Transport robot, its control method, and program

Abstract

To suppress an item other than a prescribed cargo from being mounted on a load-carrying platform and transported.SOLUTION: A transportation robot mounts a prescribed cargo on a load-carrying platform and transports it. The transportation robot includes first determination means for determining whether an item is mounted on the load-carrying platform, and second determination means for determining whether a prescribed cargo is mounted on the load-carrying platform, and at least one of control means for controlling the transportation robot to perform a prescribed operation and warning means for issuing a warning when it is determined that an item is mounted on the load-carrying platform by the first determination means, and it is determined that the prescribed cargo is not mounted on the load-carrying platform by the second determination means.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a transport robot that places a predetermined load on a loading platform and transports it, a control method for the transport robot, and a program. [Background technology]

[0002] BACKGROUND ART A transport robot that places a predetermined load on a loading platform and transports it is known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-127886 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, for the above-mentioned transport robot, a method of confirming that the intended cargo is placed on the loading platform using, for example, machine learning, is conceivable, but this method is not disclosed. Therefore, there is a risk that an object other than the intended cargo (such as a person or the wrong cargo) may be placed on the loading platform and transported.

[0005] The present disclosure has been made to solve such problems, and its main purpose is to provide a transport robot, a control method, and a program that can prevent objects other than the specified cargo from being placed on the loading platform and transported. [Means for solving the problem]

[0006] In order to achieve the above object, one aspect of the present disclosure is to A transport robot that places a predetermined load on a loading platform and transports it, a first determination means for determining whether an object is placed on the loading platform; a second determination means for determining whether the predetermined baggage is placed on the loading platform; at least one of a control means for controlling the transport robot to perform a predetermined operation and a warning means for issuing a warning when the first determination means determines that an object is placed on the loading platform and the second determination means determines that a predetermined load is not placed on the loading platform; A transport robot equipped with is. In this aspect, A recessed portion is formed on the loading platform, and when the predetermined luggage is placed at a predetermined position on the loading platform, a convex portion of the predetermined luggage is inserted into the recessed portion, The second determination means has a second sensor that detects the convex portion inserted into the concave portion, and determines that the specified baggage is not placed on the loading platform when the second sensor does not detect the convex portion, or A convex portion is formed on the loading platform, and when the predetermined luggage is placed at a predetermined position on the loading platform, the convex portion of the loading platform is inserted into the concave portion of the predetermined luggage, The second determination means may have a second sensor that detects the concave portion into which the convex portion is inserted, and if the second sensor does not detect the concave portion, it may detect that the specified luggage is not placed on the loading platform. In this aspect, a detection pattern is provided on the loading platform; The first determination means may have a first sensor that acquires a detected pattern on the loading platform, and may determine that the object is not on the loading platform if the detected pattern on the loading platform is acquired by the first sensor. In this aspect, Further provided is a lifting means for lifting and lowering the loading platform, The first determination means may determine whether or not the object is placed on the loading platform based on a torque generated when the loading platform is raised by the lifting means. In this aspect, The control means may perform, as the predetermined operation, control to perform at least one of stopping, decelerating, and changing the path of the transport robot. In order to achieve the above object, one aspect of the present disclosure is to A control method for a transport robot that places a predetermined load on a loading platform and transports the load, comprising: determining whether an object is on the platform; a step of determining whether the predetermined baggage is placed on the loading platform; a step of performing at least one of controlling movement of the transport robot and issuing a warning when it is determined that the object is placed on the loading platform and the predetermined baggage is not placed on the loading platform; A control method for a transport robot including is. In order to achieve the above object, one aspect of the present disclosure is to A program for a transport robot that places a predetermined load on a loading platform and transports it, a process of determining whether an object is placed on the loading platform; A process of determining whether the predetermined baggage is placed on the loading platform; a process of performing at least one of controlling movement of the transport robot and issuing a warning when it is determined that the object is placed on the loading platform and the predetermined baggage is not placed on the loading platform; A transport robot program that causes a computer to execute the is. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to provide a transport robot, a control method thereof, and a program that can prevent objects other than specified cargo from being placed on the loading platform and transported. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a schematic system configuration of a transport robot according to an embodiment of the present invention; [Figure 2] 1 is a side view showing a schematic configuration of a transport robot according to an embodiment of the present invention. [Figure 3] 1 is a block diagram showing a schematic system configuration of a control processing device for a transfer robot according to the present embodiment. [Figure 4] 10A and 10B are views showing recesses formed on the top surface and center of the loading platform. [Figure 5] 4 is a flowchart showing a flow of a control method for a transport robot according to the present embodiment. [Figure 6] 1 is a block diagram showing a schematic system configuration of a transport robot according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE INVENTION

