Transport robot control system and transport robot control method

Abstract

To provide a transfer robot control system and a transfer robot control method which can easily recognize a transfer target even when the transfer target is arranged to be inclined with respect to a transfer robot.SOLUTION: A transfer robot control system 100 includes an inclination detection part 160, a posture change part 175, and a movement control part 171. The inclination detection part 160 detects at least a part of the inclination of a transfer target to be transferred by a transfer robot 1. The posture change part 175 changes a posture of the transfer robot 1 in a movement direction from a first posture to a second posture different from the first posture based on a detection result of the inclination detection part 160. The movement control part 171 moves the transfer robot 1 to the transfer target while keeping the transfer robot 1 in the second posture.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a transport robot control system and a transport robot control method, and more particularly to a transport robot control system and a transport robot control method for controlling the attitude of a transport robot. [Background technology]

[0002] The automated guided vehicle described in Patent Document 1 is equipped with drive wheels installed on the left and right sides of the vehicle body and a steering means for controlling the speed difference or rotation amount of the left and right drive wheels to change the direction of the vehicle body. The automated guided vehicle travels using the drive wheels and steering means and stops at a predetermined stopping position. The automated guided vehicle is also equipped with alignment sensors and first correction means. The alignment sensors are attached to predetermined positions on the left and right sides of the vehicle body and detect any deviation in the fore-and-aft direction of the vehicle body from alignment marks installed on the ground. The first correction means, while the vehicle body is stopped at the predetermined stopping position, individually controls the rotation of the left and right drive wheels to reduce the deviation in the fore-and-aft direction of the vehicle body detected by the left and right alignment sensors. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-171535 Summary of the Invention [Problem to be solved by the invention]

[0004] In an unmanned transport vehicle (transport robot) such as that described in Patent Document 1, if the object to be transported by the transport robot is positioned at an angle relative to the transport robot, there is a possibility that the transport robot will not be able to properly grasp the object.

[0005] The present disclosure has been made in consideration of the above-mentioned reasons, and aims to provide a transport robot control system and a transport robot control method that make it easy to grasp an object to be transported even when the object is positioned at an angle relative to the transport robot. [Means for solving the problem]

[0006] A transport robot control system according to an aspect of the present disclosure includes a tilt detector, a posture changer, and a movement controller. and the angle formed by the direction of a straight line connecting a pair of wheels provided on the transport robot and the extension direction of a guide path for guiding the transport robot to the transport object. The posture change unit changes the posture of the transport robot with respect to the movement direction from a first posture to a second posture different from the first posture based on the detection result of the tilt detection unit. The movement control unit moves the transport robot to the transport target while maintaining the second posture.

[0007] A method for controlling a transport robot according to an aspect of the present disclosure includes a tilt detection step, a posture change step, and a movement control step. and the angle formed by the direction of a straight line connecting a pair of wheels provided on the transport robot and the extension direction of a guide path for guiding the transport robot to the transport object. In the posture changing step, the posture of the transport robot with respect to the movement direction is changed from a first posture to a second posture different from the first posture based on the detection result in the tilt detecting step. In the movement control step, the transport robot is moved to the transport target while maintaining the second posture. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to provide a transport robot control system and a transport robot control method that make it easy to grasp an object to be transported even when the object is positioned at an angle relative to the transport robot. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of a transfer robot control system according to an embodiment of the present disclosure. [Figure 2]FIG. 2 is a plan view for explaining the gripping operation of a transport object in a normal state by a transport robot included in the transport robot control system. [Figure 3] FIG. 3 is a plan view for explaining the movement operations of the transfer robot in the first guiding method and the second guiding method. [Figure 4] FIG. 4 is a plan view for explaining an operation of detecting the inclination of a target to be transported by the transport robot. [Figure 5] FIG. 5 is a plan view for explaining the posture changing operation of the transfer robot. [Figure 6] FIG. 6 is a plan view for explaining the posture changing operation of the transfer robot. [Figure 7] FIG. 7 is a plan view for explaining the movement operation of the transfer robot in the second posture in the first guiding mode. [Figure 8] FIG. 8 is a plan view for explaining the gripping operation of the transport object by the pair of grippers of the transport robot. [Figure 9] FIG. 9 is a plan view for explaining the gripping operation of the transport object by the pair of grippers of the transport robot. [Figure 10] FIG. 10 is a flowchart illustrating a method for controlling the transport robot in the transport robot control system. [Figure 11] FIG. 11 is a plan view for explaining the transport operation of the transport robot of the same as above for transporting an object to be transported. [Figure 12] FIG. 12 is a plan view for explaining the transport operation of the transport robot included in the transport robot control system of the modified example for transporting an object to be transported. DETAILED DESCRIPTION OF THE INVENTION

[0010] A transfer robot control system 100 according to an embodiment of the present disclosure will be described in detail with reference to the drawings. Note that the figures referred to in the following description are schematic diagrams, and the ratios of the sizes and thicknesses of the components in the figures do not necessarily reflect the actual dimensional ratios. Furthermore, the embodiment and modified examples described below are merely examples of the present disclosure, and the present disclosure is not limited to the embodiment and modified examples. Various modifications other than these embodiment and modified examples are possible depending on the design, etc., as long as they do not deviate from the technical concept of the present disclosure.

