Self-propelled conveying device and control method for self-propelled conveying device

Abstract

To provide a technique that is able to easily interpolate a shift of a stop position of a self-propelled conveying device.SOLUTION: A self-propelled conveying device includes: a traveling unit having a plurality of rotating bodies and capable of traveling by controlling forward and reverse rotations of the plurality of rotating bodies; a stage mechanism having a slider on which a workpiece can be placed and capable of moving the slider in a direction orthogonal to a straight advancing direction of the self-propelled conveying device; a sensor that measures an object; a generating unit that, based on measurement data of the object output from the sensor and data about a position of the sensor, generates two-dimensional shape data including a two-dimensional shape of the object; a storage unit that stores the two-dimensional shape data including the two-dimensional shape data of the object, the two-dimensional shape data being for comparison; and a control unit that, based on the two-dimensional shape data thus generated and the two-dimensional shape data for comparison, controls the traveling unit to correct a position and a direction of the self-propelled conveying device and controls the stage mechanism to correct a position of the slider.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a self-propelled transport device and a control method for a self-propelled transport device.

Background Art

[0002] There is known an unmanned transport vehicle that starts traveling based on a sensor and approaches an object when approaching the object (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In general, there is a certain degree of variation in the stop position accuracy of a self-propelled transport device such as a transport robot that autonomously travels. Therefore, when designing a mechanism for delivering work such as products and parts to allow for the deviation amount of the stop position of the self-propelled transport device, the mechanism for delivering the transport work becomes large, or the accuracy of delivering the work becomes rough. In order to reduce the deviation amount of the stop position of the self-propelled transport device itself, when a magnetic tape is installed at the stop position to guide the self-propelled transport device, the self-propelled transport device contacts the magnetic tape, resulting in displacement or damage of the magnetic tape. Therefore, maintenance work is required when displacement or damage of the magnetic tape occurs. In addition, a differential wheel type self-propelled transport device can easily perform forward and backward movement, turning, and tight turning operations, but cannot move laterally, and it is difficult to correct the deviation of the stop position in the lateral direction.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a technique capable of easily interpolating the deviation of the stop position of a self-propelled transport device.

Means for Solving the Problem

[0006] The self-propelled transport device according to one aspect of the present invention has a plurality of rotating bodies, a traveling unit capable of traveling by controlling the forward and reverse rotation of the plurality of rotating bodies, a slider on which a workpiece can be placed, and a stage mechanism capable of moving the slider in a direction orthogonal to the straight-ahead direction of the self-propelled transport device, a sensor for measuring an object, and a generation unit for generating two-dimensional shape data including the two-dimensional shape of the object based on the measurement data of the object output from the sensor and the data regarding the position of the sensor. The self-propelled transport device further includes a storage unit for storing two-dimensional shape data including the two-dimensional shape of the object, which is comparison-use two-dimensional shape data, and a control unit for controlling the traveling unit to correct the position and orientation of the self-propelled transport device and controlling the stage mechanism to correct the position of the slider based on the generated two-dimensional shape data including the two-dimensional shape of the object and the comparison-use two-dimensional shape data including the two-dimensional shape of the object.

[0007] The control unit controls the traveling unit to correct the position of the self-propelled transport device based on the generated two-dimensional shape data including the two-dimensional shape of the object and the two-dimensional shape data including the two-dimensional shape of the object, which is comparison-use two-dimensional shape data. Thereby, the error in the position of the self-propelled transport device at the stop position when the self-propelled transport device delivers the workpiece can be interpolated. The control unit controls the traveling unit to correct the orientation of the self-propelled transport device based on the generated two-dimensional shape data including the two-dimensional shape of the object and the two-dimensional shape data including the two-dimensional shape of the object, which is comparison-use two-dimensional shape data. Thereby, the error in the orientation of the self-propelled transport device at the stop position when the self-propelled transport device delivers the workpiece can be interpolated. The control unit controls the stage mechanism to correct the position of the slider based on the two-dimensional shape data including the two-dimensional shape of the generated object and the two-dimensional shape data including the two-dimensional shape of the object for comparison. Since a workpiece can be placed on the slider, by correcting the position of the slider, it is possible to interpolate the error in the position of the self-propelled transfer device at the stop position when the self-propelled transfer device transfers the workpiece. In this way, it becomes possible to easily interpolate the deviation in the stop position of the self-propelled transfer device.

[0008] The control unit controls the traveling unit so that the self-propelled transfer device moves straight ahead to correct the position of the self-propelled transfer device in the straight-ahead direction, or controls the traveling unit so that the self-propelled transfer device moves backward to correct the position of the self-propelled transfer device in the direction opposite to the straight-ahead direction. The control unit may control the traveling unit so that the self-propelled transfer device turns with high accuracy to correct the orientation of the self-propelled transfer device. The control unit may control the stage mechanism so that the slider moves in a direction orthogonal to the straight-ahead direction to correct the position of the slider in the direction orthogonal to the straight-ahead direction.

[0009] The control unit may correct the position, orientation, and position of the slider of the self-propelled transfer device so that the two-dimensional shape of the object included in the generated two-dimensional shape data matches the two-dimensional shape of the object included in the two-dimensional shape data for comparison.

[0010] The control unit may correct the orientation of the self-propelled transfer device so that a predetermined straight line in the two-dimensional shape of the object included in the generated two-dimensional shape data is parallel to a predetermined straight line in the two-dimensional shape of the object included in the two-dimensional shape data for comparison.

[0011] The control unit may correct the position of the self-propelled transport device so that a predetermined straight line in the two-dimensional shape of the object included in the generated two-dimensional shape data overlaps with a predetermined straight line in the two-dimensional shape of the object included in the two-dimensional shape data for comparison.

[0012] The control unit may correct the position of the slider so that a predetermined straight line in the two-dimensional shape of the object included in the generated two-dimensional shape data overlaps with a predetermined straight line in the two-dimensional shape of the object included in the two-dimensional shape data for comparison.

[0013] The object may have a convex shape or a concave shape. The object has a concavo-convex shape, and the control unit acquires position information indicating a position for delivering the workpiece by analyzing the two-dimensional shape of the object included in the generated two-dimensional shape data, and based on the position information, may control the stage mechanism to move the slider.

[0014] The sensor may be a distance measurement sensor that measures the distance to the object. The object has a reflective material that reflects light and an absorptive material that absorbs light, and the sensor may be a measurement sensor that measures the amount of reflected light reflected by the reflective material and measures the position of the object. The sensor may be provided on the slider.

[0015] The sensor may be a two-dimensional shape measurement sensor that measures the two-dimensional shape of the object. The sensor may be provided on the main body portion or the traveling portion of the self-propelled transport device.

[0016] The object is provided on a slide portion on which the object can slide, and the slide portion may slide the object according to the position for delivering the workpiece.

