Connecting device

Abstract

A transport vehicle travel control system and a transport vehicle travel control method that can achieve both improved stopping accuracy and improved travel efficiency. [Solution] A coupling device according to the present disclosure is a coupling device that connects a transport vehicle and an object to be transported, and comprises a transport vehicle side coupling portion that is rotatably connected to the transport vehicle, and a gripping portion that releasably grips the lower frame of the object to be transported, and the gripping portion has a lower support portion that supports the horizontal plate portion of the lower frame from below, a protrusion that protrudes upward from the tip side of the lower support portion and engages with the side of the horizontal plate portion, and a displacement portion that displaces around the axis portion as a fulcrum between the release position and the gripping position, and the displacement portion has an upper support portion that supports the lower frame from above in the gripping position, and the gripping portion grips the lower frame by vertically clamping the lower frame between the lower support portion and the upper support portion in the gripping position.

Description

[Technical field]

[0001] The present disclosure relates to a coupling device that couples a transport vehicle to an object to be transported. [Background technology]

[0002] In recent years, the use of automated guided vehicles for transporting various items within facilities such as manufacturing plants has been considered. When transporting items using an automated guided vehicle, it is possible to couple a wheeled object to be transported, such as a cart carrying the items, to the automated guided vehicle and transport (tow) it. Patent Document 1 discloses a coupling device for coupling the automated guided vehicle and the cart. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-197917 A Summary of the Invention [Problem to be solved by the invention]

[0004] The coupling device described in Patent Document 1 is structured so that the claw portion of the coupling device enters inside the frame of the bogie and engages with the inner surface of the frame, thereby coupling to the bogie. However, the coupling strength is unstable if the claw portion only enters inside the bogie in the coupled state, and there is room for improvement.

[0005] Therefore, the present disclosure has been made in consideration of the above problems, and has an object to provide a connecting device for connecting an object to be transported to a transport vehicle in a new form. [Means for solving the problem]

[0006] According to the present disclosure, there is provided a coupling device for coupling a transport vehicle and an object to be transported, comprising: A transport vehicle side coupling portion that is rotatably coupled to the transport vehicle; a gripping portion that releasably grips a lower frame of the transport object, the gripping portion has a lower support portion that supports the horizontal plate portion of the lower frame from below, a protrusion portion that protrudes upward from a tip side of the lower support portion and engages with a side surface of the horizontal plate portion, and a displacement portion that displaces about a shaft portion as a fulcrum between a release posture and a gripping posture, the displacement portion has an upper support portion that supports the lower frame from above in the gripping posture, A connecting device is provided in which the gripping portion grips the lower frame by vertically sandwiching the lower frame between the lower support portion and the upper support portion in the gripping posture. Effect of the Invention

[0007] According to the present disclosure, it is possible to provide a coupling device for coupling an object to be transported to a transport vehicle in a new form. [Brief description of the drawings]

[0008] [Figure 1] FIG. 2 is a perspective view showing an example of the configuration of a transport vehicle and a coupling device according to the present embodiment. [Diagram 2] FIG. 4 is an enlarged side view of the grip part in the release position according to the embodiment. [Diagram 3] FIG. 2 is an enlarged side view of the gripping portion in the gripping posture according to the embodiment. [Figure 4] 1 is a side view showing a state in which the transport vehicle and the connecting device according to the embodiment approach an object to be transported. FIG. [Diagram 5] 5 is an enlarged schematic view of the connecting device of FIG. 4. FIG. [Figure 6] 1 is a side view showing a state in which the transport vehicle and the coupling device according to the embodiment are coupled to an object to be transported. FIG. [Figure 7] 7 is a side view showing a state in which the auxiliary fixed wheel of the connecting device of FIG. 6 is grounded. [Figure 8] FIG. 2 is an enlarged perspective view of a grip portion according to the embodiment. [Figure 9] FIG. 2 is a perspective view showing an example of a transport vehicle according to the present embodiment. [Figure 10] FIG. 2 is a bottom view illustrating an example of a transport vehicle according to the present embodiment. [Figure 11] FIG. 2 is a diagram showing a configuration example of a motion area according to the present embodiment; [Figure 12] FIG. 1 is a diagram showing an example of an overall configuration diagram of a conveying system according to an embodiment of the present invention; [Figure 13] FIG. 2 is a configuration diagram of an overall control device according to the present embodiment. [Figure 14] FIG. 2 is a diagram showing a functional configuration of a transport vehicle according to the present embodiment. [Figure 15] FIG. 13 is a partially enlarged view showing a modified example of the transport vehicle according to the embodiment. [Figure 16] FIG. 4 is a side view for explaining a hinge portion of the connecting device according to the embodiment. [Figure 17] 1 is a side view showing a state in which the connecting device according to the embodiment is folded around a hinge portion as a fulcrum. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals, and redundant description will be omitted.

[0010] The coupling device of this embodiment is used, for example, in manufacturing plants, logistics warehouses, etc., to couple an unmanned transport vehicle (hereinafter simply referred to as a "transport vehicle") used to transport various manufactured parts, luggage, and other transport items to an object to be transported (transport target).

[0011] 1 shows a transport device including a transport vehicle 10 of this embodiment and a coupling device 20 attached to the transport vehicle 10. The coupling device 20 includes a transport vehicle side coupling part 21 that is rotatably coupled to the transport vehicle 10, and a gripping part 22 that releasably grips the lower frame of the transport object. The transport vehicle 10 may be an AGV that moves along a guideline, an AMR that runs autonomously regardless of the guideline, or a combination of these that can perform both.

[0012] The vehicle-side joint 21 is located at the top of the vehicle 10 and is supported from below by the vehicle 10. The vehicle-side joint 21 in this example is connected to the vehicle 10 so as to be rotatable around the shaft 11 extending in the vertical direction (up-down direction) provided at the top of the vehicle 10. Here, "rotation" does not necessarily mean 360° rotation, but also includes displacement within a predetermined range, such as 180°, 90° or less. The carrier-side joint 21 may be fixed to the vehicle 10 so as not to be rotatable. The vehicle-side joint 21 does not displace in the vertical direction relative to the vehicle 10, but may be displaceable. The relative position (angle) of the vehicle-side joint 21 (with respect to the vehicle 10) around the shaft 11 is controlled by a driving device such as an internal motor or actuator. The vehicle-side joint 21 is basically installed with respect to the vehicle 10 so that the gripper 22 is located on the rear side of the vehicle 10. The transport vehicle side coupling portion 21 may be detachable from the transport vehicle 10 .

[0013] Fig. 2 is an enlarged side view of the gripping portion 22. As shown in Fig. 2, the gripping portion 22 has a lower support portion 23 that supports the horizontal plate portion 511 of the lower frame 51 from below, a protrusion 24 that protrudes upward from the tip side of the lower support portion 23 and engages with a side surface 511a of the horizontal plate portion 511, and a displacement portion 25 that displaces about an axis portion 25a as a fulcrum between the release position and the gripping position. Fig. 2 shows the state of the displacement portion 25 in the release position.

