Transport robot

Abstract

To provide a conveyance robot capable of preventing deterioration of reception conditions of radio waves from all directions of a carriage on which a conveyed object is mounted even when a stand extending upward from the carriage is installed.SOLUTION: A conveyance robot 100 is provided with a carriage 110 on which a conveyed object is mounted, a stand 120 extending upward from the carriage 110, and a radio communication unit for performing radio communication with an external device using radio waves of a predetermined frequency band. The radio communication unit has a first radio communication antenna 102 and a second radio communication antenna 103 installed to receive radio waves from at least the outside in the horizontal direction of the carriage 110. The first radio communication antenna 102 and the second radio communication antenna 103 are disposed in the horizontal direction of the carriage 110 on opposite end surfaces across the central portion of the carriage 110.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a transport robot. [Background technology]

[0002] Patent Document 1 discloses an in-vehicle communication antenna structure that aims to improve the antenna performance and mountability of a communication antenna. In the in-vehicle communication antenna structure described in Patent Document 1, an antenna unit is provided in the vehicle to enable communication between an in-vehicle device installed in the vehicle and a device brought in by an occupant, and this antenna unit is provided on the back side of an in-vehicle monitor provided on the instrument panel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-166010 Summary of the Invention [Problem to be solved by the invention]

[0004] The inventors have considered providing a transport robot with a stand that extends upward from a chassis on which an object to be transported is mounted. With a transport robot configured in this way, there is a concern that the presence of the stand may deteriorate radio wave reception. The technology described in Patent Document 1 is not a technology that can solve this problem because it is difficult to receive radio waves from all directions.

[0005] The present disclosure has been made to solve such problems, and provides a transport robot that can prevent deterioration of reception of radio waves from all directions around the chassis, even when a stand extending upward from the chassis on which the transported item is carried is installed. [Means for solving the problem]

[0006] A transport robot according to the present disclosure includes a chassis on which an object to be transported is mounted, a stand extending upward from the chassis, and a wireless communication unit that wirelessly communicates with an external device using radio waves in a predetermined frequency band. The wireless communication unit includes a first wireless communication antenna and a second wireless communication antenna arranged to receive radio waves from at least the horizontal outside of the chassis, the first wireless communication antenna and the second wireless communication antenna being arranged on opposite end faces of the chassis in the horizontal direction, sandwiching a central portion of the chassis. Although the transport robot having the above configuration includes a stand extending upward from the chassis on which the object to be transported is mounted, the first wireless communication antenna and the second wireless communication antenna are arranged on opposite end faces of the chassis in the horizontal direction, sandwiching a central portion of the chassis. Therefore, the transport robot having the above configuration can prevent deterioration of reception of radio waves from all directions of the transport robot, i.e., radio waves from all directions of the chassis.

[0007] The first wireless communication antenna may be disposed inside the stand along the extension direction of the stand. By adopting such a configuration, the transport robot not only makes it easier to store the first wireless communication antenna in the stand, but also maintains good reception even when the external device is located far from the transport robot.

[0008] The stand may be provided with a non-conductive cover that covers the portion where the first wireless communication antenna is disposed and forms part of the outer casing of the stand. By providing such a cover, the antenna can be made invisible from the outside, and the appearance of the transport robot can be improved.

[0009] The stand may be disposed at one end of the chassis in the left-right direction in the front or rear part of the chassis. In the transport robot described above, the loading state of the transported object on the chassis can be more easily seen from the front than in a configuration in which the stand is disposed in the center of the chassis in the left-right direction.

[0010] Alternatively, the stand may be disposed in the front or rear part of the chassis, in the center in the left-right direction of the chassis. The above-mentioned transport robot has a better weight balance than a configuration in which the stand is disposed at one end of the chassis in the left-right direction.

[0011] Alternatively, the stand may be arranged on one end of the chassis in the fore-and-aft direction on a side portion of the chassis. In the transport robot described above, the loading state of the transported object on the chassis can be more easily visually confirmed from the front or rear compared to a configuration in which the stand is arranged in the front or rear portion of the chassis, and the transport state of the transported object on the chassis can be more easily visually confirmed from the side compared to a configuration in which the stand is arranged in the center portion of the chassis in the fore-and-aft direction.

[0012] Alternatively, the stand may be disposed on a side of the chassis, in a central portion in the fore-and-aft direction of the chassis. In the transport robot described above, the loading state of the transported object on the chassis can be more easily visually confirmed from the front or rear compared to a configuration in which the stand is disposed in the front or rear of the chassis, and the weight balance of the transport robot is better compared to a configuration in which the stand is disposed at one end of the chassis in the fore-and-aft direction.

[0013] The second wireless communication antenna may be disposed at a position inside the chassis. By adopting such a configuration, the transfer robot does not need to provide an additional stand for the second wireless communication antenna.

[0014] The second wireless communication antenna may be disposed inside the chassis at a position diagonally opposite to the position of the first wireless communication antenna in the horizontal direction of the chassis. By adopting such a configuration, the transfer robot can further prevent deterioration of the reception state of radio waves from all directions of the transfer robot, i.e., radio waves from all directions of the chassis.

[0015] The second wireless communication antenna may be disposed inside the chassis, and the chassis may include a non-conductive cover that covers the portion where the second wireless communication antenna is disposed and forms part of the outer casing of the chassis. By providing such a cover, the antenna can be made invisible from the outside, thereby improving the appearance of the transport robot.

[0016] The transport robot may include another stand disposed on the opposite end face of the chassis with respect to the stand with a central portion of the chassis in between in the horizontal direction of the chassis, extending upward from the chassis, and the second wireless communication antenna is disposed inside the other stand along the direction in which the other stand extends. By adopting such a configuration, the transport robot not only makes it easier to store the second wireless communication antenna in the other stand, but also maintains good reception even when an external device is located far from the transport robot.