[0017] A control method for a self-propelled transport device according to an aspect of the present invention, wherein the self-propelled transport device is complex It has a plurality of rotating bodies, a traveling unit capable of traveling by controlling the forward and reverse rotation of the plurality of rotating bodies, a slider on which a workpiece can be placed, and a stage mechanism capable of moving the slider in a direction orthogonal to the straight-ahead direction of the self-propelled transport device, and a sensor for measuring an object. A generation step of generating two-dimensional shape data including the two-dimensional shape of the object based on the measurement data of the object output from the sensor and the data related to the position of the sensor; and the generated two-dimensional shape data and the two-dimensional shape data including the two-dimensional shape of the object, which is two-dimensional shape data for comparison, based on which the traveling unit is controlled to correct the position and orientation of the self-propelled transport device, and the stage mechanism is controlled to correct the position of the slider. A control method for a self-propelled transport device including a control step.

Effect of the Invention

[0018] According to the present invention, it is possible to provide a technique capable of easily interpolating the deviation of the stop position of the self-propelled transport device.

Brief Description of the Drawings

[0019]

Figure 1

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Figure 15

Mode for Carrying Out the Invention

[0020] <Application Example> First, with reference to FIGS. 1 and 2, an example of a scene to which the present invention is applied will be described.

[0021] <Overall Configuration of Mobile Robot> FIG. 1 is a block diagram showing the configuration of a mobile robot 1 according to an embodiment. The mobile robot 1 is a device (self-propelled transport device) having a function as a self-propelled unmanned transport vehicle. The mobile robot 1 is a differential wheel type transport robot. The mobile robot 1 includes a control device 10, a traveling unit 20, a stage mechanism 30, and a distance measurement sensor 40. The control device 10 is an example of a control unit. The control device 10 controls the traveling unit 20 and the stage mechanism 30. The traveling unit 20 has a plurality of rotating bodies 21 and can travel by controlling the forward and reverse rotation of the plurality of rotating bodies 21. Further, the traveling unit 20 may have a plurality of casters 22. The casters 22 assist the traveling of the mobile robot 1.

[0022] The stage mechanism 30 is, for example, a single-axis stage mechanism. The stage mechanism 30 includes a stator (base) 31 mounted on the traveling unit 20 and a slider 32 placed on the stator 31 and slidable (movable by sliding) in a predetermined direction. The stage mechanism 30 can slide the slider 32 in a predetermined direction by controlling the drive of the stator 31. The predetermined direction is, for example, a direction orthogonal to the straight-ahead direction of the mobile robot 1 and is the width direction of the slider 32. The width direction of the slider 32 is parallel to the ground on which the mobile robot 1 travels. The distance measurement sensor 40 is a sensor that measures an object and measures the straight-line distance to the object. The distance measurement sensor 40 measures the straight-line distance to the measurement object and outputs data regarding the distance to the measurement object (distance data) as measurement data. As the distance measurement sensor 40, for example, a laser distance meter, an ultrasonic sensor, or the like can be used. The distance measurement sensor 40 is provided on the slider 32.

[0023] The control device 10 executes integrated control in the mobile robot 1, such as cooperation with the traveling unit 20 and the stage mechanism 30 and management of communication with the transport system server 2 (AMHS server: Automated Material Handling System Server).

[0024] The transport system server 2 (hereinafter referred to as the server 2) is a server that issues specific transport instructions to a predetermined mobile robot 1 in the transport system to be managed based on information from the upper system.

[0025] The control device 10 includes an integrated control unit 101, a traveling instruction unit 102, a stage drive instruction unit 103, a slider position acquisition unit 104, a measurement data acquisition unit 105, a two-dimensional shape generation unit 106, a storage unit 107, and a communication unit 108. The communication unit 108 is a communication interface that executes communication with the server 2.

[0026] ​The integrated control unit 101 controls the traveling unit 20 and the stage mechanism 30. The integrated control unit 101 receives an instruction from the server 2 via the communication unit 108, and controls the traveling unit 20 according to the instruction content to move (travel) the mobile robot 1.

[0027] The traveling unit 20 includes a travel instruction receiving unit 201, a travel control unit 202, a right motor drive unit 203, a left motor drive unit 204, a right motor 205, a left motor 206, a right encoder 207, and a left encoder 208.

[0028] The travel instruction unit 102 sends a travel instruction signal to the travel instruction receiving unit 201 under the control of the integrated control unit 101, and the travel instruction receiving unit 201 receives the travel instruction signal. The travel instruction receiving unit 201 sends the travel instruction signal to the travel control unit 202, and the travel control unit 202 controls the right motor drive unit 203 and the left motor drive unit 204 based on the travel instruction signal. The right motor drive unit 203 controls the driving of the right motor 205 to rotate the right rotating body 21. The rotating body 21 has wheels and tires. The left motor drive unit 204 controls the driving of the left motor 206 to rotate the left rotating body 21 (not shown).

[0029] The right encoder 207 sends data regarding the rotation speed of the right rotating body 21 to the travel control unit 202. The left encoder 208 sends data regarding the rotation speed of the left rotating body 21 to the travel control unit 202. The travel control unit 202 calculates the travel distance of the mobile robot 1 based on the data regarding the rotation speed of the rotating body 21.

[0030] In addition, the traveling unit 20 is provided with a monitoring sensor for monitoring the front of the traveling direction of the mobile robot 1, an acceleration sensor for detecting the traveling state and position of the mobile robot 1, and other various sensors. The monitoring sensor is a distance sensor such as LiDAR, and can acquire data (distance image) indicating the distance to an object existing within the measurement range of the monitoring sensor.

[0031] The stator 31 includes a drive instruction receiving unit 301, a drive control unit 302, a slider drive unit 303, and a slider position output unit 304. The stage drive instruction unit 103 sends a drive instruction signal to the drive instruction receiving unit 301 under the control of the integrated control unit 101, and the drive instruction receiving unit 301 receives the drive instruction signal. The drive instruction receiving unit 301 sends the drive instruction signal to the drive control unit 302, and the drive control unit 302 controls the slider drive unit 303 based on the drive instruction signal. The slider drive unit 303 slides the slider 32 in the width direction of the slider 32. The slider position output unit 304 outputs the position of the slider 32.

[0032] The slider position acquisition unit 104 acquires data related to the position of the slider 32 output from the slider position output unit 304 under the control of the integrated control unit 101, and delivers the data related to the position of the slider 32 to the two-dimensional shape generation unit 106. The measurement data acquisition unit 105 acquires measurement data output from the distance measurement sensor 40 under the control of the integrated control unit 101, and delivers the measurement data to the two-dimensional shape generation unit 106. The two-dimensional shape generation unit 106 generates two-dimensional shape data including the two-dimensional shape of the object based on the measurement data and the data related to the position of the slider 32.