[0011] (1) Overview First, an outline of a transfer robot control system 100 of this embodiment will be described with reference to FIGS.

[0012] The transport robot control system 100 is applied to a transport robot 1 for transporting a transport object 2. In the following description, in FIG. 2 etc., the extension direction of a guide path M1 for guiding the transport robot 1 to the transport object 2 in the vicinity of the transport object 2 is defined as the Y-axis direction, and the direction perpendicular to the Y-axis direction is defined as the X-axis direction. The X-axis direction is also defined as the left-right direction, and the Y-axis direction is defined as the front-rear direction, with the positive direction of the X-axis direction being the right side and the positive direction of the Y-axis direction being the front side. Note that the arrows indicating the respective directions in the drawings are merely shown for the purpose of explanation and do not have any substance.

[0013] The transport robot 1 is used for transport work in facilities such as factories, logistics centers (including distribution centers), offices, stores, schools, and hospitals. The transport robot 1 moves by running on a moving surface G1 using one or more wheels. The moving surface G1 is the surface on which the transport robot 1 moves. When the transport robot 1 moves within a facility, the moving surface G1 is the floor of the facility, and when the transport robot 1 moves outdoors, the moving surface G1 is the ground. Note that the transport robot 1 is not limited to a vehicle-type robot that moves (runs) on the moving surface G1 using wheels. The transport robot 1 may also be an airborne drone that flies in the air, a surface drone that navigates on water, or an underwater drone that navigates underwater. However, the following embodiment will be described assuming that the transport robot 1 is a vehicle-type robot that runs on the moving surface G1.

[0014] As shown in FIG. 1, the transfer robot control system 100 includes a tilt detection unit 160, a posture change unit 175, and a movement control unit 171.

[0015] The tilt detection unit 160 detects the tilt of at least a part of the object 2 to be transported by the transport robot 1.

[0016] Based on the detection result of the tilt detection unit 160, the posture change unit 175 changes the posture of the transfer robot 1 relative to the movement direction from a first posture to a second posture different from the first posture.

[0017] The movement control unit 171 moves the transfer robot 1 to the transfer target 2 while maintaining the second posture.

[0018] The transport object 2 is, for example, a pallet for transporting luggage including a pair of wheels 22 and a pair of wheels 23. Note that the transport object 2 is not limited to a pallet for transporting luggage including wheels, and may include various transport objects such as a batch exchange cart.

[0019] The pair of wheels 22 and the pair of wheels 23 are provided, for example, facing each other. The transport object 2 has a pair of gripped portions 21 on a front surface 201 that is substantially parallel to a straight line L1 connecting the pair of wheels 22. The tilt detection unit 160 detects the tilt of the transport object 2 placed on the moving surface G1 when the transport robot 1 approaches the transport object 2 to grip it.

[0020] The transport robot 1 has a main body 10 formed in a rectangular parallelepiped shape. Here, the longitudinal direction of the main body 10 is defined as a first direction DR1, and the lateral direction is defined as a second direction DR2. The transport robot 1 also has, for example, a pair of drive wheels 12 on the underside of the main body 10 and a pair of grippers 11 on the rear surface 101 of the main body 10, and grips the transport object 2 by bringing the pair of grippers 11 into contact with a pair of gripped portions 21 of the transport object 2, respectively.

[0021] First, as shown in Fig. 2, consider a case where the inclination of at least a part of the object 2 to be transported (for example, the straight line L1 connecting a pair of wheels 22) with respect to the X-axis direction is less than a reference value, and the object 2 to be transported is arranged in such a manner that the straight line L1 is substantially parallel to the X-axis direction (normal state). Here, the X-axis direction is a direction perpendicular to the extension direction of the guide path M1, and is a direction perpendicular to the movement direction of the transport robot 1 when approaching the object 2 to be transported along the guide path M1. Therefore, the object 2 to be transported is arranged in such a manner that the straight line L1 is substantially parallel to the direction perpendicular to the movement direction of the transport robot 1.

[0022] In this case, the transport robot 1 moves along the guide path M1 to the transport target 2 in a first posture in which the second direction DR2 is not inclined with respect to the Y-axis direction. In this case, the transport robot 1 that has moved to the transport target 2 grasps the transport target 2 with the rear surface 101 being approximately parallel to the front surface 201 of the transport target 2.

