Automatic transfer system and method for controlling automatic transfer robot

Abstract

To provide a system for causing a conveyance robot to accurately travel on a conveyance route.SOLUTION: This system includes a computing device, an automated conveyance robot, and at least one passive sensor. The automated conveyance robot wirelessly communicates with the computing device and conveys a dolly. The passive sensor communicates with the computing device. The automatic conveyance robot travels in accordance with a conveyance instruction from the computing device, calculates a position of the automatic conveyance robot by an odometry, and transmits position information, including the position, to the computing device. Upon receiving from the passive sensor a notification signal for indicating that the passive sensor has sensed the automated conveyance robot, the computing device transmits a reset instruction to the automated conveyance robot. The automatic conveyance robot further sets the position of the automated conveyance robot to a position of the passive sensor in accordance with the reset instruction.SELECTED DRAWING: Figure 4A

Description

[Technical Field]

[0001] One embodiment of the present invention relates to an automatic transfer system or a method for controlling an automatic transfer robot. [Background technology]

[0002] In recent years, technological development of automatic guided vehicles (AGVs) has progressed, leading to the development of automatic transport robots that automatically transport material carts (hereinafter simply referred to as carts) for transporting materials at, for example, construction sites and building sites. For example, the automatic transport robot disclosed in Patent Document 1 crawls under the platform of the cart, lifts the platform, and travels automatically in this state. By transporting materials while the automatic transport robot is traveling automatically, it is possible to save on human resources for transporting materials. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-59460 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of one embodiment of the present invention is to provide a new system for transporting materials using an automatic transport robot. Alternatively, an object of one embodiment of the present invention is to provide a system for driving an automatic transport robot accurately along a transport route, and a control method for the automatic transport robot. [Means for solving the problem]

[0005] One embodiment of the present invention is an automated transport system. The automated transport system includes a computing device, an automated transport robot, and at least one passive sensor. The automated transport robot is configured to wirelessly communicate with the computing device and transport a cart. The at least one passive sensor is configured to communicate with the computing device. The automated transport robot is further configured to travel in accordance with a transport command from the computing device, calculate a position of the automated transport robot by odometry, and transmit position information including the calculated position to the computing device. The computing device is configured to transmit a reset command to the automated transport robot when it receives a notification signal from the at least one passive sensor notifying it that the at least one passive sensor has detected the automated transport robot. The automated transport robot is further configured to set the position of the automated transport robot to the position of the at least one passive sensor in accordance with the reset command.

[0006] One embodiment of the present invention is a method for controlling an automated transport robot. The method includes receiving, at a computing device, position information including a position of the automated transport robot transmitted from the automated transport robot configured to transport a cart; transmitting, to the computing device, a notification signal from at least one passive sensor configured to communicate with the computing device to notify the computing device that the automated transport robot has been detected by the at least one passive sensor; and transmitting, from the computing device that has received the notification signal, a reset command to the automated transport robot. The automated transport robot is configured to set the position of the automated transport robot to the position of the at least one passive sensor in accordance with the reset command. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram of an automatic conveyance system according to an embodiment of the present invention. [Figure 2]1 is a schematic perspective view of an automatic transfer robot according to an embodiment of the present invention; [Figure 3A] 1 is a schematic top view of an automatic transfer robot according to an embodiment of the present invention; [Figure 3B] 1 is a schematic side view of an automatic transfer robot according to an embodiment of the present invention; [Figure 3C] 1 is a schematic side view of an automatic transfer robot according to an embodiment of the present invention; [Figure 3D] 1 is a schematic side view of an automatic transfer robot according to an embodiment of the present invention; [Figure 4A] 1A and 1B are schematic diagrams illustrating a control method for an automatic transfer robot according to an embodiment of the present invention. [Figure 4B] 1A and 1B are schematic diagrams illustrating a control method for an automatic transfer robot according to an embodiment of the present invention. [Figure 5] 4 is a flowchart illustrating a control method for an automatic transfer robot according to an embodiment of the present invention. [Figure 6] 1A and 1B are schematic diagrams illustrating a control method for an automatic transfer robot according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, various embodiments of the present invention will be described with reference to the drawings, etc. However, the present invention can be embodied in various forms without departing from the spirit of the present invention, and should not be construed as being limited to the description of the embodiments exemplified below.

