Transport robot, transport robot control method, and transport system

Abstract

To increase turning torque while suppressing an increase in the size of a main body.SOLUTION: A conveyance robot 2 includes a main body 200, a drive unit, and a position adjustment unit. The main body 200 is provided with a holding portion 29 for holding an object to be conveyed. The drive unit rotates a plurality of driving wheels W2. The plurality of driving wheels W2 are arranged in an arrangement direction DR2 intersecting a moving direction DR1 of the main body 200. The position adjustment unit is capable of adjusting an interval L1 between the plurality of driving wheels W2 in the arrangement direction DR2, based on at least one of route information of a traveling route on which the main body 200 moves and a weight of the object.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a transport robot, a control method for a transport robot, and Transport System Mu More specifically, the present disclosure relates to a transport robot capable of transporting an object, a control method for the transport robot, and Transport System Mu Regarding. [Background technology]

[0002] Patent Document 1 discloses an automated guided vehicle (transport robot) that transports a cart (cargo). The automated guided vehicle is coupled to the cart by sliding under the cart and lifting the bottom of the cart with a lift mechanism. The automated guided vehicle transports the cart by traveling while coupled to the cart. This automated guided vehicle has a traveling mechanism that includes four wheels located at each of the four corners of the vehicle body and a motor that drives each wheel. The traveling mechanism rotates the four wheels, causing the automated guided vehicle to travel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-77295 Summary of the Invention [Problem to be solved by the invention]

[0004] It is desirable to reduce the dimensions of the vehicle body (main body) in the width direction perpendicular to the direction of travel of a transport robot so that it can travel in narrow spaces. When the width direction dimension of a transport robot is reduced, the spacing between the wheels in the width direction becomes narrower, which causes a problem of reduced turning torque when the transport robot turns.

[0005] The object of the present disclosure is to provide a transport robot and a control method for the transport robot that can increase the turning torque while suppressing an increase in the size of the main body. and Transport System M The purpose is to provide. [Means for solving the problem]

[0006] A transport robot according to an aspect of the present disclosure includes a main body, a drive unit, and a position adjustment unit. The main body is provided with a holding unit for holding an object to be transported. The drive unit Two Rotate the drive wheels of the Two The driving wheel of the main body moves in the direction of movement. In the center of the moving direction Aligned in the direction that intersects with All will be placed The position adjustment unit ,before Weight of the object In quantity Based on this, Two The spacing between the drive wheels is adjustable. The position adjustment unit adjusts the spacing between the two drive wheels to a first spacing if the weight of the object is less than a reference weight, and adjusts the spacing between the two drive wheels to a second spacing wider than the first spacing if the weight of the object is equal to or greater than the reference weight.

[0007] In one aspect of the present disclosure The control method for the transport robot includes a position adjustment step capable of adjusting the spacing between the two drive wheels in the arrangement direction based on the weight of the object, wherein the position adjustment step adjusts the spacing between the two drive wheels to the first spacing if the weight of the object is less than a reference weight, and adjusts the spacing between the two drive wheels to the second spacing wider than the first spacing if the weight of the object is equal to or greater than the reference weight.

[0008] A transport system according to an aspect of the present disclosure includes the transport robot and a control system for controlling a transport operation of the transport robot. 。 [Effects of the Invention]

[0009] According to the present disclosure, it is possible to increase the turning torque while suppressing an increase in the size of the main body. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a plan view of a transfer robot according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a perspective view of the transport robot holding the dolly. [Figure 3] FIG. 3 is a plan view of the transport robot holding the dolly. [Figure 4] FIG. 4 is a schematic system configuration diagram of a transfer system including the transfer robot. [Figure 5]FIG. 5 is a plan view of the above-mentioned transport robot in which the distance between the two drive wheels is minimized. [Figure 6] FIG. 6 is a plan view of the above-mentioned transport robot in which the distance between the two drive wheels is widened. [Figure 7] FIG. 7 is a side view illustrating an adjustment mechanism for adjusting the distance between drive wheels provided in the transport robot. [Figure 8] FIG. 8 is a diagram showing an example of a map created using a creation support system included in the transportation system. [Figure 9] FIG. 9 is a flowchart illustrating the transfer operation of the transfer robot. [Figure 10] FIG. 10 is a side view illustrating an adjustment mechanism for adjusting the distance between drive wheels provided in the transport robot of the first modification. [Figure 11] FIG. 11 is a side view illustrating an adjustment mechanism for the distance between drive wheels provided in the transport robot of the second modification. [Figure 12] FIG. 12 is a perspective view of a spacer provided in the transfer robot of the second modification. DETAILED DESCRIPTION OF THE INVENTION

[0011] (Embodiment) (1) Overview The drawings described in the following embodiments are schematic drawings, and the ratios of the sizes and thicknesses of the components in the drawings do not necessarily reflect the actual dimensional ratios.

[0012] The transfer robot 2 according to this embodiment is used to transfer an object 30, as shown in FIGS. 2 and 3. In the following description, the directions are defined as indicated by the arrows "up," "down," "left," "right," "front," and "rear" in FIGS. 1 to 3. These directions define the directions when the transfer robot 2 moves forward while holding the object 30, and are not intended to limit the direction in which the transfer robot 2 is used. Furthermore, the arrows indicating the directions in the drawings are merely shown for the purpose of explanation and do not have any substance.

[0013] The transfer robot 2 of this embodiment is introduced into facilities such as logistics centers (including distribution centers), factories, offices, stores, schools, and hospitals. The transfer robot 2 moves by running on a moving surface F1 (see FIG. 2) using one or more wheels W1 (see FIG. 1). The moving surface F1 is the surface on which the transfer robot 2 moves; when the transfer robot 2 moves within a facility, the moving surface F1 is the floor of the facility, and when the transfer robot 2 moves outdoors, the moving surface F1 is the ground, etc. The following describes a case where the transfer robot 2 transports an object 30 in a facility such as a logistics center.

[0014] The transport robot 2 of this embodiment includes a main body 200, a drive unit 23, and a position adjustment unit 26 (see FIGS. 1 and 4). The main body 200 is provided with a holder 29 (see FIG. 1) for holding an object 30 to be transported. The drive unit 23 rotates a plurality of drive wheels W2 (two in this embodiment). The plurality of drive wheels W2 are aligned in an arrangement direction DR2 that intersects with the movement direction DR1 of the main body 200. The position adjustment unit 26 can adjust the spacing L1 between the plurality of drive wheels W2 in the arrangement direction DR2 based on at least one of route information of the travel route along which the main body 200 travels and the weight of the object 30.

[0015] In this embodiment, the movement direction of the transport robot 2 is along the front-rear direction of the main body 200, and the arrangement direction DR2 in which the multiple drive wheels W2 are lined up is along the left-right direction. That is, in this embodiment, the multiple drive wheels W2 are lined up in the left-right direction perpendicular to the front-rear direction, but they may be lined up in a direction intersecting the movement direction DR1 (front-rear direction), and the multiple drive wheels W2 may be arranged at intervals so that they are not lined up on the same straight line when the main body 200 is viewed from one side of the movement direction DR1 (for example, the front side).