[0009] Embodiment 1 Hereinafter, the present embodiment will be described with reference to the drawings. Fig. 1 is a block diagram showing a schematic system configuration of a transfer robot according to the present embodiment. Fig. 2 is a side view showing a schematic configuration of the transfer robot according to the present embodiment. The transport robot 1 according to this embodiment transports a predetermined load placed on a loading platform 9. The transport robot 1 according to this embodiment includes, for example, a lifting unit 2, a control processing device 3, a sensor group 4, a wheel driving unit 5, a memory unit 6, and a communication unit 7.

[0010] The control processing device 3 is an information processing device having a calculation device such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit), and acquires information from each component of the transport robot 1 and sends instructions to each component via the communication unit 7. The control processing device 3 controls the operation of the wheel drive unit 5 and the lifting unit 2.

[0011] The sensor group 4 is a collective term for various sensors possessed by the transport robot 1. The sensor group 4 includes the above-mentioned distance sensors, attitude sensors, rotary encoders, etc. The sensor group 4 is connected to the control processing device 3 and supplies detected signals to the control processing device 3.

[0012] The wheel drive unit 5 includes a motor 51 that drives the wheels 11, a motor driver 52 for driving the motor 51, and the like. The lifting unit 2 includes a lifting mechanism 21 that raises and lowers the loading platform 9, a motor 22 that drives the lifting mechanism 21, and a motor driver 23 for driving the motor 22, and the like. The lifting mechanism 21 is formed by a ball screw or the like, and is a mechanism that raises and lowers the loading platform 9 in the vertical direction. The lifting mechanism 21 raises and lowers a predetermined load placed on the loading platform 9. The wheel drive unit 5 and the lifting unit 2 are connected to the control processing device 3, and are driven in response to instructions from the control processing device 3.

[0013] The control processing device 3 controls the movement of the transport robot 1 based on, for example, a travel route transmitted from a server or the like and distance information of an obstacle detected by a distance sensor of the sensor group 4. The control processing device 3 controls the wheel drive unit 5 so that the transport robot 1 travels along the travel route transmitted from the server or the like while avoiding an obstacle based on the distance information of the obstacle detected by the distance sensor. This allows the transport robot 1 to travel autonomously from a set departure point to a set destination while avoiding obstacles.

[0014] The storage unit 6 includes a non-volatile memory and stores a floor map and operation parameters. The floor map is a database necessary for the transport robot 1 to move autonomously, and may include position information of obstacles and transported objects.

[0015] However, in conventional transport robots, there is a risk that an object other than the intended cargo (such as a person or the wrong cargo) may be placed on the loading platform and transported.

[0016] FIG. 3 is a block diagram showing a schematic system configuration of a control processing device for a transfer robot according to this embodiment.

[0017] In contrast, the control processing device 3 of the transport robot 1 in this embodiment, as shown in Figure 3, is equipped with a first judgment unit 31 that judges whether an object is placed on the loading platform 9, a second judgment unit 32 that judges whether a specified load is placed on the loading platform 9, and a control unit 33 that controls the transport robot 1 to perform a specified operation when the first judgment unit 31 judges that an object is placed on the loading platform 9 and the second judgment unit 32 judges that the specified load is not placed on the loading platform 9.

[0018] The first determination unit 31 determines that an object is placed on the loading platform 9. In this state, there is a possibility that an object other than the specified baggage is placed on the loading platform 9. Therefore, in this embodiment, the second determination unit 32 further determines that the specified baggage is placed on the loading platform 9. This makes it possible to confirm that the object placed on the loading platform 9 is definitely the specified baggage.

[0019] Furthermore, when the second determination unit 32 determines that the predetermined baggage is not placed on the loading platform 9, the control unit 33 according to this embodiment determines that the predetermined baggage is not placed on the loading platform 9 and that an object other than the predetermined baggage is placed on the loading platform 9, and controls the transport robot 1 to perform a predetermined operation such as stopping or decelerating instead of performing normal transport. This makes it possible to prevent objects other than the predetermined baggage from being placed on the loading platform 9 and being transported.

