Cart, transport support system, and transport support method

Abstract

To provide a carriage, a conveyance support system and a conveyance support method for efficiently conveying a conveyance object.SOLUTION: A carriage 20 comprises: a plurality of wheels 24 which can control the rotation direction and speed; a control unit 21 which controls the drive of the plurality of wheels 24 for performing the rectilinear movement and the revolution around a center axis; a mounting surface on which a conveyance object is mounted; a jack 25 which is arranged in a region surrounded by the plurality of wheels 24 and changes a height position of the mounting surface; a camera 26 which photographs the conveyance object; and a region measuring sensor 27 which acquires arrangement information of the periphery. The control unit 21 specifies the conveyance object based on an image acquired from the camera 26, drives the wheels 24 so as to move under the conveyance object by using the arrangement information acquired from the region measuring sensor 27, and mounts the conveyance object on the mounting surface with the jack 25.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a trolley, a transport support system, and a transport support method for transporting an object to be transported at a construction site or the like.

Background Art

[0002] At a construction site, in order to transport materials and equipment, a transport device equipped with a jack may be used. Usually, the materials and equipment are placed on two cross timbers arranged at intervals. Then, the transport device slips between the cross timbers, lifts the materials and equipment from the cross timbers, and performs the transport (see, for example, Patent Document 1). In the technology described in this document, the trolley is equipped with wheels and a jack. The control unit of the trolley controls the rotation direction and speed of the motors to which the wheels are respectively attached, thereby causing the trolley to travel or turn in a predetermined direction (front-back direction, left-right direction, diagonal direction). The control unit drives and controls a pump, raises and lowers the ram of the jack connected to each pump, and raises and lowers the mounting table fixed to the tip of the ram.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the trolley described in Patent Document 1, a magnetic tape (guide member) attached to the floor surface is used. Then, the trolley raises the mounting table at the transport start point and lowers the mounting table at the transport end point of the object to be transported. However, when preparing the guide member, it was difficult to perform efficient transport according to the situation.

Means for Solving the Problems

[0005] The cart for solving the above problems includes a plurality of drive wheels whose rotation direction and speed can be controlled, a control unit for controlling the driving of the plurality of drive wheels in order to perform straight movement and turning around the central axis, a placement surface for placing the object to be transported, a lifting mechanism arranged in the area surrounded by the plurality of drive wheels for lifting and lowering the placement surface, a photographing unit for photographing the object to be transported, and a situation acquisition unit for acquiring the surrounding placement information. Then, based on the image acquired from the photographing unit, the control unit identifies the object to be transported, and using the placement information acquired from the situation acquisition unit, drives the drive wheels so as to move under the object to be transported, and places the object to be transported on the placement surface by the lifting mechanism.

[0006] In addition, the transport support system includes a display unit, drive wheels whose rotation direction and speed can be controlled, a placement surface for placing the object to be transported, a lifting mechanism for lifting and lowering the placement surface, a photographing unit for photographing the object to be transported, and a situation acquisition unit for acquiring the surrounding placement information, and a control unit for giving a transport instruction using a self-propelled cart. Then, the control unit displays an area setting screen including a map where the cart can move on the display unit, acquires area information regarding the arrangement of the transport start area and the transport end area set on the map on the area setting screen, displays a container setting screen for setting the identification information of the container to be transported on the display unit, acquires container information regarding the identification information of the container to be transported on the container setting screen, places the container with the identification information on the placement surface by the lifting mechanism using the photographing unit and the situation acquisition unit on the cart, drives the drive wheels to run, and sends a transport instruction to transport from the transport start area to the transport end area on the map.

Advantages of the Invention

[0007] According to the present invention, the object to be transported can be efficiently transported.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

Figure 20

Figure 21

Figure 22

Figure 23

Figure 24

Figure 25

Mode for Carrying Out the Invention

[0009] Hereinafter, an embodiment in which a cart, a conveyance support system, and a conveyance support method are embodied will be described with reference to FIGS. 1 to 23. As shown in FIG. 1, an administrator terminal 10, a cart 20, and an operator terminal 30 are used. The cart 20 wirelessly transmits and receives data to and from the administrator terminal 10 and the operator terminal 30. The administrator terminal 10 to the operator terminal 30 function as information processing devices.

[0010] (Configuration of the carriage 20) As shown in FIG. 1, the carriage 20 is a conveying device provided with wheels 24 as drive wheels and a jack 25 as a lifting mechanism on a main body portion having a substantially rectangular horizontal cross section. These wheels 24 are controlled by a computer. In the present embodiment, mecanum wheels are used as the wheels 24. By using mecanum wheels, the carriage 20 can be moved forward and backward, laterally, rotated, and diagonally moved at an arbitrary speed.

[0011] The main body portion is composed of a fixed housing portion 201 and a movable housing portion 202. The fixed housing portion 201 is movably supported by the wheels 24 and casters (not shown) of the carriage 20. A plate-shaped mounting surface is provided on the movable housing portion 202. This mounting surface can be changed in height (lifted and lowered) with respect to the fixed housing portion 201 by the jack 25.

[0012] The jack 25 is fixed to the fixed housing portion 201 and is disposed below the mounting surface. The jacks 25 are disposed one by one between the respective wheels 24, and thus are disposed in a region surrounded by the plurality of wheels 24. In the present embodiment, the jacks 25 are arranged in a well-balanced manner with respect to the mounting surface. In the present embodiment, hydraulic jacks are used as the jacks 25.

[0013] Furthermore, the carriage 20 includes a camera 26 as a photographing unit and a ranging sensor 27 as a situation acquisition unit. The camera 26 is supported by an arm 261 (about 50 cm) as a support unit. This arm 261 is rotated by an arm drive unit 262, so that the camera 26 is in an erected state (first height) and a stored state (second height). For this reason, a storage portion 203 is provided between the fixed housing portion 201 and the movable housing portion 202. FIG. 1 shows the erected state.

[0014] As shown in FIG. 2, by rotating the arm 261 by the arm drive unit 262, the camera 26 attached to the arm 261 is housed in the fixed housing unit 201. In this case, the placement surface of the movable housing unit 202 becomes the uppermost end in the carriage 20.