[0014] The displacement unit 25 has an upper support portion 26 that supports the lower frame 51 from above in the gripping posture, and a side support portion 27 that supports the lower frame 51 from the front side (the transport vehicle 10 side). The upper support portion 26 and the side support portion 27 are fixed to each other and are substantially integrated, and displace together between the release posture and the gripping posture. The upper support portion 26 abuts against the upper end portion (end face) of the vertical plate portion 512 of the lower frame 51 in the gripping posture, thereby suppressing the upward movement of the lower frame 51. The side support portion 27 abuts against the outer surface of the vertical plate portion 512 in the gripping posture, thereby suppressing the movement of the lower frame 51 in a direction away from the protrusion portion 24. The shaft portion 25a in this example is composed of two rotating shafts, and is configured so that the displacement unit 25 can be displaced between the release posture and the gripping posture while maintaining the state in which the side support portion 27 of the displacement unit 25 extends vertically. The configuration of the displacement part 25 is not limited to the illustrated example, and may be configured to be oscillated and displaced by an axis part consisting of only one rotation axis, or may be configured such that the side support part 27 slides horizontally and the upper support part 26 slides vertically. In the case of such a sliding mechanism, a guide member such as a rail for guiding linear movement may be provided.

[0015] FIG. 3 shows a state in which the displacement portion 25 is in the gripping position and the gripping portion 22 grips the lower frame 51. In the gripping position, the gripping portion 22 sandwiches the lower frame 51 between the lower support portion 23 and the upper support portion 26 in the vertical direction. This stabilizes the connection strength. In addition, in this example, the lower frame 51 is gripped by sandwiching the lower frame in the depth direction between the protrusion portion 24 and the side support portion 27. Note that the side support portion 27 is not an essential component, and the side support portion 27 does not need to be in constant contact with the lower frame 51. In other words, the presence of the protrusion portion 24 can prevent the cart from detaching in the horizontal direction. In addition, by sandwiching the lower frame 51 between the lower support portion 23 and the upper support portion 26 in the vertical direction, the displacement of the lower frame 51 in the depth direction can also be suppressed by friction.

[0016] 3, the upper support portion 26 is configured so as not to protrude inward (inside the car car) beyond the inner surface of the vertical plate portion 512. In addition, the lower support portion 23 and the protrusion portion 24 are configured so as not to protrude beyond the upper surface of the horizontal plate portion 511.

[0017] 2 to the gripping posture of FIG 3, the displacement portion 25 is displaced in the depth direction in a direction (forward) toward the protrusion 24 and in the up-down direction in a direction (downward) toward the lower support portion 23. In this example, the side support portion 27 is displaced while maintaining an angle extending in the vertical direction by the shaft portions 25a provided on the base end portion of the lower support portion 23 and the lower end portion of the side support portion 27 and the member connecting them.

[0018] 4 shows the transport vehicle 10 approaching the object 50 to be transported (basket cart) in order to couple the coupling device 20 installed on the transport vehicle 10 to the object 50. At this time, the displacement unit 25 is in the released position. The transport vehicle 10 approaches the object 50 to be transported so that the tip of the horizontal support unit 23 is inserted between the left and right wheels 52 of the object 50 (and between the ground and the support frame 51). The gripper unit 22 is preferably coupled to the center of the object 50 in the left-right direction.

[0019] Fig. 5 is an enlarged view of gripping portion 22. Note that Fig. 5 does not show the entire transport object, but only shows lower frame 51 in a schematic manner. Lower frame 51 is, for example, a metal member having an L-shaped cross section, and has horizontal plate portion 511 extending in the horizontal direction and vertical plate portion 512 extending in the vertical direction. Lower frame 51 is not limited to this, and may be composed of, for example, a member having a rectangular cross section.

[0020] Here, an inclined guide surface 28 that slopes diagonally downward toward the tip is provided on the tip side of the horizontal support part 23 (the tip side of the protrusion 24). The tip of the lower support part 23 has a tapered shape due to the provision of the inclined guide surface 28, and the size (height) in the up-down direction gradually decreases. With this configuration, when connecting the gripper 22 to the transport object 50, the lower support part 23 can be smoothly inserted under the lower frame 51 and guided to an appropriate connecting position.

[0021] The lower support part 23 is configured to be elastically displaceable in the vertical direction by contacting the transport object 50 in the process of connecting the transport object 50, and is provided with a biasing member for returning the displaced lower support part 23 to its original position. The biasing member may be, but is not limited to, a coil spring, a leaf spring, an actuator, or the like. In this example, as shown in FIG. 5, two coil springs 31 are provided as the biasing member. The two coil springs 31 are installed between an upper frame 32 and a lower frame 33 extending outward from the transport vehicle side joint part 21, and are arranged parallel to each other. The upper frame 32 and the lower frame 33 are parallel to each other and support the grip part 22. When the lower support part 23 is displaced downward, the coil spring 31 expands and a force in the compression direction acts, causing the lower support part 23 to rise toward its original position.

[0022] The height of the lower support part 23 is set in advance to a height corresponding to the lower frame 51 of the transport object 50. When the transport vehicle 10 with the coupling device 20 attached thereto approaches the transport object 50 such as a cart, and the lower end of the outer surface of the lower frame 51 comes into contact with the inclined guide surface 28, the lower support part 23 elastically displaces downward along the inclination of the inclined guide surface 28, and when the lower frame 51 climbs over the protrusion 24, the lower support part 23 rises to a position where the upper surface of the lower support part 23 abuts against the lower surface of the lower frame 51. Then, when the displacement part 25 displaces from the release position to the gripping position, the gripping part 22 grips the lower frame 51, and the transport object 50 is coupled to the transport vehicle 10 (see FIG. 3).

[0023] As shown in FIG. 6, when the transport vehicle 10 and the object to be transported 50 are connected by the coupling device 20, the transport vehicle moves to any destination, thereby transporting the object to be transported 50 (the cart and the goods to be transported, luggage, etc.) to the destination location.

[0024] In the example of FIG. 6, the auxiliary fixed wheels 34 provided on the coupling device 20 are not grounded, but as shown in FIG. 7, the auxiliary fixed wheels 34 may be grounded. For example, when the two wheels 52 of the transport object 50 located on the coupling device 20 side are fixed wheels, the transport object 50 may be transported in a state where it is lifted off the ground as shown in FIG. 6, and when the wheels 52 of the transport object 50 are all swivel wheels, the transport object 50 may be transported in a state where the auxiliary fixed wheels 34 are grounded as shown in FIG. 7. In addition, when the two wheels located far from the coupling device 20 are fixed wheels, the transport object 50 may be transported in a state where it is lifted off the ground as shown in FIG. 6. Furthermore, in the case of a six-wheeled cart having six wheels, the two wheels in the center are fixed wheels, and even in this case, the transport object 50 may be transported in a state where it is lifted off the ground as shown in FIG. 6. In other words, depending on the type, number, and position information of the wheels of the transport object 50, it may be selected whether the auxiliary fixed wheels 34 are grounded or not grounded during transport. Such wheel information and information regarding the grounding or non-grounding condition of the auxiliary fixed wheel 34 may be stored in advance in a storage unit, or may be input by the user at any timing to control or store. The auxiliary fixed wheel 34 is connected to the vehicle-side coupling unit 21, and displaces between the grounding state and the non-grounding state by moving up and down by a driving device such as an actuator. The up and down movement may be a swing around a horizontally extending shaft as a fulcrum, or may be a sliding up and down along a rail or the like.