[0023] 3 to 7, consider a case where the line L1 is inclined, for example, by an angle θ with respect to the X-axis direction. In this case, the object 2 to be transported is placed with the line L1 inclined with respect to a direction perpendicular to the moving direction of the transport robot 1.

[0024] In this case, when the transport robot 1 in the first posture moves along the guide path M1 to the transport object 2 and attempts to grasp the transport object 2, there is a possibility that the transport robot 1 will not be able to grasp the transport object 2 properly because the front surface 201 of the transport object 2 is tilted relative to the rear surface 101 of the transport robot 1.

[0025] Here, the transfer robot control system 100 of this embodiment performs the following process when the straight line L1 is inclined, for example, by an angle θ with respect to the X-axis direction.

[0026] First, the tilt detection unit 160 detects the tilt θ (angle θ) of the transfer target 2 with respect to the X-axis direction of the straight line L1. The posture change unit 175 changes the posture of the transfer robot 1 with respect to the Y-axis direction to a second posture based on the angle θ detected by the tilt detection unit 160. Here, the second posture is, for example, a posture in which the second direction DR2 of the main body 10 is tilted by the angle θ with respect to the Y-axis direction. In other words, in the second posture, the tilt of the transfer target 2 with respect to the movement direction of the transfer robot 1 and the tilt of the transfer robot 1 with respect to the movement direction of the transfer robot 1 are the same.

[0027] Next, the movement control unit 171 moves the transport robot 1 in the Y-axis direction along the guide path M1 to the transport target 2 while maintaining the second posture.

[0028] The transfer robot 1, which has moved to the transfer object 2, faces the transfer object 2 in a substantially parallel state.

[0029] This allows the transport robot 1 to reliably grasp the transport object 2 even if the transport object 2 is disposed at an angle with respect to the direction of movement of the transport robot 1.

[0030] (2)Details The transfer robot 1 according to this embodiment and the transfer robot control system 100 including the transfer robot 1 will be described in detail below with reference to the drawings.

[0031] (2.1) Overall structure As shown in FIG. 1 , the transport robot control system 100 includes a transport robot 1 and a group control system 4 that controls the transport work performed by the transport robot 1. The transport robot 1 and the group control system 4 are configured to be able to communicate with each other. In this disclosure, "communicable" means that information can be exchanged directly or indirectly via a network NT1, a relay device 6, or the like, using an appropriate communication method such as wired or wireless communication. In this embodiment, the group control system 4 and the transport robot 1 are capable of bidirectional communication, allowing information to be transmitted both from the group control system 4 to the transport robot 1 and from the transport robot 1 to the group control system 4. Although FIG. 1 shows one transport robot 1, the number of transport robots 1 may be two or more. In other words, the group control system 4 may control the transport work performed by each of multiple transport robots 1.

[0032] (2.2) Transport robot The transport robot 1 autonomously travels on a flat moving surface G1, which may be, for example, the floor of a facility. The transport robot 1 is equipped with a storage battery, such as a lithium-ion battery or a nickel-metal hydride battery, and operates using the electrical energy stored in the storage battery.

[0033] 8 and 9, the transport robot 1 includes a pair of grippers 11, a pair of drive wheels 12 (12R, 12L), and a main body 10. The transport robot 1 also includes a plurality of auxiliary wheels 13 (for example, two in this embodiment).

[0034] The pair of gripping parts 11 are provided on the rear surface 101 of the main body 10. The pair of gripping parts 11 are provided to correspond to the pair of gripped parts 21 of the transport object 2, respectively.

[0035] The transport robot 1 holds the transport object 2 by holding a pair of grasped portions 21 of the transport object 2 with a pair of gripping portions 11. The transport robot 1 moves together with the transport object 2 held by the transport robot 1.

[0036] When the transport robot 1 transports the transport object 2, there are two types of travelling modes: one in which the transport robot 1 is at the front and towing the transport object 2, and the other in which the transport object 2 is at the front and the transport robot 1 pushes the transport object 2. Generally, the travelling mode in which the transport object 2 is towed is more stable than the travelling mode in which the transport object 2 is pushed from behind, so the transport robot 1 usually moves by towing the transport object 2.

[0037] The object 2 to be transported has a main body 20 that is rectangular in shape in a plan view. Two pairs of wheels (a pair of wheels 22 and a pair of wheels 23) are provided on the underside of the main body 20, and the object 2 to be transported is configured to be able to move on the moving surface G1 using the pair of wheels 22 and the pair of wheels 23. The pair of wheels 22 is provided on the front surface 201 side of the main body 20, and the pair of wheels 23 is provided on the rear surface 202 side opposite the front surface 201.

[0038] A pair of gripped portions 21 are provided on the front surface 201 of the main body 20. Each of the pair of gripped portions 21 is provided with a recess 211 into which the roller portion 111 of the gripping portion 11 fits.