[0015] The camera 26 acquires a two-dimensional image by photographing a visible image in front of the carriage 20. The measurement area sensor 27 is a scanning type optical distance sensor that acquires arrangement information by measuring the distance to a detected object while scanning a laser beam. In the present embodiment, the measurement area sensor 27 uses a two-dimensional scanning type optical distance sensor to acquire two-dimensional arrangement information, but it may be configured to acquire three-dimensional arrangement information by two-axis scanning. Then, using the measurement area sensor 27, an environmental map of the floor is created, the shape of the legs 41 of the container 40 is specified, and obstacles are recognized.

[0016] (Configuration of the container 40) Next, the configuration of the container 40 will be described with reference to FIG. 3. This container 40 is lifted in a state where the equipment 70 to be conveyed is placed on the placement surface of the carriage 20 during conveyance.

[0017] The container 40 is composed of two legs 41 and a top plate portion 42 that bridges between the legs 41. And the equipment 70 is arranged on the upper surface of the top plate portion 42. The width and depth of the top plate portion 42 of the container 40 can be changed, but the front side of the legs 41 is unified in the same shape on the left and right.

[0018] A marker 43a is attached to the front surface of the leg 41, and a marker 43b is attached to the side surface. The markers 43a and 43b include information regarding the container ID for identifying each container 40. The markers 43a and 43b use so-called AR markers, and the distance and angle between the camera that captures the markers can be calculated. Furthermore, the front surface and the side surface of the container 40 have different color schemes.

[0019] (Configuration example of the information processing device) FIG. 4 is an example of the hardware configuration of an information processing apparatus H10 that functions as the administrator terminal 10, the cart 20, the operator terminal 30, and the like.

[0020] The information processing apparatus H10 includes a communication device H11, an input device H12, a display device H13, a storage unit H14, and a processor H15. Note that this hardware configuration is an example, and it may have other hardware.

[0021] The communication device H11 is an interface that establishes a communication path with other devices and performs data transmission and reception, and is, for example, a network interface card, a wireless interface, or the like.

[0022] The input device H12 is a device that receives input from a user or the like, and is, for example, a mouse, a keyboard, or the like. The display device H13 is a display, a touch panel, or the like that displays various information.

[0023] The storage unit H14 is a storage device (for example, the floor map storage unit 12, the setting information storage unit 13, the environment map storage unit 22, the setting information storage unit 23 described later) that stores data and various programs for executing various functions of the administrator terminal 10 to the operator terminal 30. Examples of the storage unit H14 include a ROM, a RAM, a hard disk, and the like.

[0024] The processor H15 controls each process (for example, the processes in the control units 11 and 21 described later) in the information processing apparatus H10 that functions as the administrator terminal 10 to the operator terminal 30 using the programs and data stored in the storage unit H14. Examples of the processor H15 include a CPU, an MPU, and the like. This processor H15 expands the program stored in the ROM or the like into the RAM and executes various processes corresponding to various processes. For example, when the application programs of the administrator terminal 10 to the operator terminal 30 are started, the processor H15 operates a process that executes each process described later.

[0025] Processor H15 is not limited to performing software processing for all the processes it executes. For example, processor H15 may include a dedicated hardware circuit (e.g., an application-specific integrated circuit: ASIC) that performs hardware processing for at least a part of the processes it executes. That is, processor H15 can be configured as a circuitry that includes [1] one or more processors that operate according to a computer program (software), [2] one or more dedicated hardware circuits that execute at least a part of various processes, or [3] a combination thereof. The processor includes a CPU and memories such as a RAM and a ROM, and the memories store program codes or instructions configured to cause the CPU to execute processes. The memory, that is, the computer-readable medium, includes any available medium that can be accessed by a general-purpose or dedicated computer.

[0026] (Functions of the administrator terminal 10) Next, the functions of the administrator terminal 10 will be described with reference to FIG. 5. The administrator terminal 10 is a computer terminal (transport support system) used by an administrator of the cart 20. Using this administrator terminal 10, a transport instruction is given to the cart 20. The administrator terminal 10 includes a control unit 11, a floor map storage unit 12, and a setting information storage unit 13.

[0027] The control unit 11 executes information processing such as a setting management stage, an area setting stage, a route setting stage, and a container setting stage. For this purpose, a transport instruction program is stored in the control unit 11. By starting this transport instruction program, the control unit 11 functions as a setting management unit 110, an area setting unit 111, a route setting unit 112, and a container setting unit 113.

[0028] The setting management unit 110 executes a process of managing a user interface for performing various settings of the area, the route, and the container 40. The area setting unit 111 executes a process of setting each area related to conveyance in the floor layout diagram. In the present embodiment, a stock area, a goal area, an empty area, a return area, a home position, etc. are set.

[0029] The stock area is a conveyance start area at the origin of conveyance where the container 40 is loaded (jacked up) and conveyance is started. The goal area is a conveyance end area at the destination of conveyance where the container 40 is unloaded (jacked down) and conveyance is ended. The empty area corresponds to the goal area and is a place where the empty container after conveyance is temporarily placed, and the empty container is collected here. The return area corresponds to the stock area and is a place where the collected empty container is returned. The home position is a place where the cart 20 that has finished the conveyance work returns.

[0030] The route setting unit 112 executes a process of setting the movement route of the cart 20 in the floor layout diagram. For example, in the stock area, a route for placing the container 40 and unloading it at the goal area is set. Also, it is possible to set a route for placing the empty container in the empty area near the goal area, returning it to the return area near the stock area, and then returning to the home position.

[0031] The container setting unit 113 executes a process of setting the container 40 to be conveyed. Further, the container setting unit 113 executes a process of setting the origin area and the destination area of this container 40.

[0032] As shown in FIG. 7, the floor map storage unit 12 stores the floor map 120 of each floor of the building using the cart 20. This floor map 120 records the layout (arrangement) of obstacles 122 such as walls 121 and columns, and temporary elevators 123, etc. in two-dimensional coordinates for each floor in a building composed of multiple floors.

[0033] The setting information storage unit 13 stores various information used in the administrator terminal 10. Specifically, area information, route information, container information, option information, etc. are recorded in the setting information storage unit 13.

[0034] In the area information, the arrangement of each area set for the two-dimensional coordinates of the floor map is recorded. For example, the arrangements of the stock area, goal area, home position, empty area, return area, etc. are set. In the area information of each area, the area coordinates are recorded for the area identifier. Further, in this area information, the entry direction to each area is set. The details of each setting will be described later.