[0025] In this example, the auxiliary fixed wheel 34 is provided at the tip of the support arm 35 extending from the vehicle-side joint 21. The support arm 35 is located below the upper frame 32, the lower frame 33, and the gripping unit 22. The auxiliary fixed wheel 34 is located forward of the gripping unit 22 (in a direction away from the vehicle 10) and is configured to slip under the transport object 50, but is not limited to this. The auxiliary fixed wheel 34 and the gripping unit 22 are located at the center of the left-right direction of the coupling device 20 and are arranged at the same circumferential position around the vehicle 10. When the coupling device 20 rotates relative to the vehicle, the auxiliary fixed wheel 34 and the gripping unit 22 move together in the circumferential direction. The support arm 35 extends downward from the vehicle-side joint 21 and bends to extend forward, but the shape can be changed as appropriate.

[0026] In this embodiment, a sensor 29 is provided to detect whether the lower frame 51 is disposed at an appropriate position relative to the gripper 22. The sensor 29 may be disposed adjacent to the lower support 23. In that case, it can be determined whether the horizontal plate 511 of the lower frame 51 is appropriately supported by the lower support 23. That is, when the sensor 29 detects the lower support 23, it can be determined that the lower frame 51 is in an appropriate position. It is preferable that a plurality of sensors 29 are provided. The sensor 29 may be a physical switch that detects the presence or absence of an object by flowing a current when pressed, or may be an infrared sensor or the like. Note that the sensor 29 is not a required component, and the gripper 22 may be configured to operate without the sensor 29. For example, the gripper may be displaced from the release position to the gripper position in response to an input from a user, or may be displaced from the release position to the gripper position automatically according to a predetermined program, or may be displaced from the release position to the gripper position when the distance and angle of the transport vehicle relative to the transport object are within a predetermined range.

[0027] 8, the sensor 29 in this example is composed of a pair of sensors 29a, 29b spaced apart in the left-right direction. The pair of sensors 29a, 29b is located between a pair of lower support parts 23 spaced apart in the left-right direction, and is disposed adjacent to each lower support part 23.

[0028] In this embodiment, the ejector 30 is provided, which releases the engagement between the lower frame 51 and the protrusion 24 by lifting the lower frame 51 of the transport object 50 from below. The ejector 30 in this example is located between a pair of lower support parts 23 (between a pair of sensors 29a, 29b) that are spaced apart in the left-right direction. When releasing the transport object, the ejector 30 is driven (rising) with the gripping part in the release position. After releasing the transport object, the ejector 30 descends and returns to its original position. While the gripping part is in the gripping position, the ejector is always in a descended state. Such an operation of the ejector 30 is controlled by the control part based on predetermined information stored in the storage part. Alternatively, the ejector 30 may be operated based on instruction information input by the user via the input part.

[0029] In this embodiment, the distance between the lower support part 23 and the upper support part 26 in the vertical direction and the distance between the protrusion part 24 and the side support part 27 in the depth direction are changeable according to the size of the lower frame 51 of the transport object 50. For example, the member constituting the upper support part 26 is detachable from the base member of the displacement part 25 by a fastener such as a bolt. By changing the position (vertical position) of the upper support part 26, the distance between the lower support part 23 and the upper support part 26 in the vertical direction can be changed. Similarly, if the member constituting the protrusion part 24 is detachable by a fastener, the distance between the protrusion part 24 and the side support part 27 in the depth direction can be changed by changing the horizontal position of the protrusion part 24. This is not limited to this example, and the positions of the members constituting the lower support part 23, the side support part 27, etc. may be changeable. In addition, the shapes of the members constituting the lower support part 23, the upper support part 26, the protrusion part 24, the side support part 27, etc. may be changed so as to correspond to the transport object 50.

[0030] In this embodiment, connectors for power supply and communication are provided at the connection between the transport vehicle side connection unit 21 and the transport vehicle 10, enabling power supply and signal communication (transmission and reception) between the transport vehicle 10 and the coupling device 20. Specifically, the operation of the gripper 22 and the auxiliary fixed wheel 34 of the coupling device 20, such as vertical movement, can be controlled by the power supply and control signals from the transport vehicle 10. Note that the coupling device 20 itself may be provided with a control unit, memory unit, communication unit, power source, etc., which will be described later, or may be configured to operate without the power supply or control signals from the transport vehicle.

[0031] In this embodiment, the connecting device 20 is provided with an imaging unit 36. The imaging unit 36 ​​is located on the upper side of the gripping unit 20. In addition, it is preferable that the mounting position of the imaging unit 36 ​​in the width direction (left-right direction) of the connecting device 20 is provided so as to overlap the gripping unit 20 and the auxiliary fixed wheel 34. In other words, it is preferable that the shooting direction of the imaging unit 36 ​​coincides with the extension direction of the gripping unit 20, and the center of the imaging unit 36 ​​coincides with the center of the gripping unit 20 in the left-right direction. The imaging unit 36 ​​can be a sensor having an imaging function and a distance measurement function (depth detection function). Specifically, for example, it is composed of a Depth Camera of RealSense (registered trademark) of Intel Corporation. The control unit can estimate the position of the transport object 50 and its relative angle (posture) with respect to the connecting device based on the information acquired by the imaging unit 36. The control unit can also detect the presence of an obstacle (presence or absence of an obstacle), its posture (e.g., touching the basket cart), distance (distance from the imaging unit 36), and state (whether a person is working, walking, sitting, or lying down) by analyzing the image captured by the imaging unit 36. The control unit may select one of a plurality of options stored in advance in the storage unit by image analysis. Based on such information, for example, when an obstacle (including an object or a person) is detected in the traveling direction, the traveling may be stopped. Alternatively, when it is detected that a worker is putting an object in or taking out an object from the basket cart, the coupling operation or the release operation may be stopped. Conversely, when it is determined that there is no obstacle or that the worker is not working (or has finished working), the coupling operation or the release operation may be started. In this way, the control unit can control the transport vehicle and the coupling device based on the information acquired from the imaging unit 36. The imaging unit 36 ​​may also be provided on the upper part of the support arm 35 that supports the auxiliary fixed wheel 34 as shown in FIG. 4. Providing the imaging units 36 on both the upper and lower sides of the gripping unit 20 not only expands the imaging range, but also improves the detection accuracy (position and orientation estimation accuracy) of the transport object, etc., thereby improving the efficiency and safety of the connecting operation. Note that the imaging units 36 are not essential components.

[0032] When connecting the connecting device 20 to the transport object 50, the control unit of the transport vehicle can bring the connecting device 20 close to the transport object 50 at an appropriate position and angle based on at least one of information from the imaging unit 36 ​​and information from an imaging unit (including a camera or a sensor) provided in the transport vehicle itself. For example, the gripping unit 20 of the connecting device 20 is positioned at the center in the left-right direction (center in the width direction) of the transport object 50, and the transport vehicle 10 is moved so that the transport object 50 is positioned directly in front of the gripping unit 20.