[0033] A workpiece can be placed on the slider 32. The workpiece is, for example, a final product, an intermediate product, a semi-finished product, a component, a material, etc. Devices such as a conveyor, a mechanism, a lifter, and a manipulator can be loaded on the loading unit 50 on the slider 32. Devices such as a conveyor, a mechanism, a lifter, and a manipulator place a workpiece on the slider 32 or transfer the workpiece placed on the slider 32 to an external device located near the mobile robot 1. The device loaded on the loading unit 50 may place a workpiece on the slider 32. An operator or an external device may place a workpiece on the slider 32.

[0034] Figure 2 is an explanatory diagram of the positioning process of the mobile robot 1. Figure 2 shows a view of the mobile robot 1 from above. In Figure 2, the mobile robot 1 is performing a positioning process at the stop position in order to transfer the workpiece between the mobile robot 1 and the device 3. The workpiece transfer position P1 shown in Figure 2 is the position for the mobile robot 1 to transfer the workpiece to and from the device 3. The device 3 is, for example, a workpiece production device, a workpiece processing device, a workpiece storage device, etc.

[0035] In order to transfer the workpiece between the mobile robot 1 and the device 3, the mobile robot 1 needs to stop accurately at the workpiece transfer position P1. However, since there is variation in the stop position accuracy of the mobile robot 1, the mobile robot 1 first stops at the approach position P2. As shown in Figure 2, an object A1 is provided near the workpiece transfer position P1. For example, the object A1 may be arranged on a wall or the like near the workpiece transfer position P1. The object A1 has a convex shape. Any position near the object A1 may be used as the approach position P2. For example, the mobile robot 1 may grasp the object A1 using a monitoring sensor provided in the traveling unit 20 and stop at any position near the object A1. A structure (positioning structure) for positioning the mobile robot 1 may be separately provided near the object A1, and the mobile robot 1 may grasp the positioning structure using the monitoring sensor provided in the traveling unit 20 and stop at any position near the object A1. This improves the accuracy of stopping at any position near the object A1. The positioning structure may be a dedicated structure for positioning the mobile robot 1. The positioning structure may be, for example, a structure such as a triangular plate or an L-shaped plate.

[0036] The control device 10 sequentially acquires the distance data output from the distance measurement sensor 40 and the data (position data) regarding the position of the slider 32 while sliding the slider 32 in the width direction of the slider 32. The position of the slider 32 may be a relative position with respect to the reference position of the stator 31. For example, the reference position of the stator 31 is the center position of the stator 31 in the width direction of the stator 31. The width direction of the stator 31 coincides with the width direction of the slider 32. The control device 10 acquires the distance data output from the distance measurement sensor 40 and the position data of the slider 32 when the distance data is output from the distance measurement sensor 40. Therefore, the control device 10 acquires the distance data corresponding to the movement of the slider 32 and the position data of the slider 32 corresponding to the movement of the slider 32. The control device 10 acquires the position data of the slider 32 corresponding to the movement of the slider 32.

[0037] Based on the distance data and the position data of the slider 32, the control device 10 generates two-dimensional shape data including the two-dimensional shape of the object A1. As shown in FIG. 2, when the mobile robot 1 stops at the approach position P2, the distance data output from the distance measurement sensor 40 includes the distance to the object A1. Since the distance measurement sensor 40 is provided on the slider 32, it is possible to calculate the data (position data) regarding the position of the distance measurement sensor 40 from the position data of the slider 32. For example, when the distance measurement sensor 40 is provided at the center position of the slider 32 in the width direction of the slider 32, the position data of the distance measurement sensor 40 includes the relative position with respect to the reference position of the stator 31. The control device 10 generates the two-dimensional shape data of the object A1 from the distance data and the position data of the distance measurement sensor 40.

[0038] The control device 10 controls the traveling unit 20 to correct the position and orientation of the mobile robot 1, and controls the stage mechanism 30 to correct the position of the slider 32, based on the two-dimensional shape data of the object A1 and the two-dimensional shape data for comparison (comparison data). The two-dimensional shape data of the object A1 includes the two-dimensional shape of the object A1 generated based on the distance data and the position data of the slider 32 when the mobile robot 1 stops near the workpiece transfer position P1. The two-dimensional shape data for comparison includes, for example, the two-dimensional shape of the object A1 generated based on the distance data and the position data of the slider 32 with the position of the slider 32 adjusted to the reference position when the mobile robot 1 stops at the workpiece transfer position P1.

[0039] Fig. 3 shows the two-dimensional shape B1 of the object A1 generated based on the distance data and the position data of the slider 32 at a position near the workpiece transfer position P1, and the two-dimensional shape B2 of the object A1 included in the two-dimensional shape data for comparison. The workpiece transfer position P1 is different from the position near the workpiece transfer position P1. Therefore, the two-dimensional shape B1 of the object A1 included in the two-dimensional shape data generated based on the distance data and the position data of the slider 32 at a position near the workpiece transfer position P1 does not match the two-dimensional shape B2 of the object A1 included in the two-dimensional shape data for comparison. The control device 10 corrects the position, orientation, and the position of the slider 32 of the mobile robot 1 so that the two-dimensional shape of the object A1 included in the two-dimensional shape data of the object A1 matches the two-dimensional shape of the object A1 included in the two-dimensional shape data for comparison.

[0040] The control device 10 controls the traveling unit 20 based on the two-dimensional shape data of the object A1 and the two-dimensional shape data for comparison, and corrects the position of the mobile robot 1 by moving the mobile robot 1 in the front-rear direction of the mobile robot 1. Thereby, the error in the front-rear direction position of the mobile robot 1 at the stop position when the mobile robot 1 delivers the workpiece can be interpolated. The control device 10 controls the traveling unit 20 based on the two-dimensional shape data of the object A1 and the two-dimensional shape data for comparison, and corrects the orientation of the mobile robot 1 by changing the orientation of the mobile robot 1. Thereby, the error in the orientation of the mobile robot 1 at the stop position when the mobile robot 1 delivers the workpiece can be interpolated. The control device 10 controls the stage mechanism 30 based on the two-dimensional shape data of the object A1 and the two-dimensional shape data for comparison, and corrects the position of the slider 32 by moving the slider 32 in the width direction of the slider 32. Since a workpiece can be placed on the slider 32, by correcting the position of the slider 32, the error in the left-right direction position of the mobile robot 1 at the stop position when the mobile robot 1 delivers the workpiece can be interpolated. In this way, it becomes possible to easily interpolate the deviation of the stop position of the mobile robot 1.

[0041] Figure 4 is a flowchart for explaining the operation of the mobile robot 1 according to the embodiment. When the mobile robot 1 stops at the approach position P2, the processing of the flowchart shown in FIG. 4 is started.