[0009] In order to clarify the description, the drawings may show the width, thickness, shape, etc. of each part schematically compared to the actual embodiment, but these are merely examples and do not limit the interpretation of the present invention. In this specification and each drawing, elements having the same function as those described in the previous drawings may be given the same reference numerals, and duplicated descriptions may be omitted. When multiple elements having the same or similar structure are to be distinguished from one another, a hyphen and a natural number are added after the reference numeral. When multiple elements having the same or similar structure are collectively described, only the reference numerals are used.

[0010] 1.Automatic transport system An automated guided transport system according to one embodiment of the present invention can be used to automatically transport various items loaded on a cart. A typical example is transporting carts loaded with building or construction materials within a structure such as a building or factory. The structure may be a completed structure or a structure under construction. In such a case, the automated guided transport system is used at night, when no work is being performed by workers or when there are only a few workers, to transport the necessary materials to the required location before workers start or begin full-scale work.

[0011] 1 shows a block diagram of an automated transport system 100. The automated transport system 100 includes a computing device 110, an automated transport robot 130, and at least one sensor 160. The at least one sensor 160 may include multiple sensors 160.

[0012] (1) Computing Devices The computing device 110 is a computer having communication and calculation functions, and may be a notebook or desktop computer, or a portable communication terminal such as a tablet computer. The computing device 110 does not necessarily have to be installed inside the building in which the automatic transport robot 130 is used, but may also be installed outside the building. As shown in the block diagram of FIG. 1 , the computing device 110 is provided with a control unit 112 that controls the operation of the computing device 110, as well as a memory unit 114, an input unit 116, an output unit 118, a transmission / reception unit 120, an audio output unit 122, and the like, all of which are controlled by the control unit 112.

[0013] The control unit 112 includes a processor such as a central processing unit (CPU), and runs basic application programs and various software programs stored in the storage unit 114 to control various processes executed on the computing device 110 .

[0014] The storage unit 114 includes a magnetic storage device such as a hard disk drive, or an electrically rewritable non-volatile memory such as a flash memory. The storage unit 114 stores a basic application program for operating the computing device 110, as well as a system program for operating the automatic transport system 100 and controlling the automatic transport robot 130. The storage unit 114 also stores floor plan data for each floor of a building in which the automatic transport robot 130 is used, along with coordinates for identifying the position on this floor plan. The position of each floor of a building can be expressed and identified using x- and y-coordinates. If the building has two or more floors, each floor can be identified by a numerical value on the z-coordinate.

[0015] Furthermore, the memory unit 114 may be configured to store position information (described later) transmitted from the automatic transfer robot 130. The position information includes the position of the automatic transfer robot 130 estimated by the automatic transfer robot 130. This position may also be stored as a numerical value on a coordinate system. The position information may further include not only the speed and direction of the automatic transfer robot 130, but also the time when it passed a specific position (i.e., the time when it passed a specific coordinate system). Furthermore, the memory unit 114 stores the positions where one or more sensors 160 are installed as numerical values ​​on a coordinate system. Therefore, the position of the automatic transfer robot 130 and the position of the sensor 160 can be constantly grasped on the computing device 110.

[0016] The input unit 116 is a user interface used to input commands and information to the computing device 110, and typically includes a keyboard, a touch panel, a mouse, or a combination of these. By using the input unit 116, for example, the position of the sensor 160 can be input as a numerical value on a coordinate system. The output unit 118 is a module that provides various data stored in the memory unit 114 as an image, and examples of the output unit 118 include display devices such as a liquid crystal display device and an organic electroluminescence display device.