[0033] Then, when it is determined based on information from a sensor 29 provided on the gripping unit 20 that the lower frame 51 of the transport target object 50 has been placed in an appropriate position relative to the gripping unit 20, the displacement unit 25 is displaced from the release posture to the gripping posture. This allows the gripping unit 20 to grip the lower frame 51 with high precision.

[0034] When the transport vehicle transports the transport object 50 to the destination position and releases the connection, the connection can be released by displacing the displacement unit 25 from the gripping position to the release position and then running the transport vehicle in a direction away from the transport object 50 (the opposite direction to the connection). At that time, the control unit can determine whether the lower frame 51 has been properly detached from the grip unit 20 based on information from the sensor 29 provided in the grip unit 20, and can determine whether the transport object 50 has been released in an appropriate position based on information from the imaging unit 36. When releasing the connection, the ejector 30 may be raised after displacing the displacement unit 25 from the gripping position to the release position, or the transport vehicle may be moved without the ejector 30 to release the connection. When there is no ejector, the lower support unit 23 may be moved downward to make it easier to overcome the protrusion 24.

[0035] It is also possible to provide a rotatable plate-shaped turntable on the top of the transport vehicle, and to install the transport vehicle side coupling unit 21 thereon. In this case, the turntable rotates together with the coupling device, and the rotation of the turntable can be restricted by using a disk brake or the like to restrict the rotation of the coupling device.

[0036] Furthermore, when the rotation angle of the coupling device relative to the transport vehicle 10 is controlled by a motor, the motor is basically relaxed and rotates freely, but only when necessary (when a predetermined angle is required for locking, or when the angle of the transported object relative to the transporter is to be adjusted), the motor may be driven to rotate and the rotation angle (direction) of the coupling device may be changed arbitrarily. The motor may be a dedicated motor provided for rotating the coupling device, or may be a motor for controlling the drive wheels of the transport vehicle, etc.

[0037] Here, the object 50 to be transported may be, for example, a cart, a cart, a cabinet, a pallet, a conveyor, or other various devices, but is not limited thereto. The object 50 to be transported has wheels 52, and is towed while connected to the transport vehicle 10, so that it moves following the transport vehicle. That is, the object 50 to be transported is basically located behind the transport vehicle 10 (when the traveling direction of the transport vehicle 10 is the forward direction), but may be located on the traveling direction side of the transport vehicle 10, for example, when the transport vehicle 10 moves backward. The transport form may be a towing transport in which the transport vehicle located in front pulls the object to be transported behind, or a transport form in which the transport vehicle moves while pushing the object to be transported located in front from the rear. A plurality of wheels 52 (for example, four, six, etc.) are provided on the bottom surface of the basket part of the basket cart on which the object to be transported is loaded, and may be all composed of swivel wheels, or may be composed of fixed wheels and swivel wheels. When the object to be transported has fixed wheels and swivel wheels, the transport vehicle may be connected to the object to be transported so that the transport vehicle is located on the fixed wheel side, or vice versa. That is, the control unit may determine the gripping position (direction) of the coupling device relative to the object to be transported based on the information on the wheels of the object to be transported (presence or absence of fixed wheels and their positions). Furthermore, when the heavy object exceeds a predetermined weight (1 kg, 10 kg, 50 kg, 100 kg, etc.), the transport vehicle may be coupled to the side opposite to the fixed wheels. That is, it is also possible to determine the gripping position (direction) of the coupling device relative to the object to be transported based on the weight information of the object to be transported in addition to the wheel information of the object to be transported. Such condition information regarding the determination of the gripping position of the coupling device may be stored in the storage unit in advance, or may be stored or updated based on the input information from the user. Furthermore, the wheel information and weight information may be acquired from the input information from the user, or may be received from the information transmitted from the object to be transported, or may be estimated from the analysis of the camera image of the transport vehicle or the communication device or the sensor detection information.

[0038] <Construction of the transport vehicle> FIG. 9 is a perspective view showing an example of the configuration of the transport vehicle 10. The transport vehicle 10 in this example is an unmanned transport vehicle, but can also be applied to various vehicles on which people can ride. An arrow 15 in FIG. 9 indicates the traveling direction of the transport vehicle. The traveling direction is basically the front of the transport vehicle, but it can also be the rear depending on the situation. As shown in FIG. 9, the transport vehicle 10 includes an axle portion 11 for connecting the coupling device 20, an object position detection portion 12 for detecting objects around the transport vehicle, drive wheels 13, and non-drive wheels 14.

[0039] For example, the transport vehicle is equipped with an object position detection unit 12. The object position detection unit 12 is a device that detects the relative distance and angle from the transport vehicle to an object (including a transport target, a person, etc.). Examples of the object position detection unit 12 and the imaging unit 36 ​​include a laser distance sensor (such as LiDAR (Light detection and ranging)) that measures the distance and direction to an object by irradiating a laser light and measuring the time it takes for the laser light to hit the object and bounce back, a millimeter wave radar that detects the distance to an object based on a millimeter wave transmission signal and a received signal that is reflected by the object and returns, and a camera-type distance sensor that measures the distance to an object by photographing the object with a camera and analyzing the photographed image. In this embodiment, an example has been shown in which the object position detection unit 12 is disposed on the top surface of the transport vehicle in the forward direction of the travel direction, but instead of this, it may be disposed on the front side in the travel direction. Also, it may be disposed not only on the front but also on the rear side or both left and right sides in the travel direction.

[0040] The object position detection unit 12 may detect an object in a 360-degree range around the transport vehicle, but is configured to detect an object at least in the traveling direction 15 of the transport vehicle. The traveling direction 15 may be either in front of or behind the transport vehicle.

[0041] FIG. 10 is a bottom view showing an example of the hardware configuration of the transport vehicle according to this embodiment. Drive wheels 13 are provided on the bottom of the transport vehicle at both the left and right sides with respect to the travel direction 15 of the transport vehicle, and non-driven wheels 14 are provided in front of and behind each of the drive wheels 13. The drive wheels 13 are wheels that are connected to the rotating shaft of a motor and driven, and the right drive wheel and the left drive wheel are controlled individually. The control unit can control the speed of the transport vehicle by controlling the rotation speed of the drive wheels. In addition, the control unit can control the speed of the transport vehicle by making a curve and running the transport vehicle, rotating the transport vehicle on the spot to change direction, stopping, and moving backward by individually controlling the rotation speed and rotation direction of each drive wheel. The non-driven wheels 14 are wheels that are not driven and passively rotate as the transport vehicle moves due to the drive wheels 13. The non-driven wheels 14 have, for example, a fork that fixes the wheel and the axle, and the fork is made up of a rotating caster that is rotatably connected to the bottom member of the transport vehicle. Therefore, the wheel rotation direction of the non-driven wheels 14 changes passively according to the traveling direction and rotational operation of the transport vehicle. Although Fig. 10 illustrates a hardware configuration of a transport vehicle having two driven wheels and four non-driven wheels at the four corners, the present invention is not limited to this hardware configuration, and it is also possible to adopt a configuration with a total of four wheels, two driven wheels and two non-driven wheels, and it is also possible to adopt a configuration in which the front wheels are steerable in the four-wheel configuration.