[0039] The main body 10 of the transport robot 1 is formed in a rectangular parallelepiped shape. A pair of drive wheels 12 and two auxiliary wheels 13 are arranged on the bottom of the main body 10. In this embodiment, the pair of drive wheels 12 are arranged on the main body 10 so as to be aligned in the longitudinal direction of the main body 10 (first direction DR1). Two auxiliary wheels 13 are arranged on the main body 10 so as to be aligned in the lateral direction of the main body (second direction DR2). In the following description, the drive wheel 12 located on the left side of the pair of drive wheels 12 may be referred to as the left drive wheel 12L, and the drive wheel 12 located on the right side may be referred to as the right drive wheel 12R.

[0040] In this embodiment, the left driving wheel 12L and the right driving wheel 12R each serve as a steering wheel. That is, the drive mechanism that drives the left driving wheel 12L and the steering mechanism that changes the direction of the left driving wheel 12L are integrated. Also, the drive mechanism that drives the right driving wheel 12R and the steering mechanism that changes the direction of the right driving wheel 12R are integrated.

[0041] The two auxiliary wheels 13 are driven wheels that change direction to follow the direction of movement of the transport robot 1.

[0042] As shown in FIG. 1, the transfer robot 1 includes a gripping drive unit 14, a moving unit 15, a detecting unit 16, a control unit 17, a communication unit 18, and a storage unit 19.

[0043] The grip driving unit 14 drives the grip unit 11. The grip driving unit 14 is housed inside a case 102 provided in the main body 10. The grip driving unit 14 includes, for example, a feed screw arranged along the first direction DR1, a motor that rotates the feed screw, and a reducer that transmits the rotation of the motor to the feed screw.

[0044] As described above, the pair of gripping parts 11 that respectively hold the pair of gripped parts 21 of the transport object 2 are provided on the rear surface 101 of the main body 10 in a state that they are movable relative to the main body 10.

[0045] The grip driving unit 14 moves each of the pair of gripping units 11 along the first direction DR1. Specifically, the grip driving unit 14 moves the pair of gripping units 11 so that the distance between the pair of gripping units 11 along the first direction DR1 increases or decreases.

[0046] The gripping operation of the pair of gripping parts 11 for gripping the transport object 2 will be described below.

[0047] First, as shown in Figure 8, the transport robot 1 moves to a position where the pair of gripping portions 11 are inserted between the pair of gripped portions 21, with the distance between the pair of gripping portions 11 being narrower than the distance between the pair of gripped portions 21.

[0048] Next, as shown in Fig. 9, the transport robot 1 controls the gripping drive unit 14 to move the pair of gripping units 11 in a direction that widens the distance between them, thereby bringing the pair of gripping units 11 into contact with the pair of corresponding gripped units 21. When the roller units 111 fit into the recesses 211 of the gripped units 21, the gripping units 11 cannot move outward any further. As a result, each of the pair of gripping units 11 pushes the corresponding gripped unit 21 outward, allowing the transport robot 1 to hold the transport object 2.

[0049] The moving unit 15 controls the rotation and steering angle of the left driving wheel 12L and the right driving wheel 12R individually. The moving unit 15 is built into the main body 10. The moving unit 15 includes, for example, an electric motor, and indirectly applies the driving force generated by the electric motor to the left driving wheel 12L and the right driving wheel 12R via a gearbox, a belt, etc. Alternatively, the moving unit 15 may be configured to apply the driving force directly to the left driving wheel 12L and the right driving wheel 12R, like an in-wheel motor.

[0050] This allows the transport robot 1 to move in any direction on the moving surface G1. Also, the transport robot 1 can move in any direction on the moving surface G1 while keeping the main body 10 in a constant posture.

[0051] The detection unit 16 detects the behavior of the main body 10 and the surrounding conditions of the main body 10. In the present disclosure, "behavior" means movement, appearance, etc. In other words, the behavior of the main body 10 includes the operating state of the main body 10, indicating whether the main body 10 is moving or stopped, the distance traveled and the time spent traveling by the main body 10, the speed (and speed change) of the main body 10, the acceleration acting on the main body 10, the attitude of the main body 10, etc.

[0052] The detection unit 16 includes at least range sensors 161 and 162 that detect the surrounding conditions of the transport robot 1, and a guide path detection unit 163 that detects the guide path M1 provided on the moving surface G1.

[0053] The range sensors 161 and 162 are, for example, LiDAR (Light Detection and Ranging) sensors for detecting objects present around the main body 10.

[0054] The range sensor 161 is provided at the center of the rear surface 101 in the first direction DR1. The range sensor 162 is provided at the center of the front surface 103 in the first direction DR1.

[0055] The range sensors 161 and 162 are not limited to LiDARs. This type of sensor may be a sensor that detects an object using at least one of sound waves, light, and radio waves.

[0056] The range sensor 161 implements the tilt detection unit 160 (see FIG. 1).