[0017] The transmitting / receiving unit 120 has the function of performing wireless communication with the automatic transfer robot 130 via a network, and performing wireless or wired communication with the sensor 160. The transmitting / receiving unit 120 transmits various commands and information to the automatic transfer robot 130. As will be described in detail later, these commands and information include the transfer route and travel route of the automatic transfer robot 130, a travel start command, a travel stop command for stopping the travel of the automatic transfer robot 130, a reset command, and the like. Furthermore, this information may include an identifier for identifying the cart being transported by the automatic transfer robot 130. Furthermore, when the sensor 160 detects the automatic transfer robot 130, the transmitting / receiving unit 120 receives a notification signal from the sensor 160 notifying the fact that the sensor 160 has detected the automatic transfer robot 130 (i.e., that the sensor 160 has detected the automatic transfer robot 130).

[0018] The network used for communication between the computing device 110 and the automatic transfer robot 130 and communication between the computing device 110 and the sensor 160 may be an external network such as the Internet, or an internal network such as a LAN (Local Area Network).

[0019] (2) Automatic transport robot The automatic transfer robot 130 is a robot that can move independently and can also move independently while towing a cart for transporting materials. The automatic transfer robot 130 may have any configuration, but as an example, as shown in the perspective view of FIG. 2, it includes a housing 150, a pair of crawlers 152, and one or more connecting pins 154. The automatic transfer robot 130 may further include one or more laser sensors 142, a reader 156, and the like, as optional components. Inside the housing 150, there are mounted a control unit 132 and a memory unit 134 that control the entire automatic transfer robot 130, as well as an elevating unit 136 for raising and lowering the connecting pin 154, a drive unit 140 that drives the crawlers 152, a transceiver unit 144, a battery 138, and the like (see FIG. 1).

[0020] The control unit 132 includes a processor such as a CPU, and controls the storage unit 134, the lifting unit 136, the drive unit 140, the transmitter / receiver 144, the battery 138, the reader 156, etc. The control unit 132 may be configured as a so-called microcomputer.

[0021] The storage unit 134 may be a rewritable non-volatile memory such as a hard disk drive or flash memory, or may be a volatile memory such as a static random access memory (SRAM) or a dynamic random access memory (DRAM). The storage unit 134 is configured to store the transport route and travel route transmitted from the computing device 110, as well as store its own position as a numerical coordinate system. The storage unit 134 may further store an identifier of the cart to be transported. Note that a control program for controlling the automatic transport robot 130 may be incorporated into the control unit 132, or may be stored in the storage unit 134.

[0022] The drive unit 140 is a module that operates the crawlers 152 to provide the automatic transfer robot 130 with a traveling function, and includes a motor that is driven by power supplied from the battery 138. Although not shown, the drive unit 140 is provided with an encoder as a sensor for determining the number of rotations (or rotation speed, the same applies hereinafter) and direction of rotation of the pair of crawlers 152. Note that, although the automatic transfer robot 130 travels using the crawlers 152 in the example shown in Fig. 2, wheels may be used instead of the crawlers 152.

[0023] The automatic transfer robot 130 estimates its position using odometry. Specifically, the control unit 132 constantly monitors the number of rotations and rotation direction of the pair of crawlers 152 based on information from an encoder provided in the drive unit 140. For example, the control unit 132 acquires the number of rotations and rotation direction of the crawlers 152 from the drive unit 140 at regular time intervals (e.g., 1 / 60 seconds or more and 1 second or less). The acquired number of rotations and rotation direction may be stored in the memory unit 134 as travel data. At this time, the acquired number of rotations and rotation direction may be linked to the time or the time since the start of travel. Furthermore, the control unit 132 calculates the direction to a specific position that is arbitrarily set and the distance from that position based on the acquired data on the number of rotations and rotation direction. In this way, by using odometry, the position, orientation, and travel direction of the automatic transfer robot 130 can be constantly monitored. This information may also be stored in the memory unit 134 at regular time intervals (e.g., 1 / 60 seconds or more and 1 second or less).

[0024] The transceiver unit 144 is a module responsible for wireless communication with the computing device 110, and receives various commands and information transmitted from the computing device 110 and transmits them to the control unit 132. The transceiver unit 144 can also be configured to cooperate with the control unit 132 and transmit position information, including the position of the automatic transport robot 130 estimated by the control unit 132, periodically or in response to a command from the computing device 110.