[0042] The guide line detector 16 is provided on the bottom of the transport vehicle to detect the guide line (guide line). The guide line detector 16 is preferably provided ahead of the drive wheels 13 in the travel direction of the transport vehicle. This makes it easier for the transport vehicle to travel along the guide line when traveling at a curved guide line, and also allows the transport vehicle and the towing cart to receive information from the guide line as soon as possible when traveling, thereby enabling them to quickly execute processing such as stopping. The guide line detector uses a sensor according to the type of guidance method as described above. When the electromagnetic induction method is used as the guidance method, a pickup coil is used as the sensor for the guide line detector. When the magnetic induction method is used, a magnetic sensor is used. When the image recognition method is used, a camera is used. The guide line detector may be provided not only on the floor surface but also on the side wall surface or ceiling surface of a building, and the sensor (including a camera) of the transport vehicle may be installed at a position where the guide line can be recognized (the bottom surface, side surface, top surface, etc. of the transport vehicle). The guide line may also be a track virtually provided on two-dimensional or three-dimensional map data. The control unit of the transport vehicle may control the travel of the transport vehicle along virtual guidelines based on map information and trajectory information (travel route information) stored in advance in the memory unit, and current self-position information estimated based on information from cameras, sensors, etc.

[0043] 11 is a diagram showing a configuration example of the operation area 130 according to the present embodiment. As shown in FIG. 11, a guide line 131 is laid in the operation area 130, and when a guided vehicle traveling in an autonomous traveling mode detects the guide line 131 at a preset traveling mode switching position 132, the traveling control mode is switched from the autonomous traveling mode to the guided traveling mode. Conversely, when a guided vehicle traveling in the guided traveling mode on the guide line enters the preset traveling mode switching position 132, the traveling control mode is switched from the guided traveling mode to the autonomous traveling mode. In order to guide the guided vehicle to a position close to a shelf or a belt conveyor on which luggage is stored, or a work position of a worker, a track formed by the guide line 131 is laid at a position close to the shelf or work position via multiple branch points.

[0044] The guided vehicle 10 traveling in an autonomous travel area where no guide line is laid in the autonomous travel mode changes its travel mode to the guided travel mode in which it follows the guide line on the condition that it enters the travel mode switching position 132 and detects the guide line 131. On the other hand, when the guided vehicle traveling in the guided travel mode on the guide line enters the travel mode switching position 132, the travel control mode is switched from the guided travel mode to the autonomous travel mode, and the guided vehicle leaves the guide line and starts autonomous travel.

[0045] As the guide line 131 shown in FIG. 11, various guide methods that have been used conventionally can be applied, as described later. Specifically, for example, an electromagnetic induction method in which a pickup coil on the transport vehicle detects a magnetic field generated by passing a weak alternating current through a metal wire installed as a guide line, a magnetic induction method in which a magnetic sensor on the transport vehicle reads a magnetic tape laid on the floor as a guide line, or an image recognition method in which a camera on the transport vehicle takes an image of a code (barcode, two-dimensional code, etc.) laid on the floor as a guide line and processes the image can be applied. When the guide line is composed of multiple two-dimensional codes, the guide line is printed with multiple two-dimensional codes, on which code information is printed on a two-dimensional plane as shown in the two-dimensional code, lined up in the guide line laying direction. When the guide line detection unit 16 detects the two-dimensional code, it acquires position information of the two-dimensional code based on the code information acquired from the two-dimensional code. When the guide line is composed of a magnetic tape, the guide line detection unit 16 can be configured to have multiple magnetic sensors that detect the magnetic tape horizontally toward the traveling direction of the transport vehicle. The multiple magnetic sensors provided in the guide line detection unit 16 each output a detection signal indicating whether or not the magnetic tape has been detected. This makes it possible to detect where the magnetic tape is located in the guide line detection unit 16, depending on whether the magnetic sensor located in the center of the guide line detection unit 16 detects the magnetic tape, or whether the magnetic sensors located at the left and right ends detect the magnetic tape, etc.

[0046] <Conveyor system configuration> Next, the configuration of the transport system of this embodiment will be described. Fig. 12 is a diagram showing an example of the overall configuration of the transport system according to this embodiment. The transport system 1000 includes a plurality of transport vehicles (10a, 10b), a dolly 2000 which is a transported object, a control device 3000 which can display the state of the transport vehicles or input commands to the transport vehicles, a general control device 4000 which manages information required for the operation of the transport vehicles, an input / output device 5000 which displays information of the general control device and inputs information to the general control device, and a communication network 6000 which communicably connects the plurality of transport vehicles (10a, 10b), the control device 3000, and the general control device 4000.

[0047] The transport system 1000 can also be connected to an external system 7000 via a communication network 6000. When the transport system 1000 is introduced into a manufacturing factory to transport parts required for manufacturing from a storage facility to a manufacturing line, the transport system 1000 performs inter-system cooperation with a manufacturing management system as the external system 7000. In this case, by acquiring information on the operational progress of the manufacturing work from the manufacturing management system, the transport volume and transport route by the transport vehicle can be dynamically adjusted according to the progress of the manufacturing work.

[0048] As another example, in the case where the conveyance system 1000 is introduced into a logistics warehouse and conveys the incoming goods from an entrance to a storage warehouse when the goods are brought into the warehouse by truck or the like, and conveys the goods to be shipped from the storage warehouse to an exit when the goods are shipped from the warehouse, the conveyance system 1000 performs inter-system cooperation with a logistics management system as an external system 7000. In this case, by acquiring information related to the incoming goods and the outgoing goods from the logistics management system, the transportation amount and transportation route by the conveyance vehicle can be changed.

[0049] In a facility where a transport system is installed, a plurality of transport vehicles (10a, 10b) are generally in operation, and each transport vehicle is communicatively connected to other transport vehicles and other components via a communication network 6000. For example, the transport vehicle transmits various detection information detected by its own detection unit and other control information to the control device 3000, the overall control device 4000, and the other transport vehicles 10. The transport vehicle 10 is also electrically connected to the cart 2000 or communicatively connected via short-range communication means, and is configured to be able to receive information on the connection state and identification information of the cart from the cart.

[0050] The control device 3000 has a function of displaying the status information of each transport vehicle and a function of inputting commands to a specified transport vehicle. For example, the status information of the transport vehicle displayed on the control device can display all information acquired or stored by this system, such as the identification information of each transport vehicle, its position (coordinates, position on a map), speed, direction, running history, transport history of the transport object (including identification information of the transport object transported, transport start position, transport end position, transport time, coupling time, release time, etc.), information on the charge amount of the battery mounted on the transport vehicle and serving as the power source for the transport vehicle, sensor information acquired by the transport vehicle, photographed images, identification information of the transport object (transport object) such as a cart transported by the transport vehicle, information on the coupling device, whether it is in a gripping position or a release position, information on the lock of the coupling device (whether it is in a locked state or not), and rotation angle. The commands to be input to the transport vehicle include, for example, command information regarding the destination (target position) of the transport vehicle, operational commands to couple and uncouple from the trolley, commands to start the transport vehicle, commands to stop the transport vehicle, commands to return to the charging station, instructions for the object to be transported by the transport vehicle, coupling instructions, uncoupling instructions, rotation lock support, unlocking instructions, rotation angle instructions, instructions regarding locking conditions (lockable rotation angle), identification information for the object to be transported, and time information such as the start position of the transport, the end position of the transport, the time of transport, the time of coupling, and the time of uncoupling.

