. 30 to 33, when the guide mechanism 26 is fitted to the connecting frame 17, the clamp mechanism 4 is slid and pressed against the inside of the front frame 15 and the inside of the rear frame 16 to be held therein in step S26.

[0075] 30 to 33 show the case where guide mechanism 26 has a concave shape, but the shape of guide mechanism 26 is not limited to the concave shape and may be any shape that allows loose fitting into coupling frame 17. For example, guide mechanism 26 may have a tapered shape as shown in Fig. 34. By making guide mechanism 26 have a tapered shape as shown in Fig. 34, guide mechanism 26 can be easily fitted into coupling frame 17.

[0076] <Effects> In the transport device 24 according to the second embodiment, the guide mechanism 26 is loosely fitted to the connecting frame 17. Therefore, the cart can be held more stably than in the transport device 7 according to the first embodiment. Also, because the guide mechanism 26 is loosely fitted to the connecting frame 17, the clamp mechanism 4 can be smoothly slid and pressed against the front frame 15 and the rear frame 16 to hold the cart.

[0077] <First Modification of the Second Embodiment> A sensor for checking the presence or absence of the coupling frame 17 may be provided on the lower surface of the guide mechanism 26 (the bottom surface of the recess).

[0078] 35 and 36 are diagrams showing an example of a configuration in which a sensor 27 is provided on a guide mechanism 26. Fig. 35 shows a state in which the guide mechanism 26 is not fitted to the coupling frame 17. Fig. 36 shows a state in which the guide mechanism 26 is fitted to the coupling frame 17.

[0079] The sensor 27 detects whether or not a cart is present above the guide mechanism 26, and whether or not the guide mechanism 26 is properly fitted to the coupling frame 17. Examples of the sensor 27 include a set of an infrared laser and a light receiving element, a magnetic sensor, etc.

[0080] <Embodiment 3> <Configuration> Fig. 37 is a block diagram showing an example of the configuration of the transport device according to embodiment 3. Fig. 38 is a diagram showing the external appearance of the transport device .

[0081] 37, transport device 28 includes sensor mechanism 29 and sensor mechanism drive unit 30, and is characterized in that guide mechanism 26 and sensor mechanism 29 are integrally configured. Other configurations are similar to transport device 24 described in the second embodiment, so detailed description will be omitted here.

[0082] The sensor mechanism 29 is provided on the top of the bottom mechanism 8 and has at least one sensor. In the example of FIG. 37, the sensor mechanism 29 has a Lidar 11 and a 3D camera 12.

[0083] The sensor mechanism driving unit 30 is provided in the bottom mechanism 8, and drives the sensor mechanism 29 in the vertical direction. Specifically, the sensor mechanism driving unit 30 drives the sensor mechanism 29 in accordance with instructions from the control unit 6 so that the sensors (Lidar 11 and 3D camera 12) of the sensor mechanism 29 are positioned so as to be able to detect the surrounding conditions of the transport device 28. The sensor mechanism driving unit 30 may employ various mechanisms, such as a mechanism that moves in the vertical direction by rotating a screw.

[0084] <Operation> The basic operation of the transport device 28 is similar to the operation of the transport device 24 (see FIG. 29) described in the embodiment 2. However, when the guide mechanism driving unit 25 raises the guide mechanism 26 in step S25 in FIG. 29, the sensor mechanism 29 configured integrally with the guide mechanism 26 also rises together with the guide mechanism 26.

[0085] <Effects> In the transport device 28 according to the third embodiment, when the guide mechanism 26 rises, the sensor mechanism 29 configured integrally with the guide mechanism 26 also rises together. With this configuration, the Lidar 11 and the 3D camera 12 of the sensor mechanism 29 can be changed to an optimal height at which the periphery of the transport device 28 can be detected, and the detection accuracy of the Lidar 11 and the 3D camera 12 is improved.

[0086] <First Modification of Third Embodiment> In embodiment 3, the arrangement of the sensors (Lidar 11 and 3D camera 12) possessed by the sensor mechanism 29 is not specified, but as shown in FIG. 39, the same type of sensors (Lidar 11 and 3D camera 12) may be arranged in symmetrical positions in front of and behind the sensor mechanism 29 (i.e., the conveying device 28) and in symmetrical positions on the left and right when viewed in a plan view.

[0087] By arranging the sensors of the sensor mechanism 29 as shown in Fig. 39, the forward and backward movement of the transport device 28 can be executed by the same program processing. In addition, the left and right rotational movement of the transport device 28 can also be executed by the same program processing. This means that the forward and backward movement and the left and right rotational movement of the transport device 28 can be realized with the same performance.