[0017] The other stand may be provided with a non-conductive cover that covers the portion where the second wireless communication antenna is disposed and forms part of the outer casing of the other stand. By providing such a cover, the antenna can be made invisible from the outside, and the appearance of the transport robot can be improved.

[0018] The first wireless communication antenna and the stand may be arranged on the same side of the chassis in the horizontal direction and spaced apart from each other. By adopting such a configuration, the transport robot does not need to provide a first wireless communication antenna on the stand, thereby making it possible to reduce the weight and slimness of the stand.

[0019] The transport robot may be provided with a lifting mechanism on an upper surface of at least a portion of the chassis for loading and unloading a predetermined wagon as the transported object. Here, the predetermined wagon includes a storage section for storing an item and a support section for supporting the storage section with a space formed below the storage section for allowing at least a portion of the chassis to enter. The first wireless communication antenna and the second wireless communication antenna may be arranged in a position in the horizontal direction of the chassis so as not to be covered by the predetermined wagon when the predetermined wagon is loaded on the chassis. By adopting such a configuration, the transport robot can not only transport items using the wagon but also prevent deterioration of radio wave reception even while the wagon is being transported. [Effects of the Invention]

[0020] According to the present disclosure, a transport robot can be provided that can prevent deterioration of reception conditions for radio waves from all directions around the chassis, even when a stand extending upward from the chassis on which the transported item is carried is arranged. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a perspective view showing an example of the overall configuration of a transport robot according to an embodiment; [Figure 2] FIG. 2 is a top view of the transfer robot of FIG. [Figure 3] 2 is a perspective view showing a state in which the transport robot of FIG. 1 is transporting a wagon. FIG. [Figure 4] 2 is a front view showing a state in which the transport robot of FIG. 1 is transporting a wagon. [Figure 5] 2 is a side view showing a state in which the transport robot of FIG. 1 is transporting a wagon. FIG. [Figure 6] 2 is a horizontal cross-sectional view showing an example of a stand in the transport robot of FIG. 1. FIG. [Figure 7] 1. FIG. 4 is a horizontal cross-sectional view showing another example of the stand in the transport robot of FIG. [Figure 8]FIG. 10 is a top view showing another configuration example of the transport robot according to the embodiment. [Figure 9] FIG. 10 is a top view showing another configuration example of the transport robot according to the embodiment. [Figure 10] 10 is a horizontal cross-sectional view showing an example of a stand in the transport robot of FIG. 9. FIG. [Figure 11] FIG. 10 is a top view showing another configuration example of the transport robot according to the embodiment. [Figure 12] FIG. 10 is a top view showing another configuration example of the transport robot according to the embodiment. [Figure 13] FIG. 10 is a top view showing another configuration example of the transport robot according to the embodiment. [Figure 14] FIG. 10 is a top view showing another configuration example of the transport robot according to the embodiment. [Figure 15] FIG. 10 is a top view showing another configuration example of the transport robot according to the embodiment. [Figure 16] FIG. 10 is a top view showing another configuration example of the transport robot according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0022] The present invention will be described below through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means for solving the problems.

[0023] (Embodiment) FIG. 1 is a perspective view showing an example of the overall configuration of a transport robot according to this embodiment, and FIG. 2 is a top view of the transport robot of FIG. 1. In the following description, an XYZ Cartesian coordinate system will be used as appropriate. The X direction is the front-to-rear direction of the transport robot 100 shown in FIG. 1, the Y direction is the left-to-right direction, and the Z direction is the vertical up-down direction. More specifically, the +X direction is defined as the front direction of the transport robot 100, and the -X direction is defined as the rear direction of the transport robot 100. The +Y direction is the left direction of the transport robot 100, and the +Z direction is the vertical up-down direction.

[0024] The transport robot 100 can move both forward and backward. That is, when the wheels are rotated forward, the transport robot 100 moves forward, and when the wheels are rotated backward, the transport robot 100 moves backward. By changing the rotation speed of the left and right wheels, the transport robot 100 can turn left and right.

[0025] 1 and 2, the transport robot 100 may include a chassis 110 on which an object to be transported is mounted, a stand 120, and an operation unit 130. The chassis 110 is equipped with wheels 111, axles, a battery, a control computer 101, a drive motor, and the like. Note that the description will be given assuming that the control computer 101 is mounted in the position shown in the figure on the chassis 110, but this is not limiting, and the control computer 101 may be mounted in another position on the chassis 110, or part or all of the control computer 101 may be mounted on at least one of the stand 120 and the operation unit 130.

[0026] The chassis 110 rotatably holds wheels 111. Furthermore, the chassis 110 and the stand 120 may be provided with various sensors such as a camera and a distance measuring sensor, for example, to prevent contact with obstacles and to confirm the route. In a configuration in which the transport robot 100 is an autonomous mobile robot and includes the chassis 110 as shown in the figure, the transport robot 100 can also be called an autonomous mobile cart.

[0027] Here, the description will be given assuming that the transport robot 100 is an autonomous mobile robot. However, the transport robot 100 may be a mobile robot that moves in response to user operation, or may be a mobile robot that can switch between an autonomous movement mode and a user-operated mode. The user may be an employee of the facility where the transport robot 100 is operated, or, if the facility is a hospital, a hospital employee. The transport robot 100 may also be configured such that its movement route, etc., is managed by a host management device (not shown) and the transport robot 100 transports the transported object in accordance with instructions from the host management device. In this case, the external device described below may be the host management device or a wireless communication device connected to the host management device.

[0028] The control computer 101 can be realized, for example, by an integrated circuit, and can be realized, for example, by a processor such as an MPU (Micro Processor Unit) or a CPU (Central Processing Unit), a working memory, and a non-volatile storage device. A control program to be executed by the processor is stored in this storage device, and the processor reads the program into the working memory and executes it, thereby fulfilling the function of controlling the transport robot 100. The control computer 101 can be called a control unit.

