Conveying device and conveying method

Abstract

Provided is a transport device capable of transporting or towing a cart having a plurality of wheels on the bottom thereof, the transport device comprising: a mobile body; an engagement member provided on the body and capable of engaging with a predetermined location on the cart; a camera capable of capturing an image of the cart; a height detection unit that processes the image from the camera and detects the height of the predetermined location on the cart; and a control unit that controls the engagement member so that the engagement member engages with the predetermined location on the cart on the basis of the height of the predetermined location on the cart detected by the height detection unit.

Description

[Technical Field]

[0001] The present specification discloses a transport device and a transport method. [Background technology]

[0002] BACKGROUND ART Conventionally, there is known a conveying device that lifts and conveys a carriage by raising a placement unit of the conveying device to a certain height (for example, Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2022-503595 [Patent Document 2] Japanese Patent Publication No. 2021-162968 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conveying devices disclosed in Patent Documents 1 and 2, it is sometimes necessary to raise the placement unit more than necessary because it is not possible to recognize the position where the carriage should be engaged.

[0005] A main object of the present disclosure is to more reliably engage an engaging member with a dolly so that the dolly can be transported or towed. [Means for solving the problem]

[0006] The conveying device of the present disclosure is A transport device capable of transporting or towing a cart having a plurality of wheels on the bottom, A body that can move, an engaging member provided on the main body and capable of engaging with a predetermined position of the carriage; a camera capable of capturing an image of the dolly; a height detection unit that processes an image from the camera and detects the height of a predetermined position of the dolly; a control unit that controls the engaging member to engage with the predetermined position of the carriage based on the height of the predetermined position of the carriage detected by the height detection unit; The gist of the project is to provide the following:

[0007] Furthermore, the conveying method of the present disclosure achieves the same effects as the conveying device of the present disclosure. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic explanatory diagram showing an example of a delivery system 10. [Figure 2] FIG. 2 is an explanatory diagram showing an example of a logistics center 20. [Figure 3] FIG. 2 is a perspective view of the cart 12. [Figure 4] FIG. 2 is a perspective view of a transfer robot 40. [Figure 5] FIG. 2 is a side view of the transfer robot 40. [Figure 6] 10 is a front view showing a state in which the engaging member 52 is engaged with the bottom of the cart 12. FIG. [Figure 7] 10 is a side view showing a state in which the engaging member 52 is engaged with the bottom of the cart 12. FIG. [Figure 8A] FIG. 2 is a perspective view of a contact detection sensor 58. [Figure 8B] FIG. 2 is a perspective view of a contact detection sensor 58. [Figure 8C] FIG. 2 is a vertical cross-sectional view of a contact detection sensor 58. [Figure 9] 10 is a flowchart illustrating an example of a carriage transport routine. [Figure 10A] 1 is an explanatory diagram showing a state in which a basket cart 12 is transported by a transport robot 40. FIG. [Figure 10B] 1 is an explanatory diagram showing a state in which a basket cart 12 is transported by a transport robot 40. FIG. [Figure 10C] 1 is an explanatory diagram showing a state in which a basket cart 12 is transported by a transport robot 40. FIG. [Figure 10D] 1 is an explanatory diagram showing a state in which a basket cart 12 is transported by a transport robot 40. FIG. [Figure 11]10 is a flowchart showing a carriage transport routine according to a modified example. [Figure 12] 10 is a flowchart showing a carriage transport routine according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0009] Next, with reference to the drawings, an embodiment of the present disclosure will be described. FIG. 1 is a schematic explanatory diagram showing an example of a delivery system 10. FIG. 2 is an explanatory diagram showing an example of a logistics center 20. FIG. 3 is a perspective view of a basket cart 12. FIG. 4 is a perspective view of a transport robot 40. FIG. 5 is a side view of the transport robot 40. FIG. 6 is a front view showing a state in which an engaging member 52 is engaged with the bottom of the basket cart 12. FIG. 7 is a side view showing a state in which the engaging member 52 is engaged with the bottom of the basket cart 12. FIGS. 8A and 8B are perspective views of a contact detection sensor 58. FIG. 8C is a vertical cross-sectional view of the contact detection sensor 58. The X-axis direction (left-right direction), Y-axis direction (front-back direction), and Z-axis direction (up-down direction) are as shown in the respective drawings.