[0016] In this embodiment, the object 30 to be transported is a dolly 31 used for carrying and transporting multiple items. The dolly 31 is a basket-equipped dolly (a so-called roll box pallet) with multiple wheels 33 attached to the underside of a bottom plate 32, and a worker can push the dolly 31 to move it. Note that the object 30 transported by the transport robot 2 is not limited to the dolly 31 with wheels 33. The object 30 may be a shelf without wheels that can accommodate multiple items, a pallet for carrying multiple items, or the items themselves.

[0017] The transport robot 2 is an automated guided vehicle (AGV) for transporting an object 30, and autonomously travels to a destination with a holding unit 29 holding the object 30 in an elevated state. In this embodiment, the holding unit 29 is realized by a lifting plate 28 or the like that lifts the object 30. Note that the holding unit 29 is not limited to holding the object 30 in an elevated state. The transport robot 2 may transport the object 30 by towing or pushing the object 30 from behind while the object 30 is held (connected) by a holding unit that grips a part of the object 30.

[0018] The position adjustment unit 26 adjusts the spacing L1 between the multiple drive wheels W2 in the arrangement direction DR2, i.e., the direction intersecting with the movement direction DR1 of the transport robot 2, based on factors that determine the turning torque required during turning travel. Factors that determine the turning torque include route information regarding the travel route along which the main body 200 travels, the weight of the object 30 to be transported, etc. Therefore, the position adjustment unit 26 adjusts the spacing L1 between the multiple drive wheels W2 based on at least one of the route information of the travel route and the weight of the object 30. Note that the route information of the travel route is information that can be used to estimate the turning torque required while traveling along the travel route, and includes, for example, the presence or absence of a turning section where the transport robot 2 turns, the turning radius of the turning section, etc.

[0019] Here, when the position adjustment unit 26 adjusts the interval L1 between the multiple drive wheels W2 to be narrower, the maximum width of the transport robot 2 in the arrangement direction DR2 can be reduced, allowing the transport robot 2 to travel safely even in places where the distance to objects such as walls around the travel route is short. Also, when the position adjustment unit 26 adjusts the interval L1 between the multiple drive wheels W2 to be widened, the turning torque can be increased, allowing the transport robot 2 to transport a heavier object 30. This has the advantage that the turning torque can be increased while preventing the main body 200 from becoming larger.

[0020] (2)Details (2.1) Overall structure The transfer robot 2 according to this embodiment and the transfer system 1 (see FIG. 4) including the transfer robot 2 will be described in detail below with reference to the drawings.

[0021] 4, the transport system 1 includes a transport robot 2 and a control system 4 that controls the transport work of the transport robot 2. The transport system 1 also includes a creation support system 7 that supports the creation of a travel route along which the transport robot 2 can move (travel).

[0022] The transfer robot 2 and the control system 4 are configured to be able to communicate with each other. The control system 4 and the production support system 7 are also configured to be able to communicate with each other. In this disclosure, "communicable" means that information can be exchanged directly or indirectly via the network NT1, a relay device 6, or the like, using an appropriate communication method such as wired communication or wireless communication. In this embodiment, each transfer robot 2 and the control system 4 are capable of bidirectional communication, allowing both transmission of information from the control system 4 to the transfer robot 2 and transmission of information from the transfer robot 2 to the control system 4. Similarly, the control system 4 and the production support system 7 are capable of bidirectional communication. Note that while FIG. 4 shows one transfer robot 2, the number of transfer robots 2 may be two or more. In other words, the control system 4 may control the transfer work performed by each of multiple transfer robots 2.

[0023] (2.2) Transport robot The transport robot 2 autonomously travels on a flat moving surface F1, which may be, for example, a floor surface of a facility. The transport robot 2 is equipped with a storage battery, such as a lithium-ion battery or a nickel-metal hydride battery, and operates using the electrical energy stored in the storage battery. In this embodiment, the transport robot 2 is a low-floor AGV, and as shown in FIGS. 2 and 3, it moves by slipping under a cart 31 and lifting a portion of its main body 200 to hold the cart 31 in an elevated position. This allows the transport robot 2 to transport, for example, a cart 31 placed in one location to another location (target position).

[0024] 4, the transfer robot 2 includes a control unit 20, a communication unit 21, a detection unit 22, a drive unit 23, a memory unit 24, and an elevating mechanism 25. The control unit 20, the communication unit 21, the detection unit 22, the drive unit 23, the memory unit 24, and the elevating mechanism 25 are mounted on a main body 200 of the transfer robot 2 (see FIGS. 1 to 3).

[0025] The main body 200 of the transfer robot 2 is a rectangular parallelepiped that is longer in the front-rear direction than in the left-right direction and has smaller dimensions in the up-down direction than in the left-right and front-rear directions.

[0026] The main body 200 is supported on the moving surface F1 by a plurality of (four in this case) wheels W1. The plurality of wheels W1 includes a plurality of (two in this case) driving wheels W2 and a plurality of (two in this case) auxiliary wheels W3.

[0027] The two drive wheels W2 are arranged at a distance L1 from each other in the width direction (left-right direction, the above-mentioned arrangement direction DR2) of the main body 200, in the center of the longitudinal direction (front-rear direction) of the main body 200. Each of the two drive wheels W2 can rotate independently by receiving a driving force from the drive unit 23.

[0028] The two drive wheels W2 are arranged symmetrically with respect to the center position P1 of the main body 200 in the arrangement direction DR2. That is, in this embodiment, the multiple (e.g., two) drive wheels W2 include a first drive wheel W21 and a second drive wheel W22 arranged in the arrangement direction DR2. For example, the drive wheel W2 arranged on the right side of the main body 200 is also referred to as the first drive wheel W21, and the drive wheel W2 arranged on the left side of the main body 200 is also referred to as the second drive wheel W22.

[0029] The first drive wheel W21 and the second drive wheel W22 are displaceable along the arrangement direction DR2, and the positions of the first drive wheel W21 and the second drive wheel W22 are adjusted by a position adjustment unit 26. The position adjustment unit 26 can individually adjust the positions of the first drive wheel W21 and the second drive wheel W22. As shown in FIGS. 1, 5, and 6, the position adjustment unit 26 adjusts the distance L1 between the first drive wheel W21 and the second drive wheel W22 in the arrangement direction DR2 while positioning the first drive wheel W21 and the second drive wheel W22 symmetrically with respect to the center position P1. As a result, the first drive wheel W21 and the second drive wheel W22 are displaced along the arrangement direction DR2 between a first position (the position shown in FIGS. 5 and the upper diagrams in FIG. 7) where the distance L1 between them is minimum, and a second position (the position shown in FIGS. 1 and the lower diagrams in FIG. 7) where the distance L1 between them is maximum. FIG. 6 shows a state in which the first drive wheel W21 and the second drive wheel W22 are respectively disposed at intermediate positions between the first position and the second position.

[0030] The two training wheels W3 are arranged at a distance from each other in the longitudinal direction (front-rear direction) of the main body 200 at the center in the width direction (left-right direction) of the main body 200. Each of the two training wheels W3 can rotate independently without receiving a driving force from the drive unit 23.

[0031] In this embodiment, the multiple drive wheels W2 are individually driven by the drive unit 23, thereby enabling the main body 200 to move in all directions. That is, the multiple drive wheels W2 can turn left or right by rotating at different angular velocities, and can travel in a straight line (forward travel or backward travel) by rotating at the same angular velocity. Therefore, the main body 200 can travel forward, backward, and turn left or right (including pivot turns and super pivot turns). The main body 200 can also move along a curved trajectory (i.e., a curve).