[0088] Furthermore, since the forward and backward movement of the conveying device 28 can be realized by the same program processing, it is possible to reduce the program development cost of the control unit 6. Since the left and right rotational movement of the conveying device 28 can also be realized by the same program processing, it is possible to reduce the program development cost of the control unit 6.

[0089] <Modification 2 of the third embodiment> In the third embodiment, the guide mechanism 26 and the sensor mechanism 29 are integrally configured, but only the sensor mechanism 29 may be configured to rise. In this case, the transport device is configured to include the transport device 7 described in the first embodiment and the sensor mechanism 29 described in the third embodiment. Alternatively, the guide mechanism 26 is removed from the transport device 28 described in the third embodiment.

[0090] <Modification 3 of the third embodiment> The transport device 28 described in the third embodiment may be provided with a bumper mechanism on the outside of the clamp mechanism 4. The bumper mechanism may be the bumper mechanism 23 described in the second modification of the first embodiment.

[0091] <Fourth Modification of the Third Embodiment> The transport device 28 described in the third embodiment may be configured such that the clamp mechanism 4 and the clamp mechanism drive unit 5 are disposed in the sensor mechanism 29, and the clamp mechanism 4 and the clamp mechanism drive unit 5 are movable vertically together with the sensor mechanism 29.

[0092] <Fifth Modification of the Third Embodiment> The transport device 28 described in the third embodiment may be provided with a camera (not shown) as a sensor in the clamp mechanism 4, and the camera may be used to detect an obstacle in front of the transport device 28.

[0093] Furthermore, the transport device 28 described in the third embodiment may be provided with a camera on the bumper mechanism described in the third modification.

[0094] Instead of providing a camera on the clamp mechanism 4 or the bumper mechanism, a capacitance sensor may be provided to detect obstacles in front of the transport device 28.

[0095] <Sixth Modification of the Third Embodiment> The transport device 28 described in the third embodiment may be provided with a step detection sensor in the clamp mechanism 4, and the step detection sensor may be used to detect a step in front of the transport device 28.

[0096] <Hardware configuration> The functions of the control unit 6 and the communication unit 13 in the transport device 7 shown in Fig. 2 are realized by a processing circuit. That is, the transport device 7 includes a processing circuit for controlling the device driving unit 2 to move the transport device 7 under the cart based on the detection result of the sensor 3, and then controlling the clamp mechanism driving unit 5 to slide the clamp mechanism 4 outward and hold the front frame 15 and the rear frame 16 from the inside, and for communicating with an instruction center 14 provided outside the transport device 7. The processing circuit may be dedicated hardware, or may be a processor (also called a CPU, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP (Digital Signal Processor)) that executes a program stored in a memory.

[0097] When the processing circuit is a dedicated hardware, the processing circuit 31 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these, as shown in Fig. 40. Each function of the control unit 6 and the communication unit 13 may be realized by the processing circuit 31, or each function may be realized collectively by one processing circuit 31.

[0098] When the processing circuit 31 is the processor 32 shown in FIG. 41, each function of the control unit 6 and the communication unit 13 is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 33. The processor 32 realizes each function by reading and executing the program recorded in the memory 33. That is, the transport device 7 includes a memory 33 for storing a program that results in the execution of a step of controlling the device drive unit 2 to make the transport device 7 slip into the cart based on the detection result of the sensor 3, and then controlling the clamp mechanism drive unit 5 to slide the clamp mechanism 4 outward to hold the front frame 15 and the rear frame 16 from the inside, and a step of communicating with the instruction center 14 provided outside the transport device 7. It can also be said that these programs cause a computer to execute the procedures or methods of the control unit 6 and the communication unit 13. Here, the memory may be, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), a magnetic disk, a flexible disk, an optical disk, a compact disk, a DVD (Digital Versatile Disc), or any storage medium that will be used in the future.

[0099] It should be noted that some of the functions of the control unit 6 and the communication unit 13 may be realized by dedicated hardware, and other functions may be realized by software or firmware.

[0100] Thus, the processing circuitry may implement the functions described above through hardware, software, firmware, or a combination of these.

[0101] Although the hardware configuration of the conveying device 7 shown in FIG. 2 has been described above, the hardware configuration of the conveying device 24 shown in FIG. 27 and the conveying device 28 shown in FIG. 37 is similar.

[0102] Within the scope of the present disclosure, the embodiments can be freely combined, and each embodiment can be modified or omitted as appropriate.

