Self-propelled transport device and control system

Abstract

To provide a technique for enabling a self-propelled conveying device to stably travel when the self-propelled conveying device lifts a dolly and travels with the dolly thereon.SOLUTION: A self-propelled conveying device capable of traveling, includes: a plurality of pins provided with a sensor for measuring a load, a raising / lowering mechanism capable of raising / lowering the plurality of pins; a control unit that controls the raising / lowering mechanism and acquires load data measured by the sensor when the plurality of pins are raised to lift a dolly while keeping in contact with a bottom surface of the dolly on which at least one article is loaded; and a storage unit that stores a gravity center position of the self-propelled conveying device. The control unit calculates a gravity center position of the dolly based on the load data and lifts the dolly by controlling the raising / lowering mechanism while keeping a predetermined positional relation between the gravity center position of the self-propelled carrying device and the gravity center position of the dolly.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a self-propelled transport device and a control system. [Background technology]

[0002] Self-propelled transport devices such as mobile robots lift up carts and travel. Patent Document 1 discloses a mechanical technique for transporting cargo stably. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-123854 Summary of the Invention [Problem to be solved by the invention]

[0004] When a load is placed on a cart, the center of gravity of the cart varies depending on how the load is placed on the cart. If the self-propelled conveying device lifts the cart without taking the center of gravity of the cart into consideration, vibrations may occur while the self-propelled conveying device is traveling, or the self-propelled conveying device may tip over while traveling.

[0005] The present invention has been made in consideration of the above-mentioned situation, and its purpose is to provide a technology that allows a self-propelled conveying device to run stably when it lifts a cart and runs. [Means for solving the problem]

[0006] A self-propelled conveying device according to one aspect of the present invention is a self-propelled conveying device that can move, and includes: a plurality of pins each equipped with a sensor for measuring a load; a lifting mechanism that can raise and lower the plurality of pins; a control unit that controls the lifting mechanism and acquires load data measured by the sensor when the plurality of pins are raised and the cart is lifted while in contact with the bottom surface of a cart carrying at least one load; and a memory unit that stores the position of the center of gravity of the self-propelled conveying device, wherein the control unit calculates the position of the center of gravity of the cart based on the load data, and controls the lifting mechanism to lift the cart when the position of the center of gravity of the self-propelled conveying device and the position of the center of gravity of the cart are in a predetermined positional relationship.

[0007] The control unit controls the lifting mechanism to lift the cart when the center of gravity of the self-propelled transport device and the center of gravity of the cart are in a predetermined positional relationship. Since the generation of vibrations and tipping of the cart when the self-propelled transport device transports the cart are suppressed, the self-propelled transport device can transport the cart stably. This allows the self-propelled transport device to travel stably when it lifts the cart and travels.

[0008] The predetermined positional relationship may include a predetermined area including a center of gravity of the self-propelled transport device and a center of gravity of the carriage overlapping in the vertical direction.The predetermined positional relationship may include a predetermined area including a center of gravity of the self-propelled transport device and a center of gravity of the carriage overlapping in the vertical direction.The predetermined positional relationship may include a predetermined area including a center of gravity of the self-propelled transport device and a center of gravity of the carriage overlapping in the vertical direction.

[0009] The control unit may adjust at least one of the traveling speed and the turning radius of the self-propelled transport device when there is a change in the position of the center of gravity of the carriage while the self-propelled transport device is traveling. The self-propelled transporting device may be further provided with a request unit that requests an operator to move the carriage so that the position of the center of gravity of the self-propelled transporting device and the position of the center of gravity of the carriage are in the predetermined positional relationship.

[0010] The self-propelled conveying device may include an imaging device that images the dolly and the at least one piece of luggage, the imaging device generates image data of the dolly and the at least one piece of luggage, the control unit acquires a loading state of the luggage on the dolly from the image data, and determines a position where the self-propelled conveying device slides under the bottom surface of the dolly based on the loading state of the luggage.

[0011] A control system according to one aspect of the present invention comprises a plurality of self-propelled conveying devices capable of moving, and a host device capable of communicating with the plurality of self-propelled conveying devices, wherein the plurality of self-propelled conveying devices have a plurality of pins equipped with sensors for measuring load, a lifting mechanism capable of raising and lowering the plurality of pins, and a control unit that controls the lifting mechanism and acquires load data measured by the sensors when the plurality of pins are raised and the cart is lifted while in contact with the bottom surface of a cart carrying at least one load, and the host device has a memory unit that stores the dimensions of the plurality of self-propelled conveying devices and the dimensions of the cart, and the control unit sends the load data to the host device, and the host device issues a transport instruction for the cart to one of the plurality of self-propelled conveying devices based on the load data, the dimensions of the plurality of self-propelled conveying devices, and the dimensions of the cart. [Effects of the Invention]

[0012] According to the present invention, it is possible to provide a technique that allows a self-propelled transport device to travel stably when the self-propelled transport device lifts a carriage and travels. [Brief explanation of the drawings]

[0013] [Figure 1]FIG. 1 is a block diagram showing the configuration of a mobile robot according to the first embodiment. [Figure 2] FIG. 2 is a perspective view of a mobile robot. [Figure 3] FIG. 3 is an explanatory diagram of the mobile robot lifting the cart. [Figure 4] 4(A) and 4(B) are explanatory diagrams showing how a mobile robot lifts a cart. [Figure 5] FIG. 5 is a top view of the mobile robot. [Figure 6] FIG. 6 is a perspective view of the mobile robot and the cart. [Figure 7] FIG. 7 is a perspective view of the mobile robot and the cart. [Figure 8] FIG. 8 is a perspective view of the mobile robot and the cart. [Figure 9] FIG. 9 is a perspective view of the carriage. [Figure 10] FIG. 10 is a schematic diagram illustrating an example of a control system according to the first embodiment. [Figure 11] FIG. 11 is a flowchart showing the processing flow in the mobile robot according to the first embodiment. [Figure 12] FIG. 12 is a flowchart showing the flow of the process for checking the weight of the cart. [Figure 13] FIG. 13 is a flowchart showing the flow of the process for checking the weight position of the carriage. [Figure 14] FIG. 14 is a flowchart showing the flow of the process for determining whether or not movement is possible. [Figure 15] FIG. 15 is a flowchart showing the flow of processing in the higher-level device according to the first embodiment. [Figure 16] FIG. 16 is a schematic diagram illustrating an example of a control system according to the second embodiment. [Figure 17] FIG. 17 is a block diagram showing the configuration of a mobile robot for load measurement according to the second embodiment. [Figure 18] FIG. 18 is a perspective view of a mobile robot for load measurement. [Figure 19] FIG. 19 is a flowchart showing the processing flow of the mobile robot for load measurement according to the second embodiment. [Figure 20] FIG. 20 is a flowchart showing the flow of processing in the higher-level device according to the second embodiment. [Figure 21] FIG. 21 is a flowchart showing the processing flow in the mobile robot and the host device according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments will be described with reference to the drawings. The embodiment described below is one aspect of the present application and does not limit the scope of the present application. <Application example> An example of a situation in which the present invention is applied will be described.

[0015] First Embodiment <Overall configuration of the mobile robot> FIG. 1 is a block diagram showing the configuration of a mobile robot 1 according to a first embodiment. The mobile robot 1 is a device (self-propelled transport device) that functions as a self-propelled automated guided vehicle. The mobile robot 1 includes an integrated control unit (controller) 11, a communication unit 12, a travel control unit 13, a lift control unit 14, a travel unit 15, a memory unit 16, a lift mechanism 17, multiple pins 18, an imaging device 19, and multiple load sensors 20. The host device 2 communicates with the mobile robot 1 and issues specific transport instructions to a specific mobile robot 1 in the transport system it manages. The host device 2 includes a memory device 201 and an input device 202. The memory device 201 stores various types of information and data. The input device 202 accepts input of various types of information and data. The host device 2 may be a server, workstation, personal computer, or other device.