[0057] The tilt detection unit 160 detects the tilt of the pair of wheels 22 of the transport object 2. In particular, as shown in Figs. 3 to 7, the tilt detection unit 160 detects the direction of a straight line L1 connecting the pair of wheels 22 with respect to the X-axis direction as the tilt. Note that the "straight line connecting the pair of wheels 22" referred to here refers to, for example, a straight line connecting the centers of rotation of each of the pair of wheels 22.

[0058] As described above, the X-axis direction is a direction perpendicular to the extension direction (Y-axis direction) of the taxiway M1. In other words, the tilt detection unit 160 detects the tilt of the straight line L1 with respect to the taxiway M1.

[0059] The taxiway detection unit 163 includes a pair of tilt sensors 164 and a pair of tilt sensors 165 for detecting the taxiway M1 provided on the moving surface G1. The pair of tilt sensors 164 and the pair of tilt sensors 165 detect the tilt (posture) of the main body 10 with respect to the taxiway M1.

[0060] The pair of tilt sensors 164 and the pair of tilt sensors 165 include sensors such as optical sensors. Each of the pair of tilt sensors 164 is elongated, for example, with the first direction DR1 as its longitudinal direction. Furthermore, each of the pair of tilt sensors 165 is elongated, for example, with the second direction DR2 as its longitudinal direction. The pair of tilt sensors 164 and the pair of tilt sensors 165 periodically perform a detection operation of the guide path M1 while the transport robot 1 is moving.

[0061] The pair of tilt sensors 164 are arranged symmetrically on the underside of the main body 10 with respect to a reference point P1. The reference point P1 here is, for example, the center point of the main body 10 where a line of symmetry in the longitudinal direction (first direction DR1) of the main body 10 intersects with a line of symmetry in the lateral direction (second direction DR2) of the main body 10. The line of symmetry in the longitudinal direction and the lateral direction of the main body 10 are omitted from FIG. 2 and other figures. The reference point P1 is not limited to the center point of the main body 10, and may be any point on the main body 10. For example, the reference point P1 may be the center of gravity of the main body 10 of the transport robot 1, or the center of rotation when the transport robot 1 rotates pivotally.

[0062] Furthermore, the pair of tilt sensors 164 may be provided at positions asymmetrical with respect to a line of symmetry in the second direction DR2 that passes through the center point of the main body 10. In other words, the distance between one tilt sensor 164 and the line of symmetry in the second direction DR2 may be different from the distance between the other tilt sensor 164 and the line of symmetry in the second direction DR2. In other words, the pair of tilt sensors 164 may be disposed symmetrically with respect to a reference point P1 that is different from the center point of the main body 10.

[0063] In this embodiment, the pair of tilt sensors 164 are arranged on the underside of the main body 10, on the front surface 103 side and the rear surface 101 side of the main body 10, with reference to a reference point P1. The pair of tilt sensors 164 are arranged parallel to each other. Note that the pair of tilt sensors 164 may be tilted relative to each other.

[0064] The pair of tilt sensors 165 are arranged on the lower surface of the main body 10 symmetrically with respect to a reference point P1.

[0065] In this embodiment, the pair of tilt sensors 165 are arranged on the underside of the main body 10, one on the left driving wheel 12L side and the other on the right driving wheel 12R side, with reference to the reference point P1. The pair of tilt sensors 165 are arranged parallel to each other. Note that the pair of tilt sensors 165 may be tilted relative to each other.

[0066] The taxiway M1 is, for example, a linear guidance indicator made of fluorescent tape. The taxiway detection unit 163 detects the taxiway M1 by detecting light emitted from the fluorescent tape. The taxiway detection unit 163 may include, for example, a magnetic sensor and detect the taxiway M1 installed on the movement surface G1 using the magnetic sensor. In this case, the taxiway M1 is, for example, a linear guidance indicator made of magnetic tape.

[0067] The guideway M1 includes an end point E1 and a movement start point E2 (see FIG. 3). The object 2 to be transported is located at the end point E1. Note that "located at the end point E1" here refers to a state in which the object 2 to be transported is located at a position where the distance between the front surface 201 of the object 2 to the end point E1 is equal to or less than a predetermined value.

[0068] The transfer robot 1 moves along the guide path M1 from the movement start point E2 toward the end point E1.

[0069] When each of the pair of tilt sensors 164 detects the guide path M1, the pair of tilt sensors 164 detects the tilt of the main body 10 of the transport robot 1 with respect to the guide path M1. Specifically, the pair of tilt sensors 164 detects the position of each of the pair of tilt sensors 164 along the first direction DR1 of the guide path M1, thereby detecting the tilt of the main body 10 with respect to the guide path M1.