[0042] In S1, the control device 10 controls the stage mechanism 30 to move the slider 32 in the width direction of the slider 32, and acquires distance data output from the distance measurement sensor 40 and position data of the slider 32 output from the stage mechanism 30. As described above, the distance data output from the distance measurement sensor 40 includes the distance to the object A1. While the power of the mobile robot 1 is ON, distance data may be output from the distance measurement sensor 40. A control signal may be sent from the control device 10 to the distance measurement sensor 40, and the distance measurement sensor 40 may start outputting distance data by receiving the control signal.

[0043] In S1, the control device 10 generates two-dimensional shape data including the two-dimensional shape of the object A1 based on the distance data and the position data of the slider 32. The two-dimensional shape generation unit 106 may generate two-dimensional shape data including the two-dimensional shape of the object A1, or the integrated control unit 101 may generate two-dimensional shape data including the two-dimensional shape of the object A1. As described above, the distance data output from the distance measurement sensor 40 includes the distance to the object A1, and since the distance measurement sensor 40 is provided on the slider 32, the control device 10 can calculate the position data of the distance measurement sensor 40 from the position data of the slider 32. The control device 10 generates two-dimensional shape data of the object A1 from the distance data and the position data of the distance measurement sensor 40.

[0044] In S2, the control device 10 controls the traveling unit 20 to correct the orientation of the mobile robot 1 based on the two-dimensional shape data generated in S1 and the two-dimensional shape data for comparison. The two-dimensional shape data for comparison may be stored in advance in the storage unit 107. The integrated control unit 101 may acquire the two-dimensional shape data for comparison from the storage unit 107. The integrated control unit 101 may control the traveling unit 20 by sending a traveling instruction signal to the traveling unit 20 via the traveling instruction unit 102.

[0045] An example of the operations of the control device 10 and the traveling unit 20 in S2 will be described. In FIG. 5(A), the two-dimensional shape B1 of the object A1 before the orientation of the mobile robot 1 is corrected and the two-dimensional shape B2 of the object A1 included in the two-dimensional shape data for comparison are shown. In FIG. 5(B), the two-dimensional shape B1 of the object A1 after the orientation of the mobile robot 1 is corrected and the two-dimensional shape B2 of the object A1 included in the two-dimensional shape data for comparison are shown. The control device 10 corrects the orientation of the mobile robot 1 so that a predetermined straight line (L1 in FIG. 5) in the two-dimensional shape of the object A1 included in the two-dimensional shape data generated in S1 is parallel to a predetermined straight line (L2 in FIG. 5) in the two-dimensional shape of the object A1 included in the two-dimensional shape data for comparison. In the case of FIG. 5, the mobile robot 1 is rotated in place so that the inclination (angle a) of the two-dimensional shape B1 with respect to the two-dimensional shape B2 is canceled out (angle a = 0°). Rotation in place is circular motion in a state where the center of the mobile robot 1 does not move. The traveling unit 20 controls the driving of the right motor 205 and the left motor 206 so that the right rotating body 21 and the left rotating body 21 rotate in opposite directions to each other, thereby rotating the mobile robot 1 in place. In this way, the control device 10 controls the traveling unit 20 so that the mobile robot 1 rotates in place, thereby correcting the orientation of the mobile robot 1.

[0046] In S3, the control device 10 controls the stage mechanism 30 to move the slider 32 in the width direction of the slider 32, and acquires the distance data output from the distance measurement sensor 40 and the position data of the slider 32 output from the stage mechanism 30. In S3, the control device 10 generates two-dimensional shape data including the two-dimensional shape of the object A1 based on the distance data and the position data of the slider 32 (the position data of the distance measurement sensor 40).

[0047] In S4, the control device 10 controls the traveling unit 20 to correct the position of the mobile robot 1 based on the two-dimensional shape data generated in S3 and the two-dimensional shape data for comparison. An example of the operations of the control device 10 and the traveling unit 20 in S4 will be described.

[0048] In Fig. 6(A), the two-dimensional shape B1 of the object A1 before the position of the mobile robot 1 is corrected and the two-dimensional shape B2 of the object A1 included in the two-dimensional shape data for comparison are shown. In Fig. 6(B), the two-dimensional shape B1 of the object A1 after the position of the mobile robot 1 is corrected and the two-dimensional shape B2 of the object A1 included in the two-dimensional shape data for comparison are shown. The control device 10 corrects the position of the mobile robot 1 so that a predetermined straight line (L1 in Fig. 6) in the two-dimensional shape of the object A1 included in the two-dimensional shape data generated in S3 overlaps with a predetermined straight line (L2 in Fig. 6) in the two-dimensional shape of the object A1 included in the two-dimensional shape data for comparison. In the case of Fig. 6, the mobile robot 1 is moved straight ahead (forward) so that the distance d in the first direction between the two-dimensional shape B1 and the two-dimensional shape B2 is canceled out (distance d = 0), and the position of the mobile robot 1 is corrected. The first direction is, for example, the front direction of the object A1.

[0049] For example, when the work transfer position P1 is closer to the object A1 than the approach position P2, the mobile robot 1 is moved straight ahead. The traveling unit 20 controls the driving of the right motor 205 and the left motor 206 (forward rotation control) so that the right rotating body 21 and the left rotating body 21 rotate forward, and moves the mobile robot straight ahead. In this way, the control device 10 controls the traveling unit 20 so that the mobile robot 1 moves straight ahead, and corrects the position of the mobile robot 1 in the straight-ahead direction of the mobile robot 1.

[0050] For example, when the approach position P2 is closer to the object A1 than the work transfer position P1, the mobile robot 1 is moved backward. The traveling unit 20 controls the driving of the right motor 205 and the left motor 206 (reverse rotation control) so that the right rotating body 21 and the left rotating body 21 rotate in the reverse direction, and moves the mobile robot backward. In this way, the control device 10 controls the traveling unit 20 so that the mobile robot 1 moves backward, and corrects the position of the mobile robot 1 in the direction opposite to the straight-ahead direction of the mobile robot 1.

[0051] In S5, the control device 10 controls the stage mechanism 30 to move the slider 32 in the width direction of the slider 32, and acquires the distance data output from the distance measurement sensor 40 and the position data of the slider 32 output from the stage mechanism 30. In S5, the control device 10 generates two-dimensional shape data including the two-dimensional shape of the object A1 based on the distance data and the position data of the slider 32 (the position data of the distance measurement sensor 40).

[0052] In S6, the control device 10 controls the stage mechanism 30 to correct the position of the slider 32 based on the two-dimensional shape data generated in S1 and the two-dimensional shape data for comparison. An example of the operations of the control device 10 and the traveling unit 20 in S6 will be described.