[0016] The integrated control unit 11 performs integrated control of the mobile robot 1, including coordination with the traveling unit 15 and the lifting mechanism 17 and management of communications with the host device 2. The communication unit 12 is a communication interface that communicates with the host device 2. The integrated control unit 11 receives instructions from the host device 2 via the communication unit 12 and controls the traveling unit 15 in accordance with the instructions to move (travel) the mobile robot 1. The travel control unit 13 controls the traveling unit 15 based on instructions from the integrated control unit 11. The travel control unit 13 may be omitted and the integrated control unit 11 may control the traveling unit 15. Alternatively, the integrated control unit 11 and the travel control unit 13 may be integrated. The lifting control unit 14 controls the lifting mechanism 17 based on instructions from the integrated control unit 11. The lifting control unit 14 may be omitted and the integrated control unit 11 may control the lifting mechanism 17. The integrated control unit 11 and the lifting control unit 14 may be integrated. Alternatively, the integrated control unit 11, the travel control unit 13, and the lifting control unit 14 may be integrated.

[0017] The running unit 15 causes the mobile robot 1 to move. The running unit 15 has multiple rotating bodies 21 and can run by controlling the forward and reverse rotation of the multiple rotating bodies 21. The rotating bodies 21 have wheels and tires. The running unit 15 may also have multiple casters 22. The casters 22 assist the mobile robot 1 in moving. The running unit 15 has a right motor drive unit 23, a left motor drive unit 24, a right motor 25, and a left motor 26.

[0018] The driving control unit 13 controls the right motor drive unit 23 and the left motor drive unit 24 based on driving instruction signals from the integrated control unit 11. The right motor drive unit 23 controls the drive of the right motor 25, thereby rotating the rotating body 21 located on the right side of the mobile robot 1. The left motor drive unit 24 controls the drive of the left motor 26, thereby rotating the rotating body 21 located on the left side of the mobile robot 1. The driving unit 15 has a function related to the rotation speed of the rotating body 21. The mobile robot 1 is provided with an encoder that acquires data related to the number of rotations of the rotating body 21. The data related to the number of rotations of the rotating body 21 is sent to the integrated control unit 11 or the travel control unit 13. The integrated control unit 11 or the travel control unit 13 calculates the travel distance of the mobile robot 1 based on the data related to the number of rotations of the rotating body 21.

[0019] The traveling unit 15 is also equipped with a monitoring sensor that monitors the direction ahead of the mobile robot 1, an acceleration sensor that detects the traveling status and position of the mobile robot 1, and various other sensors. The monitoring sensor is a distance sensor such as LiDAR, and can acquire data (distance image) indicating the distance to an object within the monitoring sensor's monitoring range. The memory unit 16 stores calculation data resulting from calculations performed by the integrated control unit 11, as well as various information and data.

[0020] The lifting mechanism 17 is a device for raising or lowering the multiple pins 18 and is capable of raising and lowering the multiple pins 18. The lifting mechanism 17 has a motor drive unit 31 and a motor 32. The lifting control unit 14 controls the motor drive unit 31 based on a lift command signal from the integrated control unit 11. The motor drive unit 31 controls the drive of the motor 32, causing the multiple pins 18 to move vertically upward or downward. The multiple pins 18 arranged on the top surface of the mobile robot 1 may be raised or lowered. The lifting mechanism 17 may move each of the multiple pins 18 independently. The multiple pins 18 may be raised or lowered at different times, or may be raised or lowered at the same time.

[0021] Multiple pins 18 may be fixed to a single plate placed on the top surface of the mobile robot 1. The motor driver 31 controls the drive of the motor 32 to vertically move the plate to which the pins 18 are fixed, thereby simultaneously raising or lowering all of the multiple pins 18.

[0022] FIG. 2 is a perspective view of a mobile robot 1. In the example of the mobile robot 1 shown in FIG. 2, pins 18A-18D and load sensors 20A-20D are arranged on the top surface of the mobile robot 1. The number of pins 18 and load sensors 20 is not limited to the example shown in FIG. 2; three pins 18 and three load sensors 20 may be arranged on the top surface of the mobile robot 1, or five or more pins 18 and five or more load sensors 20 may be arranged on the top surface of the mobile robot 1. Load sensor 20A is arranged on the tip of pin 18A, and load sensor 20B is arranged on the tip of pin 18B. Load sensor 20C is arranged on the tip of pin 18C, and load sensor 20D is arranged on the tip of pin 18D.

[0023] The mobile robot 1 can lift a dolly by crawling under the bottom of the dolly. Figures 3, 4(A), and 4(B) are explanatory diagrams of the mobile robot 1 lifting a dolly 3. Figure 3 is a perspective view of the mobile robot 1 and dolly 3 when the mobile robot 1 crawls under the bottom of the dolly 3. The dolly 3 is shown carrying multiple loads 4, but the dolly 3 may also carry only one load 4. Casters 5 are provided on the bottom of the dolly 3. When the dolly 3 is placed on a floor, the bottom of the dolly 3 faces the floor. The mobile robot 1 crawls under the bottom of the dolly 3 and raises pins 18A-18D, pressing them against the bottom of the dolly 3. When the mobile robot 1 crawls under the bottom of the dolly 3, the top of the mobile robot 1 faces the bottom of the dolly 3. The mobile robot 1 raises the cart 3 by raising the pins 18A to 18D while the pins 18A to 18D are in contact with the bottom surface of the cart 3. FIGS. 4(A) and 4(B) are side views of the mobile robot 1 when the mobile robot 1 is lifting the cart 3.

[0024] The load sensor 20A measures a load (F1) applied to the load sensor 20A. The load sensor 20B measures a load (F2) applied to the load sensor 20B. The load sensor 20C measures a load (F3) applied to the load sensor 20C. The load sensor 20D measures a load (F4) applied to the load sensor 20D. The load (F4) applied to pins 18A to 18D is measured. The load data measured by load sensors 20A to 20D is sent to integrated control unit 11. In this manner, integrated control unit 11 acquires the load data measured by load sensors 20A to 20D when pins 18A to 18D lift cart 3.

[0025] The integrated control unit 11 measures the load weight based on the load data of the load sensors 20A to 20D. When no luggage 4 is loaded on the dolly 3, the load weight is the weight of the dolly 3. In other words, when no luggage 4 is loaded on the dolly 3, the load weight includes only the weight of the dolly 3. When luggage 4 is loaded on the dolly 3, the load weight is the total weight of the dolly 3 and the weight of the luggage 4. In other words, the load weight includes the weight of the dolly 3 and the weight of the luggage 4. The integrated control unit 11 calculates (measures) the center of gravity position (load center of gravity position) of the dolly 3 based on the load data of the load sensors 20A to 20D.

[0026] The load sensors 20A-20D may be installed at any position on the top surface of the mobile robot 1. FIG. 5 is a top view of the mobile robot 1. In a plan view (top view), FIG. 5 shows the center line CL1 in the front-to-rear direction of the mobile robot 1, the center line CL2 in the left-to-right direction of the mobile robot 1, and the intersection P1 between the center lines CL1 and CL2. The load sensors 20A and 20D are installed on a line L1 that passes through the intersection P1. The load sensors 20B and 20C are installed on a line L2 that passes through the intersection P1. The installation positions of the load sensors 20A-20D on the top surface of the mobile robot 1 are not limited to the positions shown in FIG. 5. The coordinates [X1, Y1] of the installation position of the load sensor 20A, the coordinates [X2, Y2] of the installation position of the load sensor 20B, the coordinates [X3, Y3] of the installation position of the load sensor 20C, and the coordinates [X4, Y4] of the installation position of the load sensor 20D may be the intersection P1.