[0070] Furthermore, when each of the pair of tilt sensors 165 detects the guide path M1, the pair of tilt sensors 165 detects the tilt of the main body 10 of the transport robot 1 with respect to the guide path M1. Specifically, the pair of tilt sensors 165 detects the position along the second direction DR2 of the guide path M1 with respect to each of the pair of tilt sensors 165, thereby detecting the tilt of the main body 10 with respect to the guide path M1.

[0071] The control unit 17 is mainly composed of a computer system having one or more processors and a memory. The functions of the control unit 17 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0072] 1, the control unit 17 has functions such as a movement control unit 171, a grip control unit 172, a position detection unit 173, a setting unit 174, and an attitude change unit 175. Note that these merely indicate the functions realized by the control unit 17 and do not necessarily indicate actual configurations.

[0073] The movement control unit 171 controls the movement unit 15 based on the control command received by the communication unit 18 from the group control system 4 and the detection result of the detection unit 16, and moves the main body 10 on the movement plane G1 to the transport target 2. In other words, the movement control unit 171 guides the main body 10 to the transport target 2 based on the control command received by the communication unit 18 from the group control system 4 and the detection result of the detection unit 16.

[0074] The guidance methods by which the movement control unit 171 guides the main body 10 include a first guidance method in which the main body 10 is moved along the guide path M1. The guidance methods also include a second guidance method in which the main body 10 is moved based on the detection result of the current position of the main body 10.

[0075] The grip control unit 172 controls the grip driving unit 14 based on the control command received by the communication unit 18 from the group control system 4 and the detection result of the detection unit 16, and drives the pair of grippers 11.

[0076] The position detection unit 173 detects the current position of the main body 10. As an example, the position detection unit 173 estimates the current position of the main body 10 on the moving plane G1 based on, for example, detection information of surrounding objects by the range sensors 161 and 162 and electronic map information of the moving plane G1 within the facility. The position detection unit 173 may estimate the current position on the moving plane G1 using a local positioning system (LPS) using radio beacons. That is, the position detection unit 173 may estimate the current position based on the radio wave intensity when a receiver provided in the transfer robot 1 receives beacon signals transmitted from multiple transmitters installed within the facility and the installation positions of each transmitter. The position detection unit 173 may also estimate the current position of the main body 10 using a global navigation satellite system (GNSS) such as the global positioning system (GPS). The position coordinates of the main body 10 detected by the position detection unit 173 may be position coordinates in a two-dimensional orthogonal coordinate system set on the moving plane G1, or may be position coordinates in a three-dimensional orthogonal coordinate system.

[0077] The setting unit 174 sets the guidance method used by the movement control unit 171 to guide the transport robot 1 to either the first guidance method or the second guidance method.

[0078] When the taxi path detection unit 163 does not detect the taxi path M1, the setting unit 174 sets the guidance method of the main body 10 to the second guidance method. When the taxi path detection unit 163 detects the taxi path M1, the setting unit 174 sets the guidance method of the main body 10 to the first guidance method.

[0079] The posture change unit 175 sets the posture of the transport robot 1 with respect to the moving direction to either the first posture or the second posture based on the detection result of the tilt detection unit 160 (range measurement sensor 161). The operation of changing the posture of the transport robot 1 by the posture change unit 175 will be described in detail in "(2.4) Description of Operation".

[0080] The communication unit 18 is configured to be able to communicate with the group control system 4. In this embodiment, the communication unit 18 communicates with one or more relay devices 6 installed within the area in which the transport robot 1 is operated, via wireless communication using radio waves as the medium. Therefore, the communication unit 18 and the group control system 4 communicate indirectly via at least the network NT1 and the relay device 6.

[0081] In other words, each relay device 6 is a device (access point) that relays communication between the communication unit 18 and the group control system 4. The relay device 6 communicates with the group control system 4 via the network NT1. In this embodiment, as an example, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio that does not require a license (specified low-power radio) is adopted for communication between the relay device 6 and the communication unit 18. Furthermore, the network NT1 is not limited to the Internet, and may be, for example, a local communication network within the area in which the transport robot 1 is operated or within the operating company of this area.

[0082] The storage unit 19 includes a rewritable nonvolatile memory such as an EEPROM (Electrically Erasable and Programmable Read-Only Memory). The storage unit 19 stores in advance electronic map information of the moving plane G1 along which the transport robot 1 moves. The electronic map information of the moving plane G1 includes position information of objects to be placed on the moving plane G1.

[0083] Furthermore, the transport robot 1 may be provided with other components as appropriate, such as a charging circuit for a storage battery.

[0084] (2.3) Group Control System The group control system 4 is realized by, for example, a computer system. The group control system 4 controls the transport work performed by the transport robot 1. The group control system 4 may be located inside the facility where the transport robot 1 performs the transport work, or outside the facility.

[0085] As shown in FIG. 1, the group control system 4 includes a control unit 40, a communication unit 41, an operation reception unit 42, a display unit 43, and a storage unit 44.