[0051] 13 shows a configuration diagram of the overall control device 4000 in this embodiment. The overall control device 4000 has a status information recording unit 4010 that records status information of multiple transport vehicles operated in a facility area, an operation scenario management unit 4020 that manages operation scenarios of the multiple transport vehicles, a map management unit 4030 that generates and updates a map of the work area based on detection information of the transport vehicles including detection information of the guide lines acquired by the guide line detection unit of the transport vehicles, an abnormality determination unit 4040 that determines abnormalities of the guide lines and the transport vehicles based on the detection information of the transport vehicles, and a communication unit 4050 that communicates with an external input / output device 5000 and a communication network 6000.

[0052] The status information of the transport vehicles recorded by the status information recording unit 4010 includes, for example, obstacle detection positions detected by the multiple transport vehicles during operation, guide line detection positions, history information of the travel positions of the transport vehicles, and further, information on the battery charge amount, identification information of the dolly connected to the multiple transport vehicles, operation modes (guided travel mode or autonomous travel mode) of the multiple transport vehicles, various other detection information detected by the detection unit 230 of the transport vehicles, map information of the work area, etc. The operation scenario managed by the operation scenario management unit 4020 includes, for example, information on the destination of each of the multiple transport vehicles, the contents of multiple operations to be performed until reaching the destination, the operation sequence of the multiple operations, and switching conditions for the multiple operations.

[0053] The map management unit 4030 generates a map including the position information of obstacles and guide lines in the work area based on the obstacle detection position detected by the guided vehicle, the guide line detection position, and the history information of the travel position of the guided vehicle. Furthermore, the map management unit 4030 updates the information of the guide lines and the work area registered in the map based on the information of the detection position of the guide lines accumulated by one or more guided vehicles.

[0054] The abnormality determination unit 4040 determines abnormalities in the guide lines and the guided vehicle based on the position information of the guide lines registered in the map information and the detection information of the guided vehicle including the detection position information of the guide lines detected by the guided vehicle.

[0055] The input / output device 5000 displays information recorded in the state information recording unit 4010 of the overall control device 4000, map information (including map update information), and the determination result by the abnormality determination unit, and can add or update a new operation scenario by inputting an operation scenario managed by the operation scenario management unit 4020. Information input to the input / output device 5000 includes, for example, that the destination of a given transport vehicle is the working area A of the guided travel area 110, operation contents for entering the guided travel area 110 and reaching the working area A, operation switching conditions, and the like.

[0056] <Functions of the transport vehicle> The functions of the transport vehicle will be described with reference to Fig. 14. Fig. 14 is a diagram showing the functional configuration of the transport vehicle according to this embodiment. The transport vehicle 10 is equipped with a coupling device 20, a communication unit 210 that communicates with a dolly 2000 outside the transport vehicle and a communication network 6000, a recording unit 220 (including a storage unit), a detection unit 230 equipped with various sensors described later, a coupling device for coupling with the dolly, a wheel drive unit 280 that drives the wheels, an input unit 240, a display unit 250, a control unit 260 that controls the operations of the wheel drive unit 280, and the like.

[0057] The recording unit 220 has a function of recording information received from the outside by the communication unit 210, detection information detected by the detection unit 230, and information generated and output by the control unit. The recording unit 220 can store information such as the destination position, movement route, and movement history of the transport vehicle. The recording unit 220 can store speed information according to the distance to the destination position, calculation formula (program) information for calculating the speed information, and the like.

[0058] The detection unit 230 includes an object position detection unit 12, a guide line detection unit 16, a travel distance detection unit 233, a collision detection unit 234, a posture detection unit 235, and a charge amount detection unit 236. As described above, the object position detection unit 12 includes a laser distance sensor (such as LiDAR (Light detection and ranging)) that measures the distance and direction to an object by irradiating a laser beam and measuring the time it takes for the laser beam to bounce back after hitting the object, a millimeter wave radar that detects the distance to an object based on a millimeter wave transmission signal and a received signal that is reflected by the object and returns, or a camera-type distance sensor that measures the distance to an object by photographing the object with a camera and analyzing the photographed image. The control unit can estimate information on the current position and current speed of the transport vehicle based on information from the detection unit. The detection unit 230 includes a position sensor including a GNSS or the like that detects the current position of the transport vehicle, and a speed sensor that detects the speed of the transport vehicle.

[0059] As described above, the guide line detection unit 16 uses a sensor according to the type of guide method. When the electromagnetic induction method is used, a pickup coil is used as the guide line detection unit sensor, when the magnetic induction method is used, a magnetic sensor is used, and when the image recognition method is used, a camera is used. When the guide line detection unit is located directly above the guide line, it detects the guide line and outputs a detection signal. In addition to the detection signal of the guide line, in the case of an image recognition method in which a camera reads a guide line using a two-dimensional code or a barcode, position information is generated based on the information of the detected code, and further, by analyzing the image information of the code, relative angle information between the guide line and the carrier can be generated.

[0060] The travel distance detection unit 233 detects the number of rotations of the non-driven wheels 14 or the driven wheels 13, and can measure the travel distance and travel speed of the transport vehicle based on the detection information of the number of rotations and the information of the diameter (or circumference) of the non-driven wheels or the driven wheels (in this case, the travel distance detection unit 233 can function as a speed sensor). As an alternative, it is also possible to apply a means for detecting the travel speed of the transport vehicle using a millimeter wave sensor that irradiates millimeter waves in any horizontal direction (may be a wall or floor surface) and detects reflected waves, and integrating the travel speed to estimate the travel distance. Also, any method for measuring the travel distance or acquiring the travel speed other than the above-mentioned methods can be applied.

[0061] The collision detection unit 234 has a function of detecting that the transport vehicle collides with an object or a person. Specifically, it is possible to detect acceleration using a gyro sensor or the like, and determine that a collision has occurred when a sudden change in acceleration is detected. As an alternative, it is also possible to apply a means of providing a physical switch together with a bumper at the front of the transport vehicle in the traveling direction, and determining that a collision has occurred when the physical switch is pressed. In addition, a collision detection method other than the above can be applied. When the collision detection unit 234 detects a collision, it stops the transport vehicle, records at least one of the collision occurrence information and the collision occurrence position information in the recording unit, and notifies the information to the general control device 4000 and the control device 3000. The attitude detection unit 235 detects the direction (attitude) of the vehicle based on a magnetic compass, information on the rotation speed of the left and right drive wheels, or steering information of the wheels.