[0027] 5 shows distance D1 from intersection P1 to the installation position of load sensor 20A, distance D2 from intersection P1 to the installation position of load sensor 20B, distance D3 from intersection P1 to the installation position of load sensor 20C, and distance D4 from intersection P1 to the installation position of load sensor 20D. Distances D1 to D4 may be the same, or may be different from one another. Two of distances D1 to D4 (e.g., distances D1 and D2) may be the same, and two other of distances D1 to D4 (e.g., distances D3 and D4) may be the same (in this case, distance D1≠distance D3). Three of distances D1 to D4 (e.g., distances D1, D2, and D3) may be the same (in this case, distance D1≠distance D4).

[0028] Load sensors 20A-20D may be installed near the outer periphery of the top surface of mobile robot 1. When load sensors 20A-20D are installed near the outer periphery of the top surface of mobile robot 1, pins 18A-18D are also installed near the outer periphery of the top surface of mobile robot 1, allowing mobile robot 1 to stably lift cart 3.

[0029] The following describes the behavior of the mobile robot 1 when it transports a dolly 3. For example, when transporting the dolly 3 from a first predetermined location to a second predetermined location, the host device 2 sends a transport instruction to the mobile robot 1. The transport instruction for the dolly 3 includes an instruction to transport the dolly 3 from the first predetermined location to the second predetermined location. When the mobile robot 1 receives the transport instruction for the dolly 3 from the host device 2, it moves to the first predetermined location and crawls under the bottom of the dolly 3 placed in the first predetermined location.

[0030] The position at which the mobile robot 1 slides under the bottom surface of the dolly 3 is arbitrary. The mobile robot 1 may move so that a predetermined position on the bottom surface of the dolly 3 and a predetermined position on the top surface of the mobile robot 1 overlap in the vertical direction. The mobile robot 1 may move so that a predetermined range on the bottom surface of the dolly 3 and a predetermined position on the top surface of the mobile robot 1 overlap in the vertical direction. The mobile robot 1 may move so that the predetermined area on the top surface of the mobile robot 1 overlaps with the predetermined area on the top surface of the mobile robot 1 in the vertical direction.

[0031] The host device 2 may notify the mobile robot 1 of a predetermined position or a predetermined range on the bottom surface of the dolly 3. The predetermined position or the predetermined range on the bottom surface of the dolly 3 may be stored in advance in the mobile robot 1. The predetermined position on the bottom surface of the dolly 3 may be the center position of the bottom surface of the dolly 3, or a position near the center position of the bottom surface of the dolly 3. The predetermined range on the bottom surface of the dolly 3 may include the center position of the bottom surface of the dolly 3 and a position near the center position of the bottom surface of the dolly 3.

[0032] The predetermined position on the top surface of the mobile robot 1 may be the intersection point P1 between the center lines CL1 and CL2 of the mobile robot 1. The predetermined position on the top surface of the mobile robot 1 may be a position near the intersection point P1. The predetermined range on the top surface of the mobile robot 1 may include the intersection point P1 and a position near the intersection point P1.

[0033] The mobile robot 1 lifts the dolly 3 while crawling under the bottom surface of the dolly 3 and measures the load weight. Specifically, the integrated control unit 11 measures the load weight based on the load data from the load sensors 20A-20D. The integrated control unit 11 determines whether the measured load weight exceeds the load weight (transportable weight) of the mobile robot 1. If the measured load weight exceeds the load weight of the mobile robot 1, the integrated control unit 11 notifies the host device 2 that the dolly 3 cannot be transported. If the measured load weight does not exceed the load weight of the mobile robot 1, the integrated control unit 11 calculates the position of the center of gravity of the dolly 3. Specifically, the integrated control unit 11 calculates the position of the center of gravity of the dolly 3 based on the load data from the load sensors 20A-20D.

[0034] The integrated control unit 11 may calculate the center of gravity position (coordinates of the center of gravity) of the cart 3 using an XY coordinate system with the origin at the intersection P1 of the center lines CL1 and CL2 of the mobile robot 1. The integrated control unit 11 calculates the center of gravity position (Xg, Yg) of the cart 3 in the X-axis direction based on the following (Equation 1), and calculates the center of gravity (Yg) of the cart 3 in the Y-axis direction based on the following (Equation 2), thereby calculating the center of gravity position (Xg, Yg) of the cart 3. Center of gravity position of cart 3 (Xg) = (F1 × X1 + F2 × X2 + F3 × X3 + F4 × X4) / (F1 + F2 + F3 + F4) (Equation 1) Center of gravity position of cart 3 (Yg) = (F1 × Y1 + F2 × Y2 + F3 × Y3 + F4 × Y4) / (F1 + F2 + F3 + F4) (Equation 2) F1 to F4: Loads applied to load sensors 20A to 20D X1, Y1: Coordinates of the installation position of the load sensor 20A X2, Y2: Coordinates of the installation position of the load sensor 20B X3, Y3: Coordinates of the installation position of the load sensor 20C X4, Y4: Coordinates of the installation position of the load sensor 20B

[0035] The integrated control unit 11 acquires the center of gravity position of the mobile robot 1. The center of gravity position (X, Y) of the mobile robot 1 may be, for example, the intersection point P1 of the center line CL1 and the center line CL2 of the mobile robot 1. The center of gravity (X, Y) of the mobile robot 1 can be calculated using the following equations (3) and (4). Center of gravity of mobile robot 1 (X) = (X1 + X2 + X3 + X4) / 4 (Equation 3) Center of gravity of mobile robot 1 (Y) = (Y1 + Y2 + Y3 + Y4) / 4 (Equation 4)

[0036] When the distances D1 to D4 are the same, the center of gravity position (X, Y) of the mobile robot 1 can be calculated from the following (Equation 5) and (Equation 6). Center of gravity of mobile robot 1 (X) = (X1 + X2) / 2 (Equation 5) Center of gravity of mobile robot 1 (Y) = (Y1 + Y3) / 2 (Equation 6)

[0037] The memory unit 16 stores the position of the center of gravity of the mobile robot 1. The position of the center of gravity of the mobile robot 1 may be determined in advance by an operator such as a user, or may be determined at the time of design. The integrated control unit 11 may read the position of the center of gravity of the mobile robot 1 from the memory unit 16. The memory unit 16 may also store the installation positions of the load sensors 20A-20D. The installation positions of the load sensors 20A-20D may be determined in advance by an operator, or may be determined at the time of design. The integrated control unit 11 may read the installation positions of the load sensors 20A-20D from the memory unit 16 and calculate the position of the center of gravity of the mobile robot 1 based on the installation positions of the load sensors 20A-20D.

[0038] The integrated control unit 11 determines whether the mobile robot 1 can physically move to a position corresponding to the center of gravity of the dolly 3 based on layout information related to the dimensions of the mobile robot 1 and the dolly 3. That is, the integrated control unit 11 determines whether the mobile robot 1 can lift the dolly 3 at a position corresponding to the center of gravity of the dolly 3 without coming into contact with the dolly 3. If the mobile robot 1 comes into contact with the dolly 3 when it moves to a position corresponding to the center of gravity of the dolly 3, it may be determined that the mobile robot 1 cannot physically move to a position corresponding to the center of gravity of the dolly 3. The layout information may be stored in the storage unit 16. The integrated control unit 11 may receive the layout information from the higher-level device 2.

[0039] The integrated control unit 11 may determine a position corresponding to the center of gravity of the cart 3 based on the positions of the centers of gravity of the mobile robot 1 and the cart 3. The position corresponding to the center of gravity of the cart 3 may be a position where the positions of the centers of gravity of the mobile robot 1 and the cart 3 overlap in the vertical direction. The position corresponding to the center of gravity of the cart 3 may be a position where a predetermined area including the position of the center of gravity of the cart 3 and the position of the center of gravity of the mobile robot 1 overlap in the vertical direction. The position corresponding to the center of gravity of the cart 3 may be a position where the positions of the center of gravity of the cart 3 and the predetermined area including the position of the center of gravity of the mobile robot 1 overlap in the vertical direction.