[0029] The transfer robot 100 also includes a wireless communication unit that performs wireless communication with an external device using radio waves in a predetermined frequency band. The predetermined frequency band may be a plurality of frequency bands that are spaced apart from one another. The wireless communication unit may be configured to perform wireless communication with the external device based on one or more of various wireless communication standards, such as the Wi-Fi (registered trademark; the same applies hereinafter). The external device may be, for example, a wireless LAN (Local Area Network) access point or repeater, but is not limited to these, and may be any wireless communication device or device with wireless communication capabilities.

[0030] This wireless communication unit includes a first wireless communication antenna (hereinafter simply referred to as the first antenna) 102 and a second wireless communication antenna (hereinafter simply referred to as the second antenna) 103, which are disposed so as to receive radio waves from at least the horizontal outer side of the chassis 110. Both the first antenna 102 and the second antenna 103 have lengths and shapes corresponding to radio waves in the above-mentioned predetermined frequency band.

[0031] This wireless communication unit can be connected to the control computer 101, or can be configured such that the control computer 101 includes the parts other than the first antenna 102 and the second antenna 103. In other words, in this configuration, the first antenna 102 and the second antenna 103 are both connected to the control computer 101. For the sake of simplicity, the following description will be given taking as an example a case in which the parts of the wireless communication unit other than the first antenna 102 and the second antenna 103 are provided in the control computer 101.

[0032] The second antenna 103 is disposed at a position inside the chassis 110, and is disposed at a position diagonally opposite the position of the first antenna 102 in the horizontal direction of the chassis 110, i.e., when viewed from above. Fig. 1 shows an example in which the first antenna 102 is disposed on a stand 120, and the second antenna 103 is disposed at a position diagonally opposite the first antenna 102. The stand 120, which will be described later, is a rod-shaped member extending upward from the chassis 110, and is attached to the chassis 110.

[0033] 1, the first antenna 102 is disposed so as to be able to receive radio waves from the front side (+X side) of the transport robot 100, and the second antenna 103 is disposed so as to be able to receive radio waves from the rear side (-X side) of the transport robot 100. Fig. 2 shows the arrangement of the first antenna 102 and the second antenna 103 when the transport robot 100 is viewed from above, and also shows the ranges of each antenna where the radio wave reception strength of wireless communication is high as regions 102R and 103R, respectively.

[0034] 1, the first antenna 102 can be disposed inside the stand 120 along the extension direction of the stand 120. By adopting such a configuration, the transport robot 100 can not only easily accommodate the first antenna 102 in the stand 120, but also maintain good reception even when an external device is located far from the transport robot 100.

[0035] 1 and 2, the second antenna 103 may be disposed inside the chassis 110 at an angle between the horizontal and vertical directions of the chassis 110. By adopting such a configuration, the transport robot 100 can maintain good reception even when an external device is installed above the transport robot 100. The elevation angle between the direction from one end of the second antenna 103 to the other end and the horizontal direction of the chassis 110 may be greater than 0 degrees and less than 90 degrees. However, by setting the elevation angle to, for example, approximately 45 degrees, good reception can be maintained for communication with an external device located directly above the transport robot 100 or an external device located quite far away.

[0036] 1, the stand 120 can include a non-conductive cover 121 that covers the portion where the first antenna 102 is disposed and forms part of the outer casing of the stand 120. The first antenna 102 is disposed in a position that projects outward toward the periphery to a position where it is not covered by other structural members of the stand 120 except for the cover 121. The cover 121 can be made of, for example, resin, but if it is made of a non-conductive material, it can easily transmit radio waves to and from the first antenna 102. Furthermore, providing the cover 121 can make the first antenna 102 invisible from the outside, thereby improving the appearance of the transport robot 100.

[0037] Furthermore, the outer casing of the stand 120 other than the cover 121 can be made of metal or the like, although it is difficult for radio waves to pass through it. Of course, the outer casing of the stand 120 can be made partly or entirely non-conductive as long as the shape and materials are such that the strength of the casing can be maintained. However, as exemplified here, when heavy components such as the operation unit 130 and other sensors are disposed on the stand 120, it is preferable that at least a portion of the outer casing of the stand 120 be made of a material that can maintain the strength of the casing, such as metal. In this case, it is particularly preferable to place the first antenna 102 in front of the stand 120, taking into consideration the radio wave reception range, as illustrated in FIG. 1 etc.

[0038] 1, the chassis 110 may include a non-conductive cover 112 that covers the portion where the second antenna 103 is disposed and forms part of the chassis 110's outer casing. The second antenna 103 is disposed in a position that projects outward toward the periphery to a position where it is not covered by other structural members of the chassis 110 except for the cover 112. The cover 112 may be made of, for example, resin, but any non-conductive material may be used. Providing the cover 112 makes the second antenna 103 invisible from the outside, thereby improving the appearance of the transport robot 100. The outer casing of the chassis 110 other than the cover 112 may be made of metal, but part or all of it may be non-conductive.

[0039] The chassis 110 may also be equipped with an elevator mechanism 140 for loading and unloading the transported object. A portion of the elevator mechanism 140 may be housed inside the chassis 110, or the elevator mechanism 140 may be disposed on the upper surface of the chassis 110 with a loading surface on which the transported object is placed exposed. The elevator mechanism 140 is a lift stage that can be raised and lowered, and can be raised and lowered under control of the control computer 101. The chassis 110 is provided with an elevator motor and a guide mechanism. The upper surface of the elevator mechanism 140 serves as a loading surface on which a wagon serving as the transported object is placed. The wagon may be any wagon having a predetermined size, shape, and weight that can be placed on the elevator mechanism 140 and transported. An example of such a wagon is a wagon 500 shown in FIGS. 3 to 5 (described later), but is not limited thereto. The elevator mechanism 140 has a lift mechanism that lifts the wagon. The space above the elevator mechanism 140 serves as a loading space on which the transported object is placed. It should be noted that the chassis 110 does not need to be provided with the lifting mechanism 140 if the user is limited to loading the wagon 500 .