[0053] In FIG. 7(A), the two-dimensional shape B1 of the object A1 before the position of the slider 32 is corrected and the two-dimensional shape B2 of the object A1 included in the two-dimensional shape data for comparison are shown. In FIG. 7(B), the two-dimensional shape B1 of the object A1 after the position of the slider 32 is corrected and the two-dimensional shape B2 of the object A1 included in the two-dimensional shape data for comparison are shown. The control device 10 corrects the position of the slider 32 so that a predetermined straight line (L3 in FIG. 7) in the two-dimensional shape of the object A1 included in the two-dimensional shape data generated in S5 and a predetermined straight line (L4 in FIG. 7) in the two-dimensional shape of the object A1 included in the two-dimensional shape data for comparison overlap. In the case of FIG. 7, the slider 32 is moved in the width direction of the slider 32 so that the distance y in the second direction between the two-dimensional shape B1 and the two-dimensional shape B2 is canceled out (distance y = 0), and the position of the slider 32 is corrected. The second direction is, for example, a side surface direction orthogonal to the front direction of the object A1. When the position, orientation, and position of the slider 32 of the mobile robot 1 are corrected so that the two-dimensional shape of the object A1 included in the two-dimensional shape data of the object A1 matches the two-dimensional shape of the object A1 included in the two-dimensional shape data for comparison, the positioning of the mobile robot 1 is completed.

[0054] ​

[0055] The object A1 has a convex shape, but is not limited to this shape, and the object A1 may have a concave shape. FIG. 8 shows the two-dimensional shape B1 of the object A1 generated based on the distance data and the position data of the slider 32 in the vicinity of the workpiece transfer position P1, and the two-dimensional shape B2 of the object A1 included in the two-dimensional shape data for comparison. As shown in FIG. 8, the object A1 has a concave shape. According to the concave-shaped object A1, protrusions can be eliminated and safety is improved. Even when an operator or a cart approaches the concave-shaped object A1, it is suppressed that the clothes of the operator or the cart are caught by the concave-shaped object A1.

[0056] By selecting the object A1 such that the accuracy and resolution of the position data of the slider 32 are within the allowable range, the concave shape of the object A1 and the width of the concave portion of the object A1 can be designed to be narrower than the width of an ordinary person's finger. Thereby, safety design (intrusion limitation) when providing the object A1 in the vicinity of the workpiece transfer position P1 becomes easy. For example, the width of the concave portion of the object A1 may be designed based on the safety distance defined in JIS B9707.

[0057] FIG. 9 is an explanatory diagram of the positioning process of the mobile robot 1. FIG. 9 shows a view of the mobile robot 1 seen from above. In the system configuration shown in FIG. 9, the object A1 is slidable in the second direction (side direction). A stage mechanism that allows the object A1 to slide may be provided on the device 3 or a wall near the device 3. FIG. 10 is a perspective view of a stage mechanism 4 that allows the object A1 to slide. The stage mechanism 4 includes a slide portion 410 that allows the object A1 to slide, a stator portion 411 that has a drive mechanism or the like for sliding the slide portion 410 inside, and a stage control device 412 that controls the drive of the stator portion 411. The object A1 is provided on the slide portion 410. Workpieces W1 to W3 are placed on the upper part of the stator portion 411.

[0058] The case where the mobile robot 1 delivers the workpiece to the stage mechanism 4 will be described. An instruction is sent from the server 2 to the stage mechanism 4 to move the object A1 to a position corresponding to a place where none of the workpieces W1 to W3 are placed. Then, according to the place where none of the workpieces W1 to W3 are placed, the workpiece transfer position P1 is determined. In FIG. 10, the place where none of the workpieces W1 to W3 are placed is shown by a dotted rectangular parallelepiped. The stage control device 412 controls the drive of the stator unit 411, and by sliding the slide unit 410 in the second direction, slides the object A1 to a position corresponding to the place where none of the workpieces W1 to W3 are placed. In this way, the slide unit 410 slides the object A1 according to the determined workpiece transfer position P1. An instruction is sent from the server 2 to the stage mechanism 4 to receive the workpiece W2 from the mobile robot 1. An instruction is sent from the server 2 to the mobile robot 1 to deliver the workpiece placed on the slider 32 to the stage mechanism 4. The mobile robot 1 stops at the approach position P2 and executes the positioning process.

[0059] The case where the mobile robot 1 receives the workpiece W2 will be described. An instruction is sent from the server 2 to the stage mechanism 4 to move the object A1 to a position corresponding to the place where the workpiece W2 is placed. Then, according to the place where the workpiece W2 is placed, the workpiece transfer position P1 is determined. The stage control device 412 controls the drive of the stator unit 411, and by sliding the slide unit 410 in the second direction, slides the object A1 to a position corresponding to the place where the workpiece W2 is placed. In this way, the slide unit 410 slides the object A1 according to the determined workpiece transfer position P1. An instruction is sent from the server 2 to the stage mechanism 4 to deliver the workpiece W2 to the mobile robot 1. An instruction is sent from the server 2 to the mobile robot 1 to receive the workpiece W2 from the stage mechanism 4. The mobile robot 1 stops at the approach position P2 and executes the positioning process.

[0060] FIG. 11 is an explanatory diagram of the positioning process of the mobile robot 1. FIG. 11 shows a view of the mobile robot 1 as seen from above. In the system configuration shown in FIG. 11, an object A1 provided near the work transfer position P1 includes a shape in which position information indicating the position for transferring the work is encoded. As shown in FIG. 11, the object A1 has a concavo-convex shape composed of a shape E1 indicating the start position and shapes F1 to F9 indicating the incremental part (number part). The shapes F1 to F9 are the same shape. The shape E1 and the shapes F1 to F9 are different shapes, and the shape E1 is a unique shape with a clear difference from the shapes F1 to F9. The control device 10 can recognize the designated work transfer position P1 by measuring the object A1 including the shape E1 and the shapes F1 to F9 with the distance measurement sensor 40.

[0061] FIG. 12 is a flowchart for explaining the operation of the mobile robot 1 according to the embodiment. When the mobile robot 1 stops at the approach position P2, the processing of the flowchart shown in FIG. 12 starts. Here, before the mobile robot 1 stops at the approach position P2, a transfer instruction is sent from the server 2 to the mobile robot 1. Further, the transfer instruction sent from the server 2 to the mobile robot 1 includes a target count. The target count is numerical data for performing the transfer of the work at the designated work transfer position P1.

[0062] In the processes S11 to S16 of the flowchart shown in FIG. 12, the same processes as the processes S1 to S6 of the flowchart shown in FIG. 4 are performed, and thus the description thereof is omitted. In S17, the control device 10 controls the stage mechanism 30 to move the slider 32 in the width direction of the slider 32, and acquires the distance data output from the distance measurement sensor 40 and the position data of the slider 32 output from the stage mechanism 30.