[0040] If the mobile robot 1 cannot physically move to a position corresponding to the center of gravity of the cart 3, the mobile robot 1 notifies the host device 2 that the cart 3 cannot be transported. If the mobile robot 1 can physically move to a position corresponding to the center of gravity of the cart 3, the mobile robot 1 moves to that position. Figure 6 is a perspective view of the mobile robot 1 and the cart 3 when the mobile robot 1 moves to a position corresponding to the center of gravity of the cart 3. In Figure 6, the centers of gravity of the mobile robot 1 and the cart 3 are located on a vertical line passing through point P2.

[0041] After the mobile robot 1 moves to a position corresponding to the center of gravity of the dolly 3, the integrated control unit 11 determines whether the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 are in a predetermined positional relationship. If the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 are in the predetermined positional relationship, the integrated control unit 11 controls the lifting mechanism 17 to lift the dolly 3. The predetermined positional relationship may include a predetermined area including the center of gravity of the mobile robot 1 overlapping the center of gravity of the dolly 3 in the vertical direction. The predetermined positional relationship may include a predetermined area including the center of gravity of the mobile robot 1 overlapping the center of gravity of the dolly 3 in the vertical direction. With the dolly 3 lifted, the mobile robot 1 transports the dolly 3 to a specified location (e.g., a second specified location) in accordance with a transport command for the dolly 3 from the host device 2.

[0042] Before the mobile robot 1 transports the dolly 3, the mobile robot 1 moves to a position corresponding to the center of gravity of the dolly 3, and then lifts the dolly 3 at the new position. Specifically, the integrated control unit 11 controls the traveling unit 15 to move the mobile robot 1 so that the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 are aligned in a predetermined positional relationship. Then, once the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 are aligned in a predetermined positional relationship, the integrated control unit 11 controls the lifting mechanism 17 to lift the dolly 3. This prevents vibrations and tipping of the dolly 3 when the mobile robot 1 transports the dolly 3, allowing the mobile robot 1 to transport the dolly 3 stably. This allows the mobile robot 1 to travel stably while lifting the dolly 3. Alternatively, the mobile robot 1 may move to a position corresponding to the center of gravity of the dolly 3 so that the centers of gravity of the mobile robot 1 and the dolly 3 overlap vertically, and then lift the dolly 3 at the new position. That is, when the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 are vertically overlapping, the integrated control unit 11 controls the lifting mechanism 17 to lift the dolly 3. This prevents the tires on one side from being burdened while the mobile robot 1 is moving, allowing the mobile robot 1 to transport the dolly 3 stably and preventing uneven wear on the mobile robot 1's tires.

[0043] In the above example, four pins 18 and four load sensors 20 are placed on the top surface of the mobile robot 1, but by placing three or more pins 18 and three or more load sensors 20 on the top surface of the mobile robot 1, it is possible to calculate the center of gravity position of the cart 3.

[0044] The integrated control unit 11 may acquire load data from the load sensors 20A-20D while the mobile robot 1 is moving. The integrated control unit 11 may calculate the center of gravity of the cart 3 based on the load data from the load sensors 20A-20D while the mobile robot 1 is moving. The integrated control unit 11 may compare the center of gravity of the cart 3 calculated before the mobile robot 1 starts moving with the center of gravity of the cart 3 calculated while the mobile robot 1 is moving. If the center of gravity of the cart 3 changes, the mobile robot 1 may notify the host device 2 of the change. If the center of gravity of the cart 3 changes while the mobile robot 1 is moving, the integrated control unit 11 may control the traveling unit 15 to adjust at least one of the traveling speed and turning radius of the mobile robot 1. Adjusting the traveling speed and turning radius of the mobile robot 1 can prevent vibrations and tipping of the cart 3 during transportation.

[0045] The imaging device 19 is a camera that captures an image of the dolly 3 and at least one piece of luggage 4 to generate a captured image. The imaging device 19 captures images of the dolly 3 and the piece of luggage 4 at a predetermined frame rate and sequentially generates image data. The image data generated by the imaging device 19 is sent to the integrated control unit 11. The imaging device 19 has an optical system such as a lens, and an imaging element such as a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge Coupled Device).

[0046] The mobile robot 1 may crawl under the bottom of the dolly 3 after checking the load status of the luggage 4 on the dolly 3. As shown in FIG. 7 , the mobile robot 1 may check the load status of the luggage 4 on the dolly 3 before crawling under the bottom of the dolly 3. The mobile robot 1 may capture images of the dolly 3 and luggage 4 from multiple directions as it travels around the dolly 3. The integrated control unit 11 obtains the load status of the luggage 4 on the dolly 3 from image data of the dolly 3 and luggage 4, and determines the position where the mobile robot 1 will crawl under the bottom of the dolly 3 based on the load status of the luggage 4 on the dolly 3. When multiple luggage 4 are arranged close together, the integrated control unit 11 may determine the position where the mobile robot 1 will crawl under the bottom of the dolly 3 depending on the arrangement of the multiple luggage 4.

[0047] In Figure 8, the mobile robot 1 determines the position where it should crawl under the bottom of the dolly 3 based on the arrangement of the multiple packages 4, and then crawls under the bottom of the dolly 3 based on the determined position. As shown in Figure 8, when the mobile robot 1 crawls under the bottom of the dolly 3, the mobile robot 1 and one or more packages 4 overlap vertically. By determining the position where the mobile robot 1 should crawl under the bottom of the dolly 3 based on the arrangement of the multiple packages 4, the integrated control unit 11 can stably lift the dolly 3.

[0048] The integrated control unit 11 may check the loading status of the dolly 3 based on image data of the dolly 3 and the luggage 4, and may transmit information regarding the loading status of the dolly 3 to the higher-level device 2. For example, as shown in FIG. 9 , if the luggage 4 is protruding from the dolly 3, there is a possibility that the luggage 4 may fall off the dolly 3 while the mobile robot 1 is moving. The integrated control unit 11 may determine whether there is a possibility that the luggage 4 may fall off the dolly 3 while the mobile robot 1 is moving, based on the arrangement of one or more luggage items 4.

[0049] The integrated control unit 11 may transmit to the higher-level device 2 a message indicating that the cargo 4 may fall off the cart 3 while the mobile robot 1 is moving. Alternatively, the mobile robot 1 may be equipped with an alarm mechanism, and the integrated control unit 11 may control the alarm mechanism. The alarm mechanism may issue an alarm to those around the mobile robot 1, thereby informing an operator that the cargo 4 may fall off the cart 3 while the mobile robot 1 is moving.

[0050] <Overall control system configuration> FIG. 10 is a schematic diagram showing an example of a control system according to the first embodiment. In FIG. 10, a host device 2 manages multiple mobile robots 1 (1A-1D). The host device 2 can communicate with the mobile robots 1A-1D. The host device 2 selects one of the multiple mobile robots 1 and sends a command to the selected mobile robot 1 to transport the cart 3. The host device 2 may select one of the multiple mobile robots 1 according to a predetermined criterion. For example, the host device 2 may select the mobile robot 1 closest to the cart 3 to be transported.

[0051] In the example of the control system shown in FIG. 10, mobile robot 1A and mobile robot 1B are the same size, mobile robot 1C is larger than mobile robots 1A and 1B, and mobile robot 1D is larger than mobile robots 1A, 1B, and 1C. The area of ​​the top surface of mobile robot 1A is the same as the area of ​​the top surface of mobile robot 1B. The area of ​​the top surface of mobile robot 1C is larger than the area of ​​the top surface of mobile robot 1A. The area of ​​the top surface of mobile robot 1D is larger than the area of ​​the top surface of mobile robot 1C.

[0052] Figure 11 is a flowchart showing the processing flow of the mobile robot 1 according to the first embodiment. The processing shown in the flowchart in Figure 11 begins when the host device 2 sends an instruction to the mobile robot 1 to transport the dolly 3. The mobile robot 1 moves to a position near the dolly 3 (S1) and then slips under the bottom of the dolly 3 (S2).