[0010] 1, the delivery system 10 includes a logistics PC 21, a store PC 61, a transport robot 40, and a control device 70. The delivery system 10 is also used in a cart 12, a delivery vehicle 18, a logistics center 20, a store 60, and the like.

[0011] A delivery vehicle 18 is a vehicle that delivers goods by loading one or more basket carts 12 onto it. The delivery vehicle 18 delivers goods between delivery bases. Here, "delivery bases" include logistics centers 20 and stores 60 that collect goods. The delivery vehicle 18 loads the basket carts 12 loaded with goods into its cargo compartment at the logistics center 20, delivers the goods to the delivery destination, and returns the empty basket cart 12 to the logistics center 20.

[0012] The logistics center 20 is a place where goods are collected and delivered to stores 60 in various locations or to other logistics centers 20. As shown in FIG. 1, the logistics center 20 has one or more transport robots 40, which can automatically move basket carts 12. This logistics center 20 has, for example, a waiting space 30 (see FIG. 2) in a specific area on the floor, and the transport robot 40 waits in this waiting space 30 when not performing work such as moving goods. In this logistics center 20, workers or arm robots (not shown) perform the work of loading goods onto the basket carts 12. The transport robot 40 tows the basket carts 12, whose delivery destinations have been specified, to the specified location.

[0013] The logistics PC 21 is provided in the logistics center 20 and is configured as a management device that performs product management at the logistics center 20. The logistics PC 21 includes a control unit 22, a memory unit 23, and a communication unit 28. The control unit 22 has a CPU and controls the entire device. The memory unit 23 stores various application programs and various data files. The memory unit 23 stores delivery management information 24, map information 26, and the like. The delivery management information 24 is information used to manage the delivery of goods. The map information 26 is information on a map of the logistics center 20. The communication unit 28 communicates wirelessly with external devices such as the transport robot 40. The communication unit 28 exchanges information with the supervisory device 70 and the store PC 61 via the network N.

[0014] The waiting space 30 is configured as a garage having a floor, ceiling, and walls where the transport robot 40 waits. The waiting space 30 is provided with a door 31 and a wall 32. The door 31 is an electrically operated garage shutter, and when open, the transport robot 40 can enter and exit the waiting space 30. The door 31 is provided with an opening / closing device (not shown), and is opened and closed in response to an opening / closing signal from the transport robot 40. The wall 32 is a member that divides the waiting space 30 into spaces for each transport robot 40, and faces the side and rear of the transport robot 40.

[0015] A charging device 33 is also provided in the waiting space 30. The charging device 33 is provided in the waiting space 30 and charges a drive battery provided in the transport robot 40 while the transport robot 40 is waiting. The charging device 33 charges the battery using a wireless charging method, such as an electromagnetic induction method, a magnetic field resonance method, or an electric field coupling method. Alternatively, the charging device 33 may be configured to charge the battery via a wired connection using a plug method. The charging device 33 may start charging, for example, when it receives a signal from the transport robot 40, or when it detects the transport robot 40 using a sensor (not shown).

[0016] As shown in FIG. 3, the basket cart 12 includes a placement section 13, casters 14, a fence member 15, and a marker M. The placement section 13 is a flat member on which articles are loaded. Engagement sections 16 (see FIG. 6) that protrude downward in a grid pattern are formed on the underside of the placement section 13. The casters 14 have wheels that allow the basket cart 12 to travel, and are provided at the four corners of the underside of the placement section 13. The fence member 15 is a member that prevents articles placed on the placement section 13 from falling off the placement section 13, and is arranged to stand upright from the periphery of the upper surface of the placement section 13. The marker M is a recognition target that indicates the ID of the basket cart 12. The marker M is, for example, an AR marker. The marker M is affixed to the side of the placement section 13 so that it can be recognized by the transport robot 40.

[0017] The transport robot 40 is a vehicle that automatically moves a basket cart 12 as a transported object. The transport robot 40 enters the space between the casters 14 on the underside of the mounting portion 13 of the basket cart 12, engages with the engaged portion 16 to connect to the basket cart 12, and tows the basket cart 12. The transport robot 40 is configured as, for example, an AMR (Autonomous Mobile Robot) that senses its surroundings and moves along a free route. As shown in FIG. 4 , the transport robot 40 has a vehicle body 41, a control unit 42, a memory unit 43, a loading unit 44, a communication unit 53, a drive unit 55, traveling wheels 56, an imaging unit 57, a contact detection sensor 58, and a torque sensor 59.