[0062] The charge amount detection unit 236 detects the charge amount of the battery, which is the power source of the transport vehicle. When the charge amount detected by the charge amount detection unit 236 becomes equal to or less than a predetermined value, it determines that charging is necessary, records the detection information of the decrease in charge amount in the recording unit, and notifies the information to the general control device 4000 and the control device 3000. Furthermore, when it is detected that the charge amount is equal to or less than a predetermined value, in addition to the above processing, it may be configured to automatically move to a charging spot and charge. The predetermined value for the charge amount detection unit 236 to determine that charging is necessary may be a value set in advance based on at least one of the distance to the destination set for the transport vehicle and the weight of the transported object coupled to the transport vehicle.

[0063] The input unit 240 is composed of a physical switch or a touch panel mounted on the transport vehicle, and allows the user to directly input operation commands, etc. to the transport vehicle. The display unit 250 is composed of, for example, a liquid crystal panel mounted on the transport vehicle, and can display status information of the transport vehicle (various types of detection information by the detection unit 230, the type of driving mode, the currently running operation scenario, etc.).

[0064] The control unit 260 includes an operation determination unit 261, a mode switching unit 262, a connection control unit 263, a display control unit 264, a position estimation unit 265, and a travel control unit 266. The operation determination unit 261 determines the operation of the guided vehicle based on the operation scenario of the self-guided vehicle acquired from the operation scenario management unit 4020.

[0065] The mode switching unit 262 switches the travel mode of the transport vehicle between a guided travel mode and an autonomous travel mode based on conditions predetermined by an operation scenario or the like, or a command input by the input unit 240. The connection control unit 263 controls the operation of the coupling device to control connection / disconnection with a transported object such as a cart based on conditions predetermined by an operation scenario or the like, or a command input by the input unit 240. The display control unit 264 controls the input IF of the input unit 240 and the display unit 250 described above.

[0066] The position estimation unit 265 can estimate the position at a predetermined time including the current position of the vehicle in the entire travel area based on the travel distance detected by the travel distance detection unit 233, the information on the direction of the vehicle detected by the attitude detection unit 235, and the map information of the entire area recorded in the recording unit 220. Alternatively, it is also possible to estimate the position of the vehicle in the entire travel area based on the information on the distance and direction from the vehicle to an object measured by the object position detection unit 12 and the map information of the entire area recorded in the recording unit 220. Alternatively, when the vehicle is traveling on a guide line formed by a two-dimensional code, it is also possible to estimate the position of the vehicle in the entire travel area based on the identification information of the two-dimensional code and the map information. The position estimation unit 265 can also acquire position information by a GNSS or the like provided in the carrier vehicle.

[0067] The position estimation unit 265 can estimate the position where the object exists based on the estimated vehicle position information and the distance information from the vehicle to the object detected by the object position detection unit 12. In addition, based on the vehicle position information when the guide line detection unit 16 detects the guide line, it estimates the installation position of the guide line.

[0068] The travel control unit 266 controls the travel of the transport vehicle based on at least one of the determination information by the operation determination unit 261 and the mode switching unit 262. The travel control unit 266 can control the forward movement, backward movement, stopping, turning, and the moving speed and turning speed of the transport vehicle. Specifically, the travel control unit 266 individually controls the right wheel driving unit 281 and the left wheel driving unit 282 of the wheel driving unit 280. The right wheel driving unit 281 and the left wheel driving unit 282 are composed of, for example, a motor, and by individually controlling the rotation speed and rotation direction of each drive wheel, it becomes possible to make the transport vehicle travel in a curve with an arbitrary trajectory radius or to rotate the transport vehicle to change its direction.

[0069] The direction of the vehicle may be controlled based on the angle and relative position of the vehicle, and the following may be performed: an angle estimation process for estimating the angle of the vehicle relative to the extension direction of the guideline based on information from a sensor installed in the vehicle; a relative position estimation process for estimating the relative position of the guideline and the vehicle in a direction perpendicular to the extension direction of the guideline based on information from a sensor installed in the vehicle; and the direction of the vehicle may be controlled based on the angle and relative position of the vehicle. For example, in the case of an image recognition method in which a camera reads a guideline using a two-dimensional code or a barcode, position information may be generated based on information on the detected code in addition to the detection signal of the guide line, and further image information of the code may be used to generate relative angle information between the guide line and the vehicle.

[0070] Although the preferred embodiment of the present disclosure has been described in detail above with reference to the attached drawings, the technical scope of the present disclosure is not limited to such examples. It is clear that a person having ordinary knowledge in the technical field of the present disclosure can conceive of various modified or amended examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally belong to the technical scope of the present disclosure.

[0071] The devices described in this specification may be realized as a single device, or may be realized by a plurality of devices (e.g., cloud servers) partially or entirely connected via a network. For example, the control unit 260 and the recording unit 220 of the transport vehicle may be realized by different servers connected to each other via a network. In addition, in the transport system described in this specification, an example has been described in which the controller 3000, the overall control device 4000, and the input / output device 5000 are configured as separate hardware connected via a network, but some or all of the functions of the controller 3000, the overall control device 4000, and the input / output device 5000 may be implemented in the transport vehicle 10.

[0072] The series of processes performed by the device described in this specification may be realized using any of software, hardware, and a combination of software and hardware. A computer program for realizing each function of the control unit 260 according to this embodiment may be created and implemented in a PC or the like. A computer-readable recording medium in which such a computer program is stored may also be provided. The recording medium may be, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like. The above computer program may also be distributed, for example, via a network, without using a recording medium.

[0073] In addition, the processes described herein using flowchart diagrams do not necessarily have to be performed in the order shown. Some process steps may be performed in parallel. Additional process steps may be employed, and some process steps may be omitted.

[0074] In addition, the effects described in this specification are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that are apparent to a person skilled in the art from the description of this specification, in addition to or in place of the above effects.

[0075] Another embodiment is shown in Fig. 15. In this embodiment, upper support portion 26 that supports lower frame 51 from above in the gripping posture is not horizontal but inclined obliquely, and also serves as side support portion 27 that supports lower frame 51 from the front side (transport vehicle 10 side). In other words, displacement portion 25 is provided with an inclined surface that functions as upper support portion 26 and side support portion 27. Also, lower support portion 23 is not horizontal but inclined so as to face obliquely upward toward protrusion portion 24.

[0076] As shown in Fig. 16, the connecting device 20 is configured so as to be able to swing up and down around a hinge portion 37 extending horizontally (left and right direction of the connecting device) as a fulcrum. The hinge portion 37 is located between the transport vehicle side joint portion 21 and the grip portion 22 (and the auxiliary fixed wheel 34 and the support arm 35 in this example), and the angle of the grip portion 22 etc. with respect to the transport vehicle side joint portion 21 can be changed. As a result, for example, when the ground on which the transport vehicle runs and the ground on which the wheels of the transported object contact are not parallel (one is a slope and the other is a horizontal surface, etc.), the grip portion 22 swings around the hinge portion 37 as a fulcrum, and the wheels of both the transport vehicle and the transported object can be stably grounded.