[0053] Before crawling under the bottom of the dolly 3, the mobile robot 1 may travel around the dolly 3, taking images of the dolly 3 and the cargo 4, to confirm the loading status of the dolly 3. If there is a possibility that the cargo 4 may fall from the dolly 3 while the mobile robot 1 is moving, the integrated control unit 11 notifies the host device 2 that the dolly 3 cannot be transported. The mobile robot 1 then enters a standby state and waits for instructions from the host device 2.

[0054] The mobile robot 1 lifts the dolly 3 (S3). The integrated control unit 11 measures the load distribution on the dolly 3 and calculates the center of gravity of the dolly 3 (S4). The integrated control unit 11 also measures the load weight. The mobile robot 1 lowers the lifted dolly 3 (S5). The robot 1 checks the weight of the cart 3 (S6).

[0055] The flow of the confirmation process (confirmation flow A) for the weight of the dolly 3 will be described with reference to the flowchart in Fig. 12. The integrated control unit 11 acquires luggage information from the higher-level device 2 (S21). The luggage information includes information related to the weight of the luggage 4. The integrated control unit 11 determines whether the measured load weight is equal to or less than the loadable weight (allowable weight) (S22). If the measured load weight is equal to or less than the loadable weight (S22; YES), the process proceeds to S23.

[0056] The integrated control unit 11 calculates the weight of the luggage 4 (S23). Specifically, the integrated control unit 11 calculates the weight of the luggage 4 by subtracting the weight of the dolly 3 from the measured load weight. The weight of the dolly 3 is stored in the memory unit 16. The luggage information acquired from the higher-level device 2 may include information regarding the weight of the dolly 3. When information regarding the weight of the dolly 3 is sent from the higher-level device 2 to the mobile robot 1, the integrated control unit 11 may store the weight of the dolly 3 in the memory unit 16. The integrated control unit 11 determines whether the calculated weight of the luggage 4 is the same as the weight of the luggage 4 included in the luggage information (S24). If the calculated weight of the luggage 4 is the same as the weight of the luggage 4 included in the luggage information (S24; YES), the process proceeds to S7 in FIG. 11. Furthermore, if the process of S24 is disabled, the process proceeds to S7 in FIG. 11. That is, the process of S24 may be omitted and the process may proceed to S7 in FIG. 11. For example, if the mobile robot 1 does not receive package information from the host device 2, the process may skip S24 and proceed to S7 in FIG.

[0057] If the measured load weight exceeds the loadable weight (S22; NO), proceed to the processing of S13 in Fig. 11. Also, if the calculated weight of the package 4 differs from the weight of the package 4 included in the package information (S24; NO), proceed to the processing of S13 in Fig. 11. If the calculated weight of the package 4 differs from the weight of the package 4 included in the package information and the processing of S24 is enabled, proceed to the processing of S13 in Fig. 11.

[0058] Returning to the explanation of the flowchart in Figure 11, the mobile robot 1 checks the position of the center of gravity of the dolly 3 (S7). The flow of the process for checking the weight position of the dolly 3 (check flow B) will be explained with reference to the flowchart in Figure 13. The integrated control unit 11 calculates the position of the center of gravity of the mobile robot 1 (S31). Based on the positions of the centers of gravity of the mobile robot 1 and the dolly 3, the integrated control unit 11 determines whether or not the mobile robot 1 needs to move (S32).

[0059] The integrated control unit 11 may determine that the mobile robot 1 needs to be moved if the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 do not overlap in the vertical direction. The integrated control unit 11 may determine that the mobile robot 1 needs to be moved if the difference between the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 is equal to or greater than a predetermined value. The integrated control unit 11 may determine that the mobile robot 1 needs to be moved if a predetermined area including the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 do not overlap in the vertical direction. The integrated control unit 11 may determine that the mobile robot 1 needs to be moved if the center of gravity of the mobile robot 1 and the predetermined area including the center of gravity of the dolly 3 do not overlap in the vertical direction.

[0060] The predetermined area including the center of gravity of the mobile robot 1 may be, for example, a range of a predetermined value in a planar direction from the center of gravity of the mobile robot 1. The predetermined area including the center of gravity of the dolly 3 may be a range of a predetermined value in a planar direction from the center of gravity of the dolly 3. The predetermined value is stored in the memory unit 16. The predetermined value is, for example, 5 cm, but the worker can set any value as the predetermined value. The worker can also rewrite the predetermined value stored in the memory unit 16 to any value by giving instructions to the mobile robot 1 using an external device. The host device 2 may issue a command to the mobile robot 1 to rewrite the predetermined value stored in the memory unit 16 to a desired value. The host device 2 may also issue a command to the mobile robot 1 to transport the cart 3 to rewrite the predetermined value stored in the memory unit 16 to a desired value.

[0061] If the mobile robot 1 needs to be moved (S32; YES), the process proceeds to S8 in Figure 11. If the mobile robot 1 does not need to be moved (S32; NO), the process proceeds to S10 in Figure 11.

[0062] Returning to the explanation of the flowchart in Figure 11, the mobile robot 1 determines whether it is able to move (S8). The flow of the process (determination flow) for determining whether it is able to move will be explained with reference to the flowchart in Figure 14. The integrated control unit 11 determines whether it is possible to physically move the mobile robot 1 to a position corresponding to the center of gravity of the cart 3 based on the layout information (S41). The layout information includes information on the dimensions of the mobile robot 1, the cart 3, etc. The layout information may also include information on the dimensions of multiple mobile robots 1, multiple carts 3, etc.

[0063] If the mobile robot 1 can be physically moved to a position corresponding to the center of gravity of the cart 3 (S41; YES), proceed to step S9 in Figure 11. If the mobile robot 1 cannot be physically moved to a position corresponding to the center of gravity of the cart 3 (S41; NO), proceed to step S13 in Figure 11.

[0064] Returning to the explanation of the flowchart in Figure 11, the mobile robot 1 moves to a position corresponding to the center of gravity of the cart 3 (S9). After the mobile robot 1 moves to a position corresponding to the center of gravity of the cart 3, the process proceeds to S3 in Figure 11.

[0065] The mobile robot 1 lifts the cart 3 (S10). The mobile robot 1 starts transporting the cart 3 (S11). That is, the mobile robot 1 starts moving with the cart 3 lifted, and starts transporting the cart 3 in accordance with the transport instruction from the host device 2.

[0066] While the mobile robot 1 is moving, the integrated control unit 11 measures the load distribution on the carriage 3 and calculates the position of the center of gravity of the carriage 3 (S12). That is, while the mobile robot 1 is moving, the integrated control unit 11 acquires load data from the load sensors 20A to 20D and calculates the position of the center of gravity of the carriage 3 based on the load data from the load sensors 20A to 20D.

[0067] The integrated control unit 11 compares the calculated center of gravity of the mobile robot 1 before the mobile robot 1 starts moving with the calculated center of gravity of the mobile robot 1 while the mobile robot 1 is moving. If the center of gravity of the mobile robot 1 changes, the mobile robot 1 may notify the host device 2 of the change. If the center of gravity of the cart 3 changes while the mobile robot 1 is moving, the integrated control unit 11 may control the traveling unit 15 to adjust at least one of the traveling speed and turning radius of the mobile robot 1. Adjusting the traveling speed and turning radius of the mobile robot 1 can prevent vibrations and tipping of the cart 3 while it is being transported. When the mobile robot 1 has transported the cart 3 to the designated location, it notifies the host device 2 that the transport is complete.

[0068] The integrated control unit 11 notifies the upper device 2 that the carriage 3 cannot be transported (S13), and waits for an instruction from the upper device 2 (S14). The integrated control unit 11 also notifies the upper device 2 of information relating to the reason why the carriage 3 cannot be transported. If the measured load weight exceeds the loadable weight, the integrated control unit 11 notifies the upper device 2 that the measured load weight exceeds the loadable weight. If the calculated weight of the luggage 4 differs from the weight of the luggage 4 included in the luggage information, the integrated control unit 11 notifies the host device 2 that the calculated weight of the luggage 4 differs from the weight of the luggage 4 included in the luggage information. If the mobile robot 1 cannot be physically moved to a position corresponding to the position of the center of gravity of the cart 3, the integrated control unit 11 notifies the host device 2 that the mobile robot 1 cannot be physically moved to a position corresponding to the position of the center of gravity of the cart 3.