[0035] In the route information, the movement order between each area set in the floor map is recorded. In the container information, information regarding the container 40 transported by the cart 20 is recorded. Specifically, in the container information, the container ID, the size of the object to be transported, the stock area ID, the goal area ID, and information regarding the landing position and orientation are recorded. Note that for the size of the object to be transported, the larger of the sizes of the container 40 and the capital equipment 70 is used. In the option information, information regarding the transport order of the container 40 and the end condition of the transport is recorded.

[0036] (Function of the cart 20) Next, the function of the cart 20 will be described with reference to FIG. 6. The cart 20 includes a control unit 21, an environmental map storage unit 22, and a setting information storage unit 23. As described above, further, the cart 20 includes wheels 24, a jack 25, a camera 26, an arm 261, an arm drive unit 262, and a ranging sensor 27.

[0037] Each wheel 24 is driven by a wheel drive unit 241 respectively, and the rotation speed and rotation direction are controlled. The wheel drive unit 241 includes a motor and a wheel encoder. Thereby, the cart 20 can be moved forward and backward, laterally, turned, and diagonally moved at an arbitrary speed. Each jack 25 is controlled for lifting and lowering by a jack drive unit 251 respectively. Thereby, the mounting surface of the carriage 20 can be lifted or lowered. The arm drive unit 262 rotates an arm 261 with a camera 26 attached to its tip.

[0038] The control unit 21 executes information processing such as in the map creation stage, the travel control stage, and the loading control stage. For this reason, a conveyance execution program is stored in the control unit 21. By starting this conveyance execution program, the control unit 21 functions as a map creation unit 211, a travel control unit 212, and a loading control unit 213.

[0039] When a floor map is registered, the map creation unit 211 runs automatically on each floor in advance and executes the generation process of an environmental map including the arrangement of obstacles using the measurement area sensor 27. The travel control unit 212 drives the wheels 24 and executes the process of moving to a destination (the conveyance source, the conveyance destination). In this case, the travel control unit 212 determines the travel route to under the conveyance target object (container) specified by the loading control unit 213, and drives the wheels 24 according to this travel route.

[0040] The loading control unit 213 specifies a container 40 on which a conveyance target object is placed in the stock area and executes the process of loading. In the present embodiment, the conveyance target object is specified by image recognition including the color scheme and shape of the container 40, and reading of a marker attached to the container 40. Further, it gets under the specified conveyance target object and raises and lowers the mounting surface of the carriage 20.

[0041] As shown in FIG. 8, an environmental map 220 created by the map creation unit 211 is recorded in the environmental map storage unit 22. This environmental map is recorded for each floor. In the environmental map 220, the layout of each floor is set. In the environmental map 220, corresponding to the walls 121 to the temporary elevator 123 of the floor map 120, the arrangements of the walls 221, obstacles 222, temporary elevators 223, etc. measured using the measurement range sensor 27 are recorded. In this environmental map 220, a prohibited entry area 225 is set according to the sizes of the cart 20 and the container 40. Here, the map creation unit 211 sets the prohibited entry area 225 at a distance at which a container of the size recorded in the container information collides with buildings or obstacles such as the walls 221 to the temporary elevator 223. The area excluding this prohibited entry area 225 becomes the drivable area.

[0042] In the setting information storage unit 23, the setting information set on the administrator terminal 10 and recorded in the setting information storage unit 13 is recorded. The operator terminal 30 is a computer terminal used by an operator who operates the lifting of the cage of the temporary elevator. By using the operator terminal 30, instructions for boarding and alighting the cart 20 to / from the cage of the temporary elevator are given via wireless communication.

[0043] (Registration process of conveyance instruction) Next, with reference to FIGS. 9 to 11, the registration process of the conveyance instruction in the above-described cart 20 will be described. This registration process of the conveyance instruction is performed in the order of the conveyance route setting process, the container setting process, and the conveyance destination setting process using the administrator terminal 10. In the conveyance route setting process, the areas of the conveyance source and the conveyance destination within the site and the route therebetween are set. In the container setting process, the classification of the container 40 based on the size and the assignment of the two-dimensional code are set. In the conveyance destination setting process, the assignment of the container 40 to the conveyance destination area and the position / orientation are set.

[0044] (Conveyance route setting process) With reference to FIG. 9, the conveyance route setting process will be described. First, the control unit 11 of the administrator terminal 10 executes area setting processing (step S1-1). Specifically, in the administrator terminal 10, when a setting instruction for the conveyance path is input, the setting management unit 110 of the control unit 11 outputs a setting screen. Using this setting screen, input the presence or absence of a temporary elevator, the presence or absence of collecting empty containers, and the number of destinations. In this case, the setting management unit 110 sets each area of the stock area (S) at the conveyance source, the goal area (G*) at the destination, and the home position (H). Further, if necessary, each area of the empty area (E*), the return area (R), and the temporary elevator (ELV) is set. Note that "*" is a number for identifying each area when setting a plurality of goal areas and empty areas. Then, the area setting unit 111 records area information including the coordinates of each arranged area in the setting information storage unit 13.

[0045] Next, the control unit 11 of the administrator terminal 10 executes path setting processing (step S1-2). Specifically, the path setting unit 112 of the control unit 11 links each area to set a conceptual conveyance path. Here, a round-trip path (link) between the stock area (S) and the goal area (G*) and a path returning to the home position (H) are set. When the empty area (E*) and the return area (R) are set, the path setting unit 112 adds a path that stops at the empty area (E*) and the return area (R) in the return path from the goal area (G*) to the stock area (S). Also, when the floors of the stock area (S) and the goal area (G*) are different, the path setting unit 112 sets a path using the temporary elevator (ELV) in the round-trip path.