[0025] The lifting unit 136 is a unit for reversibly moving the connecting pin 154 up and down and can be composed of a motor or hydraulic cylinder that operates by receiving power from a battery 138. The connecting pin 154 is provided on the upper surface of the housing 150 and connects and disconnects the cart. As shown in FIG. 3A , the cart 10 includes a platform 12 for carrying materials and the like, as well as multiple casters 14 provided below the platform 12. The underside of the platform 12 has a recess 16 into which the connecting pin 154 can be inserted. There are no restrictions on the shape of the recess 16 (in a plane parallel to the main surface of the platform) as long as the shape allows the cart 10 to be pulled with the connecting pin 154 housed inside. For example, the recess 16 may be circular or elliptical. Alternatively, the recess 16 may be one or more grooves. The automatic transfer robot 130 is configured so that when the connecting pin 154 is in the lowest position, the height of the automatic transfer robot 130 (height from the surface on which the automatic transfer robot 130 travels) is lower than the underside of the platform 12. Therefore, the automatic transfer robot 130 can slip under the platform 12 with the connecting pin 154 in the lowest position (FIGS. 3A and 3B). By adjusting the position and orientation of the automatic transfer robot 130 so that the connecting pin 154 engages with the recess 16 and then raising the connecting pin 154 using the lifting unit 136, the cart 10 and the automatic transfer robot 130 are connected as shown in FIG. 3C. By moving the automatic transfer robot 130 in this state, the cart 10 and materials mounted thereon can be transported simultaneously. In this case, the casters 14 and the crawlers 152 are used as a transport mechanism. Furthermore, the connecting pin 154 may be raised to lift the entire cart 10 as shown in FIG. 3D, and the automatic transfer robot 130 may be allowed to travel in this state. In this case, only the crawlers 152 are used as a transport mechanism.

[0026] In addition, as long as it can be connected to the trolley 10 and is configured so that the connection does not come off when the trolley is being transported, it is not necessary to use the connecting pin 154, and a connecting device having any structure can be used in place of the connecting pin 154.

[0027] The laser sensor 142 is configured to emit a laser beam while scanning it in front of the automatic transfer robot 130, and detect structures such as walls and pillars, obstacles such as other materials, and the dolly 10 around the automatic transfer robot 130 based on the emitted beam and reflected beam, and recognize their shapes. Specifically, the laser sensor 142 detects these by calculating the distance between the automatic transfer robot 130 and the structures, obstacles, and dolly. The distance calculation is performed using a computing device. The computing device may be provided in the laser sensor 142 or may be incorporated into the control unit 132 of the automatic transfer robot 130. The distance calculation can be performed using a time-of-flight (TOF) method or an amplitude modulation (AM) method. The TOF method calculates the distance based on the detection time difference between pulsed emitted beams toward the measurement area and reflected beams from the structures, obstacles, or dolly. On the other hand, the AM method calculates distance based on the phase difference between the wide-width modulated emitted light emitted toward the measurement area and the light reflected from the structure, obstacle, or cart. Based on the measured distance, the control unit 132 controls the drive unit 140, which allows the rotation speed and rotation direction of the crawler 152 to be adjusted to avoid contact with the structure or obstacle, and also allows the cart 10 to be detected.

[0028] The battery 138 is a module that supplies power for operating the automatic transfer robot 130. As the battery 138, a rechargeable secondary battery such as a lithium ion battery, a lead storage battery, a nickel-metal hydride battery, or a nickel-cadmium battery can be used. Although not shown, the automatic transfer robot 130 may be configured so that the battery 138 is detachable from the housing 150.

[0029] The reader 156 is a mechanism for the automatic transport robot 130 to identify the cart 10 to be transported, and may be, for example, an optical scanner capable of reading barcodes, two-dimensional codes, or a reader that uses short-range wireless communication (RF reader). A tag containing an identifier for identifying each cart is provided on each cart 10, and the identifier is read by the reader 156 and compared with the identifier stored in the memory unit 134, thereby making it possible to determine whether the cart 10 is the one to be transported.