[0063] In S17, the control device 10 controls the stage mechanism 30 to move the slider 32 in the width direction of the slider 32. At the same time, the control device 10 moves the slider 32 in the width direction of the slider 32 based on the distance data output from the distance measurement sensor 40, the position data of the slider 32 (the position data of the distance measurement sensor 40), and the target count. For example, when the target count is 5 counts, the control device 10 uses the distance data output from the distance measurement sensor 40 and the position data of the slider 32 (the position data of the distance measurement sensor 40) to move the slider 32 in the width direction of the slider 32 until the shape F5 corresponding to the fifth one from the shape E1 indicating the start position can be confirmed. That is, when the control device 10 can confirm the shape F5, it stops the movement of the slider 32. FIG. 13 shows the two-dimensional shape B1 of the object A1 having the shapes E1, F1 to F5. For example, the control device 10 refers to the two-dimensional shape B1 shown in FIG. 13 and moves the slider 32 in the width direction of the slider 32 until the shape F5 can be confirmed.

[0064] Also, in S17, the control device 10 may generate two-dimensional shape data including the two-dimensional shape of the object A1, and stop the movement of the slider 32 when the shape F5 can be confirmed using the two-dimensional shape data.

[0065] By performing each process of S11 to S16, the two-dimensional shape of the object A1 included in the two-dimensional shape data of the object A1 matches the two-dimensional shape of the object A1 included in the two-dimensional shape data for comparison. Thereby, the errors in the position and orientation of the mobile robot 1 can be interpolated. By performing the process of S17, the work can be transferred between the mobile robot 1 and the device 3 at the designated work transfer position P1. In this way, the control device 10 obtains position information indicating the position for transferring the work by analyzing the two-dimensional shape of the object A1 included in the generated two-dimensional shape data. The control device 10 can transfer the work at the designated work transfer position P1 by controlling the stage mechanism 30 to move the slider 32 in the width direction of the slider 32 based on the position information indicating the position for transferring the work.

[0066] In the above description, the case where the conveyance instruction sent from the server 2 to the mobile robot 1 includes the target count has been described. However, the mobile robot 1 may inquire the server 2 or the device 3 about the target count. After the mobile robot 1 stops at the approach position P2, the mobile robot 1 may inquire the server 2 or the device 3 about the target count at the timing before the process of S11 is performed. Also, after the process of S16 is performed and before the process of S17 is performed, the mobile robot 1 may inquire the server 2 or the device 3 about the target count. When there is an inquiry about the target count from the mobile robot 1, the server 2 or the device 3 notifies the mobile robot 1 of the target count.

[0067] In the above description, the incremental type in which each of the shapes F1 to F9 is the same shape is adopted, but an absolute type in which each of the shapes F1 to F9 is a different shape may be adopted. By making each of the shapes F1 to F9 a unique shape, the shape E1 indicating the start position can be omitted from the object A1.

[0068] The two-dimensional shape data for comparison stored in the storage unit 107 will be described. Here, two methods of storing two-dimensional shape data in the storage unit 107 will be described. (Method 1) After stopping the position of the slider 32 at the reference position of the stator 31, a user such as an instructor manually moves the mobile robot 1 to the workpiece transfer position P1. At the workpiece transfer position P1, the shape of the object A1 is scanned, and the scanned data is stored in the storage unit 107. That is, at the workpiece transfer position P1, the slider 32 is moved in the width direction of the slider 32, and the distance data output from the distance measurement sensor 40 and the position data of the slider 32 output from the stage mechanism 30 are stored in the storage unit 107. Based on the distance data and the position data of the slider 32, two-dimensional shape data including the two-dimensional shape of the object A1 is generated, and the generated two-dimensional shape data is stored in the storage unit 107 as two-dimensional shape data for comparison.

[0069] (Method 2) After stopping the position of the slider 32 at the reference position of the stator 31, a user such as an instructor manually moves the mobile robot 1 to the vicinity of the workpiece transfer position P1. At the vicinity of the workpiece transfer position P1, the shape of the object A1 is scanned. That is, at the workpiece transfer position P1, the slider 32 is moved in the width direction of the slider 32, and based on the distance data output from the distance measurement sensor 40 and the position data of the slider 32 output from the stage mechanism 30, two-dimensional shape data including the two-dimensional shape of the object A1 is generated. The user checks the two-dimensional shape of the object A1 included in the generated two-dimensional shape data on the display device. Data taking into account the displacement amounts (Δx, Δy, Δθ) of the distances and angles (x, y, θ) required for the two-dimensional shape of the object A1 is stored in the storage unit 107 as two-dimensional shape data for comparison. .

[0070] The distance measurement sensor 40 may be replaced with a sensor having a light quantity measurement function (light quantity detection function). FIG. 14 is a diagram showing an example of the mobile robot 1 according to the embodiment. FIG. 14 shows a view of the mobile robot 1 as seen from above. The mobile robot 1 includes a light quantity measurement sensor 41 having a light quantity measurement function. The light quantity measurement sensor 41 is a sensor that measures an object. The light quantity measurement sensor 41 is provided on the slider 32. The object A1 has a reflective sheet 81 and an absorptive sheet 82. The reflective sheet 81 is a reflective material that reflects light, and the absorptive sheet 82 is an absorptive material that absorbs light. The light quantity measurement sensor 41 irradiates the object A1 with a light beam such as a laser beam, measures the light quantity of the reflected light reflected by the reflective sheet 81 of the object A1, and measures the position of the object A1. That is, the light quantity measurement sensor 41 measures the light quantity of the object A1 and outputs data (position data) regarding the position of the object A1 as measurement data. For example, the light quantity measurement sensor 41 may output the position of the object A1 based on the position of the light quantity measurement sensor 41 as the position data of the object A1. Further, the light quantity measurement sensor 41 outputs data regarding the distance from the light quantity measurement sensor 41 to the object A1, and the control device 10 calculates the position of the object A1 based on the position of the light quantity measurement sensor 41 based on the distance from the light quantity measurement sensor 41 to the object A1, and obtains the position data of the object A1.

[0071] As shown in FIG. 14, by combining the sheet-shaped reflective sheet 81 and the sheet-shaped absorptive sheet 82 to form the object A1, the object A1 can be made to have a flat structure. Thereby, safety is improved. Even when an operator or a cart approaches the flat-shaped object A1, it is suppressed that the clothes of the operator or the cart get caught on the flat-shaped object A1.

[0072] Even when the distance measurement sensor 40 is replaced with the light quantity measurement sensor 41, by performing the same processing as shown in the flowchart of FIG. 4 or the same processing as shown in the flowchart of FIG. 12, interpolation of the errors in the position and orientation of the mobile robot 1 is performed. Hereinafter, the points of change in the processing of S1, S3, and S5 shown in the flowchart of FIG. 4 when the distance measurement sensor 40 is replaced with the light quantity measurement sensor 41 will be described.