[0040] The stand 120 is attached to the chassis 110. The stand 120 is a rod-shaped member extending upward from the chassis 110. Here, the stand 120 is formed in a cylindrical shape with the longitudinal direction in the Z direction, but of course, the shape is not important. The longitudinal direction of the stand 120 is arranged parallel to the Z direction. The stand 120 is arranged outside the lifting mechanism 140. In other words, the stand 120 is arranged so as not to interfere with the lifting operation of the lifting mechanism 140. The stand 120 is arranged at one end of the chassis 110 in the Y direction (left-right direction). The stand 120 is attached near the front right corner of the chassis 110. In the XY plane, the stand 120 is provided at the end of the chassis 110 on the +X side and the -Y side. In addition, the stand 120 equipped with the first antenna 102 can also be attached near the left front corner of the chassis 110, in which case the second antenna 103 will be arranged near the right rear corner of the chassis 110.

[0041] The stand 120 supports the operation unit 130. The operation unit 130 is attached near the upper end of the stand 120. This allows the operation unit 130 to be installed at a height that is easy for a user to operate. In other words, the stand 120 extends to a height that is easy for a user to operate while standing. The operation unit 130 extends from the stand 120 to the +Y side. In the left-right direction, the operation unit 130 is disposed in the center of the chassis 110.

[0042] The operation unit 130 may include a touch panel monitor that accepts user operations. Of course, the operation unit 130 may also include a microphone for voice input. The monitor of the operation unit 130 faces away from the chassis 110. In other words, the display surface (operation surface) of the operation unit 130 is the +X side surface. The operation unit 130 may be detachable from the stand 120. In other words, the stand 120 may be equipped with a holder that holds the touch panel. By operating the operation unit 130, the user can input the destination of the transported item, transport information related to the transported item, and the like. Furthermore, the operation unit 130 can display to the user information such as the contents of the transported item, the transported item, and the scheduled transported item, as well as its destination.

[0043] The top surface of the stand 120 may be provided with, for example, a stick portion of a joystick device, an emergency stop button, or an indicator lamp showing the operating state of the transport robot 100. This joystick device is a device for operating the transport robot 100 in the direction intended by the user in the user operation mode.

[0044] A user places an item in a wagon placed on the transport robot 100 and requests transportation. In the following description, the wagon itself can also be referred to as an item, so for convenience, the item stored in the wagon will be referred to as an article. The transport robot 100 autonomously moves to a set destination and transports the wagon. In other words, the transport robot 100 executes a transport task for the wagon. In the following description, the location where the wagon is loaded will be referred to as the origin or loading location, and the location where the wagon is delivered will be referred to as the destination or destination.

[0045] For example, suppose that the transport robot 100 moves within a general hospital with multiple medical departments. The transport robot 100 transports items such as supplies, consumables, and medical instruments between the multiple medical departments. For example, the transport robot 100 delivers items from the nurse's station of one medical department to the nurse's station of another medical department. Alternatively, the transport robot 100 delivers items from a storage room for supplies and medical instruments to the nurse's station of a medical department. Furthermore, the transport robot 100 delivers medicine dispensed in a pharmacy department to the medical department or patient that will use the medicine.

[0046] Examples of items include consumables such as medicines and bandages, specimens, testing equipment, medical instruments, hospital food, stationery, and other supplies. Medical equipment includes blood pressure monitors, transfusion pumps, syringe pumps, foot pumps, nurse call buttons, bed exit sensors, foot pumps, low-pressure continuous inhalers, electrocardiogram monitors, drug infusion controllers, enteral nutrition pumps, ventilators, cuff pressure gauges, touch sensors, aspirators, nebulizers, pulse oximeters, blood pressure monitors, artificial resuscitators, sterilization devices, and ultrasound machines. Meals such as hospital meals and test meals may also be delivered. Furthermore, the transport robot 100 may deliver used equipment, used tableware, and the like. If the delivery destination is on a different floor, the transport robot 100 may move using an elevator or the like.

[0047] The above-described transport robot 100 has a stand extending upward from the chassis 110 on which the transported object is mounted, but the first antenna 102 and the second antenna 103 are disposed at positions facing each other on a diagonal line in the horizontal direction of the transport robot 100. In other words, the first antenna 102 and the second antenna 103 are disposed at diagonal positions in the horizontal direction of the transport robot 100.

[0048] The transport robot 100 with such an antenna arrangement can prevent deterioration of the reception state, particularly deterioration of the reception state due to the installation of the stand 120, for radio waves from all directions around the transport robot 100, i.e., radio waves from all directions around the chassis 110. Furthermore, since the transport robot 100 contains many parts made of metal, it is difficult for radio waves to pass through. However, by arranging the antennas in this manner, it is possible to prevent deterioration of the reception state for radio waves from all directions around the chassis 110.

[0049] Next, the manner in which the transport robot 100 transports a wagon as an object to be transported will be described with reference to Figures 3 to 5. Figures 3, 4, and 5 are a perspective view, a front view, and a side view, respectively, showing the manner in which the transport robot 100 of Figure 1 transports a wagon. Note that Figure 3 also shows area 102R for the first antenna 102 and area 103R for the second antenna 103, but for convenience, only the ranges with high reception strength near the center of the antenna in the Z-axis direction are shown.