[0032] Two lift plates 28 are arranged on each side of the main body 200 in the longitudinal direction (front-rear direction) with a gap in between in the width direction (left-right direction) of the main body 200. Each lift plate 28 is raised or lowered by a lift mechanism 25. When each lift plate 28 is lowered to its lowest position, the distance from the moving plane F1 to the upper surface of each lift plate 28 is shorter than the distance from the moving plane F1 to the lower surface of the bottom plate 32 of the cart 31. On the other hand, when each lift plate 28 is raised to its highest position, the distance from the moving plane F1 to the upper surface of each lift plate 28 is longer than the distance from the moving plane F1 to the lower surface of the bottom plate 32 of the cart 31.

[0033] With the lifting mechanism 25 lowering each lifting plate 28 to its lowest position, the transfer robot 2 enters under the cart 31 and uses the lifting mechanism 25 to raise each lifting plate 28 to its highest position, thereby lifting the cart 31. When the transfer robot 2 has lifted the cart 31, the wheels 33 of the cart 31 are raised above the moving surface F1, and the transfer robot 2 travels in this state to transport the cart 31. When the transfer robot 2 transports the cart 31 to the target position, the lifting mechanism 25 lowers each lifting plate 28 to its lowest position. When each lifting plate 28 lowers to its lowest position, the wheels 33 of the cart 31 come into contact with the moving surface F1, and each lifting plate 28 separates from the bottom plate 32 of the cart 31, thereby separating the transfer robot 2 from the cart 31. The transfer robot 2 then moves forward or backward, allowing the transfer robot 2 to leave the cart 31 at the target position and leave the site. Here, the lift plate 28, the lift mechanism 25, etc. constitute a holding section 29 that holds the object 30 that the main body 200 transports.

[0034] It is preferable that the upper surfaces of the lifting plates 28 are provided with an anti-slip treatment, for example, so that they have a larger coefficient of friction than the upper surface of the main body 200. This makes it difficult for the carts 31 loaded on each lifting plate 28 to slip relative to each lifting plate 28.

[0035] The detection unit 22 includes at least a range sensor 221 that detects the surrounding situation of the transfer robot 2, and a weight sensor 222 that measures the weight of the object 30 held by the holder 29.

[0036] The range sensor 221 includes a sensor 22A (see FIG. 1 ) such as a LiDAR (Light Detection and Ranging). The sensor 22A is provided on the front side of the main body 200 in the longitudinal direction and detects objects present in front of the main body 200. The LiDAR is a sensor that irradiates light (laser light) to the surroundings and measures the distance to and direction of an object based on the light reflected by the object present around the main body 200. The detection range (horizontal and vertical scanning ranges) scanned by the LiDAR is a sector-shaped range centered on the laser light source. Note that the detection unit 22 may include sensors such as a RADAR (Radio Detection and Ranging), a sonar sensor, and an image sensor (camera) that detect the surrounding conditions of the transport robot 2. The radar is a sensor that uses electromagnetic waves (radio waves) such as microwaves to measure the distance to and direction of an object based on the wave reflected by an object present around the main body 200.

[0037] The weight sensor 222 includes, for example, a pressure sensor disposed on the lifting plate 28 and measures the weight of the object 30 by detecting the strain applied to the lifting plate 28 by the object 30 placed on the lifting plate 28 .

[0038] The detection unit 22 also has a position detection function for detecting the current position of the transfer robot 2. The detection unit 22 estimates the current position on the moving plane F1 based on, for example, detection information of surrounding objects obtained by the range sensor 221 and electronic map information of the moving plane F1 within the facility. The detection unit 22 may estimate the current position of the transfer robot 2 on the moving plane F1 using a local positioning system (LPS) that uses radio wave beacons. That is, the detection unit 22 may estimate the current position based on the radio wave intensity when a receiver provided on the transfer robot 2 receives beacon signals transmitted from multiple transmitters installed within the facility and the installation positions of each transmitter. The detection unit 22 may also determine the current position of the transfer robot 2 by using a global navigation satellite system (GNSS) such as the global positioning system (GPS) to determine the position coordinates of the current location where the transfer robot 2 is located.

[0039] The detection unit 22 may also include a sensor that detects the behavior of the main body 200 of the transport robot 2. The "behavior" of the main body 200 means its movement, appearance, etc. In other words, the behavior of the main body 200 of the transport robot 2 includes the operating state of the transport robot 2, which indicates whether the transport robot 2 is transporting the object 30, the travel distance and speed of the transport robot 2, the acceleration acting on the main body 200 of the transport robot 2, and the moving posture of the main body 200. Specifically, the detection unit 22 may include sensors such as a rotary encoder, an acceleration sensor, and a gyro sensor, and may detect the behavior of the main body 200 of the transport robot 2 using these sensors.

[0040] The drive unit 23 directly or indirectly applies drive force to the two drive wheels W2. The drive unit 23 is built into the main body 200. The drive unit 23 includes, for example, an electric motor, and indirectly applies drive force generated by the electric motor to each drive wheel W2 via a gearbox, a belt, or the like. The drive unit 23 may also be configured to apply drive force directly to each drive wheel W2, such as an in-wheel motor. Based on a control signal input from the control unit 20, the drive unit 23 drives each of the multiple drive wheels W2 in a rotational direction and at a rotational speed corresponding to the control signal.

[0041] The lifting mechanism 25 receives a control command from the control unit 20 and raises and lowers the lifting plates 28, two of which are provided on each of the front and rear sides of the main body 200. The lifting mechanism 25 raises or lowers the upper surface (loading surface) of each lifting plate 28 by moving each lifting plate 28 vertically relative to the main body 200. The lifting mechanism 25 moves each lifting plate 28 between a lower limit position and an upper limit position of the movable range of each lifting plate 28. When the transfer robot 2 holds the cart 31, the main body 200 is positioned below the cart 31, and the lifting mechanism 25 raises each lifting plate 28 to lift the cart 31, thereby allowing the transfer robot 2 to hold the cart 31.

[0042] The control unit 20 is mainly composed of a computer system having one or more processors and a memory. The functions of the control unit 20 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0043] The control unit 20 controls the operation of the main body 200 by controlling the operation of, for example, the drive unit 23, the lifting mechanism 25, etc. based on the control command received by the communication unit 21 from the control system 4 and the detection results of the detection unit 22.