[0073] In S1, the control device 10 controls the stage mechanism 30 to move the slider 32 in the width direction of the slider 32, and acquires the measurement data output from the light quantity measurement sensor 41 and the position data of the slider 32 output from the stage mechanism 30. During the period when the power of the mobile robot 1 is ON, measurement data may be output from the light quantity measurement sensor 41. A control signal may be sent from the control device 10 to the light quantity measurement sensor 41, and the light quantity measurement sensor 41 may start outputting measurement data by receiving the control signal. The light quantity measurement sensor 41 may output the position data of the object A1 as the measurement data. The light quantity measurement sensor 41 may output data regarding the distance to the object A1 as the measurement data. The control device 10 may calculate the position of the object A1 based on the data regarding the distance to the object A1 from the light quantity measurement sensor 41, with reference to the position of the light quantity measurement sensor 41, and acquire the position data of the object A1.

[0074] In S1, the control device 10 generates two-dimensional shape data including the two-dimensional shape of the object A1 based on the position data of the object A1 and the position data of the slider 32. Since the light quantity measurement sensor 41 is provided on the slider 32, the control device 10 can calculate the position data of the light quantity measurement sensor 41 from the position data of the slider 32. The control device 10 generates two-dimensional shape data of the object A1 from the position data of the object A1 and the position data of the light quantity measurement sensor 41.

[0075] In S3, the control device 10 controls the stage mechanism 30 to move the slider 32 Move it in the width direction of the slider 32, and acquire the measurement data output from the light quantity measurement sensor 41 and the position data of the slider 32 output from the stage mechanism 30. In S3, based on the position data of the object A1 and the position data of the slider 32 (the position data of the light quantity measurement sensor 41), the control device 10 generates two-dimensional shape data including the two-dimensional shape of the object A1.

[0076] In S5, the control device 10 controls the stage mechanism 30 to move the slider 32 in the width direction of the slider 32, and acquire the measurement data output from the light quantity measurement sensor 41 and the position data of the slider 32 output from the stage mechanism 30. In S5, based on the position data of the object A1 and the position data of the slider 32 (the position data of the light quantity measurement sensor 41), the control device 10 generates two-dimensional shape data including the two-dimensional shape of the object A1.

[0077] Next, the change points of the process of S17 shown in the flowchart of FIG. 12 when the distance measurement sensor 40 is replaced with the light quantity measurement sensor 41 will be described. In S17, "the distance data output from the distance measurement sensor 40" is read as "the measurement data output from the light quantity measurement sensor 41", and "the position data of the slider 32 (the position data of the distance measurement sensor 40)" is read as "the position data of the slider 32 (the position data of the light quantity measurement sensor 41)".

[0078] The distance measurement sensor 40 may be replaced with a sensor having a two-dimensional shape measurement function. FIG. 15 is a diagram showing an example of the mobile robot 1 according to the embodiment. FIG. 15 shows a view of the mobile robot 1 seen from above. The mobile robot 1 includes a two-dimensional shape measurement sensor 42 having a two-dimensional shape measurement function. The two-dimensional shape measurement sensor 42 is a sensor that measures the two-dimensional shape of an object. The two-dimensional shape measurement sensor 42 is provided in the main body portion or the traveling unit 20 of the mobile robot 1. The two-dimensional shape measurement sensor 42 measures the two-dimensional shape of the object A1 and outputs measurement data of the two-dimensional shape of the object A1.

[0079] Even when the distance measurement sensor 40 is replaced with the two-dimensional shape measurement sensor 42, by performing processing similar to the processing shown in the flowchart of FIG. 4 or processing similar to the processing shown in the flowchart of FIG. 12, interpolation of the position and orientation errors of the mobile robot 1 is performed. Hereinafter, the points of change in the processing of S1, S3, and S5 shown in the flowchart of FIG. 4 when the distance measurement sensor 40 is replaced with the two-dimensional shape measurement sensor 42 will be described.

[0080] In S1, the control device 10 acquires measurement data output from the two-dimensional shape measurement sensor 42 and data regarding the position of the two-dimensional shape measurement sensor 42 (position data). While the power of the mobile robot 1 is ON, measurement data may be output from the two-dimensional shape measurement sensor 42. A control signal may be sent from the control device 10 to the two-dimensional shape measurement sensor 42, and the two-dimensional shape measurement sensor 42 may start outputting measurement data upon receiving the control signal. The position data of the two-dimensional shape measurement sensor 42 is stored in advance in the storage unit 107. For example, the position data of the two-dimensional shape measurement sensor 42 may be stored in the storage unit 107 when the mobile robot 1 is shipped.

[0081] In S1, the control device 10 generates two-dimensional shape data including the two-dimensional shape of the object A1 based on the measurement data and the position data of the two-dimensional shape measurement sensor 42.

[0082] In S3, the control device 10 acquires measurement data output from the two-dimensional shape measurement sensor 42 and the position data of the two-dimensional shape measurement sensor 42. In S3, the control device 10 generates two-dimensional shape data including the two-dimensional shape of the object A1 based on the measurement data and the position data of the two-dimensional shape measurement sensor 42.

[0083] In S5, the control device 10 acquires measurement data output from the two-dimensional shape measurement sensor 42 and the position data of the two-dimensional shape measurement sensor 42. In S5, the control device 10 generates two-dimensional shape data including the two-dimensional shape of the object A1 based on the measurement data and the position data of the two-dimensional shape measurement sensor 42.

[0084] Next, the changes in the process of S17 shown in the flowchart of FIG. 12 when the distance measurement sensor 40 is replaced with the two-dimensional shape measurement sensor 42 will be described. In S17, "the distance data output from the distance measurement sensor 40" is read as "the measurement data output from the two-dimensional shape measurement sensor 42", and "the position data of the slider 32 (the position data of the distance measurement sensor 40)" is read as "the position data of the two-dimensional shape measurement sensor 42".

[0085] In FIGS. 3, 5 to 8, and 13, the two-dimensional shapes B1 and B2 of the object A1 are schematically shown by continuous lines (solid lines), but the measurement data is discrete point cloud data. Therefore, the control device 10 (two-dimensional shape generation unit 106) generates two-dimensional shape data including the two-dimensional shape of the object A1 by matching the point cloud data to the two-dimensional shape.

[0086] According to the embodiment, by adding the object A1, which is a small structure, to the workpiece delivery location, the workpiece delivery accuracy can be improved. Since it is not necessary to design the mechanism for delivering the workpiece to allow for the deviation amount of the stop position of the mobile robot 1, there is no need to change the mechanism for delivering the workpiece. Also, when a magnetic tape is installed at the stop position of the mobile robot 1, maintenance is required when the position of the magnetic tape is displaced or damaged. Since the mobile robot 1 does not contact the object A1, the possibility of displacement or damage to the object A1 is low, and there is no need for maintenance work on the object A1 or the frequency of maintenance work on the object A1 is reduced. According to the embodiment, by providing the object A1 with a simple structure at the workpiece delivery location, high-precision delivery of the workpiece can be realized in accordance with the shape characteristics originally provided at the workpiece delivery location. Also, each of the processes described above may be regarded as a control method for the mobile robot 1.