[0018] The car body 41 is a housing that is roughly L-shaped in a side view and can fit under the cart 12. The car body 41 has a horizontal section 41a and an upright section 41b. The horizontal section 41a is a flat section that can fit under the cart 12. The horizontal section 41a has running wheels 56 on its underside and a loading section 44 on its upper side. The upright section 41b is connected to the end of the horizontal section 41a and is erected higher than the horizontal section 41a. The upright section 41b houses the control section 42, memory section 43, communication section 53, storage battery, etc.

[0019] The control unit 42 is a controller that controls the entire device of the transfer robot 40. The control unit 42 outputs control signals and the like to the drive unit 55, the imaging unit 57, and the communication unit 53, and also inputs signals from the imaging unit 57 and the communication unit 53. While the transfer robot 40 is traveling, the control unit 42 acquires images of the surroundings from the imaging unit 57 (first to fifth cameras 57a to 57e) at predetermined time intervals (short time intervals), and recognizes the self-position (three-dimensional coordinates) of the transfer robot 40 in the logistics center 20 based on the images of the surroundings, map information 26, and the driving status of the drive unit 55.

[0020] The storage unit 43 stores various application programs and various data files. The storage unit 43 stores, for example, location information including the locations of the delivery origin and delivery destination to which the cart 12 is moved, and map information of the logistics center 20. The location information and map information are acquired from the logistics PC 21 via communication.

[0021] The loading section 44 moves upward from the vehicle body section 41 (horizontal section 41a) of the transport robot 40 and engages with the engaged section 16 of the basket cart 12, thereby connecting to the basket cart 12 (see FIG. 4). The loading section 44 has a lifting section 45, an elastic support member 47, a connecting member 51, and an engaging member 52. The lifting section 45 is a rectangular member that is provided so as to be movable up and down relative to the vehicle body section 41, using a motor 46a of a lifting device 46 as a drive source.

[0022] The elastic support member 47 is a member that elastically supports the mounting portion 13 of the cart 12 from the underside. The elastic support member 47 is provided at each of the four corners of the lifting portion 45. As shown in Figures 8A, 8B, and 8C, the elastic support member 47 includes a support member 48, a piston 49, a cylinder 50, and a spring S. The support member 48 is a disk-shaped member whose upper surface is capable of contacting the underside of the cart 12 (mounting portion 13). The piston 49 is provided so as to be able to move up and down relative to the cylinder 50. The support member 48 is attached to the upper surface of the piston 49. The piston 49 is urged upward by the elastic force of the spring S, and normally, its upper end protrudes from the cylinder 50 (see Figure 8A). On the other hand, when the lifting device 46 is driven to raise the elastic support member 47 together with the lifting unit 45 while the car body 41 is positioned below the cart 12, the upper surface of the support body 48 comes into contact with the lower surface of the mounting unit 13. When the lifting device 46 is further driven to raise the lifting unit 45, the piston 49 is pushed downward against the elastic force of the spring S, and the lower end protrudes from below the cylinder 50 (see FIGS. 8B and 8C).

[0023] The connecting member 51 is a member for connecting the elastic support members 47 arranged side by side. The engaging member 52 engages with the engaged portion 16 formed on the underside of the mounting portion 13 of the cart 12 when the cart 12 is transported. The engaging member 52 is a pin-shaped member protruding upward from the connecting member 51. When the lifting device 46 positions the lifting portion 45 at its lowest position, the engaging member 52 is positioned lower than the bottom (mounting portion 13) of the cart 12. The position of the engaging member 52 at this time is referred to as the initial position. On the other hand, when the car body portion 41 (horizontal portion 41a) is positioned below the cart 12 (mounting portion 13) and the lifting device 46 raises the lifting portion 45 (engaging member 52), the engaging member 52 engages with the engaged portion 16 (see FIGS. 6 and 7). The position of the engaging member 52 at this time is referred to as the engaged position.

[0024] The communication unit 53 is an interface that wirelessly exchanges information with external devices such as the logistics PC 21. The control unit 42 exchanges information with the logistics PC 21 via the communication unit 53.

[0025] The drive unit 55 includes a motor connected to each of the traveling wheels 56, which rotates and drives the connected traveling wheels 56 to drive the transport robot 40. The transport robot 40 has four traveling wheels 56, and moves by the rotational drive of the traveling wheels 56. The traveling wheels 56 may be Mecanum wheels or omni-wheels that are independently driven and can move vertically and horizontally. In view of the degree of freedom of movement, it is more preferable that the traveling wheels 56 be Mecanum wheels.