[0030] (3) Sensor The sensor 160 is a module for detecting the automatic transfer robot 130 and is a sensor that detects heat emitted by the automatic transfer robot 130, i.e., infrared or far-infrared rays. Such sensors are also called passive sensors, motion sensors, or infrared passive sensors. As shown in FIG. 1 , the sensor 160 includes a control unit 162 and a pyroelectric element 164. It also includes a transmitter 166 for wireless or wired communication with the computing device 110. To prevent malfunction, the pyroelectric element 164 is preferably a so-called dual-type pyroelectric element. The sensor 160 may include a battery 168 for driving the control unit 162, or may receive power from an external power source without the battery 168. The battery 168 may be a rechargeable secondary battery or a primary battery such as a dry cell battery or button battery. Although not shown, the sensor 160 further includes a lens for focusing infrared rays.

[0031] In the sensor 160, when infrared rays or far-infrared rays from the driving unit 140 or the control unit 132 of the automatic transfer robot 130 are irradiated onto the pyroelectric element 164 through a lens, the current generated by the pyroelectric element 164 is amplified by the control unit 162, and an electric signal, i.e., a notification signal, is generated. This notification signal is transmitted from the transmitting unit 166 to the computing device 110 in accordance with a command from the control unit 162. As a result, it is possible to know on the computing device 110 that the automatic transfer robot 130 is traveling near the sensor 160 that transmitted the notification signal. Note that, when the sensor 160 does not detect the automatic transfer robot 130, the sensor 160 may periodically, or in response to a command from the computing device 110, transmit a notification to the computing device 110 informing the computing device 110 that the automatic transfer robot 130 is not being detected.

[0032] As shown in Fig. 4A, the sensor 160 can be installed at a position higher than the automatic transfer robot 130. In this case, the sensor 160 is installed, for example, on a beam 20 or ceiling of a building on which the automatic transfer robot 130 travels, and the sensor is set so that the detection range (the range indicated by the dashed dotted line in Fig. 4A), which is expressed as a cone with the focal point of the lens at the apex, overlaps with the transfer route and travel route of the automatic transfer robot 130. Therefore, it is possible to detect not only the automatic transfer robot 130 transporting materials, but also the automatic transfer robot 130 when it is not carrying any materials or carts 10.

[0033] Alternatively, as shown in FIG. 4B , the sensor 160 may be installed on a pillar 22 or wall of a building along which the automatic transfer robot 130 travels. Although not shown, the sensor 160 may also be installed on fixtures (e.g., furniture such as shelves, sofas, tables, chairs, and lockers, doors, windows, etc.) placed within the building. In this case, the sensor 160 does not necessarily need to be installed at a higher position than the automatic transfer robot 130, but since the sensor 160 itself may act as an obstacle, it is preferable to install the sensor 160 at a higher position than the automatic transfer robot 130 or the material 24 loaded on the cart 10. Even when the sensor 160 is installed on a pillar or wall, the position and height of the sensor 160 are adjusted so that the sensing range overlaps with the transfer route, the travel route, and / or the automatic transfer robot 130 while traveling.

[0034] 2. Control method of automatic transport robot using automatic transport system As described above, in the automated transport system 100, the automated transport robot 130 estimates its position using odometry and the position is tracked on the computing device 110. However, in odometry, the position is calculated based on information about the rotational speed and direction of the pair of crawlers 152. Therefore, if, for example, the crawlers 152 spin freely on the travel surface or travel on a relatively steep slope, a discrepancy occurs between the actual position and the position estimated by odometry. If the discrepancy becomes significant, the automated transport robot 130 will erroneously recognize its own position and will no longer be able to accurately travel along the transport route transmitted from the computing device 110. For this reason, in a method for controlling an automated transport robot according to one embodiment of the present invention, the position of the automated transport robot 130 is corrected using a notification signal from the sensor 160. That is, the position of the automated transport robot 130 is corrected using a combination of odometry and information obtained from the sensor 160 so that the automated transport robot 130 always travels accurately along the set transport route or travel route.