[0087] <Appendix> A self-propelled transport device (1), It has a plurality of rotators (21), and a traveling unit (20) capable of traveling by controlling the forward and reverse rotations of the plurality of rotators. It has a slider (32) on which a workpiece can be placed, and a stage mechanism (30) capable of moving the slider (32) in a direction orthogonal to the straight-ahead direction of the self-propelled transport device (1). Sensors (40, 41, 42) for measuring an object (A1). A generation unit (106) that generates two-dimensional shape data including the two-dimensional shape of the object (A1) based on the measurement data of the object (A1) output from the sensors (40, 41, 42) and data regarding the positions of the sensors (40, 41, 42). A storage unit (107) that stores two-dimensional shape data including the two-dimensional shape of the object (A1) as comparison two-dimensional shape data. Based on the generated two-dimensional shape data and the comparison two-dimensional shape data, a control unit (10, 101) controls the traveling unit (20) to correct the position and orientation of the self-propelled transport device (1), and controls the stage mechanism (30) to correct the position of the slider (32). Comprising Self-propelled transport device (1).

Explanation of Signs

[0088] 1: Mobile robot 2: Conveying system server 3: Device 10: Control device 20: Traveling unit 21: Rotator 30: Stage mechanism 31: Stator 32: Slider 40: Distance measurement sensor 41: Light quantity measurement sensor 42: Two-dimensional shape measurement sensor 50: Loading unit A1: Object P1: Workpiece transfer position P2: Approach position

Claims

1. A self-propelled transport device, comprising: a traveling unit having a plurality of rotating bodies and capable of traveling by controlling the forward and reverse rotations of the plurality of rotating bodies; a stage mechanism having a slider on which a workpiece can be placed and capable of moving the slider in a direction orthogonal to the straight-ahead direction of the self-propelled transport device; a sensor for measuring an object; a generation unit that generates two-dimensional shape data including the two-dimensional shape of the object based on the measurement data of the object output from the sensor and data related to the position of the sensor; a storage unit that stores two-dimensional shape data including the two-dimensional shape of the object, which is comparison two-dimensional shape data; a control unit that controls the traveling unit based on the generated two-dimensional shape data and the comparison two-dimensional shape data to correct the position and orientation of the self-propelled transport device, and controls the stage mechanism to correct the position of the slider; and the object is provided on a slide unit capable of sliding the object; the slide unit slides the object according to a position for delivering the workpiece; a self-propelled transport device.

2. The control unit controls the traveling unit so that the self-propelled transport device moves straight ahead to correct the position of the self-propelled transport device in the straight-ahead direction, or controls the traveling unit so that the self-propelled transport device moves backward to correct the position of the self-propelled transport device in the direction opposite to the straight-ahead direction. The self-propelled transport device according to claim 1.

3. The control unit controls the traveling unit so that the self-propelled transport device turns in a super-reliable manner to correct the orientation of the self-propelled transport device. The self-propelled transport device according to claim 1 or 2.

4. The control unit controls the stage mechanism so that the slider moves in a direction orthogonal to the straight-ahead direction to correct the position of the slider in the direction orthogonal to the straight-ahead direction. The self-propelled transport device according to any one of claims 1 to 3.

5. The control unit corrects the position, orientation, and the position of the slider of the self-propelled transport device so that the two-dimensional shape of the object included in the generated two-dimensional shape data matches the two-dimensional shape of the object included in the comparison two-dimensional shape data. The self-propelled transport device according to any one of claims 1 to 4.

6. The control unit corrects the orientation of the self-propelled transport device so that a predetermined straight line in the two-dimensional shape of the object included in the generated two-dimensional shape data is parallel to a predetermined straight line in the two-dimensional shape of the object included in the two-dimensional shape data for comparison. The self-propelled transport device according to any one of claims 1 to 5.

7. The control unit corrects the position of the self-propelled transport device so that a predetermined straight line in the two-dimensional shape of the object included in the generated two-dimensional shape data overlaps with a predetermined straight line in the two-dimensional shape of the object included in the two-dimensional shape data for comparison. The self-propelled transport device according to any one of claims 1 to 6.

8. The control unit corrects the position of the slider so that a predetermined straight line in the two-dimensional shape of the object included in the generated two-dimensional shape data overlaps with a predetermined straight line in the two-dimensional shape of the object included in the two-dimensional shape data for comparison. The self-propelled transport device according to any one of claims 1 to 7.

9. The object has a convex shape or a concave shape. The self-propelled transport device according to any one of claims 1 to 8.

10. The object has a concavo-convex shape. The control unit analyzes the two-dimensional shape of the object included in the generated two-dimensional shape data to obtain position information indicating a position for delivering the workpiece, and controls the stage mechanism to move the slider based on the position information. The self-propelled transport device according to any one of claims 1 to 8.

11. The sensor is a distance measurement sensor that measures the distance to the object. The self-propelled transport device according to any one of claims 1 to 10.

12. The object has a reflective material that reflects light and an absorbing material that absorbs light. The sensor is a measurement sensor that measures the amount of reflected light reflected by the reflective material and measures the position of the object. The self-propelled transport device according to any one of claims 1 to 10.

13. The sensor is provided on the slider. The self-propelled transport device according to any one of claims 1 to 12.

14. The sensor is a two-dimensional shape measurement sensor that measures the two-dimensional shape of the object. The self-propelled transport device according to any one of claims 1 to 10.

15. The sensor is provided on the main body portion or the traveling portion of the self-propelled transport device. The self-propelled transport device according to any one of claims 1 to 10 and 14.

16. A control method for a self-propelled transport device, wherein the self-propelled transport device includes a traveling unit having a plurality of rotors and capable of traveling by controlling the forward and reverse rotation of the plurality of rotors, a slider on which a workpiece can be placed, and a stage mechanism capable of moving the slider in a direction orthogonal to the straight-ahead direction of the self-propelled transport device, and a sensor for measuring an object. A generation step of generating two-dimensional shape data including the two-dimensional shape of the object based on the measurement data of the object output from the sensor and the data related to the position of the sensor. A control step of controlling the traveling unit to correct the position and orientation of the self-propelled transport device and controlling the stage mechanism to correct the position of the slider based on the generated two-dimensional shape data and two-dimensional shape data including the two-dimensional shape of the object, which is two-dimensional shape data for comparison. including the object is provided on a slide portion capable of sliding the object, the slide portion slides the object according to the position for delivering the workpiece, A control method for a self-propelled transport device.

Images