[0026] The imaging unit 57 is capable of detecting objects present around the transport robot 40 and the distance thereto, and is also capable of reading markers M attached to the basket cart 12. The imaging unit 57 has first to fifth cameras 57a to 57e. The first to fifth cameras 57a to 57e are configured, for example, as stereo cameras. The first camera 57a and the second camera 57b are provided on the front and rear surfaces of the horizontal portion 41a, the third camera 57c is provided on the right surface of the horizontal portion 41a, the fourth camera 57d is provided on the left surface of the upright portion 41b, and the fifth camera 57e is provided on the right surface of the upright portion 41b. The first to fifth cameras 57a to 57e output image signals to the control unit 42.

[0027] The contact detection sensor 58 is a sensor capable of detecting contact between the engaging member 52 and the lower surface of the mounting portion 13. As shown in FIGS. 8A to 8C, the contact detection sensor 58 is provided on the lower surface of the cylinder 50. The contact detection sensor 58 is, for example, an optical sensor including a light-emitting unit and a light-receiving unit, neither of which are shown. When the engaging member 52 is not in contact with the engaged portion 16 (when the support body 48 is not in contact with the lower surface of the mounting portion 13), the piston 49 is pushed up by the elastic force of the spring S. Therefore, the lower end of the piston 49 does not protrude downward relative to the cylinder 50 (see FIG. 8A), and light from the light-emitting unit is received by the light-receiving unit. This causes the contact detection sensor 58 to output an ON signal to the control unit 42. On the other hand, when the engaging member 52 is in contact with the engaged portion 16 (when the support body 48 is in contact with the lower surface of the mounting portion 13), the piston 49 is pushed down against the elastic force of the spring S. Therefore, the lower end of piston 49 protrudes downward relative to cylinder 50 (see FIGS. 8B and 8C), blocking the light from the light projecting unit. This causes contact detection sensor 58 to output an OFF signal to control unit .

[0028] The torque sensor 59 is capable of detecting the torque of the motor 46a and outputs the detected torque of the motor 46a to the control unit 42.

[0029] As shown in FIG. 1 , the store 60 displays and sells the delivered goods. The store 60 has one or more transport robots 40 and can automatically move the basket carts 12. The store 60 also has the waiting space 30 described above. The store 60 has display shelves 69 for displaying goods, and workers display the goods on these shelves. The store PC 61 is provided in the store 60 and is configured as a management device for managing merchandise in the store 60. The store PC 61 includes a control unit 62, a memory unit 63, and a communication unit 68. The control unit 62 has a CPU and controls the entire device. The memory unit 63 stores various application programs and various data files. The memory unit 63 stores delivery management information 64, map information 66, and the like. The delivery management information 64 is information used to manage the delivery of goods. The map information 66 is information about a map of the store 60. The communication unit 68 communicates wirelessly with external devices such as the transport robot 40. The communication unit 68 also exchanges information with the control device 70 and the logistics PC 21 via the network N.

[0030] The control device 70 is a device that manages the delivery system 10. This control device 70 is equipped with a control unit 72, a memory unit 73, and a communication unit 78. The control unit 72 has a CPU and is responsible for controlling the entire device. The memory unit 73 stores various application programs and various data files. The memory unit 73 stores delivery management information 74, which is a database used to manage the delivery of goods, and map information 76, which is a database of maps of the logistics center 20 and the store 60. The communication unit 78 exchanges information with external devices such as the logistics PC 21 and the store PC 61 via the network N.

[0031] Next, the process of the transport robot 40 transporting the basket cart 12 in the logistics center 20 in the delivery system 10 configured as above will be described with reference to Figures 9 and 10. Here, the process of the transport robot 40 transporting the basket cart 12 to the delivery vehicle 18 will be described as a specific example. Figure 9 is a flowchart showing an example of a cart transport routine. Figures 10A to 10D are explanatory diagrams showing how the transport robot 40 transports (pulls) the basket cart 12.

[0032] This routine is executed by the control unit 42 of the transport robot 40 when the control unit 22 of the logistics PC 21 selects one of the multiple transport robots 40, transmits the current position of the cart 12 to be transported and the destination position of the destination to the transport robot 40, and then receives the current position and the destination position.