[0050] As shown in FIGS. 3 to 5, the transport robot 100 can hold a wagon 500 by means of a lifting mechanism 140. The lifting mechanism 140 is a mechanism for loading and unloading a predetermined wagon as an object to be transported onto the upper surface side of at least a portion of the chassis 110. Here, the predetermined wagon includes a storage section for storing an article, and a support section for supporting the storage section in a state in which a space is formed below the storage section into which at least a portion of the chassis 110 can enter.

[0051] Here, the wagon 500 shown in Figs. 3 to 5 is taken as an example of the predetermined wagon, but is not limited to this. Wagon 500 stores items therein. The storage section can be configured to include side panels 504 on both sides of wagon 500 and an openable / closable cover 501. A user can open cover 501 to load and unload items.

[0052] The support unit can be configured to include a support frame 505 that supports the storage unit and wheels 502 attached to the underside of the support frame 505. The wheels 502 can also be provided with covers (not shown). The space is a space S formed below the wagon 500 as shown in FIG. 4, and this space S is the space into which the chassis 110 enters. That is, the chassis 110 can enter the space S directly below the wagon 500. When the chassis 110 loads the wagon 500, the transport robot 100 moves in the -X direction and enters directly below the wagon 500. The chassis 110 enters directly below the wagon 500 from the side where the stand 120 is not provided in the front-rear direction. In this way, the wagon 500 can be loaded without the stand 120 interfering with the wagon 500. In other words, the stand 120 is attached near a corner of the chassis 110 so as not to interfere with the wagon 500.

[0053] 5, the first antenna 102 and the second antenna 103 may be disposed in a position in the horizontal direction of the chassis 110 so as not to be covered by the wagon 500 when the wagon 500 is loaded on the chassis 110. In other words, since the transport robot 100 is configured to have an antenna mounted thereon for wireless communication and travels with the wagon 500, which is prone to a decrease in wireless signal strength, it is preferable to position the antenna within a reception range that does not interfere with not only the robot body including the chassis 110, but also the wagon 500. By employing such a configuration, the transport robot 100 can not only transport articles using the wagon 500, but also prevent deterioration of radio wave reception even while the wagon 500 is being transported.

[0054] 3, the illustrated transport robot 100 has the first antenna 102 and the second antenna 103 arranged to provide a wide, isotropic reception range that allows it to easily pick up communication radio waves regardless of the direction of travel. In other words, the first antenna 102 and the second antenna 103 are arranged so that the reception strength is minimized even when the transport robot 100 is traveling with the wagon 500 on board. Therefore, the transport robot 100 can easily receive radio waves through the first antenna 102 and the second antenna 103 even if the wagon 500 or its internal contents are present, which act as obstructions. This reduces the number of situations in which the transport robot 100 becomes isolated due to an inability to establish communication with the outside.

[0055] 1 and 2, the mounting surface of the lifting mechanism 140 may be provided with a recess 141. Meanwhile, a protrusion (not shown) may be provided on the underside of the storage section of the wagon 500. Then, by fitting the protrusion into the recess 141, the wagon 500 can be fixed to the transport robot 100.

[0056] Although the wagon 500 is shown as a dolly having wheels 502, the shape and configuration of the wagon 500 are not particularly limited. The specific wagon exemplified by the wagon 500 may have any shape, size, and weight that can be transported by the transport robot 100.

[0057] The loading operation of the wagon 500 will be described. When the chassis 110 enters the space S directly below the wagon 500, the lifting mechanism 140 rises. As a result, the lifting stage, which is the upper surface of the lifting mechanism 140, comes into contact with the wagon 500. The lifting mechanism 140 can lift the wagon 500. In other words, when the lifting mechanism 140 rises, the wheels 502 lift off the ground, and the wagon 500 is loaded onto the chassis 110.

[0058] When the wagon 500 is to be lowered from the chassis 110, the lifting mechanism 140 is lowered. The wheels 502 come into contact with the floor surface, and the upper surface of the lifting mechanism 140 moves away from the wagon 500. The wagon 500 is placed on the floor surface. The wagon 500 can be lowered from the chassis 110. The chassis 110 is provided with four wheels 111. The four wheels 111 are left and right front wheels and left and right rear wheels. The rotation direction and rotation speed of the wheels 111 are independently controlled, so that the transport robot 100 moves along a desired route. Some of the four wheels 111 may be drive wheels, and the rest may be driven wheels. Furthermore, as shown in FIG. 1 etc., additional driven wheels may be provided between the front and rear wheels 111, for example.

[0059] In the above example, the description has been given on the assumption that the transport robot 100 transports a wagon such as the wagon 500 as the transported object, but the transported object may also be an individual item (baggage). In that case, the lifting mechanism 140 may not be provided, but it is advisable to attach a storage box or shelf to the transport robot 100 to prevent the items from falling during transport. Furthermore, when the transport robot 100 is transporting multiple items and the items need to be transported to multiple destinations, the user can unload the items at the destination, regardless of whether the transport is using the wagon 500 or not. The transport robot 100 can transport the wagon or individual items by moving autonomously to a set destination or by moving according to a user's operation.

[0060] Next, an example of the arrangement of the first antenna 102 on the stand 120 of the transport robot 100 will be described with reference to Fig. 6. Fig. 6 is a horizontal cross-sectional view showing an example of the stand 120 of the transport robot 100.

[0061] As shown in FIG. 6, the outer casing of stand 120, i.e., stand casing 120a which is the housing of stand 120, is made of a material such as metal through which radio waves have difficulty passing, but a cover 121 made of resin or the like which allows radio waves to easily pass through is provided at the position where first antenna 102 is installed.