[0069] When the mobile robot 1 receives an evacuation command (evacuation request) from the host device 2, it moves to a position away from the carriage 3. The evacuation command is an instruction to evacuate from the carriage 3. When the mobile robot 1 receives an evacuation command from the host device 2, it may move to a predetermined position. The processes described above may also be considered as a method for controlling the mobile robot 1.

[0070] FIG. 15 is a flowchart showing the processing flow in the host device 2 according to the first embodiment. The host device 2 sends an instruction to the mobile robot 1 to transport the cart 3 (S51). The host device 2 receives a notification from the mobile robot 1 that the transport of the cart 3 is complete or that the cart 3 cannot be transported (S52). When the host device 2 receives a notification from the mobile robot 1 that the transport of the cart 3 is complete, the processing of the flowchart shown in FIG. 15 ends. When the host device 2 receives a notification that the transport of the cart 3 is not possible, the host device 2 sends an evacuation instruction to the mobile robot 1 that cannot transport the cart 3 (S53). That is, the host device 2 sends the evacuation instruction to the mobile robot 1 that sent the instruction to transport the cart 3. Upon receiving the evacuation instruction, the mobile robot 1 performs evacuation. For example, the mobile robot 1 moves away from the cart 3 or to a predetermined position.

[0071] The host device 2 determines whether multiple mobile robots 1 are operating (S54). If multiple mobile robots 1 are operating (S54; YES), the host device 2 acquires load data from the load sensors 20A-20D from the mobile robots 1 that are unable to transport the dolly 3 (S55). The integrated control unit 11 may send the load data from the load sensors 20A-20D to the host device 2. The host device 2 measures the payload and calculates the center of gravity of the dolly 3 based on the load data from the load sensors 20A-20D. The host device 2 may acquire the payload and the center of gravity of the dolly 3 from the mobile robots 1 that are unable to transport the dolly 3.

[0072] The host device 2 searches for a mobile robot 1 that can respond based on the load weight, the center of gravity position of the cart 3, and the layout information (S56). That is, the host device 2 selects a mobile robot 1 that can respond from among the multiple mobile robots 1 based on the load data from the load sensors 20A-120 and the layout information. The layout information is stored in the storage device 201 of the host device 2. The worker may send the layout information to the host device 2 using a terminal device that can communicate with the host device 2. The worker may input the layout information to the host device 2 using the input device 202 of the host device 2. The host device 2 may also select a mobile robot 1 that can respond from among the multiple mobile robots 1 based on the load data from the load sensors 120A-120D and the layout information.

[0073] The host device 2 may determine a position corresponding to the center of gravity of the cart 3 based on the center of gravity of the mobile robot 1 and the center of gravity of the cart 3. The host device 2 searches for a mobile robot 1 that can respond, provided that the following conditions (1) and (2) are met. (1) The payload is less than the mobile robot's maximum payload. (2) The mobile robot 1 can physically move to a position corresponding to the center of gravity of the cart 3.

[0074] The host device 2 determines whether a mobile robot 1 capable of responding is operating (S57). If a mobile robot 1 capable of responding is operating (S57; YES), the host device The mobile robot 2 sends a transport instruction for the dolly 3 to the mobile robot 1 that is available (S58). After the process of S58 is performed, the process proceeds to S52. When the mobile robot 1 that is available receives the transport instruction for the dolly 3, the process of the flowchart shown in FIG. 11 is started.

[0075] If only one mobile robot 1 is operating (S54; NO), the process proceeds to S59. If no mobile robot 1 is operating that can handle the situation (S57; NO), the process proceeds to S59. The host device 2 instructs the worker to reload the luggage 4 onto the dolly 3 (S59). The display device of the host device 2 may display information (e.g., a message) related to the instruction to reload the luggage 4 onto the dolly 3. The audio output device of the host device 2 may output audio related to the instruction to reload the luggage 4 onto the dolly 3. The host device 2 may transmit information (e.g., a message) related to the instruction to reload the luggage 4 onto the dolly 3 to a terminal device that can communicate with the host device 2, and the terminal device may display the information related to the instruction to reload the luggage 4 onto the dolly 3.

[0076] The worker reloads the luggage 4 onto the cart 3. When the reloading of the luggage 4 onto the cart 3 is complete, the worker uses a terminal device that can communicate with the higher-level device 2 to send a notification of the completion of reloading of the luggage 4 onto the cart 3 to the higher-level device 2. The worker may use the input device 202 of the higher-level device 2 to input the notification of the completion of reloading of the luggage 4 onto the cart 3 to the higher-level device 2. The higher-level device 2 receives the notification of the completion of reloading of the luggage 4 onto the cart 3 (S60). After the processing of S60 is performed, the process proceeds to S51.

[0077] Second Embodiment A second embodiment will now be described. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and the description thereof will be omitted. The control systems according to the first and second embodiments may be combined as appropriate.

[0078] <Overall control system configuration> Fig. 16 is a schematic diagram showing an example of a control system according to the second embodiment. In Fig. 16, a host device 2 manages one mobile robot 101 and multiple mobile robots 1 (1E to 1G). The mobile robot 101 is a mobile robot for measuring loads.

[0079] In the example of the control system shown in Figure 16, the mobile robot 101 and the mobile robot 1E are the same size, the mobile robot 1F is larger than the mobile robots 101 and 1E, and the mobile robot G is larger than the mobile robots 101, 1E, and 1F. The area of ​​the top surface of the mobile robot 101 is the same as the area of ​​the top surface of the mobile robot 1E. The area of ​​the top surface of the mobile robot 1F is larger than the area of ​​the top surface of the mobile robot 101. The area of ​​the top surface of the mobile robot 1G is larger than the area of ​​the top surface of the mobile robot 1F.

[0080] 17 is a block diagram showing the configuration of a mobile robot 101 according to a second embodiment. The mobile robot 101 is a device (self-propelled transport device) that functions as a self-propelled automated guided vehicle. The mobile robot 101 includes an integrated control unit (control device) 111, a communication unit 112, a travel control unit 113, a lift control unit 114, a travel unit 115, a memory unit 116, a lift mechanism 117, multiple pins 118, an imaging device 119, and multiple load sensors 120.

[0081] The running unit 115 has multiple rotating bodies 121. The running unit 115 may also have multiple casters 122. The running unit 115 has a right motor drive unit 123, a left motor drive unit 124, a right motor 125, and a left motor 126. The lifting mechanism 117 has a motor drive unit 131 and a motor 132. The configuration of the mobile robot 101 is as follows: The configuration of the mobile robot 101 is similar to that of the mobile robot 101, so a detailed description of the configuration will be omitted.

[0082] Figure 18 is a perspective view of the mobile robot 101. In the example of the mobile robot 101 shown in Figure 18, pins 118A-118D and load sensors 120A-120D are arranged on the top surface of the mobile robot 101. The number of pins 118 and load sensors 120 is not limited to the example shown in Figure 18; three pins 118 and three load sensors 120 may be arranged on the top surface of the mobile robot 101, or five or more pins 118 and five or more load sensors 120 may be arranged on the top surface of the mobile robot 101.

[0083] Load sensor 120A is provided at the tip of pin 118A, and load sensor 120B is provided at the tip of pin 118B. Furthermore, load sensor 120C is provided at the tip of pin 118C, and load sensor 120D is provided at the tip of pin 118D. Load sensor 120A measures the load applied to load sensor 120A. Load sensor 120B measures the load applied to load sensor 120B. Load sensor 120C measures the load applied to load sensor 120C. Load sensor 120D measures the load applied to load sensor 120D. Load data measured by load sensors 120A to 120D is sent to integrated control unit 111. Integrated control unit 111 acquires the load data measured by load sensors 120A to 120D when pins 118A to 118D lift the dolly 3.