[0020] When the second determination unit 32 determines that the predetermined baggage is not placed on the loading platform 9, the control unit 33 may change the route to a special location rather than to a normal location. For example, the control unit 33 may change the route to a location where a monitor is present or where more precise confirmation can be made using an external camera or the like, rather than to a location where the transfer robot 1 is to be placed. This allows more precise confirmation that an object other than the predetermined baggage is placed on the loading platform 9 using the monitor's presence or an external camera or the like.

[0021] In addition, when the second judgment unit 32 determines that the specified cargo is not placed on the loading platform 9, the control unit 33 may perform control to stop, decelerate, and change the path of the above-mentioned transport robot 1 in any combination.

[0022] The first determination unit 31 is a specific example of a first determination means. The first determination unit 31 determines whether or not an object is placed on the loading platform 9.

[0023] The first determination unit 31 has a first sensor 311 that acquires the detected pattern on the loading platform 9. The first sensor 311 is configured with, for example, a camera, Lidar (Light detection and ranging), etc. The first sensor 311 is provided, for example, near the upper end of a support portion that extends upward so as to look down on the top surface of the loading platform 9. Note that the first sensor 311 may also be provided in infrastructure, equipment, etc.

[0024] For example, a detectable pattern such as a marker or a protrusion pattern is provided on the top surface and center of the loading platform 9. The first determination unit 31 determines that no object is placed on the loading platform 9 when the first determination unit 31 is able to recognize and acquire the detectable pattern on the loading platform 9 based on an image acquired by the first sensor 311 or the like.

[0025] On the other hand, the first determination unit 31 determines that an object is placed on the loading platform 9 when the first determination unit 31 cannot recognize or acquire the detected pattern on the loading platform 9 based on the image acquired by the first sensor 311, etc.

[0026] The first determination unit 31 may also determine whether or not an object is placed on the loading platform 9 based on the torque of the motor 22 of the lifting mechanism 21 when the loading platform 9 is lifted by the lifting unit 2. The first determination unit 31 outputs the determination result to the second determination unit 32.

[0027] The second determination unit 32 is a specific example of a second determination means. The second determination unit 32 determines whether or not a predetermined baggage is placed on the loading platform 9.

[0028] For example, as shown in Figure 4, recessed portions 91 are formed on the upper surface and center of the loading platform 9. On the other hand, a convex portion 100 is provided on the lower surface of a predetermined piece of luggage, corresponding to the concave portion 91 of the loading platform 9. When the predetermined piece of luggage is placed in a predetermined position on the loading platform 9, the convex portion 100 of the predetermined piece of luggage is inserted into the concave portion 91. At this time, a tapered portion 92 may be formed near the entrance of the concave portion 91. This allows the convex portion 100 of the predetermined piece of luggage to be smoothly inserted into the concave portion 91 along the slope of the tapered portion 92.

[0029] The second determination unit 32 has a second sensor 321 that is provided in the recessed portion 91 and detects the convex portion 100 of the predetermined baggage inserted into the recessed portion 91. The second sensor 321 is, for example, an optical fiber sensor, an LED (light-emitting diode) sensor, a switch-type sensor, or the like. If the second sensor 321 does not detect the convex portion 100, the second determination unit 32 determines that the predetermined baggage is not placed on the loading platform 9.

[0030] Convex portions may be formed on the top surface and center of the loading platform 9. Meanwhile, concave portions may be provided on the bottom surface of the predetermined baggage, corresponding to the convex portions of the loading platform 9. When the predetermined baggage is placed in a predetermined position on the loading platform 9, the convex portions are inserted into the concave portions. The second determination unit 32 may have a second sensor provided on the convex portion, which detects the concave portion into which the convex portion is inserted. If the second sensor does not detect the concave portion, the second determination unit 32 determines that the predetermined baggage is not placed on the loading platform 9.

[0031] For example, a staff member or the like may confirm that the predetermined baggage is placed on the loading platform 9 and input the information to the second determination unit 32. The second determination unit 32 may determine whether the predetermined baggage is placed on the loading platform 9 based on the input information.

[0032] Furthermore, the loading platform 9 may be provided with a load sensor that detects the load of an object on the loading platform 9. When the weight of the predetermined baggage is known in advance, the second determination unit 32 may determine whether or not the predetermined baggage is placed on the loading platform 9 based on the load of the object on the loading platform 9 detected by the load sensor.