[0062] As described above, since the stand 120 has the heavy operation unit 130 and sensors mounted on top, the stand 120 needs to be made of a material with a certain level of strength, and metal or a material containing metal in part can be used. However, in the transport robot 100, the first antenna 102 is disposed in a position closer to the front than the center position in the front-to-rear direction of the stand 120 indicated by the dashed line in FIG. 6, and the outer casing at that position is made of a cover 121 made of resin or the like. This makes it easier to receive radio waves than if the first antenna 102 were not disposed in that position. The position of the first antenna 102 may be as shown in FIG. 6 or may be further forward as shown in FIG. 2.

[0063] 6, the ratio of stand housing 120a to cover 121 at the height where cover 121 made of resin or the like is provided can be 1:1. Of course, the ratio of cover 121 may be smaller than the ratio of stand housing 120a as shown in FIGS. 1 and 3, or conversely, it may be larger, as long as the range of cover 121 is determined so as not to reduce the reception strength as much as possible.

[0064] Next, a film antenna 102a, which is another example of the configuration of the first antenna 102 in the stand 120 of the transport robot 100, will be described with reference to Fig. 7. Fig. 7 is a horizontal cross-sectional view showing another example of the stand 120 in the transport robot 100.

[0065] 7, stand housing 120a is made of a material such as metal through which radio waves have difficulty passing, but cover 121 made of resin through which radio waves can easily pass is provided at the position where the first antenna is to be installed. As shown in FIG. 7, film antenna 102a can be attached to the inside of cover 121 as the first antenna.

[0066] 1 to 7, the first antenna 102 or film antenna 102a and the second antenna 103 are arranged on the front right and rear left, respectively, but these arrangements are not limited to those shown in the example. Below, the case where the first antenna is the first antenna 102 will be described, but the film antenna 102a can also be used in the same way.

[0067] For example, the first antenna 102 and the second antenna 103 can be disposed at the left front and right rear, respectively, as shown in Fig. 8, which shows an example of antenna arrangement and ranges 102R and 103R with high radio wave reception strength in that case. Fig. 8 is a top view showing another example of the configuration of the transport robot according to this embodiment.

[0068] 8 has a configuration in which the position of the stand 120 and the arrangement of the first antenna 102 and the second antenna 103 are reversed left and right in the direction of travel of the transport robot 100. That is, in the transport robot 100a, the first antenna 102 is disposed on the left side of the transport robot 100a so as to be able to receive radio waves from the front side (+X side), and the second antenna 103 is disposed on the right side of the transport robot 100a so as to be able to receive radio waves from the rear side (-X side).

[0069] Furthermore, the first antenna 102 and the second antenna 103 can also be arranged so that the ranges 102R and 103R are located on the right and left sides, respectively, as shown in Fig. 9, which shows an example of antenna arrangement and ranges 102R and 103R where radio wave reception strength is high in that case. Fig. 9 is a top view showing another configuration example of the transfer robot according to this embodiment, and in Fig. 9, as in Fig. 2, the ranges where radio wave reception strength is high for wireless communication are shown by hatched areas for each antenna.

[0070] 9 has a configuration in which the first antenna 102 and the second antenna 103 are arranged so that the ranges 102R and 103R are rotated 90 degrees while the position of the stand 120 remains the same in the transport robot 100. That is, in the transport robot 100b, the first antenna 102 is arranged so as to be able to receive radio waves from the right side (-Y side) of the transport robot 100b, and the second antenna 103 is arranged so as to be able to receive radio waves from the left side (+Y side) of the transport robot 100b.

[0071] Next, an example of the arrangement of the first antenna 102 on the stand 120 of the transfer robot 100b will be described with reference to Fig. 10. Fig. 10 is a horizontal cross-sectional view showing an example of the stand 120 of the transfer robot 100b.

[0072] As shown in FIG. 10, the stand housing 120a is formed of a material such as metal through which radio waves have difficulty passing, but a cover 121 made of resin or the like through which radio waves can easily pass is provided at the position where the first antenna 102 is disposed.

[0073] In the transfer robot 100b, the first antenna 102 is disposed to the right of the center position in the left-right direction of the stand 120, as shown by the dashed line in Fig. 10, and the outer casing at that position is made of a cover 121 made of resin or the like. This makes it easier to receive radio waves compared to when the first antenna 102 is not disposed in that position. The position of the first antenna 102 may be the position shown in Fig. 10 or may be further to the right as shown in Fig. 9.

[0074] Also, as shown in FIG. 10, the ratio of stand housing 120a to cover 121 at the height where cover 121 made of resin or the like is provided can be 1:1, but as explained with reference to FIG. 6, it is sufficient that the range of cover 121 is determined so as not to reduce the reception strength as much as possible.

[0075] Furthermore, in Figures 1 to 10, an example is given in which the first antenna 102 or film antenna 102a is arranged on the stand 120 and the second antenna 103 is arranged diagonally from the arrangement position of the first antenna 102 or film antenna 102a, but the antennas are not limited to being arranged in this manner.

[0076] For example, the first antenna 102 or film antenna 102a may be disposed inside the chassis 110, at the other end in the left-right direction of the chassis 110. The other end refers to the side where the stand 120 is not disposed. In this arrangement, the second antenna 103 is disposed at a diagonal position to the position where the first antenna 102 or film antenna 102a is disposed. In this case, as explained with reference to FIGS. 2, 8, and 9, the first antenna 102 or film antenna 102a is disposed at the end on the +X side and +Y side of the chassis 110, and the second antenna 103 is disposed at the end on the -X side and -Y side of the chassis 110. In this way, the first antenna 102 or film antenna 102a and the stand 120 can be disposed on the same side in the horizontal direction of the chassis 110 but at positions spaced apart from each other.

[0077] By adopting such a configuration, the transfer robots 100, 100a, 100b do not need to provide the first antenna 102 or the film antenna 102a on the stand 120, and therefore the stand 120 can be made lighter and slimmer.