[0044] The control unit 20 also has the function of a position adjustment unit 26. The position adjustment unit 26 adjusts the interval L1 between the two drive wheels W2 (the first drive wheel W21 and the second drive wheel W22) in the arrangement direction DR2. Each of the two drive wheels W2 is attached to a support unit 220. The support unit 220 is attached to the tip of a shaft 210. A feed screw 211 is provided at the tip of the shaft 210, and the support unit 220 is provided with a female thread into which the feed screw 211 fits. The position adjustment unit 26 controls, for example, a motor that rotates the shaft 210, and rotates the shaft 210 relative to the support unit 220, thereby allowing the feed screw 211 to slide the support unit 220 in the axial direction of the shaft 210. That is, the position adjustment unit 26 adjusts the interval L1 between the multiple drive wheels W2 using a feed screw 211 that displaces at least one of the multiple (e.g., two) support units 220 that support the multiple (e.g., two) drive wheels W2, respectively. In this embodiment, the position adjustment unit 26 displaces each of the two drive wheels W2 using the feed screw 211, but it is also possible to displace only one of the two drive wheels W2 using the feed screw 211. Because the position adjustment unit 26 displaces each of the two drive wheels W2 using the feed screw 211, it is possible to displace the positions of the two drive wheels W2 to desired positions and adjust the interval L1 between the two drive wheels W2 to an arbitrary value. Here, the drive wheels W2 may be configured as an omniwheel or the like that is movable in the arrangement direction DR2. The position adjustment unit 26 moves the drive wheel W2 along the arrangement direction DR2 while displacing the drive wheel W2 using the feed screw 211, so that the drive wheel W2 can be displaced with a relatively small force even when the drive wheel W2 is in contact with the moving surface F1.

[0045] The position adjustment unit 26 adjusts the interval L1 between the two drive wheels W2 in the arrangement direction DR2 based on at least one of the weight of the object 30 (cart 31) and route information of the traveling route. Furthermore, the position adjustment unit 26 adjusts the positions of the multiple drive wheels W2 so that the interval L1 between the multiple drive wheels W2 becomes an adjustment value determined based on at least one of the route information and the weight of the object 30. In this way, the position adjustment unit 26 can automatically adjust the interval L1 between the two drive wheels W2 so as to obtain a desired turning torque.

[0046] Furthermore, the position adjustment unit 26 adjusts the distance L1 between the first drive wheel W21 and the second drive wheel W22 so that the first drive wheel W21 and the second drive wheel W22 are disposed symmetrically with respect to the center position P1 of the main body 200 in the arrangement direction DR2. As a result, even if the position adjustment unit 26 displaces the first drive wheel W21 and the second drive wheel W22, the turning center of the main body 200 can be set at the center position P1 of the main body 200 when the main body 200 turns. Note that the position adjustment unit 26 may be configured to adjust the position of the first drive wheel W21 and the position of the second drive wheel W22 separately. In other words, the position adjustment unit 26 may adjust the distance L1 between the first drive wheel W21 and the second drive wheel W22 so that the first drive wheel W21 and the second drive wheel W22 are disposed asymmetrically with respect to the center position P1 of the main body 200 in the arrangement direction DR2. For example, if the weight of the object 30 being transported is biased to one side in the arrangement direction DR2, the distance L1 between the first drive wheel W21 and the second drive wheel W22 can be adjusted so that the first drive wheel W21 and the second drive wheel W22 are positioned asymmetrically, thereby moving the position of the center of rotation closer to the side where the weight of the object 30 is biased.

[0047] Furthermore, the position adjustment unit 26 can adjust the spacing L1 between the multiple (two in this embodiment) drive wheels W2 in the arrangement direction DR2 based on the distance between the main body 200 and objects around the main body 200. The objects around the main body 200 are, for example, walls provided along the travel route, equipment arranged on the moving plane F1, other transport robots 2, people, etc.

[0048] For example, the position adjustment unit 26 moves the two drive wheels W2 to a first position when the weight of the object 30 is less than the reference weight, and moves the two drive wheels W2 to a second position when the weight of the object 30 exceeds the reference weight. When the weight of the object 30 exceeds the reference weight, a larger turning torque is required during turning compared to when the weight is less than the reference weight, but the turning torque can be increased by widening the interval L1 between the two drive wheels W2.

[0049] Furthermore, for example, if the traveling route includes a turning section, the position adjustment unit 26 moves the two drive wheels W2 to the second position, and if the traveling route does not include a turning section, the position adjustment unit 26 moves the two drive wheels W2 to the first position. As a result, when traveling through a turning section that requires a larger turning torque than when traveling in a straight line, the turning torque can be increased by widening the interval L1 between the two drive wheels W2. Note that even if the traveling route includes a turning section, the position adjustment unit 26 may move the two drive wheels W2 to the first position only if the turning radius is smaller than the reference radius.

[0050] Furthermore, the position adjustment unit 26 may, for example, move the two drive wheels W2 to the second position if the distance between the main body 200 and a surrounding object is equal to or greater than a reference distance, and may move the two drive wheels W2 to the first position if the distance between the main body 200 and a surrounding object is shorter than the reference distance. For example, the position adjustment unit 26 may move the two drive wheels W2 to the first position only when the transport robot 2 travels along a travel route in which the distance between the main body 200 and a surrounding object is shorter than the reference distance, after moving the two drive wheels W2 to the second position based on at least one of the route information and the weight of the target object 30. This reduces the possibility of the transport robot 2 coming into contact with a surrounding object when the transport robot 2 travels along a travel route in which the distance between the main body 200 and a surrounding object is shorter than the reference distance.

[0051] Here, when the position adjustment unit 26 adjusts the position of the drive wheel W2, the position adjustment unit 26 controls the motor while restricting the rotation of the support unit 220, thereby rotating the shaft 210 relative to the support unit 220, thereby sliding the support unit 220 along the arrangement direction DR2. In this way, the position adjustment unit 26 can move the drive wheel W2 attached to the support unit 220 along the arrangement direction DR2, and can adjust the interval L1 between the two drive wheels W2 in the arrangement direction DR2.

[0052] On the other hand, when the transport robot 2 is traveling, the position adjustment unit 26 releases the restriction on the rotation of the support unit 220. In this state, the support unit 220 rotates integrally with the shaft 210, so that when the drive unit 23 rotates the shaft 210, the support unit 220 rotates together with the shaft 210, and each drive wheel W2 rotates.

[0053] The communication unit 21 is configured to be able to communicate with the control system 4. In this embodiment, the communication unit 21 communicates with one or more relay devices 6 installed within the area where the transport robot 2 is operated, by wireless communication using radio waves as a medium. Therefore, the communication unit 21 and the control system 4 communicate indirectly via at least the network NT1 and the relay device 6.

[0054] That is, each relay device 6 is a device (access point) that relays communication between the communication unit 21 and the control system 4. The relay device 6 communicates with the control system 4 via the network NT1. In this embodiment, as an example, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio (specified low-power radio) that does not require a license is adopted for communication between the relay device 6 and the communication unit 21. Furthermore, the network NT1 is not limited to the Internet, and may be, for example, a local communication network within the area where the transport robot 2 is operated or within the operating company of this area.

[0055] The storage unit 24 includes a rewritable nonvolatile memory such as an EEPROM (Electrically Erasable and Programmable Read-Only Memory). The storage unit 24 stores in advance electronic map information of the moving plane F1 along which the transport robot 2 moves. The electronic map information of the moving plane F1 includes position information of objects to be placed on the moving plane F1.

[0056] Furthermore, the transport robot 2 may also include other components, such as a charging circuit for a storage battery, as appropriate.

[0057] The transport robot 2 of this embodiment may be used in a factory or the like where manufacturing equipment for manufacturing products such as circuit boards is installed, and the object 30 transported by the transport robot 2 may include a parts supply device that supplies parts to the manufacturing equipment. Note that the object 30 transported by the transport robot 2 is not limited to the parts supply device but may be the part itself, and can be changed as appropriate depending on the place or purpose of use of the transport robot 2.