[0033] Furthermore, the loading platform 9 may be provided with a temperature sensor that detects the temperature of an object on the loading platform 9. In order to improve the accuracy of the above determination, the second determination unit 32 may determine whether or not a predetermined baggage is placed on the loading platform 9 based on the temperature of the object detected by the temperature sensor in combination with the above determination.

[0034] For example, when the temperature of the object detected by the temperature sensor is equal to or higher than a predetermined temperature, the second determination unit 32 determines that an animal such as a cat is present, and determines that the predetermined baggage is not present on the loading platform 9. The second determination unit 32 may also determine whether the predetermined baggage is present on the loading platform 9 by judging the size of a person such as a child based on the temperature of the object detected by the temperature sensor. As described above, the second determination unit 32 determines whether the predetermined baggage is present on the loading platform 9, and outputs the determination result to the control unit 33.

[0035] The control unit 33 is a specific example of a control means. The control unit 33 controls the transport robot 1 to perform a predetermined operation when the first determination unit 31 determines that an object is placed on the loading platform 9 and the second determination unit 32 determines that a predetermined load is not placed on the loading platform 9. The control unit 33 controls the transport robot 1 to perform at least one of stopping, decelerating, and changing its path as the predetermined operation. This makes it possible to prevent an object other than the predetermined load from being placed on the loading platform 9 and being transported.

[0036] Next, a control method for the transfer robot according to this embodiment will be described. Fig. 5 is a flowchart showing the flow of the control method for the transfer robot according to this embodiment.

[0037] The first determination unit 31 determines whether or not an object is placed on the loading platform 9 (step S101). If the first determination unit 31 determines that an object is placed on the loading platform 9 (YES in step S101), the second determination unit 32 determines whether or not a predetermined baggage is placed on the loading platform 9 (step S102). On the other hand, if the first determination unit 31 determines that an object is not placed on the loading platform 9 (NO in step S101), this process ends.

[0038] If the second determination unit 32 determines that the predetermined baggage is placed on the loading platform 9 (YES in step S102), the process ends. On the other hand, if the second determination unit 32 determines that the predetermined baggage is not placed on the loading platform 9 (NO in step S102), the control unit 33 controls the transport robot 1 to perform a predetermined operation (step S103).

[0039] As described above, the transport robot 1 of this embodiment comprises a first judgment unit 31 that judges whether an object is placed on the loading platform 9, a second judgment unit 32 that judges whether a specified load is placed on the loading platform 9, and a control unit 33 that controls the transport robot 1 to perform a specified operation when the first judgment unit 31 judges that an object is placed on the loading platform 9 and the second judgment unit 32 judges that the specified load is not placed on the loading platform 9.

[0040] According to the transport robot 1 of this embodiment, after the first determination unit 31 determines that an object is placed on the loading platform 9, the second determination unit 32 determines whether or not a predetermined item is placed on the loading platform 9. This makes it possible to confirm that the object placed on the loading platform 9 is definitely the predetermined item. Furthermore, when the second determination unit 32 determines that the predetermined item is not placed on the loading platform 9, the control unit 33 of this embodiment controls the transport robot 1 to perform a predetermined operation rather than performing normal transport. This makes it possible to prevent objects other than the predetermined item from being placed on the loading platform 9 and being transported.

[0041] Embodiment 2 6 is a block diagram showing a schematic system configuration of a transport robot according to this embodiment. The transport robot 20 according to this embodiment further includes a warning unit 8 that issues a warning to a user. The warning unit 8 is a specific example of a warning means.

[0042] The warning unit 8 issues a warning when the first determination unit 31 determines that an object is placed on the loading platform 9 and the second determination unit 32 determines that the specified baggage is not placed on the loading platform 9. This makes it possible to notify the user that an object other than the specified baggage is placed on the loading platform 9, thereby preventing objects other than the specified baggage from being placed on the loading platform 9 and being transported.

[0043] The warning unit 8 issues a warning to the user using, for example, a display device such as a liquid crystal display, an audio output device such as a speaker, a light device such as an LED warning light, the communication unit 7, and the like.