[0046] Fig. 15 shows the conceptual transport routes when a temporary elevator is not used, and Fig. 16 shows the conceptual transport routes when a temporary elevator is used. Fig. 15(a) shows the conceptual transport route when there is one goal area and empty containers are not collected, Fig. 15(b) shows the case when there is one goal area and empty containers are collected, Fig. 15(c) shows the case when there are two goal areas and empty containers are not collected, and Fig. 15(d) shows the conceptual transport route when there are two goal areas and empty containers are collected. Fig. 16(a) shows the conceptual transport route when there is one goal area and empty containers are not collected, Fig. 16(b) shows the case when there is one goal area and empty containers are collected, Fig. 16(c) shows the case when there are two goal areas and empty containers are not collected, and Fig. 16(d) shows the conceptual transport route when there are two goal areas and empty containers are collected. When collecting empty containers with the cart 20, an empty area (E*) and a return area (R) are required. In Fig. 15, the line segments (links) indicate the routes, and the triangular icons indicate the traveling directions. The facing directions of the triangular icons indicate that the outbound and inbound routes overlap. The round icons provided in each area (S, G*, E*, R, ELV) indicate the approaches (stop positions) to each area, and the cart 20 stops once at this node position before entering each area.

[0047] Next, the control unit 11 of the administrator terminal 10 executes a map acquisition process (step S1-3). Specifically, the map creation unit 211 of the control unit 21 arranges each area (S, G*, E*, R, ELV, H) on the floor map 120 of each floor recorded in the floor map storage unit 12.

[0048] Next, the control unit 11 of the administrator terminal 10 executes an area / route modification process (step S1-4). Specifically, the setting management unit 110 of the control unit 11 allows modification of the position, size, orientation, etc. of each area set on the administrator terminal 10. For example, when the area setting unit 111 detects the selection of an area (S, G*, E*, R, ELV) on the setting screen, a modification handle is displayed for the selected area.

[0049] Figure 17 illustrates the handles for modifying the stock area (S), and the same applies to other areas. These handles for modification include a movement handle h1, a rotation handle h2, a resize handle h3, and an approach handle h4. The movement handle h1 is used when moving an area. In this case, the approach also moves simultaneously.

[0050] The rotation handle h2 is used when rotating an area. In this case, the approach also rotates simultaneously. The resize handle h3 is used when changing the size of an area. In this case, the approach moves while maintaining the width ratio.

[0051] The approach handle h4 is used when changing the position and length of an approach that pauses briefly before entering each area. Then, the area setting unit 111 updates the area information in the setting information storage unit 13 based on the modified area.

[0052] Also, when the path setting unit 112 detects the selection of a link triangle on the setting screen, it outputs a pop-up menu. If "Create Vertex" is selected in this pop-up menu, the path setting unit 112 adds a new node (passing point) at the selection position of the link. A movement handle is displayed for this node and it can be moved by dragging. Note that if "Delete Vertex" is selected in the pop-up menu, the path setting unit 112 deletes the selected node. Then, the path setting unit 112 updates the path information in the setting information storage unit 13 based on the modified path.

[0053] Figure 18 shows an example where areas and paths are set on a layout map. Figure 18(a) is a floor with a stock area (S) set, and Figure 18(b) is a floor with a goal area (G*) set. In this example, by moving the empty areas E1, E2 and overlapping them at the same position, one common empty area is set.

[0054] (Container setting process) Next, the container setting process will be described with reference to FIG. 10. First, the control unit 11 of the administrator terminal 10 executes the display process of the container setting screen (step S2-1). Specifically, when a container setting instruction is input on the administrator terminal 10, the setting management unit 110 of the control unit 11 outputs the container setting screen.

[0055] As shown in FIG. 19, the container setting screen 510 is provided with a new type creation area 511, container setting areas 512 for standard container A, standard container B, and long type container, and an unused container area 515. The new type creation area 511 is an area for setting a container type of a new size. Each container setting area 512 is an area for allocating container icons 516 of container types of different sizes. The unused container area 515 is an area where container icons 516 to which no container type is allocated are arranged.

[0056] Next, the control unit 11 of the administrator terminal 10 executes the allocation process of the container (step S2-2). Specifically, when allocating a type to a container, the container icon 516 in the unused container area 515 is dragged to each container setting area 512.

[0057] When creating a new type of container, the container icon 516 in the unused container area 515 is dragged to the new type creation area 511. In this case, the container setting unit 113 displays a dialog for setting the width, depth, height, and name. When the specifications of the container are set in the dialog, the container setting unit 113 records the size (width, depth, height) and name of the object to be transported in the container information for each container ID. Then, the container setting unit 113 generates a container setting area 512 for the new container type on the container setting screen 510. Then, the container setting unit 113 records the size (width, depth, height) and name in the container information for each container ID in the setting information storage unit 13.

[0058] (Setting process for the destination) Next, the setting process for the destination will be described with reference to FIG. 11. First, the control unit 11 of the administrator terminal 10 executes the setting process for the destination area of the container (step S3-1). Specifically, when a setting instruction for the destination is input in the administrator terminal 10, the setting management unit 110 of the control unit 11 outputs a destination setting screen.

[0059] As shown in FIG. 20, the destination setting screen 520 includes a layout map area 521, an unset destination area 522, a goal area G1 area 523, and a goal area G2 area 524. The setting management unit 110 displays the layout map of the floor where the goal area is set in the layout map area 521. The goal areas G1 and G2 are set in this layout map area 521. In addition, the setting management unit 110 displays the goal area G1 area 523 and the goal area G2 area 524 according to the number of goal areas recorded in the setting information storage unit 13. When there is only one goal area, which is the goal area G1, the setting management unit 110 arranges and displays all the container icons in the goal area G1 area 523.

[0060] When setting the destination of each container, drag the container icon 525 in the unset destination area 522 to either the goal area G1 area 523 or the goal area G2 area 524. FIG. 20 assumes the case where the containers with container IDs (102, 104, 106, 108, 110) are transported to the goal area G2.

[0061] It is also possible to set the landing position and orientation of the container 40. In this case, the control unit 11 of the administrator terminal 10 executes the setting process for the position and orientation of the container (step S3-2). Specifically, the container icon 525 displayed in the goal area G1 region 523 and the goal area G2 region 524 is selected, and the "Specify Position and Orientation" button 528 is selected. In this case, the setting management unit 110 displays a movement handle and a rotation handle on the selected container icon in the layout map area 521. Using this movement handle and rotation handle, the position and orientation of the container can be set. When the setting is completed, the setting management unit 110 records information regarding the specified position and orientation in the container information.

[0062] When all the container icons 525 arranged in the unassigned destination area 522 are arranged in the goal area G1 region 523 and the goal area G2 region 524 and the setting of the delivery destination is completed, the setting management unit 110 records the container information in the setting information storage unit 13 and changes the transport start icon 527 to be selectable.