[0058] (2.3) Group Control System The control system 4 is realized by, for example, a computer system. The control system 4 controls the transport operation by the transport robot 2. The control system 4 may be located inside or outside the facility.

[0059] The control system 4 includes a control unit 40, a communication unit 41, an operation reception unit 42, a display unit 43, and a storage unit 44.

[0060] The communication unit 41 communicates with the transport robot 2 via the network NT1 and the relay device 6. The communication unit 41 also communicates with the production support system 7 via the network NT1. As the communication method between the communication unit 41 and the relay device 6, an appropriate communication method such as wireless communication or wired communication is adopted.

[0061] The operation acceptance unit 42 accepts operation inputs from a user who uses the control system 4. In this embodiment, the operation acceptance unit 42 is realized, for example, by a pointing device such as a mouse, a keyboard, or a combination of these. The operation acceptance unit 42 may also be realized by a voice recognition unit that accepts operations by voice uttered by the user. The operation acceptance unit 42 may also accept, via the communication unit 41, information input into a terminal such as a tablet terminal used by the user.

[0062] The display unit 43 is used to present information to a user who uses the control system 4. The display unit 43 is realized by a display device such as a liquid crystal display or an organic EL display. If the control system 4 has a touch panel display, the touch panel display may function as the operation receiving unit 42 and the display unit 43.

[0063] The storage unit 44 is realized by a non-transitory recording medium such as a rewritable non-volatile semiconductor memory, etc. The storage unit 44 stores, for example, information about the travel route created using the creation support system 7.

[0064] The control unit 40 mainly comprises a computer system including, for example, a memory and a processor. That is, the functions of the control unit 40 are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0065] The control unit 40 issues a transport instruction for the carriage 31 to the transport robot 2 via the communication unit 41. The control unit 40 causes the transport robot 2 to perform a transport task by transmitting a transport instruction to the transport robot 2 to transport the carriage 31, which is present at the origin position within the moving plane F1, to the target position. The transport instruction includes, for example, information on the origin position where the carriage 31 is present, information on the target position of the destination, information on a travel route from the origin position to the target position created based on information on the map MP1 stored in the memory unit 44, and the like.

[0066] (2.4) Creation support system The creation support system 7 is realized by, for example, a computer system. The creation support system 7 supports the task of creating a travel route that the transport robot 2 can travel on an electronic map that corresponds to the movement plane F1 along which the transport robot 2 travels. The creation support system 7 may be located inside or outside the facility.

[0067] The creation support system 7 includes a control unit 70 , a communication unit 71 , an operation reception unit 72 , a display unit 73 , and a storage unit 74 .

[0068] The communication unit 71 communicates with the control system 4 via the network NT1. As a communication method between the communication unit 71 and the relay device 6, an appropriate communication method such as wireless communication or wired communication is adopted.

[0069] The operation acceptance unit 72 accepts operation inputs from a user who uses the creation support system 7. In this embodiment, the operation acceptance unit 72 is realized by, for example, a pointing device such as a mouse, a keyboard, or a combination of these. The operation acceptance unit 72 may also be realized by a voice recognition unit that accepts operations by voice uttered by the user. The operation acceptance unit 72 may also accept information entered into a terminal such as a tablet terminal used by the user via the communication unit 71.

[0070] The display unit 73 is used to present information to a user who uses the creation support system 7. The display unit 73 is realized by a display device such as a liquid crystal display or an organic EL display. If the creation support system 7 has a touch panel display, the touch panel display may function as the operation reception unit 72 and the display unit 73.

[0071] The storage unit 74 is realized by a non-transitory recording medium such as a rewritable non-volatile semiconductor memory, etc. The storage unit 74 stores, for example, electronic map information corresponding to the travel plane F1, information about the travel route created using the creation support system 7, etc.

[0072] The control unit 70 mainly comprises a computer system including, for example, a memory and a processor. That is, the functions of the control unit 70 are realized by the processor executing a program stored in the memory of the computer system. The program may be pre-stored in the memory, may be provided via a telecommunications line such as the Internet, or may be provided by being recorded on a non-transitory recording medium such as a memory card.

[0073] The control unit 70 has at least the functions of a map creating unit 75 and a setting unit 76 .

[0074] The map creation unit 75 creates a driving route on the map MP1 based on, for example, operation information output from the operation reception unit 72 in response to an operation input specifying a driving route.

[0075] FIG. 8 shows an example of a map MP1 displayed on the screen 730 of the display unit 73. The map MP1 corresponds to the moving plane F1 along which the transfer robot 2 moves (travels). The map MP1 is configured as a grid map in which the moving plane F1 is divided into a plurality of squares arranged in a grid pattern by, for example, a plurality of grid lines LX1 parallel to the X-axis and a plurality of grid lines LY1 parallel to the Y-axis. Each square of the grid map is formed, for example, as a square with the length of each side longer than the longitudinal dimension of the main body 200, but the size of the squares can be changed as appropriate. Here, the intersection of the grid lines LX1 and LY1 is called a node, and the position of the node is represented by grid coordinates PG(X,Y) with the upper left vertex of the map MP1 as the reference point PO(0,0). The map MP1 may also include information on the positions of stationary objects such as walls installed on the moving plane F1 and shelves arranged on the moving plane F1.

[0076] For example, when a user uses the creation support system 7 to create a travel route along which the transfer robot 2 can travel, the control unit 70 displays a map MP1 corresponding to the movement plane F1 on the screen 730 of the display unit 73. When the user performs an operation to specify multiple nodes ND1 to ND7 on the travel route RT1 using a mouse or the like, the operation reception unit 72 outputs the grid coordinates of the multiple nodes ND1 to ND7 to the control unit 70 in accordance with the user's operation input. At this time, the map creation unit 75 creates a travel route RT1 consisting of the multiple nodes ND1 to ND7 and edges E1 to E6 connecting two adjacent nodes, based on the grid coordinates of the multiple nodes ND1 to ND7 input from the operation reception unit 72. The map creation unit 75 stores information about the created travel route RT1 in the storage unit 74.

[0077] Here, route information used to determine the distance L1 between the two drive wheels W2 may be set for the multiple nodes ND1 to ND7 that make up the travel route RT1 and the multiple edges E1 to E6 that connect two adjacent nodes.

[0078] With the map MP1 displayed on the screen 730 of the display unit 73, when the user uses a mouse or the like to select at least one of the plurality of nodes ND1 to ND7 on the travel route RT1 and one or more (plurality in this embodiment) edges E1 to E6 connecting two adjacent nodes as an element to be set, the operation accepting unit 72 outputs operation information according to the user's operation input to the setting unit 76. Furthermore, when the user uses a mouse, a keyboard, or the like to set route information in association with the element to be set, the operation accepting unit 72 outputs operation information according to the user's operation input to the setting unit 76. At this time, the setting unit 76 sets route information in association with the element to be set based on the operation information output from the operation accepting unit 72, and stores the route information in the storage unit 74.