[0035] A specific description will be given using Figures 5 and 6. Figure 5 is a flowchart showing the transmission and reception of signals in a control method for the automatic transfer robot 130, and Figure 6 is a schematic diagram showing an example of the transfer route of the automatic transfer robot 130 and the arrangement of the sensor 160. In the example shown in Figure 6, the transfer route shown by the chain line is set from a starting point (Start) to a destination point (Goal) on the same floor, but the transfer route may also be set across multiple floors via a lift such as an elevator.

[0036] The sensors 160 are installed so that their sensing ranges overlap the transfer route and / or the automatic transfer robot 130 on the transfer route. The installation positions of the sensors 160 can be set arbitrarily, but it is preferable to install the sensors 160 so that they vertically overlap points (corner points) where the direction of the transfer route changes, or so that the sensing ranges of the sensors 160 overlap the corner points. In the example shown in FIG. 6, a total of six sensors 160 are installed on the transfer route including the starting point, destination point, and corner points. The x-y coordinates or x-y-z coordinates of each sensor 160 are stored in advance in the memory unit 114 of the computing device 110.

[0037] As shown in FIG. 6, a transportation route can be represented using numerical values ​​on xy coordinates or xyz coordinates. That is, a transportation route is represented by a plurality of coordinates (route coordinate group) and their order (coordinate number C). Preferably, the route coordinate group is created so as to include the coordinates of all corner points. The transportation route (i.e., the route coordinate group and its order) is also stored in advance in the storage unit 114 of the computing device 110. In the example shown in FIG. 6, the coordinates of the corner points match the coordinates of the corresponding sensors 160, but the two do not necessarily have to match. Furthermore, the coordinates of points between adjacent corner points may also be included in the route coordinate group.

[0038] Next, the cart 10 loaded with materials and the automatic transfer robot 130 are placed near the starting point. Furthermore, a transfer route (i.e., a group of route coordinates and their order) and a travel start command are transmitted to the automatic transfer robot 130 (FIG. 5, S100). The travel start command may include the identifier and coordinates of the cart 10, as well as a command to connect to the cart 10. In this case, upon receiving the travel start command, the automatic transfer robot 130 travels toward the coordinates of the cart 10 and detects the cart 10 using the laser sensor 142. If a reader 156 is provided, the reader 156 reads the identifier included in the tag and compares it with the identifier transmitted from the computing device 110. If the detected cart 10 is not the target cart 10, another cart may be detected. If the comparison results in the detection being that the detected cart 10 is the target cart 10, the laser sensor 142 is used to detect the two casters 14 on the long sides of the cart 10, and the automatic transfer robot 130 moves toward the center of these casters and enters under the cart 10. The automatic transfer robot 130 that has entered under the cart 10 uses a laser sensor 142 to detect the positions of the two casters 14 on the other long side of the cart 10. Because the positions of the four casters 14 are detected by the laser sensor 142, it is possible to determine the position where the diagonals of a rectangle with the positions of the four casters 14 as vertices intersect, i.e., the center position of the cart 10. Once the center position of the cart 10 has been determined, the position and arrangement of the recess 16 relative to the center position can be calculated, and the automatic transfer robot 130 can change its position and direction so that the connecting pin 154 can be accommodated in the recess 16. After the connecting pin 154 and the recess 16 have moved so that they overlap, the lifting unit 136 is operated to raise the connecting pin 154, and the cart 10 is connected to the automatic transfer robot 130.

[0039] Thereafter, the automatic transfer robot 130 moves to positions corresponding to the coordinates that make up the transfer route in the order of the coordinates, in accordance with the instructions of the control program. At this time, the automatic transfer robot 130 is able to move toward the starting point coordinate C1 (x1, y1, z1) because it knows its own position from the accumulated number of rotations and direction of the crawler 152. When the automatic transfer robot 130 determines by odometry that it has reached coordinate C1, it continues moving to coordinates C2 and C3 in that order. While moving, the automatic transfer robot 130 may transmit the coordinates of its own position estimated by odometry to the computing device 110 periodically or in accordance with an instruction from the computing device 110 (S102-1, S102-2, S102-3). In addition, the automatic transfer robot 130 uses the laser sensor 142 to recognize structures and obstacles such as walls, and continues moving while avoiding contact with them.