[0033] When this routine starts, the control unit 42 of the transport robot 40 controls the drive unit 55 so that the transport robot 40 moves in front of the basket cart 12 to be transported, as shown in Fig. 10A (S100). The control unit 42 estimates its own position in the logistics center 20 based on data input from the imaging unit 57, and controls the drive unit 55 so that the estimated own position moves in front of the basket cart 12 to be transported.

[0034] Next, the control unit 42 controls the third camera 57c to capture an image of the marker M (AR marker) (S110). Subsequently, the control unit 42 derives the height above ground of the placement unit 13 (S120). This process is executed as follows. That is, first, the control unit 42 recognizes the shape and size of the marker M based on the image captured in S120. Next, the control unit 42 calculates the relative height of the marker M with respect to the third camera 57c based on the recognized shape and size of the marker M and the actual shape and size of the marker M stored in advance in the storage unit 43. Next, the control unit 42 adds the relative height to the height above ground of the third camera 57c to derive the height above ground of the placement unit 13.

[0035] 10B, the control unit 42 controls the drive unit 55 so that the body unit 41 (horizontal portion 41a) moves under the basket cart 12 (mounting unit 13) (S130). Next, the control unit 42 sets the engagement position of the engagement member 52 based on the height above ground of the mounting unit 13 calculated in S120 (S140). Specifically, the control unit 42 sets the engagement position of the engagement member 52 to a position slightly lower than the height above ground of the mounting unit 13.

[0036] Next, the control unit 42 raises the engaging member to the engaging position (S150). Specifically, the control unit 42 derives the drive amount of the motor 46a based on the difference between the engaging position calculated in S140 and the initial position, and controls the motor 46a to drive by the derived drive amount. This allows the engaging member 52 to be positioned exactly relative to the engaged portion 16, so that the engaging member 52 can be reliably engaged with the engaged portion 16.

[0037] The control unit 42 then searches for a route from the current location to the destination based on the map information, and controls the drive unit 55 so that the cart 12 is transported to the destination along the route (S160). When the transport robot 40 arrives at the destination, the control unit 42 controls the lifting device 46 so that the engagement member 52 descends to the initial position (S170). Thereafter, the control unit 42 ends this routine.

[0038] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. In this embodiment, the transfer robot 40 corresponds to the transfer device, the engaging member 52 corresponds to the engaging member, the third camera 57c corresponds to the camera, the control unit 42 corresponds to the height detection unit, and the control unit 42 corresponds to the control unit.

[0039] In the transport robot 40 described above in detail, the engaging member 52 can be engaged with the cart 12 more reliably to tow the cart 12 .

[0040] The transport robot 40 also includes a lifting device 46 that raises and lowers the engaging member 52 between an initial position lower than the mounting portion 13 of the cart 12 and an engaging position higher than the initial position, and the control unit 42 processes the image from the third camera 57c to detect the height of the cart 12 (mounting portion 13) from the ground, controls the drive unit 55 so that the engaging member 52 moves under the cart 12, and then controls the lifting device 46 based on the height of the cart 12 from the ground so that the engaging member 52 rises and engages with the mounting portion 13 of the cart 12 within a range that is neither too high nor too low. Therefore, the required thrust can be smaller than when the cart 12 is lifted and transported, which allows for reduced energy consumption and a more compact lifting device 46.

[0041] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

[0042] In the embodiment described above, in S110 of the carriage transport routine, the third camera 57c is used to capture an image of the marker M. However, the fifth camera 57e may be used to capture an image of the marker M.

[0043] In the above-described embodiment, the basket cart 12 is towed by the transport robot 40. However, the basket cart 12 may be lifted and transported by the transport robot 40. In this case, in S140 of the cart transport routine, the engagement position may be set to a position slightly higher than the height of the placement portion 13 of the basket cart 12.

[0044] In the above-described embodiment, the marker M includes the identification information of the cart 12. However, the marker M may also include the identification information of the baggage placed on the cart 12.