[0063] Then, the control unit 11 of the administrator terminal 10 executes the transport instruction process (step S3-3). When the transport instruction button is selected, the setting management unit 110 of the control unit 11 checks the following conditions.

[0064] · The transport route has been created. · There is at least one stock area, one goal area, and one home position. · At least one container ID is assigned to a valid container type. · When there are multiple delivery destinations, the delivery destination is set for all dedicated containers.

[0065] Next, the setting management unit 110 outputs a setting screen for the conveyance order and end conditions. On this setting screen, "None specified", "Ascending order of container ID", and "Descending order of container ID" can be selected as the conveyance order using radio buttons. Also, the "end condition" is a condition for the cart 20 to determine the end of work and return to the home position. As the end conditions, "Conveyance of a predetermined container", "No container in the stock area", and "No container in the empty area" can be selected using check boxes for AND conditions.

[0066] When the conveyance order and end conditions are set, the setting management unit 110 records the option information including the conveyance order and end conditions in the setting information storage unit 13. Then, when all the settings are completed, the setting management unit 110 sends a conveyance start instruction to the cart 20. This conveyance start instruction includes the area information, route information, container information, and option information recorded in the setting information storage unit 13.

[0067] (Conveyance management process) Next, the conveyance management process will be described with reference to FIG. 12. First, the control unit 21 of the cart 20 executes standby processing at the home position (step S4-1). Specifically, the travel control unit 212 of the control unit 21 waits for the reception of a conveyance start instruction from the administrator terminal 10 at the home position.

[0068] Next, the control unit 21 of the cart 20 executes acquisition processing of the conveyance start instruction (step S4-2). Specifically, the travel control unit 212 of the control unit 21 acquires a conveyance start instruction from the administrator terminal 10. The travel control unit 212 records the area information, route information, container information, and option information of the conveyance start instruction acquired from the administrator terminal 10 in the setting information storage unit 23.

[0069] Next, the control unit 21 of the carriage 20 executes the movement process to the source (step S4-3). Specifically, the travel control unit 212 of the control unit 21 controls the wheel drive unit 241 to move to the stock area of the source using the setting information recorded in the setting information storage unit 23. In this case, in order to improve the accuracy of travel, the map creation unit 211 operates the ranging sensor 27 to travel while updating the environmental map. In the creation of this environmental map, the surrounding shape data is acquired, a SLAM (Simultaneous Localization and Mapping) map corresponding to the floor map is created, and recorded in the environmental map storage unit 22. Then, the estimation of the self-position of the carriage 20 uses the environmental map and the odometry information. This odometry information is calculated from the counter value of the wheel encoder of the wheel drive unit 241.

[0070] Next, the control unit 21 of the carriage 20 executes the loading process (step S4-4). Specifically, when the loading control unit 213 of the control unit 21 arrives at the approach (waiting position) of the stock area, it recognizes the container 40, approaches the container 40, selects the container 40, and dives into the container 40. Details will be described later.

[0071] Next, the control unit 21 of the carriage 20 executes the movement process to the destination (step S4-5). Specifically, the travel control unit 212 of the control unit 21 uses the setting information recorded in the setting information storage unit 23 to identify the goal area of the destination of the container 40, and controls the wheel drive unit 241 according to the route information to this goal area. Also in this case, similar to step S4-3, the environmental map is created by the ranging sensor 27, and the environmental map and the odometry information are used for the estimation of the self-position. The processing in the case where a temporary elevator (ELV) is set in the route information of the setting information storage unit 23 will be described later.

[0072] Next, the control unit 21 of the carriage 20 executes the unloading process (step S4-6). Specifically, the loading control unit 213 of the control unit 21 lands the container 40 in the destination area. In this case, when the position and orientation of the container 40 in the destination area are recorded in the setting information recorded in the setting information storage unit 23, the travel control unit 212 drives the wheels 24 so as to be in this position and orientation. Then, the loading control unit 213 drives the arm drive unit 262, rotates the arm 261, raises the height of the camera 26, and secures the field of view.

[0073] Next, the control unit 21 of the carriage 20 executes the empty container return process (step S4-7). Specifically, the travel control unit 212 of the control unit 21 determines whether an empty area (E*) is set in the route information recorded in the setting information storage unit 23. And when the empty area (E*) is set, the travel control unit 212 controls the wheel drive unit 241 to move to the empty area. Then, the loading control unit 213 checks whether there is a container 40 arranged in the empty area. When the loading control unit 213 detects an arbitrary container 40 in the empty area, similar to step S4-4, it performs recognition of the container 40, approach to the container 40, selection of the container 40, and diving into the container 40. Then, the travel control unit 212 controls the wheel drive unit 241 to move to the return area (R) set in the route information recorded in the setting information storage unit 23. Next, the loading control unit 213 of the control unit 21 lands the container 40 in the return area in the same manner as in step S4-6.

[0074] Next, the control unit 21 of the carriage 20 executes the process of moving to the home position (step S4-8). Specifically, the travel control unit 212 of the control unit 21 controls the wheel drive unit 241 to move to the home position (H) set in the route information recorded in the setting information storage unit 23.

[0075] (Loading process) Next, the loading process will be described with reference to FIG. 13. Here, the control unit 21 of the carriage 20 executes a container search process (step S5-1). Specifically, the loading control unit 213 of the control unit 21 drives the arm drive unit 262 to rotate the arm 261 and raise the height of the camera 26 to secure a field of view. In this state, the loading control unit 213 rotates the carriage 20 360 degrees on the spot, and during this process, lists the containers 40 that can be detected by the camera 26 together with the relative position information viewed from the camera 26. Here, for the recognition of the container 40, the color information of the container is used. In this case, the loading control unit 213 improves the recognition accuracy through various pre-processings (image resizing, hue conversion, noise removal, etc.) and post-processings (noise removal, filtering, etc.). Then, the loading control unit 213 discriminates between the front and side colors of the container 40 to distinguish the front where it is possible to sneak in from the side where it is not possible to sneak in.

[0076] Next, the control unit 21 of the carriage 20 executes a marker reading process (step S5-2). Specifically, the loading control unit 213 of the control unit 21 specifies the marker 43a of each container 40 in the captured image by the camera 26. Then, the loading control unit 213 decodes the container ID of the marker 43a.