[0040] The automatic transfer robot 130 is detected by the sensor 160 while traveling on the transfer route. In the example shown in FIG. 6, the sensor 160 is installed at the corner point, and therefore the automatic transfer robot 130 is detected by the sensor 160 every time it passes a corner point. When the sensor 160 detects the automatic transfer robot 130, it transmits a notification signal to the computing device 110 (FIG. 5, S104). By receiving the notification signal, it is possible to confirm on the computing device 110 that the automatic transfer robot 130 is traveling on the transfer route.

[0041] As described above, the automatic transfer robot 130 estimates its own position using odometry. However, position estimation using odometry is prone to errors, and a discrepancy easily occurs between the coordinates known by the automatic transfer robot 130 and the coordinates corresponding to its actual position. If such discrepancies accumulate and increase, the automatic transfer robot 130 may deviate from the transfer route and become unable to travel to the destination.

[0042] Although it is possible to accurately determine the location of the automated transport robot 130 by equipping it with a global positioning system (GPS), depending on the structure of the building, it may not be possible to receive GPS signals, and depending on the environment around the building, it may not be possible to precisely identify the location using GPS. Furthermore, when determining the location of the automated transport robot 130 by installing a beacon, the influence of radio wave reflection due to noise and dust from distribution boards inside the building is significant, making it difficult to determine the exact location. In particular, buildings before completion often have exposed steel frames and rebar in the columns, beams, and slabs, which causes complex reflections of radio waves from the beacon, resulting in a significant impact on accurate position determination.

[0043] Therefore, in this control method, the position of the automatic transfer robot 130 is corrected using the sensor 160. Specifically, upon receiving a notification signal from the sensor 160, the computing device 110 transmits a reset command to the automatic transfer robot 130 (FIG. 5, S106). Upon receiving the reset command, the automatic transfer robot 130 sets (replaces) its own position (coordinates) calculated by odometry to the coordinates of the sensor 160 in accordance with the control program. For example, if the automatic transfer robot 130 is detected by the sensor 160 located at coordinate C3, the coordinates corresponding to its own position are set to (x2, y2, z1). Thereafter, the automatic transfer robot 130 travels toward the next coordinate C4, while estimating its own position using odometry, and transmits its own coordinates to the computing device 110 (FIG. 5, S108-1, S108-2, S108-3). When the automatic transfer robot 130 reaches coordinate C4, it is detected by sensor 160-4, and the sensor 160-4 transmits a notification signal to the computing device 110 (S110). After receiving this notification signal, the computing device 110 again transmits a reset command to the automatic transfer robot 130 (S112), and the automatic transfer robot 130 sets its own coordinates to (x3, y2, z1), which are the coordinates of sensor 160-4. Thereafter, similarly, the automatic transfer robot 130 changes its traveling direction and heads toward the next coordinates, while transmitting its own position coordinates estimated by odometry to the computing device 110 (S114-1, S114-2, S114-3). In this way, by using the notification signal transmitted from the sensor 160, the error accumulated in the position estimation by odometry is reset, and the automatic transfer robot 130 can travel along the transfer route while always accurately knowing its own position.

[0044] When the automatic transfer robot 130 reaches the destination point, the computing device 110 may transmit a stop command to the automatic transfer robot 130 to stop traveling (S116). Alternatively, the control program of the automatic transfer robot 130 may be configured to stop the drive unit 140 when the automatic transfer robot 130 reaches the destination point, i.e., when its estimated coordinates match the coordinates of the destination point. Although not shown, a start command may then be transmitted to the automatic transfer robot 130 along with a travel route for traveling to a location where the next cart 10 to be transported is located. In this case, too, when traveling along the travel route, the automatic transfer robot 130 estimates its own position using odometry, and errors due to odometry are eliminated each time it is detected by the sensor 160. This allows the automatic transfer robot 130 to always accurately determine its position, and also allows the automatic transfer robot 130 to travel accurately along the set travel route.