[0045] In S120 of the cart transport routine of the above-described embodiment, the control unit 42 may detect the height of the placement unit 13 above the ground based on a depth image created from image data input from the third camera 57c. In this case, the control unit 42 detects the height of the placement unit 13 above the ground as follows. First, the control unit 42 controls the drive unit 55 so that the transport robot 40 approaches the basket cart 12. Next, the control unit 42 recognizes the marker M and the caster 14 based on the image data input from the third camera 57c. Next, the control unit 42 creates a depth image based on the image data input from the third camera 57c. Then, the control unit 42 obtains the distance from the transport robot 40 (third camera 57c) to the marker M based on the depth image. The control unit 42 performs these processes until the distance to the marker M reaches a predetermined distance. Next, the control unit 42 calculates the number of pixels from the marker M to the bottom end of the caster 14. The control unit 42 then multiplies the determined number of pixels by the length per pixel to detect the height above ground of the mounting unit 13. The height above ground of the mounting unit 13 can be detected in this manner because the distance to the marker M is a predetermined distance (constant) and the length per pixel is a known length. Furthermore, if the distance between the third camera 57c and the marker M is not a predetermined distance, the height above ground of the mounting unit 13 can be detected as follows. That is, the control unit 42 first determines the number of pixels from the marker M to the bottom end of the caster 14. The control unit 42 then multiplies the determined number of pixels by the length per pixel according to the distance between the third camera 57c and the marker M to detect the height above ground of the mounting unit 13.

[0046] In the above-described embodiment, the height above ground of the mounting unit 13 is detected by recognizing the marker M from the image of the third camera 57c. However, the height above ground of the mounting unit 13 may also be detected by recognizing the side surface of the mounting unit 13 from the image of the third camera 57c.

[0047] In the above-described embodiment, a cart transport routine as shown in FIG. 11 may be executed. Note that in the cart transport routine shown in FIG. 11, the same steps as those in the above-described embodiment are denoted by the same step numbers, and detailed descriptions thereof will be omitted. When this routine is started, the control unit 42 controls the drive unit 55 to move in front of the cart 12 to be moved and also controls the drive unit 55 so that the car body unit 41 (horizontal portion 41a) moves under the cart 12 (mounting portion 13) (S130). Next, the control unit 42 controls the lifting device 46 by speed feedback so that the engaging member 52 rises at a constant speed (S200). Then, the control unit 42 inputs the detected torque value of the motor 56a from the torque sensor 59 (S210). Next, the control unit 42 determines whether the detected torque value input in S200 is equal to or greater than a predetermined value (S220). If the engaging member 52 comes into contact with the mounting portion 13 during speed feedback, the torque of the motor 46 increases due to the action of the speed feedback. By detecting this, it is possible to detect engagement of the engaging member 52. If a negative determination is made in S220, the control unit 42 returns to S200. On the other hand, if a positive determination is made in S220, the control unit 42 controls the lifting device 46 to stop the upward movement of the engaging member 52 (S230). Next, the control unit 42 controls the drive unit 55 to transport the cart 12 to the destination (S160). Then, the control unit 42 controls the lifting device 46 to lower the engaging member 52 to its initial position (S170). Note that in S200, the engaging member 52 may be raised by position control. The position control is performed by controlling the drive of the motor 46a by feedback control based on the deviation between the position of the engaging member 52 detected by a position sensor (not shown) and the target position so that the position coincides with the target position. In this case, the target position may be set to a position higher than the bottom surface of the placement unit 13 regardless of the type of cart 12.

[0048] That is, it may be a conveying device capable of conveying a trolley having multiple wheels on its bottom, comprising: a main body capable of running; an engaging member provided on the main body and capable of being raised and lowered by a lifting device between an initial position lower than the bottom of the trolley and an engaging position higher than the initial position; a motor as a driving source for the lifting device; a torque sensor capable of detecting the torque of the motor; and a control unit that controls the main body so that the engaging member slips under the trolley, and then drives and controls the motor by position control or speed control, and stops driving the motor when the detection value of the torque sensor reaches or exceeds a predetermined value, thereby engaging the engaging member with the bottom of the trolley.

[0049] In the above-described embodiment, a cart transport routine as shown in FIG. 12 may be executed. Note that in the cart transport routine shown in FIG. 12, the same steps as those in the above-described embodiment are denoted by the same step numbers, and detailed descriptions thereof will be omitted. When this routine is started, the control unit 42 controls the drive unit 55 to move in front of the cart 12 to be moved and also controls the drive unit 55 so that the car body unit 41 (horizontal portion 41a) moves under the cart 12 (mounting portion 13) (S130). Next, the control unit 42 controls the lifting device 46 so that the engaging member 52 rises at a constant speed (S300). Then, the control unit 42 waits until a contact detection signal is input from the contact detection sensor 58 (S310). When the contact detection signal is input, the control unit 42 controls the lifting device 46 so that the engaging member 52 stops rising (S320). Next, the control unit 42 controls the drive unit 55 so that the cart 12 is transported to the destination (S160). Then, the control unit 42 controls the lifting device 46 so that the engaging member 52 descends to the initial position (S170).