[0077] Next, the control unit 21 of the carriage 20 executes a conveyance material identification process (step S5-3). Specifically, the loading control unit 213 of the control unit 21 assigns priorities to the detected containers 40 in ascending order of the distance from the carriage 20. When the conveyance order is recorded in the option information of the setting information storage unit 23, priorities are assigned according to the conveyance order using the container ID. Then, the loading control unit 213 performs travel control targeting a position where it is possible to sneak in for the container 40 with a high priority. During travel, the estimated position of the container 40 is corrected at any time.

[0078] Next, the control unit 21 of the carriage 20 executes the movement process of the conveyed material to the front (step S5-4). Specifically, the loading control unit 213 of the control unit 21 calculates the distance and angle between the marker 43a and the camera 26. In this case, the loading control unit 213 calculates an approximate distance to the container 40 from the resolution, viewing angle, installation angle, etc. of the camera. Then, while looking at the relative position with the marker 43a, the loading control unit 213 drives each wheel 24 and moves to a position facing the marker 43a (the front of the container 40).

[0079] For example, as shown in FIG. 21, when the carriage 20 is in the arrangement P1 at a position and orientation laterally displaced from the front of the container 40, as shown in FIG. 22(a), the shape of the marker 43a included in the captured image changes according to the displacement amount. Therefore, when the marker 43a of the container ID of the object to be conveyed is detected, the carriage 20 moves to the arrangement P2 shown in FIG. 21 so that the deformation of the captured marker 43a is reduced, as shown in FIG. 22(b).

[0080] When facing the marker 43a, the loading control unit 213 moves straight ahead toward the container 40. Note that for obstacle avoidance, the target container 40 may move out of the viewing field of the camera 26. It is difficult to always align the direction while moving forward while constantly looking at the container 40. For this reason, the loading control unit 213 arranges the carriage 20 and the container 40 on the absolute coordinate plane, estimates its own position on the coordinate plane of the carriage 20, and travels to the front of the container 40.

[0081] Next, the control unit 21 of the carriage 20 executes the camera storage process (step S5-5).

[0082] Specifically, as shown in FIG. 23(a), when the carriage 20 arrives at the approach of the container 40, as shown in FIG. 23(b), the loading control unit 213 of the control unit 21 drives the arm driving unit 262, rotates the arm 261, and stores the camera 26 in the fixed housing unit 201.

[0083] Next, the control unit 21 of the carriage 20 executes the detection process of the bottom of the container (step S5-6). Specifically, the loading control unit 213 of the control unit 21 uses the measurement range sensor 27 to capture the shape of the legs 41 of the container 40 and perform travel control. Here, when diving into the container 40, the inner surfaces of the left and right legs 41 are captured, and the travel is corrected so as to be equidistant from both inner surfaces. Then, the loading control unit 213 identifies the positions where the left and right inner surfaces are interrupted, and when the relative position with the carriage 20 becomes constant, it determines that it has reached the central position under the container 40 and ends the straight travel.

[0084] Next, the control unit 21 of the carriage 20 executes the lift-up process (step S5-7). Specifically, the loading control unit 213 of the control unit 21 drives the jack drive unit 251, and uses the jack 25 to lift the container 40 on which the object to be transported is placed and load it onto the placement surface.

[0085] (Elevator use process) Next, with reference to FIG. 14, the elevator use process will be described. This process is performed when a temporary elevator (ELV) is set in the route information recorded in the setting information storage unit 23.

[0086] First, the control unit 21 of the carriage 20 executes the movement process to in front of the elevator (step S6-1). Specifically, the travel control unit 212 of the control unit 21 controls the wheel drive unit 241 to move to the approach (stop position) of the temporary elevator (ELV) in the route information recorded in the setting information storage unit 23.

[0087] Next, the control unit 21 of the carriage 20 executes the standby process for the boarding instruction (step S6-2). Specifically, the travel control unit 212 of the control unit 21 stops at the position approaching the temporary elevator (ELV) until it acquires the boarding instruction.

[0088] Then, the control unit 21 of the carriage 20 executes the elevator boarding process (step S6-3). Specifically, when the car of the temporary elevator arrives, the operator who operates the temporary elevator wirelessly connects the carriage 20 and the operator terminal 30. In this case, the travel control unit 212 of the control unit 21 transmits the floor information (disembarkation floor) with the goal area set to the operator terminal 30. Then, the operator who has confirmed the disembarkation floor uses the operator terminal 30 to send a boarding instruction to the carriage 20. In this case, the travel control unit 212 controls the wheel drive unit 241 to move into the car of the temporary elevator (ELV). Then, the carriage 20 stops traveling inside the car.

[0089] Next, the control unit 21 of the carriage 20 executes the standby process for the disembarkation instruction (step S6-4). Specifically, the travel control unit 212 of the control unit 21 waits until a disembarkation instruction is acquired from the operator terminal 30.

[0090] Next, the control unit 21 of the carriage 20 executes the elevator disembarkation process (step S6-5). Specifically, when arriving at the disembarkation floor, the operator uses the operator terminal 30 to send a disembarkation instruction to the carriage 20. In this case, the travel control unit 212 controls the wheel drive unit 241 to move from the car of the temporary elevator (ELV) to the floor of the disembarkation floor. Then, the travel control unit 212 controls the wheel drive unit 241 to move to the goal area at the disembarkation floor.

[0091] According to this embodiment, the following effects can be obtained. (1) In this embodiment, the carriage 20 is provided with wheels 24 and a jack 25. The control unit 21 of the carriage 20 controls the rotation direction and speed of the wheels 24 to cause the carriage 20 to travel or turn in a predetermined direction (front-back direction, left-right direction, diagonal direction). Further, the control unit 21 raises and lowers the mounting surface by means of the jack 25. That is, by individually controlling the rotation direction and speed of the wheels 24, it is possible to change the traveling direction of the carriage 20 or perform a turn about the center of the carriage 20 on the spot. Also, by raising and lowering the mounting surface by means of a plurality of jacks 25, it is possible to load and unload the capital equipment 70 on the spot. Therefore, even in a narrow space, efficient conveyance is possible.

[0092] (2) In this embodiment, the carriage 20 is provided with a camera 26 and a ranging sensor 27. The container 40 can be recognized by the camera 26. Further, by means of the ranging sensor 27, it is possible to create an environmental map of the floor, identify the shape of the legs 41 of the container 40, recognize obstacles, and perform accurate traveling.