[0086] The communication unit 41 communicates with the transport robot 1 via the network NT1 and the relay device 6. As a communication method between the communication unit 41 and the relay device 6, an appropriate communication method such as wireless communication or wired communication is adopted.

[0087] The operation acceptance unit 42 has a function of accepting operations from a user who uses the group control system 4. In this embodiment, the operation acceptance unit 42 is realized, for example, by a pointing device such as a mouse, a keyboard, or a combination of these. The operation acceptance unit 42 may also be realized by a voice recognition unit that accepts operations by voice uttered by the user. The operation acceptance unit 42 may also accept, via the communication unit 41, information input into a terminal such as a tablet terminal used by the user.

[0088] The display unit 43 is used to present information to a user who uses the group control system 4. The display unit 43 is realized by a display device such as a liquid crystal display or an organic EL display. If the group control system 4 has a touch panel display, the touch panel display may function as the operation reception unit 42 and the display unit 43.

[0089] The storage unit 44 includes, for example, a rewritable nonvolatile memory such as an EEPROM (Electrically Erasable and Programmable Read-Only Memory). The storage unit 44 stores, for example, information input by a user of the group control system 4, regarding the position of the object 2 to be transported and the position of the guideway M1 corresponding to the object 2 to be transported.

[0090] The control unit 40 mainly comprises a computer system including, for example, a memory and a processor. That is, the functions of the control unit 40 are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0091] The control unit 40 issues a transport instruction for the transport object 2 to the transport robot 1 via the communication unit 41. The control unit 40 issues a transport instruction to the transport robot 1 to transport the transport object 2, which is located at a certain location (end point E1 of the guide path M1) within the moving plane G1, to a target position, for example, thereby causing the transport robot 1 to transport the transport object 2 to the target position. For example, the control unit 40 transmits a transport instruction including information on the location of the transport object 2 and information on the target position to the transport robot 1, thereby causing the transport robot 1 to perform a gripping operation of gripping the transport object 2 and a transporting operation of transporting the gripped transport object 2 to the target position.

[0092] (2.4) Operation explanation The gripping operation of the transport object 2 by the transport robot 1 and the transporting operation of the transport object 2 will be described in detail below with reference to Figures 3 to 7, 10 and 11. Note that the flowchart shown in Figure 10 is merely one example of a control method for the transport robot 1, and the order of processes may be changed as appropriate, and processes may be added or omitted as appropriate.

[0093] The control unit 40 of the group control system 4 issues a transport instruction to the transport robot 1, which is waiting, for example, at a waiting place, to transport the transport object 2 to a target position. At this time, the group control system 4 transmits to the transport robot 1 information on the position of the transport object 2, information on the guide path M1 corresponding to the transport object 2 (information on the position of the movement start point E2, etc.), and information on the target position.

[0094] When the transport robot 1 is waiting at the waiting area, the guide path detection unit 163 does not detect the guide path M1, so the setting unit 174 sets the guidance method of the main body 20 to the second guidance method, and the movement control unit 171 guides the main body 20 using the second guidance method.

[0095] When the transport robot 1 receives a transport instruction from the group control system 4 (ST1), the movement control unit 171 causes the main body 10 to start moving to the guide path M1 using the second guide method (ST2), as shown in Fig. 3. At this time, the destination of the movement of the main body 10 is set to, for example, the movement start point E2 on the guide path M1.

[0096] When the main body 10 approaches the movement start point E2 and the guide path detection unit 163 (for example, the tilt sensor 164 on the rear surface 101 side of the main body 10) detects the guide path M1 (ST3: YES), the setting unit 174 changes the guidance method from the second guidance method to the first guidance method (ST4). At this time, when the setting unit 174 changes the guidance method to the first guidance method, the movement control unit 171 moves the main body 10 so that the short side direction (second direction DR2) of the main body 10 is aligned with the extension direction (Y-axis direction) of the guide path M1, based on the detection result of the guide path detection unit 163. In other words, the movement control unit 171 controls the movement of the main body 10 so that the main body 10 arrives at the destination (movement start point E2) in a first attitude in which the second direction DR2 is not tilted with respect to the Y-axis direction. 4, the movement control unit 171 controls the movement of the main body 10 so that the center point A1 of the rear surface 101 and the center point B1 of the front surface 103 are positioned on the center line C1 along the extension direction (Y-axis direction) of the guideway M1 when the main body 10 reaches the movement start point E2. Here, the center point A1 is the center point of the rear surface 101 along the first direction DR1, and the center point B1 is the center point of the front surface 103 along the first direction DR1.