[0077] The hinge portion 37 may be provided with a locking mechanism for suppressing swinging. For example, when an object to be transported that exceeds a predetermined weight (1 kg, 10 kg, 50 kg, 100 kg, etc.) is to be transported, the locking mechanism may be used to suppress swinging of the gripper portion 22. In other words, the control unit may determine whether or not to lock the hinge portion 37 based on the weight of the object to be transported. This allows a heavy object to be transported stably.

[0078] Furthermore, as shown in Fig. 17, by swinging (folding) the gripping portion 22 etc. about the hinge portion 37 as a fulcrum and disposing the gripping portion 22 etc. above the sending vehicle side coupling portion 21, the transport vehicle and the coupling device can be stored compactly. For safety, the hinge portion 37 may be locked in the folded state shown in Fig. 17. This can prevent accidents such as the coupling device 20 opening unintentionally and coming into contact with an operator.

[0079] In this embodiment, a rotation state detection unit is provided that detects the rotation angle of the coupling device relative to the transport vehicle. The rotation state detection unit may be configured, for example, by an encoder that converts the rotational displacement into an electrical signal for detection, or may be configured by other sensors (such as an angle sensor). By providing the rotation state detection unit, the position and orientation of the transport object relative to the transport vehicle can be detected.

[0080] In addition, based on the information of the rotation state detection unit, the direction of travel behind the transport object when reversing can be estimated. Specifically, since the transport object travels in the direction of the fixed wheel of the coupling device or the fixed wheel of the transport object when reversing, the travel direction when reversing can be estimated from the angle information of the rotation state detection unit. The control unit of the transport object can safely reversal toward the destination position by controlling the drive unit in real time based on the information of the travel direction and correcting the travel direction. In addition, by estimating the position of the transport object, the transport object can travel while preventing collision with an obstacle during forward travel, reverse travel, etc. In other words, the travel path of the transport object can be estimated from the travel path of the transport object and the information of the position and orientation of the transport object relative to the transporter, so that the presence or absence of an obstacle on the planned travel path of the transport object can be estimated, and if there is an obstacle, the transport object can stop travel or avoid it while traveling.

[0081] Note that the following configurations also fall within the technical scope of the present disclosure. (Item 1) A coupling device for coupling a transport vehicle and an object to be transported, A transport vehicle side coupling portion that is rotatably coupled to the transport vehicle; a gripping portion that releasably grips a lower frame of the transport object, the gripping portion has a lower support portion that supports the horizontal plate portion of the lower frame from below, a protrusion portion that protrudes upward from a tip side of the lower support portion and engages with a side surface of the horizontal plate portion, and a displacement portion that displaces about a shaft portion as a fulcrum between a release posture and a gripping posture, the displacement portion has an upper support portion that supports the lower frame from above in the gripping posture, A connecting device in which the gripping portion grips the lower frame by vertically sandwiching the lower frame between the lower support portion and the upper support portion in the gripping posture. (Item 2) 2. The coupling device according to claim 1, wherein when the displacement portion is displaced from the release posture to the grip posture, the displacement portion is displaced in a direction toward the protrusion portion in the depth direction and in a direction toward the lower support portion in the up-down direction. (Item 3) 3. The coupling device according to item 1 or 2, wherein an inclined guide surface that inclines obliquely downward toward the tip is provided on the tip side of the protrusion. (Item 4) 3. A connection device as described in item 1 or 2, wherein the lower support portion is configured to be elastically displaceable downward upon contact with the object to be transported when the object to be transported is connected, and a biasing member is provided to return the lower support portion that has been displaced downward to its original position. (Item 5) 3. The coupling device according to claim 1 or 2, further comprising a sensor for detecting when the lower frame is properly positioned relative to the gripping portion. (Item 6) 6. The coupling device according to item 5, wherein the sensor is a pair of sensors adjacent to the lower support portion and spaced apart in the left-right direction. (Item 7) 3. The coupling device according to claim 1 or 2, further comprising an ejector that lifts a lower frame of the object to be transported from below to release the engagement between the lower frame and the protrusion. (Item 8) 8. The coupling device according to item 7, wherein the ejector is positioned between a pair of the lower support parts spaced apart in the left-right direction. (Item 9) 3. A connecting device as described in item 1 or 2, wherein the distance between the lower support portion and the upper support portion in the vertical direction, and the distance between the protrusion portion and the side support portion in the depth direction, are changeable depending on the size of the lower frame of the object to be transported. (Item 10) the displacement portion has a side support portion that supports the lower frame from a front side, 3. The connecting device according to claim 1, wherein in the gripping posture, the gripping portion grips the lower frame by sandwiching the lower frame between the lower support portion and the upper support portion in the up-down direction and by sandwiching the lower frame between the protrusion portion and the side support portion in the depth direction. [Explanation of symbols]

[0082] 10: Transport vehicle, 20: Connection device, 22: Grip unit, 23: Lower support unit, 24: Protrusion unit, 25: Displacement unit, 50: Transport object, 51: Lower frame of transport object, 130 Operation area, 131 Guide line, 132 Travel mode switching position, 210 Communication unit, 220 Recording unit, 230 Detection unit, 240 Input unit, 250 Display unit, 260 Control unit, 280 Wheel drive unit, 2000 Cart, 2010 Connection receiving unit, 3000 Control unit, 4000 Overall control unit, 5000 Input / output device, 6000 Communication network, 7000 External system

Claims

1. A coupling device for coupling a transport vehicle and an object to be transported, A transport vehicle side coupling portion coupled to the transport vehicle; a lower support portion that supports a horizontal plate portion of a lower frame of the transport object from below; a protrusion protruding upward from a tip side of the lower support portion and engaging with a side surface of the horizontal plate portion, The lower support portion is not horizontal but is inclined obliquely upward toward the protrusion portion, A connecting device, wherein the protrusion portion is configured so as not to protrude above the upper surface of the horizontal plate portion.

2. The connecting device according to claim 1 , further comprising an ejector that releases the engagement between the lower frame and the protrusion by lifting the lower frame of the transport object from below.

3. a displacement portion that displaces about a shaft portion between a gripping position in which the lower frame is gripped and a release position in which the gripping is released, The connecting device according to claim 1 , wherein the lower frame is gripped by sandwiching the lower frame in a depth direction between the displacement portion and the protrusion portion in the gripping posture.

4. The connecting device according to claim 3 , wherein the displacement portion has an upper support portion that supports the lower frame from above in the gripping position.

5. The connecting device according to claim 4 , wherein when the displacement portion is displaced from the release posture to the grip posture, the displacement portion is displaced in a depth direction toward the protrusion portion and in a vertical direction toward the lower support portion.

6. The connecting device according to claim 1 or 2, wherein the lower support portion is configured to be elastically displaceable downward upon contact with the object to be transported when the object to be transported is connected, and a biasing member is provided to return the lower support portion that has been displaced downward to its original position.

7. a sensor for detecting when the lower frame is properly positioned relative to the lower support; The coupling device according to claim 1 or 2, wherein the sensor is composed of a pair of sensors adjacent to the lower support portion and spaced apart in the left-right direction.

8. The coupling device according to claim 2 , wherein the ejector is adjacent to a pair of the lower support portions spaced apart in the left-right direction.

Images