[0079] The setting unit 76 stores route information in the storage unit 74 in association with the grid coordinates of the element to be set (nodes ND1 to ND7 or edges E1 to E6) based on, for example, operation information input from the operation receiving unit 72. Here, the route information set in association with the element to be set (nodes ND1 to ND7 or edges E1 to E6) includes, for example, information regarding the presence or absence of a turning section, the turning radius of the turning section, etc. For example, route information indicating the presence of a turning section and the turning radius of each turning section is set for edges E2 and E5 along which the transfer robot 2 makes a turning motion. Furthermore, route information indicating the presence of a turning section is set for node ND4 along which the transfer robot 2 makes a pivot turn. Furthermore, for edge E3, the distance to an object OB1 located near the traveling route RT1 is set as route information.

[0080] (2.5) Operation explanation The operation of the transport robot 2 in the above embodiment will be described with reference to Fig. 9. Note that the flowchart shown in Fig. 9 is merely an example of a control method for controlling the operation of the transport robot 2, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0081] When a user performs an operation to instruct the transport of the target object 30 using a mobile terminal or the control system 4, the transport instruction is sent from the control system 4 to the transport robot 2, and the communication unit 21 of the transport robot 2 receives the transport instruction from the control system 4 (step ST1).

[0082] The transfer instruction from the control system 4 includes the origin position where the carriage 31 to be transferred is located, the target position of the transfer destination, the travel route from the origin position to the target position, route information of the travel route, etc. Based on the transfer instruction from the control system 4, the control unit 20 acquires information on the origin position, the target position, and the travel route, as well as route information of the travel route (step ST2).

[0083] The control unit 20 controls the driving unit 23 to move the transfer robot 2 to the origin position, and the transfer robot 2 moves under the dolly 31 present at the origin position, and holds the dolly 31 by lifting it with the holding unit 29. At this time, the control unit 20 acquires the measurement result of the weight of the dolly 31 from the weight sensor 222 (step ST3).

[0084] Here, the position adjustment unit 26 determines whether or not a setting condition for setting the interval L1 between the two drive wheels W2 to the maximum value is satisfied based on the weight of the carriage 31 and the route information of the travel route (step ST4). The setting condition includes, for example, a first condition that the weight of the carriage 31 is equal to or greater than a reference weight, and a second condition that the travel route includes a turning section.

[0085] If neither the first condition nor the second condition is met (step ST4: No), the position adjustment unit 26 moves the two drive wheels W2 to the first position and sets the distance L1 between the two drive wheels W2 to the minimum distance (step ST6).

[0086] When at least one of the first condition and the second condition is met (step ST4: Yes), the position adjustment unit 26 moves the two drive wheels W2 to the second position and maximizes the distance L1 between the two drive wheels W2 (step ST5).

[0087] When the control unit 20 has completed the process of adjusting the interval L1 between the two drive wheels W2 by the position adjustment unit 26, it starts a transfer process of moving the carriage 31 to the target position of the transfer destination (step ST7).

[0088] (3) Variations The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, functions similar to those of the transport robot 2 may be embodied in a control method for the transport robot 2, a computer program, a non-transitory recording medium on which a program is recorded, or the like.

[0089] The transport robot 2, control system 4, and production support system 7 in the present disclosure include a computer system. The computer system is primarily composed of a processor and memory as hardware. The functions of the transport robot 2, control system 4, and production support system 7 in the present disclosure are realized by the processor executing a program stored in the memory of the computer system. The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), and ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmed after the LSI is manufactured, or logic devices that allow the reconfiguration of internal connections or circuit partitions within the LSI can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0090] Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0091] (3.1) Variation 1 The transport robot 2 of Modification 1 will be described with reference to Fig. 10. The transport robot 2 of Modification 1 differs from the above embodiment in the mechanism for displacing each of the two drive wheels W2. Note that, except for the mechanism for displacing each of the two drive wheels W2, the transport robot 2 of Modification 1 is the same as the above embodiment, and therefore the common components are denoted by the same reference numerals and their description will be omitted.

[0092] In the transport robot 2 of the first modified example, each of the two drive wheels W2 is attached to a support unit 230. The support unit 230 is attached to the tip of the shaft 210 via a telescopic mechanism 240. The telescopic mechanism 240 has three tubes 241, 242, and 243 of different sizes that are nested one inside the other. The telescopic mechanism 240 extends and contracts in the axial direction of the shaft 210 by pulling out the smaller-diameter tubes 241 and 242 from the tube 243 and storing the tubes 241 and 242 into the tube 243. This allows the two drive wheels W2 to move between a first position where the distance L1 between the two drive wheels W2 is minimum and a second position where the distance L1 between the two drive wheels W2 is maximum.

[0093] In the first modification, the user manually moves the two drive wheels W2 to the first position or the second position, but the position adjustment unit 26 may drive an appropriate actuator to extend or contract the telescopic mechanism 240, thereby moving the positions of the two drive wheels W2 between the first position and the second position. In other words, the position adjustment unit 26 adjusts the distance L1 between the multiple drive wheels W2 using the telescopic mechanism 240 that displaces at least one of the multiple support units 230 that respectively support the multiple drive wheels W2.

[0094] Furthermore, the telescopic mechanism 240 may be provided with a latch mechanism that restricts movement of the three tubes 241, 242, and 243 when the tubes 241 and 242 are housed in the tube 243 (the state shown in the upper diagram of FIG. 10), and can maintain the state in which the two drive wheels W2 have moved to the first position. Similarly, the telescopic mechanism 240 may be provided with a latch mechanism that restricts movement of the three tubes 241, 242, and 243 when the tubes 241 and 242 are pulled out from the tube 243 (the state shown in the lower diagram of FIG. 10), and can maintain the state in which the two drive wheels W2 have moved to the second position.

[0095] Here, in Modification 1, the position adjustment unit 26 adjusts the interval L1 between the two drive wheels W2 so that the two drive wheels W2 are disposed at positions symmetrical with respect to the center position P1 by displacing each of the two support units 230 using the telescopic mechanism 240. Note that the position adjustment unit 26 may also adjust the interval L1 between the two drive wheels W2 so that the two drive wheels W2 are disposed at positions asymmetrical with respect to the center position P1 by displacing one of the two support units 230 using the telescopic mechanism 240.

[0096] (3.2) Variation 2 The transport robot 2 of Modification 2 will be described with reference to Figures 11 and 12. The transport robot 2 of Modification 2 differs from the above embodiment in the configuration for changing the distance L1 between the two drive wheels W2. Note that, except for the configuration for changing the distance L1 between the two drive wheels W2, the transport robot 2 of Modification 2 is the same as the above embodiment, and therefore common components are denoted by common reference numerals and their description will be omitted.

[0097] In the transport robot 2 of the second modification, each of the two drive wheels W2 is attached to a cylindrical support part 250. The support part 250 is provided with a round hole 251 into which the large diameter portion 211 provided at the tip of the shaft 210 is inserted. The support part 250 is provided with, for example, a snap fit structure that latches the large diameter portion 211 of the shaft 210 inserted into the round hole 251, and the support part 250 is held in a coupled state to the shaft 210. Note that the large diameter portion 211 of the shaft 210 can be removed from the support part 250 by releasing the latch provided by the snap fit structure.