[0044] More specifically, the warning unit 8 displays on the display device or outputs by voice from the audio output device a message that "an object other than the specified baggage has been placed on the loading platform 9." The warning unit turns on / blinks a light device or transmits via the communication unit 7 a signal or message to the management system, the user's information terminal, or the like to notify that "an object other than the specified baggage has been placed on the loading platform 9."

[0045] When the first determination unit 31 determines that an object is placed on the loading platform 9 and the second determination unit 32 determines that the predetermined cargo is not placed on the loading platform 9, the warning unit 8 may issue the warning and the control unit 33 may control the transport robot to perform the predetermined operation. This more reliably prevents objects other than the predetermined cargo from being placed on the loading platform 9 and transported.

[0046] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims.

[0047] The present invention can also be realized by causing a processor to execute a computer program to perform the processing shown in FIG. 5, for example.

[0048] The program can be stored and supplied to a computer using various types of non-transitory computer readable media. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)).

[0049] The program may be provided to the computer by various types of transitory computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer-readable media can provide the program to the computer via a wired communication path such as an electrical wire or optical fiber, or via a wireless communication path.

[0050] Each part constituting the control processing device 3 according to each of the above-described embodiments can be realized not only by a program, but also in part or in whole by dedicated hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array). [Explanation of symbols]

[0051] REFERENCE SIGNS LIST 1 transport robot, 2 lifting unit, 3 control processing device, 4 sensor group, 5 wheel drive unit, 6 memory unit, 7 communication unit, 8 warning unit, 9 loading platform, 11 wheels, 20 transport robot, 21 lifting mechanism, 22 motor, 23 motor driver, 31 first determination unit, 32 second determination unit, 33 control unit, 51 motor, 52 motor driver, 91 concave portion, 92 tapered portion, 100 convex portion, 311 first sensor, 321 second sensor

Claims

1. A transport robot that places a predetermined load on a loading platform and transports it, a first determination means for determining whether an object is placed on the loading platform; a second determination means for determining whether the predetermined baggage is placed on the loading platform; at least one of a control means for controlling the transport robot to perform a predetermined operation and a warning means for issuing a warning when the first determination means determines that an object is placed on the loading platform and the second determination means determines that a predetermined load is not placed on the loading platform; A transport robot equipped with the above.

2. The transport robot according to claim 1, A recessed portion is formed on the loading platform, and when the predetermined luggage is placed at a predetermined position on the loading platform, a convex portion of the predetermined luggage is inserted into the recessed portion, The second determination means has a second sensor that detects the convex portion inserted into the concave portion, and determines that the specified baggage is not placed on the loading platform when the second sensor does not detect the convex portion, or A convex portion is formed on the loading platform, and when the predetermined luggage is placed at a predetermined position on the loading platform, the convex portion of the loading platform is inserted into the concave portion of the predetermined luggage, the second determination means has a second sensor that detects the recessed portion into which the convex portion is inserted, and when the second sensor does not detect the recessed portion, it determines that the specified baggage is not placed on the loading platform. Transport robot.

3. 3. The transport robot according to claim 1, a detection pattern is provided on the loading platform; the first determination means has a first sensor that acquires a detected pattern on the loading platform, and determines that the object is not placed on the loading platform when the detected pattern on the loading platform is acquired by the first sensor; Transport robot.

4. 3. The transport robot according to claim 1, Further provided is a lifting means for lifting and lowering the loading platform, The first determination means determines whether or not the object is placed on the loading platform based on a torque generated when the loading platform is raised by the lifting means. Transport robot.

5. 3. The transport robot according to claim 1, the control means performs control to perform at least one of stopping, decelerating, and changing the path of the transport robot as the predetermined operation. Transport robot.

6. A control method for a transport robot that places a predetermined load on a loading platform and transports the load, comprising: determining whether an object is on the platform; determining whether the predetermined baggage is placed on the loading platform; When it is determined that the object is placed on the loading platform and the predetermined load is not placed on the loading platform, at least one of controlling the movement of the transport robot and issuing a warning is performed; A control method for a transport robot including:

7. A program for a transport robot that places a predetermined load on a loading platform and transports it, a process of determining whether an object is placed on the loading platform; A process of determining whether the predetermined baggage is placed on the loading platform; a process of performing at least one of controlling movement of the transport robot and issuing a warning when it is determined that the object is placed on the loading platform and the predetermined baggage is not placed on the loading platform; A transport robot program that causes a computer to execute the above.

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