[0045] In the above example, the dolly 10 loaded with materials and the automatic transfer robot 130 are positioned near the starting point before the start of the transfer. However, a control method according to one embodiment of the present invention does not necessarily have to adopt such an arrangement. That is, before the start of the transfer, the dolly 10 to be transferred and the automatic transfer robot 130 may be positioned at any point. In this case, a travel route to the dolly 10 to be transferred can be created on the computing device 110, and this travel route and a travel start command can be sent from the computing device 110 to the automatic transfer robot 130. Even in this case, the automatic transfer robot 130 is detected by the sensor 160 while traveling, so odometry and a notification signal from the sensor 160 can be used in combination. Therefore, the automatic transfer robot 130 can be caused to travel accurately along the travel route and move to the position of the dolly 10 to be transferred.

[0046] The various embodiments of the present invention described above can be combined as appropriate as long as they are not mutually inconsistent. A product in which a person skilled in the art appropriately adds or deletes components or modifies the design based on each embodiment is also included within the scope of the present invention as long as it includes the gist of the present invention.

[0047] Even if there are other effects and advantages different from those brought about by the above-described embodiments, those that are clear from the description in this specification or that can be easily predicted by a person skilled in the art are naturally understood to be brought about by the present invention. [Explanation of symbols]

[0048] 10: dolly, 12: loading platform, 14: caster, 16: recess, 20: beam, 22: pillar, 24: material, 100: automatic transport system, 110: computing device, 112: control unit, 114: memory unit, 116: input unit, 118: output unit, 120: transmission / reception unit, 122: audio output unit, 130: automatic transport robot, 132: control unit, 134: memory unit, 136: lifting unit, 138: battery, 140: drive unit, 142: laser sensor, 144: transmission / reception unit, 150: housing, 152: crawler, 154: connecting pin, 156: reader, 160: sensor, 162: control unit, 164: pyroelectric element, 166: transmission unit, 168: battery

Claims

1. computing devices, an automated transport robot configured to transport a cart and in wireless communication with the computing device; and at least one passive sensor configured to communicate with the computing device; the automated transport robot is configured to travel in accordance with a transport command from the computing device, calculate a position of the automated transport robot by odometry, and transmit position information including the position to the computing device; the computing device is configured to send a reset command to the automated transport robot when the computing device receives a notification signal from the at least one passive sensor indicating that the automated transport robot has been detected by the at least one passive sensor; The automated transport robot is further configured to set the position of the automated transport robot to the position of the at least one passive sensor in accordance with the reset command.

2. The automated guided transport system according to claim 1 , wherein the at least one passive sensor comprises a plurality of passive sensors.

3. The automated transport system according to claim 1 , wherein the automated transport robot is configured to periodically transmit the position information.

4. the dolly includes a loading platform and a plurality of casters below the loading platform; The automatic transport system according to claim 1 , wherein the automatic transport robot is configured to move under the loading platform and to raise and lower the loading platform.

5. The automated transport system according to claim 1 , wherein the at least one passive sensor is installed at a position higher than the automated transport robot.

6. The automatic transport system according to claim 1 , wherein the at least one passive sensor is installed so that a detection range thereof overlaps with a transport route of the automatic transport robot.

7. The automated transport system according to claim 1 , wherein the at least one passive sensor is installed on a ceiling, beam, wall, or pillar of a building in which the automated transport robot travels.

8. The automated transport system according to claim 1 , wherein the at least one passive sensor includes a pyroelectric element.

9. The automated transport system of claim 1 , wherein the at least one passive sensor is configured to wirelessly communicate with the computing device.

10. receiving, at a computing device, location information transmitted from an automated transport robot configured to transport a cart, the location information including a location of the automated transport robot; transmitting a notification signal from at least one passive sensor configured to communicate with the computing device to notify the computing device that the automated transport robot has been detected by the at least one passive sensor; and transmitting a reset command to the automated transport robot from the computing device that has received the notification signal; The automatic transfer robot is configured to set the position of the automatic transfer robot to the position of the at least one passive sensor in accordance with the reset command.

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