[0050] That is, it may be a transport device capable of transporting a trolley having multiple wheels on its bottom, comprising: a main body capable of running; an engaging member provided on the main body and capable of being raised and lowered by a lifting device between an initial position lower than the bottom of the trolley and an engaging position higher than the initial position; a contact detection sensor capable of detecting contact between the engaging member and the bottom of the trolley; and a control unit that controls the main body so that the engaging member goes under the trolley, and then drives and controls the lifting device so that the engaging member rises until a detection signal is input from the contact detection sensor indicating that the engaging member has come into contact with the bottom of the trolley, and when the detection signal is input from the contact detection sensor, stops driving the lifting device to cause the engaging member to engage with the bottom of the trolley.

[0051] In the above-described embodiment, the present disclosure has been described as the transport robot 40, but it may also be a transport method.

[0052] In addition, this specification also discloses the technical idea of ​​changing "the conveying device according to claim 1 or 2" in claim 4, as originally filed, to "the conveying device according to any one of claims 1 to 3." [Industrial Applicability]

[0053] The present disclosure can be used in logistics centers. [Explanation of symbols]

[0054] 10 Delivery system, 12 Basket cart, 13 Placement section, 14 Caster, 15 Fence member, 16 Engaged section, 18 Delivery vehicle, 20 Logistics center, 21 Logistics PC, 22 Control section, 23 Memory section, 24 Delivery management information, 26 Map information, 28 Communication section, 30 Waiting space, 31 Door, 32 Wall section, 33 Charging device, 40 Transport robot, 41 Vehicle body section, 42 Control section, 43 Memory section, 44 Loading section, 45 Lifting section, 46 Lifting device, 46a Motor, 47 Elastic support member, 48 Support, 49 Piston, 50 Cylinder, 51 Connecting member, 52 Engaging member, 53 Communication section, 55 Drive section, 56 Traveling wheel, 57 Imaging section, 57a First camera, 57b Second camera, 57c Third camera, 57d 4th camera, 57e 5th camera, 58 contact detection sensor, 59 torque sensor, 60 store, 61 store PC, 62 control unit, 63 memory unit, 64 delivery management information, 66 map information, 68 communication unit, 69 display shelf, 70 management device, 72 control unit, 73 memory unit, 74 delivery management information, 76 map information, 78 communication unit, M marker, N network, S spring.

Claims

1. A transport device capable of transporting or towing a cart having a plurality of wheels on the bottom, A body that can move, an engaging member provided on the main body and capable of engaging with a predetermined position of the carriage; a camera capable of capturing an image of the dolly; a height detection unit that processes an image from the camera and detects the height of a predetermined position of the dolly; a control unit that controls the engaging member to engage with the predetermined position of the carriage based on the height of the predetermined position of the carriage detected by the height detection unit; A conveying device comprising:

2. The conveying device according to claim 1 , a lifting device that lifts and lowers the engagement member between an initial position that is lower than the bottom of the carriage and a position that is higher than the initial position; the predetermined position is a bottom of the carriage, the control unit controls the main body so that the engaging member moves under the carriage, and then controls the lifting device so that the engaging member moves up and engages with the predetermined position of the carriage within a range that is neither too high nor too low based on the height of the predetermined position of the carriage. Conveying device.

3. 3. The conveying device according to claim 1 or 2, The cart is provided with a tag member including identification information of the cart or identification information of the baggage placed on the cart, The camera captures an image of the dolly including the tag member, the height detection unit recognizes the tag member from the image captured by the camera and detects the height of the predetermined position. Conveying device.

4. 3. The conveying device according to claim 1 or 2, the camera is a depth camera; The height detection unit creates a depth image based on the image captured by the camera and detects the height of the predetermined position based on the distance to the dolly obtained from the depth image. Conveying device.

5. The camera captures an image of the cart, Processing the image from the camera to detect the height of the predetermined position of the dolly; Engaging the engaging member at a predetermined position on the carriage; With the engaging member engaged with the dolly, the dolly is transported or towed to a destination. Transportation method.

Images