[0098] In the transport robot 2 of the second modification, the distance L1 between the two drive wheels W2 can be changed by attaching a spacer 260 between the shaft 210 and the support part 250. The spacer 260 has a circular hole 261 into which the large diameter portion 211 of the shaft 210 is inserted and a cylindrical part 262 that is inserted into the circular hole 251 of the support part 250, and the center of the circular hole 261 and the center of the cylindrical part 262 are on the same straight line. The spacer 260 is provided with, for example, a snap-fit ​​structure that latches the large diameter portion 211 of the shaft 210 inserted into the circular hole 261, and the spacer 260 is held in a coupled state to the shaft 210. Note that the large diameter portion 211 of the shaft 210 can be removed from the spacer 260 by releasing the latch provided by the snap-fit ​​structure. Furthermore, when the cylindrical portion 262 of the spacer 260 is inserted into the round hole 251 of the support portion 250, the spacer 260 is held in a connected state to the support portion 250 by a snap-fit ​​structure provided on the support portion 250. Note that the cylindrical portion 262 of the spacer 260 can be removed from the support portion 250 by releasing the latch of the snap-fit ​​structure.

[0099] Here, the structure for connecting the spacer 260 to the support portion 250, and the structure for connecting the spacer 260 to the shaft 210 and the support portion 250, respectively, are not limited to a snap-fit ​​structure, but may be magnetically attached or connected using fastening members such as screws, and can be modified as appropriate.

[0100] In the transport robot 2 of Modification 2, when the position adjustment unit 26 determines to switch the positions of the two drive wheels W2 to the second position based on the weight of the target object 30, route information, or the like, the communication unit 21 transmits notification information to the control system 4 to notify the user that the positions of the two drive wheels W2 will be switched to the second position. When the control system 4 receives the notification information from the transport robot 2, the control system 4 transmits the notification information to a mobile device (e.g., a smartphone) carried by a user of the transport system 1, and causes the mobile device to perform notification processing to notify the user that the positions of the two drive wheels W2 will be switched to the second position. The user who has received the notification from the mobile device can attach a spacer 260 between the shaft 210 and the support unit 250 to change the spacing between the two drive wheels W2 to the second position, thereby increasing the turning torque of the transport robot 2.

[0101] In addition, when the position adjustment unit 26 decides to switch the positions of the two drive wheels W2 to the second position based on the weight of the object 30 or route information, etc., the control unit 20 may control a speaker or indicator lamp provided on the transport robot 2 to perform a notification process to notify the user to switch the positions of the two drive wheels W2 to the second position.

[0102] (3.3) Variation 3 In the above embodiment, the distance L1 between the two drive wheels W2 is adjusted before the transport robot 2 starts moving while holding the cart 31, but the distance L1 between the two drive wheels W2 may also be adjusted during transport along the travel route.

[0103] That is, in the third modification, the control system 4 outputs the route information set by the creation support system 7 in association with the elements to be set (nodes ND1 to ND7 or edges E1 to E6) to the transport robot 2. Then, the position adjustment unit 26 adjusts the interval L1 between the multiple drive wheels W2 based on the route information input from the control system 4.

[0104] For example, while the transport robot 2 is traveling along edge E1 of the travel route RT1, the control system 4 transmits route information to the transport robot 2 indicating that the next edge E2 is a turning section. When the transport robot 2 arrives at node ND2, which is the start point of edge E2, the control unit 20 controls the position adjustment unit 26 to move the two drive wheels W2 to the second position, maximizing the distance L1 between the two drive wheels W2. This allows the transport robot 2 to maximize the distance L1 between the two drive wheels W2 just before the edge E2, which is the turning section, and increase the turning torque.

[0105] While the transport robot 2 is traveling along edge E2, the control system 4 may transmit route information to the transport robot 2 indicating that the next edge E3 is a straight section. When the transport robot 2 arrives at node ND3, which is the start point of edge E3, the control unit 20 controls the position adjustment unit 26 to move the two drive wheels W2 to the first position and set the distance L1 between the two drive wheels W2 to the minimum distance. This allows the position adjustment unit 26 of the transport robot 2 to adjust the distance between the drive wheels W2 based on the set conditions at each of the edges E1 to E6 within the traveling route RT1.

[0106] (3.4) Other Modifications In the above embodiment, it is not essential for the transport robot 2 that multiple functions of the transport robot 2 are concentrated in one housing, and the components of the transport robot 2 may be distributed across multiple housings. Furthermore, at least some of the functions of the transport robot 2 may be realized by the cloud (cloud computing) or the like.

[0107] Conversely, in the first embodiment, at least some of the functions of the control system 4 and the creation support system 7, which are distributed across multiple devices, may be integrated into a single housing. For example, the control system 4 and the creation support system 7 may be integrated into a single housing.

[0108] In the above embodiment, when comparing two values ​​such as measurement data, "greater than" may also mean "greater than or equal to." In other words, whether or not the two values ​​are equal when comparing two values ​​can be arbitrarily changed depending on the setting of the reference value, etc., so there is no technical difference between "greater than" and "greater than or equal to." Similarly, "equal to or less than" may also mean "less than."

[0109] (summary) As described above, the transport robot (2) of the first aspect includes a main body (200), a drive unit (23), and a position adjustment unit (26). The main body (200) is provided with a holder (29) for holding an object (30) to be transported. The drive unit (23) rotates a plurality of drive wheels (W2) arranged in an arrangement direction (DR2) that intersects with the movement direction (DR1) of the main body (200). The position adjustment unit (26) is capable of adjusting the spacing (L1) between the plurality of drive wheels (W2) in the arrangement direction (DR2) based on at least one of route information of the travel route along which the main body (200) travels and the weight of the object (30).

[0110] According to this embodiment, when the position adjustment unit (26) adjusts the interval (L1) between the multiple drive wheels (W2) to narrow it, the maximum width of the transport robot (2) in the arrangement direction (DR2) can be reduced, allowing the transport robot (2) to travel safely even in places where the distance to surrounding objects on the travel route is short. Furthermore, when the position adjustment unit (26) adjusts the interval (L1) between the multiple drive wheels (W2) to widen it, the turning torque can be increased, allowing the transport of heavier objects (30). This has the advantage of increasing the turning torque while preventing the main body (200) from becoming larger.

[0111] In the second aspect of the transport robot (2), in the first aspect, the position adjustment unit (26) can adjust the spacing (L1) of the multiple drive wheels (W2) in the arrangement direction (DR2) further based on the distance between the main body (200) and the surrounding object (OB1).

[0112] According to this embodiment, the interval (L1) between the plurality of drive wheels (W2) can be adjusted by further taking into consideration the distance between the main body (200) and the surrounding object (OB1).

[0113] In the transport robot (2) of the third aspect, in the first or second aspect, the position adjustment unit (26) adjusts the positions of the multiple drive wheels (W2) so that the spacing (L1) between the multiple drive wheels (W2) becomes an adjustment value determined based on at least one of the route information and the weight of the target object (30).

[0114] According to this embodiment, the position adjusting section (26) adjusts the positions of the plurality of drive wheels (W2), which has the advantage that the turning torque can be increased while preventing the main body (200) from becoming large.

[0115] In the transport robot (2) of the fourth aspect, in any one of the first to third aspects, the plurality of drive wheels (W2) includes a first drive wheel (W21) and a second drive wheel (W22) aligned in the arrangement direction (DR2). The position adjustment unit (26) can adjust the position of the first drive wheel (W21) and the position of the second drive wheel (W22) separately.