[0078] Furthermore, for example, the first antenna 102 or film antenna 102a and the second antenna 103 can be disposed at any position other than those described above as long as they are away from the stand 120, but can also be disposed at positions inside the chassis 110, diagonally facing each other in the horizontal direction of the chassis 110. For example, the first antenna 102 or film antenna 102a and the second antenna 103 can be disposed at positions near the center in the front-to-rear direction on the left and right sides of the chassis 110, respectively, or at positions near the center in the left-to-right direction on the front and rear sides of the chassis 110, respectively.

[0079] In addition, in the above example, a film antenna 102a can be used instead of the first antenna 102, but a film antenna that is attached to the inside of the housing of the chassis 110 can also be used as the second antenna 103.

[0080] Furthermore, in the above various configuration examples, the explanations have been given on the assumption that the stand 120 is disposed at one end of the chassis 110 in the left-right direction, but the arrangement of the stand 120 is not limited to this. Furthermore, in the above various configuration examples, the explanations have been given on the assumption that the second antenna 103 is disposed inside the chassis 110, at a position diagonally opposite the arrangement position of the first antenna 102 or the film antenna 102a in the horizontal direction of the chassis 110, but the arrangement of the antennas is not limited to this.

[0081] Further configuration examples of the arrangement of the stand 120 and the arrangement of the two antennas will be described with reference to Figs. 11 to 16. Figs. 11 to 16 are all top views showing other configuration examples of the transport robot according to this embodiment. Note that Figs. 11 to 16 show configuration examples that are different from each other. Furthermore, although examples of film antennas will not be mentioned in the following examples, film antennas can also be applied to either or both of the first antenna 102 and the second antenna 103.

[0082] 2, the first antenna 102 is not disposed inside the stand 120 along the direction in which the stand 120 extends, but is disposed outside the stand 120 facing the direction in which the stand 120 extends. As an example of disposing the first antenna 102 outside the stand 120, it may be between the stand 120 and the operation unit 130 as shown in FIG. 11, or it may be inside the operation unit 130. Of course, such an arrangement of the first antenna 102 can also be applied to the various examples below.

[0083] 12, like the transport robot 100 shown in FIG. 2, the stand 120 is disposed in the front portion of the chassis 110, at one end of the chassis 110 in the left-right direction. However, the location of the second antenna 103 differs from that of the transport robot 100. Specifically, in the transport robot 100d, the second antenna 103 is disposed inside the chassis 110 in the central portion in the left-right direction of the chassis 110, rather than diagonally opposite the location of the first antenna 102. The location of the second antenna 103 is not limited to the central portion, and the first antenna 102 and the second antenna 103 may simply be disposed on opposite end faces of the chassis 110 with the central portion sandwiched between them. If the second antenna 103 is disposed inside the chassis 110, it is not necessary to provide, for example, another stand for the second antenna 103. Furthermore, in the transport robot 100 and the transport robots 100a to 100d, the loading status of the transported item on the chassis 110 is easier to see from the front compared to a configuration in which the stand 120 is arranged in the center of the chassis 110 in the left-right direction, as will be described later using Figures 13 to 15.

[0084] Alternatively, the same effect can be achieved by switching the positions of the stand 120, the first antenna 102, and the second antenna 103 in the transport robot 100d. That is, the same effect can be achieved when the stand 120 is disposed at the rear of the chassis 110, at one end of the chassis 110 in the left-right direction, and the second antenna 103 is located at the front of the chassis 110.

[0085] 11, the transport robot 100e shown in FIG. 13 has the stand 120 disposed in the front part of the chassis 110, in the central part in the left-right direction of the chassis 110. The transport robot 100e has a better weight balance than a configuration in which the stand 120 is disposed at one end of the chassis 110 in the left-right direction. Of course, the transport robot 100e may have the second antenna 103 disposed inside the chassis 110, in the central part in the left-right direction of the chassis 110, as in the transport robot 100d shown in FIG.

[0086] Alternatively, the same effect can be achieved by switching the positions of the stand 120 and the first and second antennas 102 and 103 in the transport robot 100e. That is, the same effect can be achieved when the stand 120 is disposed in the rear part of the chassis 110, in the center of the chassis 110 in the left-right direction, and the second antenna 103 is located in the front part of the chassis 110.

[0087] The transport robot may also be provided with another stand in addition to the stand 120, and the second antenna 103 may be provided in the other stand. For example, a transport robot 100f shown in FIG. 14 includes a stand 120 having the first antenna 103 disposed inside or outside, as well as another stand 123 extending upward from the chassis 110. In the transport robot 100f, the stand 120 is disposed in the center in the left-right direction at the front of the chassis 110. The stand 123 is disposed on the opposite end face side of the chassis 110 with respect to the stand 120 in the horizontal direction of the chassis 110. In the transport robot 100f, the second antenna 103 is disposed inside the stand 123 along the direction in which the stand 123 extends. By adopting such a configuration, the transport robot 100f not only makes it easier to store the second antenna 103 in the stand 123, but also maintains good reception even when the external device is located far from the transport robot 100f.

[0088] Furthermore, similar to the example of the stand 120, the stand 123 may be provided with a non-conductive cover that covers the portion where the second antenna 103 is disposed and forms part of the outer casing of the stand 123. By providing such a cover, the second antenna 103 can be made invisible from the outside, and the appearance of the transport robot 100f can be improved.

[0089] Here, second antenna 103 can be disposed inside stand 123 along the direction in which stand 123 extends. Alternatively, second antenna 103 may be disposed outside stand 123 facing the direction in which stand 123 extends, for example, between stand 123 and an operating unit attached thereto or inside the operating unit.

[0090] Of course, the cross-sectional shapes of the stand 120 and the stand 123 are not limited to circular or elliptical, and may be rectangular or the like. Explaining this as a modified example of the transport robot 100f, in the transport robot 100g shown in Fig. 15, it can be seen that the cross-sectional shapes of the stands 120 and 123 are both rectangular. In the transport robot 100g, an example is given in which the operation unit 130 is disposed at the upper end of the stand 120, but the operation unit 130 can also be disposed on the Y-axis side as in the other examples.