[0084] The upper device 2 instructs the mobile robot 101 to move to a position near the dolly 3 and also instructs the mobile robot 101 to lift the dolly 3. When the mobile robot 101 receives the move instruction and the lift instruction, it moves to a position near the dolly 3 and crawls under the bottom of the dolly 3. While crawling under the bottom of the dolly 3, the mobile robot 101 lifts the dolly 3 and measures the load weight. Specifically, the integrated control unit 111 measures the load weight based on the load data from the load sensors 120A to 120D. When no cargo 4 is loaded on the dolly 3, the load weight is the weight of the dolly 3. When cargo 4 is loaded on the dolly 3, the load weight is the total weight of the weight of the dolly 3 and the weight of the cargo 4.

[0085] The integrated control unit 111 calculates the position of the center of gravity of the dolly 3 based on the load data from the load sensors 120A-120D. The integrated control unit 111 sends the load weight and the position of the center of gravity of the dolly 3 to the host device 2. The host device 2 selects a mobile robot 1 that can handle the task from among the multiple mobile robots 1 based on the load weight, the position of the center of gravity of the dolly 3, and the layout information. The host device 2 sends an instruction to transport the dolly 3 to the mobile robot 1 that can handle the task. When the mobile robot 1 that can handle the task receives the instruction to transport the dolly 3, the process of the flowchart shown in FIG. 11 starts.

[0086] Additionally, the integrated control unit 111 may send the load data of the load sensors 120A-120D to the host device 2. The host device 2 may measure the load weight based on the load data of the load sensors 120A-120D. The host device 2 may calculate the position of the center of gravity of the cart 3 based on the load data of the load sensors 120A-120D. The host device 2 selects an applicable mobile robot 1 from among the multiple mobile robots 1 based on the load data of the load sensors 120A-120D and layout information.

[0087] For example, the host device 2 may randomly select one of the multiple mobile robots 1 and send it an instruction to transport the dolly 3. If the selected mobile robot 1 is unable to transport the dolly 3, the time it takes for the selected mobile robot 1 to move to a position near the dolly 3 is wasted, increasing the mobile robot 1's travel time. According to the second embodiment, the host device 2 uses the payload weight and center of gravity of the dolly 3 obtained from the mobile robot 101 to select a mobile robot 1 that can handle the task from the multiple mobile robots 1. This can prevent the mobile robot 1 from increasing its travel time.

[0088] Figure 19 is a flowchart showing the processing flow of the mobile robot 101 according to the second embodiment. The host device 2 sends an instruction to the mobile robot 101 to lift the dolly 3, and the mobile robot 101 receives the instruction to lift the dolly 3, which starts the processing of the flowchart shown in Figure 19. The mobile robot 101 moves to a position near the dolly 3 (S61) and slides under the bottom surface of the dolly 3 (S62).

[0089] The mobile robot 101 lifts the dolly 3 (S63). The integrated control unit 111 measures the load distribution on the dolly 3 and calculates the position of the center of gravity of the dolly 3 (S64). The integrated control unit 111 also measures the load weight. The integrated control unit 111 sends the load weight and the position of the center of gravity of the dolly 3 to the host device 2 (S65). The integrated control unit 111 may also send load data from the load sensors 120A to 120D to the host device 2. The mobile robot 101 lowers the lifted dolly 3 (S66). The mobile robot 101 performs evacuation upon receiving an evacuation command (evacuation request) from the host device 2 (S67). The evacuation command is an instruction to evacuate from the dolly 3. For example, the mobile robot 101 moves to a position away from the dolly 3 or to a predetermined position. The mobile robot 101 transitions to a standby state and waits for instructions from the host device 2 (S68). The processes described above may also be considered as a method for controlling the mobile robot 101.

[0090] 20 is a flowchart showing the processing flow in the host device 2 according to the second embodiment. The host device 2 sends an instruction to the mobile robot 101 to lift the cart 3 (S71). The host device 2 receives the payload weight and the center of gravity position of the cart 3 from the mobile robot 101 (S72). The host device 2 sends an evacuation instruction to the mobile robot 101 (S73).

[0091] The host device 2 searches for a mobile robot 1 that can respond based on the load weight, the center of gravity of the cart 3, and the layout information (S74). That is, the host device 2 selects a mobile robot 1 that can respond from multiple mobile robots 1. The layout information may be stored in the storage device 201 of the host device 2. The worker may send the layout information to the host device 2 using a terminal device that can communicate with the host device 2. The worker may input the layout information to the host device 2 using the input device 202 of the host device 2.

[0092] The host device 2 may determine a position corresponding to the center of gravity of the cart 3 based on the center of gravity of the mobile robot 1 and the center of gravity of the cart 3. The host device 2 searches for a mobile robot 1 that can respond, provided that the following conditions (1) and (2) are met. (1) The payload is less than the mobile robot's maximum payload. (2) The mobile robot 1 can physically move to a position corresponding to the center of gravity of the cart 3.

[0093] The host device 2 determines whether a capable mobile robot 1 is operating (S75). If a capable mobile robot 1 is operating (S75; YES), the host device 2 sends a transport instruction for the dolly 3 to the capable mobile robot 1 (S76). The host device 2 may send movement information to the capable mobile robot 1. The movement information includes information about a position corresponding to the center of gravity of the dolly 3. When the capable mobile robot 1 receives the transport instruction for the dolly 3, the process of the flowchart shown in FIG. 11 is started. The capable mobile robot 1 may use the position corresponding to the center of gravity of the dolly 3 as the position where it will slip under the bottom surface of the dolly 3.

[0094] If the mobile robot 1 that can respond is not in operation (S75; NO), the upper device 2 , and instructs the worker to reload the luggage 4 onto the cart 3 (S77). The display device of the higher-level device 2 may display information (e.g., a message) relating to the instruction to reload the luggage 4 onto the cart 3. The audio output device of the higher-level device 2 may output audio relating to the instruction to reload the luggage 4 onto the cart 3. The higher-level device 2 may transmit information (e.g., a message) relating to the instruction to reload the luggage 4 onto the cart 3 to a terminal device that can communicate with the higher-level device 2, and the terminal device may display the information relating to the instruction to reload the luggage 4 onto the cart 3.

[0095] The worker reloads the cargo 4 onto the cart 3. When the reloading of the cargo 4 onto the cart 3 is complete, the worker uses a terminal device capable of communicating with the host device 2 to send a notification of the completion of the reloading of the cargo 4 onto the cart 3 to the host device 2. The worker may input the notification of the completion of the reloading of the cargo 4 onto the cart 3 to the host device 2 using the input device 202 of the host device 2. The host device 2 receives the notification of the completion of the reloading of the cargo 4 onto the cart 3 (S78). After the processing of S78 is performed, the process proceeds to the processing of S71. Because the cargo 4 has been reloaded onto the cart 3, the host device 2 again sends an instruction to the mobile robot 101 to lift the cart 3.

[0096] Third Embodiment A third embodiment will now be described. In the third embodiment, the same components as those in the first and second embodiments are assigned the same reference numerals as those in the first and second embodiments, and a detailed description thereof will be omitted. Furthermore, since the configuration of the control system according to the third embodiment is similar to that of the control system according to the first embodiment, a detailed description of the configuration of the control system according to the third embodiment will be omitted. The flowchart showing the processing flow in the higher-level device 2 shown in FIG. 15 is applied to the third embodiment. The control systems according to the first to third embodiments may be combined as appropriate.

[0097] FIG. 21 is a flowchart showing the processing flow of the mobile robot 1 and the higher-level device 2 according to the third embodiment. Steps S81 to S84 in the flowchart shown in FIG. 21 are the same as steps S1 to S4 in the flowchart shown in FIG. 11. Steps S85 to S87 in the flowchart shown in FIG. 21 are the same as steps S6 to S8 in the flowchart shown in FIG. 11. Steps S91 to S94 in the flowchart shown in FIG. 21 are the same as steps S11 to S14 in the flowchart shown in FIG. 11.