[0116] This embodiment has the advantage that the turning torque can be increased while preventing the main body (200) from becoming too large.

[0117] In a fifth aspect of the transport robot (2) of any one of the first to third aspects, the plurality of drive wheels (W2) include a first drive wheel (W21) and a second drive wheel (W22) aligned in the arrangement direction (DR2). The position adjustment unit (26) adjusts the interval (L1) between the first drive wheel (W21) and the second drive wheel (W22) so that the first drive wheel (W21) and the second drive wheel (W22) are positioned symmetrically with respect to the center position (P1) of the main body (200) in the arrangement direction (DR2).

[0118] This embodiment has the advantage that the turning torque can be increased while preventing the main body (200) from becoming too large.

[0119] In the sixth aspect of the transport robot (2) in any one of the first to fifth aspects, the position adjustment unit (26) adjusts the interval (L1) between the plurality of drive wheels (W2) using a feed screw (211) that displaces at least one of the plurality of support units (220) that respectively support the plurality of drive wheels (W2).

[0120] This embodiment has the advantage that the turning torque can be increased while preventing the main body (200) from becoming too large.

[0121] In the seventh aspect of the transport robot (2) in any one of the first to sixth aspects, the position adjustment unit (26) adjusts the interval (L1) between the plurality of drive wheels (W2) using a telescopic mechanism (240) that displaces at least one of the plurality of support units (230) that respectively support the plurality of drive wheels (W2).

[0122] This embodiment has the advantage that the turning torque can be increased while preventing the main body (200) from becoming too large.

[0123] A creation support system (7) of an eighth aspect supports the creation of a travel route (RT1) along which a transfer robot (2) of any one of the first to seventh aspects can travel, on an electronic map (MP1) corresponding to a moving surface (F1) along which the transfer robot (2) travels. The creation support system (7) includes an operation reception unit (72), a map creation unit (75), and a setting unit (76). The operation reception unit (72) receives operation input from a user. The map creation unit (75) creates the travel route (RT1) on the map (MP1) based on operation information output from the operation reception unit (72) in response to the operation input specifying the travel route (RT1). The setting unit (76) sets the route information in association with the element to be set, based on operation information output from the operation reception unit (72) in response to the operation input setting the route information in association with the element to be set. The elements to be set are selected from a plurality of nodes (ND1 to ND7) on the travel route (RT1) and one or more edges (E1 to E6) connecting two adjacent nodes (ND1 to ND7).

[0124] According to this aspect, the position adjustment unit (26) of the transport robot (2) can adjust the spacing (L1) between the multiple drive wheels (W2) in the arrangement direction (DR2) using the route information set by the creation support system (7).

[0125] A transfer system (1) of a ninth aspect includes the transfer robot (2) of any one of the first to seventh aspects and a control system (4) that controls the transfer work of the transfer robot (2).

[0126] This embodiment has the advantage that the turning torque can be increased while preventing the main body (200) from becoming too large.

[0127] In the transport system (1) of the tenth aspect, in the ninth aspect, the control system (4) outputs route information set in association with the setting target element to the transport robot (2). The position adjustment unit (26) adjusts the interval (L1) between the multiple drive wheels (W2) based on the route information input from the control system (4).

[0128] According to this aspect, the position adjustment unit (26) can adjust the interval (L1) between the plurality of drive wheels (W2) at the timing when the vehicle passes through an element for which route information is set.

[0129] Not limited to the above aspects, various configurations (including modified examples) of the transport robot (2) according to the embodiment can be embodied as a control method for the transport robot (2), a (computer) program, a non-transitory recording medium on which a program is recorded, etc. Furthermore, not limited to the above aspects, various configurations (including modified examples) of the control system (4) according to the embodiment can be embodied as a control method for the control system (4), a (computer) program, a non-transitory recording medium on which a program is recorded, etc.

[0130] The configurations according to the second to seventh aspects are not essential for the transport robot 2 and may be omitted as appropriate. The configuration according to the tenth aspect is not essential for the transport system 1 and may be omitted as appropriate. [Explanation of symbols]

[0131] 1. Transport system 2. Transport robot 4. Control System 7 Creation support system 23 Drive unit 26 Position adjustment section 29 Holding part 30 Objects 72 Operation reception section 75 Map Creation Department 76 Setting section 200 units 220,230 Support part 240 Telescopic mechanism DR1 Movement direction DR2 array direction E1~E6 edges F1 Moving Surface L1 interval MP1 Map ND1~ND7 nodes OB1 Object P1 center position RT1 driving route W2 drive wheel W21 1st drive wheel W22 second drive wheel

Claims

1. a main body provided with a holding portion for holding an object to be transported; a drive unit that rotates two drive wheels arranged side by side in an arrangement direction that intersects with the movement direction at a center portion in the movement direction of the main body; a position adjustment unit that adjusts the distance between the two drive wheels in the arrangement direction based on the weight of the object, the position adjustment unit adjusts the distance between the two drive wheels to a first distance if the weight of the object is less than a reference weight, and adjusts the distance between the two drive wheels to a second distance wider than the first distance if the weight of the object is equal to or greater than the reference weight. Transport robot.

2. the position adjustment unit is capable of adjusting the distance between the two drive wheels in the arrangement direction further based on a distance between the main body and a surrounding object. The transport robot according to claim 1 .

3. the position adjustment unit adjusts positions of the two drive wheels so that the distance between the two drive wheels becomes an adjustment value determined based on the weight of the object. The transport robot according to claim 1 or 2.

4. the two drive wheels include a first drive wheel and a second drive wheel aligned in the arrangement direction, The position adjustment unit is capable of separately adjusting the position of the first drive wheel and the position of the second drive wheel. The transport robot according to any one of claims 1 to 3.

5. the two drive wheels include a first drive wheel and a second drive wheel aligned in the arrangement direction, the position adjustment unit adjusts the distance between the first drive wheel and the second drive wheel so that the first drive wheel and the second drive wheel are disposed at positions symmetrical with respect to a center position of the main body in the arrangement direction. The transport robot according to any one of claims 1 to 3.

6. the position adjustment unit adjusts the distance between the two drive wheels by using a feed screw that displaces at least one of two support units that support the two drive wheels, respectively. The transport robot according to any one of claims 1 to 5.

7. the position adjustment unit adjusts the distance between the two drive wheels by using a telescopic mechanism that displaces at least one of two support units that support the two drive wheels, respectively. The transport robot according to any one of claims 1 to 5.

8. A control method for a transport robot according to any one of claims 1 to 7, a position adjusting step for adjusting a distance between the two drive wheels in the arrangement direction based on a weight of the object; In the position adjustment step, If the weight of the object is less than a reference weight, adjusting the distance between the two drive wheels to the first distance; If the weight of the object is equal to or greater than the reference weight, the distance between the two drive wheels is adjusted to the second distance which is wider than the first distance. A method for controlling a transport robot.

9. The transport robot according to any one of claims 1 to 7, a control system for controlling the transport operation of the transport robot; Conveying system.

10. the control system outputs route information set in association with the setting target element to the transport robot; the position adjustment unit adjusts the distance between the two drive wheels based on the route information input from the control system. The transport system according to claim 9.

Images