[0093] (3) In this embodiment, the camera 26 is attached to an arm 261, and the height position of the camera 26 can be changed by rotating the arm 261 by means of an arm drive unit 262. Thereby, a wide field of view can be secured at a high position during traveling, and when diving into the container 40, it does not become an obstacle to the dive.

[0094] (4) In this embodiment, the container 40 is composed of two legs 41 and a top plate portion 42 that bridges between the legs 41. By jacking up this top plate portion 42 with the jack 25, it is possible to convey the container 40 together with the capital equipment 70 placed thereon. Then, since the container 40 is landed at the conveyance destination, it is not necessary to prepare a pallet or the like for placing the capital equipment at the conveyance destination.

[0095] (5) In this embodiment, a marker 43a is attached to the front surface of the leg portion 41, and a marker 43b is attached to the side surface. The markers 43a and 43b contain information regarding the container ID for identifying each container 40. By decoding the markers 43a and 43b, the container 40 to be transported can be specified.

[0096] (6) In this embodiment, the front surface and the side surface of the container 40 have different color schemes. Based on the image recognition of the photographed image by the camera 26 according to this color scheme, the front surface or the side surface of the container 40 can be identified.

[0097] (7) In this embodiment, the control unit 11 of the administrator terminal 10 executes a setting process for the transport route. In this case, on the setting screen, the stock area (S) of the transport source, the goal area (G*) of the transport destination, and the home position (H) can be efficiently set by the GUI. Further, when each area is set, a link connecting each area is set, so that a conceptual transport route can be efficiently generated.

[0098] (8) In this embodiment, the control unit 11 of the administrator terminal 10 executes a setting process for the container. In this case, on the setting screen, the size and the container ID of the container 40 can be set by the GUI. Thereby, the control unit 21 of the cart 20 can grasp the sizes of the container 40 and the capital equipment 70 to be placed, and can specify the travelable area in the environmental map.

[0099] (9) In this embodiment, the control unit 11 of the administrator terminal 10 executes a setting process for the transport destination. In this case, on the setting screen, the transport destination and the landing arrangement can be set by the GUI.

[0100] (10) In this embodiment, the control unit 21 of the carriage 20 executes the loading process (step S4-4). Here, recognition of the container 40, approach to the container 40, selection of the container 40, and entry into the container 40 are performed. Thereby, even when a plurality of containers 40 are arranged in the stock area, an appropriate container 40 can be selected and transported. Further, the control unit 21 of the carriage 20 executes the movement process to the front of the transport material (step S5-4), the camera storage process (step S5-5), and the detection process of the bottom of the container (step S5-6). Thereby, in consideration of the structure of the container 40, entry and lifting can be performed according to the situation of the container 40.

[0101] (11) In this embodiment, the control unit 21 of the carriage 20 executes the empty container return process (step S4-7). Thereby, it can be transported to the goal area, and the used empty container can be moved to the empty area, and then returned to the return area and used for a new transport in the stock area.

[0102] (12) In this embodiment, the control unit 21 of the carriage 20 executes the elevator use process. Thereby, even when the stock area and the goal area are on different floors, it can be transported using the temporary elevator according to the operator's instruction.

[0103] This embodiment can be implemented with the following modifications. This embodiment and the following modification examples can be implemented in combination with each other as long as there is no technical conflict. · The carriage 20 in the above embodiment uses mecanum wheels as the drive wheels. As the drive wheels of the carriage 20, as long as the wheels can perform at least straight movement and turning around the central axis by controlling the rotation direction and speed, it is not limited to mecanum wheels, and omni wheels (registered trademark) may be used. Here, as long as at least straight movement and turning around the central axis can be performed by controlling the rotation direction and speed, the number of wheels attached to the carriage is not limited to four, and for example, in the case of omni wheels, it may be three or the like.

[0104] · In the above-described embodiment, the carriage 20 arranges the jacks 25 between each of the wheels 24 as drive wheels. The jacks 25 of the carriage only need to be arranged between the drive wheels (inside the drive wheels), and are not limited to the same number as the number of drive wheels. For example, there may be only one at the center of the carriage 20. In this case, it is desirable that the plurality of jacks 25 are evenly arranged with respect to the mounting surface. Thereby, the upper surface of the mounting surface can be raised and lowered horizontally, and the load from the mounting surface can be evenly distributed.

[0105] · In the above-described embodiment, the control unit 21 of the carriage 20 executes the movement process to the conveyance source (step S4-3). In this case, the map creation unit 211 operates the measurement area sensor 27 and executes the creation of the environment map in parallel. In addition to this, an environment map may be created when the map acquisition process (step S2-3) is executed. In this case, the control unit 11 of the administrator terminal 10 transmits an environment map creation instruction to the carriage 20. This creation instruction includes the floor map 120. Then, the map creation unit 211 of the control unit 21 of the carriage 20 operates the measurement area sensor 27 while self-driving on each floor to create an environment map. Then, the map creation unit 211 records the created environment map in the environment map storage unit 22.

[0106] · In the above-described embodiment, by rotating the arm 261 by the arm drive unit 262, the camera 26 attached to the arm 261 is placed in a housed state in the fixed housing unit 201. Instead of rotating the arm 261, it may be extended and retracted to change the height of the camera 26. For example, a telescopic structure in which hollow similar cylinders are built in inside in order of size, and the collar inside the large cylinder and the collar outside the small cylinder are joined can also be used.

[0107] · In the above-described embodiment, the carriage 20 includes the camera 26. The camera 26 used for image recognition is not limited to one. For example, as shown in FIG. 24, a camera 26b may be provided at a lower position (on the side surface of the carriage 20) with respect to the camera 26 at the upper position. In this case, when the camera 26 is stored, image recognition is performed using the camera 26b. Further, the color of the container 40 may be searched for by the camera 26, and the marker may be decoded by the camera 26b. Also, in the above embodiment, the control unit 21 of the carriage 20 executes the container search process (step S5-1) and the marker reading process (step S5-2). In this case, the camera 26b may be used.

[0108] ·In the above embodiment, in the area setting process (step S1-1), the area of the temporary elevator (ELV) is set. The elevator is not limited to being temporary, and an existing elevator may be used.