[0103] Although the present disclosure has been described in detail, the above description is illustrative in all respects and is not restrictive. It is understood that countless variations not illustrated can be envisioned. [Explanation of symbols]

[0104] 1 conveying device, 2 device drive unit, 3 sensor, 4 clamping mechanism, 5 clamping mechanism drive unit, 6 control unit, 7 conveying device, 8 bottom mechanism, 9 caster, 10 drive wheel, 11 Lidar, 12 3D camera, 13 communication unit, 14 instruction center, 15 front frame, 16 rear frame, 17 connecting frame, 18 caster, 19 caster brake, 20 support frame, 21 support frame, 22 tray, 23 bumper mechanism, 24 conveying device, 25 guide mechanism drive unit, 26 guide mechanism, 27 sensor, 28 conveying device, 29 sensor mechanism, 30 sensor mechanism drive unit, 31 processing circuit, 32 processor, 33 memory.

Claims

1. A transport device for transporting a cart having a front frame, a rear frame facing the front frame, a connecting frame connecting the front frame and the rear frame, and a plurality of casters, A device drive unit that drives the conveying device; At least one sensor for detecting the surrounding conditions of the transport device and the respective positions of the front frame, the rear frame, and the joint frame that constitute the cart; a clamp mechanism for holding the front frame and the rear frame, a clamp mechanism drive unit that drives the clamp mechanism; A control unit that controls the device drive unit and the clamp mechanism drive unit; Equipped with The control unit controls the device drive unit to move the transport device into the cart based on the detection result of the sensor, and then controls the clamp mechanism drive unit to slide the clamp mechanism outward to hold the front frame and the rear frame from the inside.

2. a sensor mechanism having at least one said sensor; a sensor mechanism driving unit that drives the sensor mechanism in a vertical direction; Further equipped with The transport device according to claim 1 , wherein the control unit controls the sensor mechanism drive unit so as to move the sensor mechanism to a position where the sensor can detect a surrounding situation of the transport device.

3. a guide mechanism that fits into the coupling frame of the cart; a guide mechanism drive unit that drives the guide mechanism in a vertical direction; Further equipped with 2. The transport device according to claim 1, wherein the control unit controls the guide mechanism drive unit to move the guide mechanism vertically so that the guide mechanism engages with the connecting frame when the transport device is inserted into the cart based on the detection result of the sensor, and then controls the clamp mechanism drive unit to slide the clamp mechanism outward to hold the front frame and the rear frame from the inside.

4. The conveying apparatus according to claim 3 , wherein a sensor mechanism having at least one of the sensors is provided integrally with the guide mechanism.

5. The clamp mechanism further includes a bumper mechanism provided on an outer side of the clamp mechanism. The transport device according to claim 1 , wherein at least a portion of the bumper mechanism protrudes outward beyond the front frame and the rear frame when the clamp mechanism is holding the front frame and the rear frame.

6. The transport device according to claim 1 , wherein the control unit controls the clamp mechanism drive unit so that the clamp mechanism moves to the same height as the front frame and the rear frame.

7. The transport device according to claim 2 , wherein the clamp mechanism and the clamp mechanism drive unit are provided integrally with the sensor mechanism.

8. The sensor includes a plurality of sensors of the same type, 2. The transport device according to claim 1, wherein the sensors of the same type are provided at symmetrical positions in front of and behind the transport device and at symmetrical positions in left and right of the transport device in a plan view.

9. The transport device according to claim 8 , wherein the sensor is provided in the clamp mechanism.

10. The transport apparatus of claim 8 , wherein the sensor includes a step detection sensor.

11. a communication unit that communicates with an instruction center that instructs the transport device to transport the cart; The communication unit receives, from the instruction center, a movement command including position information of the cart and position information of a destination of the cart; The control unit controls the device driving unit to autonomously drive the transport device to the position of the cart based on the movement command acquired by the communication unit, controls the clamp mechanism driving unit to hold the front frame and the rear frame of the cart with the clamp mechanism, and controls the device driving unit to autonomously drive the transport device holding the cart to the destination of the cart. The transport device of claim 1,

12. A method for transporting a cart having a front frame, a rear frame facing the front frame, a connecting frame connecting the front frame and the rear frame, and a plurality of casters, by a transport device, comprising: Detecting the surrounding conditions of the transport device and the respective positions of the front frame, the rear frame, and the combined frame that configure the cart; A transport method in which, based on the result of the detection, the transport device is moved under the cart, and then a clamp mechanism provided on the transport device is slid outward to hold the front frame and the rear frame from the inside.

Images