[0098] The mobile robot 1 lowers the raised dolly 3 (S88). The mobile robot 1 also notifies the host device 2 that the dolly 3 has been lowered. The host device 2 requests the worker to move the dolly 3 (S89). The request to move the dolly 3 is a notification, voice, or the like requesting that the dolly 3 be moved. The display device of the host device 2 may display information (e.g., a message) related to the request to move the dolly 3. The audio output device of the host device 2 may output voice related to the request to move the dolly 3. The host device 2 may transmit information (e.g., a message) related to the request to move the dolly 3 to a terminal device that can communicate with the host device 2, and the terminal device may display the information related to the request to move the dolly 3.

[0099] The integrated control unit 11 may issue a request to the worker to move the dolly 3. The integrated control unit 11 is an example of a request unit. The integrated control unit 11 may display information (e.g., a message) related to the request to move the dolly 3 on a display device of the mobile robot 1. The integrated control unit 11 may output audio related to the request to move the dolly 3 via an audio output device of the mobile robot 1. The integrated control unit 11 may send information (e.g., a message) related to the request to move the dolly 3 to a terminal device that can communicate with the mobile robot 1, and the terminal device may display the information related to the request to move the dolly 3.

[0100] The request to move the carriage 3 may include a request to move the carriage 3 so that the center of gravity of the mobile robot 1 and the center of gravity of the carriage 3 are in a predetermined positional relationship. The predetermined positional relationship is such that a predetermined area including the center of gravity of the mobile robot 1 and the center of gravity of the carriage 3 overlap in the vertical direction. In this case, the worker moves the dolly 3 so that a predetermined area including the center of gravity of the dolly 3 and the center of gravity of the mobile robot 1 overlap in the vertical direction. The predetermined positional relationship may include the position of the center of gravity of the mobile robot 1 overlapping in the vertical direction with the predetermined area including the center of gravity of the dolly 3. In this case, the worker moves the dolly 3 so that the position of the center of gravity of the mobile robot 1 overlaps in the vertical direction with the predetermined area including the center of gravity of the dolly 3. The predetermined positional relationship may include the position of the center of gravity of the mobile robot 1 overlapping in the vertical direction with the predetermined area including the center of gravity of the dolly 3. In this case, the worker moves the dolly 3 so that the position of the center of gravity of the mobile robot 1 overlaps in the vertical direction with the predetermined area including the center of gravity of the dolly 3.

[0101] The integrated control unit 11 may determine whether the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 are in a predetermined positional relationship. If the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 are not in the predetermined positional relationship, the integrated control unit 11 may request the worker to move the dolly 3 again. The higher-level device 2 may request the worker to move the dolly 3 again.

[0102] The worker notifies the host device 2 that the movement of the cart 3 is complete (S90). The worker may use the input device 202 of the host device 2 to input a notification indicating that the movement of the cart 3 is complete to the host device 2. The worker may use a terminal device that can communicate with the host device 2 to send a notification indicating that the movement of the cart 3 is complete to the host device 2. The host device 2 sends a notification indicating that the movement of the cart 3 is complete to the mobile robot 1.

[0103] The worker may also notify the mobile robot 1 that the movement of the cart 3 is complete. The worker may use an input device on the mobile robot 1 to input a notification to the mobile robot 1 indicating that the movement of the cart 3 is complete. The worker may also use a terminal device that can communicate with the mobile robot 1 to send a notification to the mobile robot 1 indicating that the movement of the cart 3 is complete. After the process of S90 is performed, the process proceeds to S83. The processes described above may also be considered as a method for controlling the mobile robot 1.

[0104] Before transporting the dolly 3, the dolly 3 is moved so that the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 are aligned in a predetermined positional relationship. Then, when the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 are aligned in the predetermined positional relationship, the integrated control unit 11 controls the lifting mechanism 17 to lift the dolly 3. This prevents vibrations and tipping of the dolly 3 when the mobile robot 1 transports the dolly 3, allowing the mobile robot 1 to transport the dolly 3 stably. The dolly 3 may be moved so that the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 overlap in the vertical direction. Then, when the center of gravity of the mobile robot 1 and the center of gravity of the dolly 3 overlap in the vertical direction, the integrated control unit 11 controls the lifting mechanism 17 to lift the dolly 3. This allows the mobile robot 1 to transport the dolly 3 stably and prevents tire wear on one side of the mobile robot 1's tires.

[0105] <Additional Notes> A self-propelled transport device (1), a traveling unit (15) for traveling the self-propelled transport device (1); a plurality of pins (18) provided with sensors (20) for measuring load; a lifting mechanism (17) capable of raising and lowering the plurality of pins (18); a control unit (11) that controls the lifting mechanism (17) and acquires load data measured by the sensor (20) when the pins (18) rise and lift the cart (3) carrying at least one load (4) while contacting the bottom surface of the cart (3); a memory unit (16) that stores the center of gravity position of the self-propelled transport device (1); Equipped with the control unit (11) calculates the position of the center of gravity of the carriage (3) based on the load data, and controls the lifting mechanism (17) to lift the carriage (3) in a state where the position of the center of gravity of the self-propelled transfer device (1) and the position of the center of gravity of the carriage (3) are in a predetermined positional relationship; Self-propelled transport device (1). [Explanation of symbols]

[0106] 1,101: Mobile robots 2. Upper device 3; dolly 4. Luggage 11,111; Integrated control unit 12,112;Communications Department 13,113;Travel control unit 14,114;Lift control section 15,115;Running section 16,116;Storage part 17,117;Lifting mechanism 18,118;pin 19,119;Imaging device 20,120 load sensors

Claims

1. A self-propelled transport device that can travel, a plurality of pins provided with sensors for measuring loads; a lifting mechanism capable of raising and lowering the plurality of pins; a control unit that controls the lifting mechanism and acquires load data measured by the sensor when the pins are raised and the dolly is lifted while contacting the bottom surface of the dolly on which at least one item is loaded; a storage unit that stores a center of gravity position of the self-propelled transport device; an imaging device that images the dolly and the at least one piece of luggage; Equipped with the imaging device generates image data of the dolly and the at least one piece of luggage; the control unit acquires the load state of the luggage on the dolly from the image data, and determines a position where the self-propelled conveying device will slide under a bottom surface of the dolly based on the load state of the luggage; the control unit calculates a center of gravity position of the carriage based on the load data, and controls the lifting mechanism to lift the carriage in a state where the center of gravity position of the self-propelled transport device and the center of gravity position of the carriage are in a predetermined positional relationship. Self-propelled transport device.

2. the predetermined positional relationship includes a predetermined region including a center of gravity of the self-propelled transport device and a center of gravity of the carriage overlapping in the vertical direction. The self-propelled transport device according to claim 1 .

3. the predetermined positional relationship includes a position of a center of gravity of the self-propelled transport device and a predetermined region including a position of a center of gravity of the carriage overlapping in a vertical direction. The self-propelled transport device according to claim 1 .

4. the predetermined positional relationship includes a state in which the center of gravity of the self-propelled transport device and the center of gravity of the carriage overlap in the vertical direction. The self-propelled transport device according to claim 1 .

5. the control unit adjusts at least one of a traveling speed and a turning radius of the self-propelled transport device when there is a change in the position of the center of gravity of the carriage while the self-propelled transport device is traveling. The self-propelled transport device according to any one of claims 1 to 4.

6. the control unit moves the self-propelled transporting device so that the center of gravity of the self-propelled transporting device and the center of gravity of the carriage are in the predetermined positional relationship. The self-propelled transport device according to any one of claims 1 to 5.

7. a request unit that requests an operator to move the carriage so that the center of gravity of the self-propelled transport device and the center of gravity of the carriage are in the predetermined positional relationship; The self-propelled transport device according to any one of claims 1 to 6.

8. The plurality of pins is three or more. The self-propelled transport device according to any one of claims 1 to 7.

Images