[0091] Furthermore, in the transport robot, the stand 120, or the stand 120 and the stand 123, can also be disposed on the side of the chassis 110. For example, in the transport robot 100h shown in FIG. 16, the stand 120 and the stand 123 are disposed on the side of the chassis 110, in the central portion in the fore-and-aft direction of the chassis 110. In this configuration, the transport robot 100h makes it easier to visually confirm the loading status of the transported object on the chassis from the front or rear, compared to a configuration in which the stand 120 and the stand 123 are disposed in the front or rear of the chassis. Furthermore, even when the stand 120 and the stand 123 are disposed on the side of the chassis 110, they can also be disposed on one end of the chassis 110 in the fore-and-aft direction, rather than in the central portion in the fore-and-aft direction of the chassis 110. In either case, the weight balance of the transport robot is improved compared to a configuration in which the stand is disposed on one end of the chassis in the fore-and-aft direction.

[0092] Furthermore, in the transport robot 100b shown in FIG. 9, for example, the stand 120 can be slightly shifted toward the -X side. In such a transport robot, the stand 120 can be said to be disposed on one end of the chassis 110 in the front-to-rear direction, on a side portion of the chassis 110. In this configuration, the stand 123 can also be provided, and in that case, it can also be disposed on one end of the chassis 110 in the front-to-rear direction. In such a transport robot, the loading state of the transported object on the chassis 110 can be more easily visually confirmed from the front or rear, compared to a configuration in which the stand 120 or the stand 123 is disposed in the front or rear portion of the chassis 100. In addition, in such a transport robot, the transport state of the transported object on the chassis 110 can be more easily visually confirmed from the side, compared to a configuration in which the stand 120 or the stand 123 is disposed in the center portion of the chassis 110 in the front-to-rear direction.

[0093] The above-described program includes a set of instructions (or software code) that, when loaded into a computer, causes the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0094] The present invention is not limited to the above-described embodiment, and can be modified as appropriate within the scope of the invention. [Explanation of symbols]

[0095] 100, 100a, 100b, 100c, 100d, 100e, 100f, 100g, 100h Transport robot 101 Control Computer 102 First wireless communication antenna (first antenna) 102a Film Antenna 102R area 103 Second wireless communication antenna (second antenna) 103R area 110 chassis 111 Wheels 112 Cover 120 Stand 120a stand housing 121 Cover 123 Stand 130 Operation section 140 Lifting mechanism 141 recess 500 Wagon 501 Cover 502 wheels 504 Side Panel 505 Support Frame

Claims

1. a chassis on which an object to be conveyed is mounted; a stand extending upward from the chassis; a wireless communication unit that performs wireless communication with an external device using radio waves in a predetermined frequency band; Equipped with the wireless communication unit includes a first wireless communication antenna and a second wireless communication antenna disposed so as to receive radio waves from at least a horizontally outer side of the chassis; the first wireless communication antenna and the second wireless communication antenna are disposed on opposite end surfaces of the chassis with a central portion of the chassis sandwiched therebetween in the horizontal direction of the chassis; Transport robot.

2. the first wireless communication antenna is disposed inside the stand along an extending direction of the stand; The transport robot according to claim 1 .

3. the stand includes a non-conductive cover that covers a portion where the first wireless communication antenna is disposed and that forms a part of an outer casing of the stand; The transport robot according to claim 2 .

4. The stand is disposed at one end in the left-right direction of the chassis in the front or rear part of the chassis. The transport robot according to claim 1 or 2.

5. The stand is disposed in a center portion in the left-right direction of the chassis at a front portion or a rear portion of the chassis. The transport robot according to claim 1 or 2.

6. the stand is disposed on one end side of the chassis in the front-rear direction of the chassis in a lateral portion of the chassis, The transport robot according to claim 1 or 2.

7. the stand is disposed at a side portion of the chassis, in a central portion in the front-rear direction of the chassis; The transport robot according to claim 1 or 2.

8. the second wireless communication antenna is disposed at a position inside the chassis; The transport robot according to claim 1 or 2.

9. the second wireless communication antenna is disposed inside the chassis at a position diagonally opposite to the position of the first wireless communication antenna in the horizontal direction of the chassis; The transport robot according to claim 1 or 2.

10. the second wireless communication antenna is disposed at a position inside the chassis; the chassis includes a non-conductive cover that covers a portion where the second wireless communication antenna is disposed and forms a part of an outer casing of the chassis; The transport robot according to claim 1 or 2.

11. another stand is provided on the opposite end face side of the chassis with respect to the stand with a central portion of the chassis in between in the horizontal direction of the chassis, and extends upward from the chassis; the second wireless communication antenna is disposed inside the other stand along an extending direction of the other stand; The transport robot according to claim 1 or 2.

12. the other stand includes a non-conductive cover that covers a portion where the second wireless communication antenna is disposed and that forms a part of an outer casing of the other stand; The transport robot according to claim 11.

13. the first wireless communication antenna and the stand are disposed on the same side of the chassis in a horizontal direction and spaced apart from each other; The transport robot according to claim 1 .

14. a lifting mechanism for loading and unloading a predetermined wagon as the transported object, on an upper surface side of at least a part of the chassis; The predetermined wagon includes a storage section for storing items, and a support section for supporting the storage section in a state in which a space is formed below the storage section into which at least a portion of the chassis is inserted, the first wireless communication antenna and the second wireless communication antenna are arranged in positions in the horizontal direction of the chassis so as not to overlap the predetermined wagon when the predetermined wagon is loaded on the chassis; The transport robot according to claim 1 or 2.

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