[0109] ·In the above embodiment, the height position of the mounting surface of the movable housing portion 202 is changed using the jack 25 fixed to the fixed housing portion 201. The method of changing the height position is not limited to the method using the jack 25. For example, the height position of the mounting surface may be relatively changed by raising and lowering each wheel 24. For example, as shown in FIG. 25(a), a lifting / lowering portion 242 (lifting / lowering mechanism) for raising and lowering each wheel 24 is attached to the movable housing portion 202. This lifting / lowering portion 242 is provided between the wheels 24 for each wheel 24. And for the lifting / lowering portion 242, a rack and pinion mechanism for converting the rotational force of the motor into linear movement or a telescopic mechanism by an actuator can be used. Also, the wheel box storing the wheels 24 may be fixed to the movable housing portion 202 by a rotatable support member, and the wheels 24 may be made to protrude from the movable housing portion 202 by rotating this support member. In this case, the storage portion 203 for the camera and the ranging sensor is attached to the movable housing portion 202. Then, from the state where the mounting surface shown in FIG. 25(a) is lowered, as shown in FIG. 25(b), the height of the mounting surface of the movable housing portion 202 is increased by pushing down each wheel 24 using the lifting / lowering portion 242.

Explanation of Reference Numerals

[0110] 10…Manager terminal, 11…Control unit, 110…Setting management unit, 111…Area setting unit, 112…Route setting unit, 113…Container setting unit, 12…Floor map storage unit, 13…Setting information storage unit, 20…Cart, 21…Control unit, 211…Map creation unit, 212…Travel control unit, 213…Loading control unit, 22…Environment map storage unit, 23…Setting information storage unit, 201…Fixed housing part, 202…Movable housing part, 203…Storage part, 24…Wheel, 25…Jack, 26…Camera, 27…Range sensor, 30…Operator terminal, 40…Container, 41…Leg part, 42…Top plate part, 43a, 43b…Marker, 70…Materials and equipment.

Claims

1. A drive wheel capable of controlling the rotation direction and speed, A carriage control unit for controlling the drive of the drive wheel, A placement surface for placing an object to be conveyed, A lifting mechanism for changing the height position of the placement surface, An imaging unit for imaging an object to be conveyed, A situation acquisition unit for acquiring surrounding placement information, and The carriage control unit In a management terminal that stores a map, using an approach handle provided in a stock area of a conveyance start area, the approach position is specified with respect to the map, and conveyance route information in which the conveyance start area and the conveyance end area are set is acquired and held from the management terminal, Based on the image acquired from the imaging unit, move to the approach set in the conveyance start area of the conveyance route information, and in the approach, identify an object to be conveyed with identification information of the object to be conveyed, Using the placement information acquired from the situation acquisition unit, drive the drive wheel so as to move under the object to be conveyed, Place the object to be conveyed on the placement surface by the lifting mechanism, A carriage characterized in that the placed object to be conveyed is unloaded in the conveyance end area of the conveyance route information.

2. When an empty area and a return area are set in the conveyance route information, if the carriage control unit detects an empty container at the approach of the empty area, the carriage control unit conveys the empty container as an object to be conveyed to the return area. The carriage according to claim 1, characterized in that

3. When an elevator area for using an elevator is set in the conveyance route information, the carriage control unit transmits the floor getting-off information to an operator terminal for operating the elevator at the approach of the elevator area. The carriage according to claim 1, characterized in that

4. A display unit, A conveyance support system including a control unit that gives a conveyance instruction using a self-propelled carriage having a drive wheel capable of controlling the rotation direction and speed, a placement surface for placing an object to be conveyed, a lifting mechanism for changing the height position of the placement surface, an imaging unit for imaging an object to be conveyed, and a situation acquisition unit for acquiring surrounding placement information, The control unit Displays an area setting screen including a map where the carriage can move on the display unit, Displays a stock area having an approach handle for designating the position of the approach on the area setting screen In the area setting screen, obtain area information regarding the arrangement of the conveyance start area and the conveyance end area of the conveyance route information set using the stock area on the map, and the position of the approach designated using the approach handle of the stock area. Display a container setting screen for setting the identification information of the container to be conveyed on the display unit. In the container setting screen, obtain container information regarding the identification information of the container to be conveyed. Send a conveyance instruction to the cart to place the container with the identification information on the placement surface by the lifting mechanism using the photographing unit and the situation acquisition unit, drive the drive wheels to travel, and convey from the conveyance start area to the conveyance end area on the map. The cart Holds a map in which a conveyance start area and a conveyance end area are set. Based on the image acquired from the photographing unit, move to the approach set in the conveyance start area of the map, and identify the object to be conveyed with the identification information of the object to be conveyed at the approach. Drive the drive wheels to move under the object to be conveyed using the arrangement information acquired from the situation acquisition unit. Place the object to be conveyed on the placement surface by the lifting mechanism. A conveyance support system characterized by unloading the object to be conveyed placed in the conveyance end area of the conveyance route information.

5. A display unit A conveyance support method using a conveyance support system including a control unit that gives a conveyance instruction using a self-propelled cart including drive wheels capable of controlling the rotation direction and speed, a placement surface for placing an object to be conveyed, a lifting mechanism for changing the height position of the placement surface, a photographing unit for photographing the object to be conveyed, and a situation acquisition unit for acquiring surrounding arrangement information. The control unit Displays an area setting screen including a map where the cart can move on the display unit. In the area setting screen, display a stock area having an approach handle for designating the position of the approach. In the area setting screen, obtain area information regarding the arrangement of the conveyance start area and the conveyance end area of the conveyance route information set using the stock area on the map, and the position of the approach designated using the approach handle of the stock area. Display a container setting screen for setting the identification information of the container to be conveyed on the display unit. In the container setting screen, obtain container information regarding the identification information of the container to be transported. Send a transport instruction to the cart to place the container with the identification information on the placement surface by using the imaging unit and the situation acquisition unit, drive the drive wheels to travel, and transport from the transport start area to the transport end area on the map. The cart holds a map in which a transport start area and a transport end area are set. Based on the image obtained from the imaging unit, move to the approach set in the transport start area of the map, and identify the object to be transported with the identification information of the object to be transported in the approach. Drive the drive wheels to move under the object to be transported by using the placement information obtained from the situation acquisition unit. Place the object to be transported on the placement surface by the lifting mechanism. A transport support method characterized by unloading the placed object to be transported in the transport end area of the transport route information.

Images