[0097] When the main body 10 reaches the movement start point E2 (ST5: YES), as shown in FIG. 4, the tilt detection unit 160 (range measurement sensor 161) detects the tilt θ of the straight line L1 connecting the pair of wheels 22 of the transport object 2 with respect to the X-axis direction (i.e., the first direction DR1) (ST6). In other words, the tilt detection unit 160 detects the tilt of the straight line L1 when the main body 10 is moving by the first guidance method. Here, "the main body 10 reaches the movement start point E2" means, for example, a state in which the reference point P1 of the main body 10 is on the movement start point E2, as shown in FIG. 3.

[0098] If the tilt θ detected by the tilt detection unit 160 is equal to or greater than the reference value (ST7: YES), the posture change unit 175 changes the posture of the main body 10 from the first posture to a second posture in which the second direction DR2 is tilted by the angle θ with respect to the Y-axis direction, based on the detection result of the guide path detection unit 163 (the pair of tilt sensors 164) (ST8). Note that the reference value of the tilt can be arbitrarily changed by the user of the transport robot control system 100.

[0099] The second attitude will be described in detail below with reference to FIGS.

[0100] In the second posture, point A2 on the rear surface 101 and point B2 on the front surface 103 are located on the center line C1. If the distance between reference point P1 and center point A1 is m1, point A2 is a point that is a distance d1 = m1 tan θ away from center point A1 toward the right driving wheel 12R along the first direction DR1. If the distance between reference point P1 of the main body and center point B1 is m2, point B2 is a point that is a distance d2 = m2 tan θ away from center point B1 toward the left driving wheel 12L along the first direction DR1.

[0101] In other words, the posture change unit 175 changes the posture of the main body 10 from the first posture to the second posture by controlling the main body 10 so that points A2 and B2 are positioned on the center line C1 from a state in which the center points A1 and B1 are positioned on the center line C1.

[0102] 6, after changing to the second attitude, the attitude changer 175 may further change the attitude of the main body 10 so that the center point A1 of the rear surface 101 and point B3 on the front surface 103 are aligned on the center line C1. Here, point B3 is a point separated from the center point B1 by a distance d3=m2tanθ+m1tanθ toward the left drive wheel 12L along the first direction DR1.

[0103] That is, after changing the attitude of the main body 10 to the second attitude, the attitude changer 175 may control the attitude of the main body 10 so that the center point A1 is located on the center line C1 while maintaining the inclination of the second direction DR2 with respect to the Y-axis direction at the angle θ. This allows the pair of gripping parts 11 to be closer to the centers of the pair of gripped parts 21 in the X-axis direction, and enables the transport object 2 to be gripped more reliably.

[0104] 7, the movement control unit 171 moves the main body 10 along the guide path M1 to the conveyance target 2 while maintaining the second posture (ST9). In detail, the movement control unit 171 moves the main body 10 to a position where the pair of gripping units 11 are inserted between the pair of gripped parts 21. At this time, the distance between the pair of gripping units 11 is narrower than the distance between the pair of gripped parts 21.

[0105] When the main body 10 reaches the transport target 2, the transport robot 1 grasps the transport target 2 in a state where the main body 10 in the second posture and the transport target 2 face each other (ST10). Specifically, when the pair of gripping parts 11 are inserted between the pair of grasped parts 21, the grip control part 172 moves the pair of gripping parts 11 in a direction that widens the gap between them, thereby bringing the pair of gripping parts 11 into contact with the corresponding pair of grasped parts 21. As a result, the pair of gripping parts 11 grasp the transport target 2.

[0106] When the pair of grippers 11 grip the transfer target 2, the transfer robot 1 transports the transfer target 2 to the target position (ST11). In detail, as shown in FIG. 11 , after the transfer robot 1 grips the transfer target 2, the posture changer 175 changes the body 10 of the transfer robot 1 from the second posture to the first posture. When the body 10 is changed to the first posture, the transfer target 2 gripped by the transfer robot 1 changes from a state in which the line L1 is tilted at an angle θ with respect to the X-axis direction to a state in which the line L1 is not tilted with respect to the X-axis direction. This allows the transfer robot 1 to transport the transfer target 2 to the target position with the transfer target 2 in a stable posture.

[0107] When the attitude of the main body 10 is changed to the first attitude, the movement control unit 171 moves the main body 10, for example, forward in the first attitude by the first guidance method.

[0108] Thereafter, for example, when the guide path detection unit 163 no longer detects the guide path M1, the setting unit 174 changes the guidance method from the first guidance method to the second guidance method, and the movement control unit 171 causes the main body 10 to start moving to the target position using the second guidance method.

[0109] (3) Variations The above embodiment is merely one of various embodiments of the present disclosure. Various modifications can be made to the above embodiment depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, functions similar to those of the transport robot control system 100 may be embodied in a transport robot control method, a computer program, a non-transitory recording medium on which a program is recorded, or the like. The transport robot control method according to the embodiment includes a tilt detection step, a posture change step, and a movement control step. In the tilt detection step, the tilt of at least a portion of the transport target 2 of the transport robot 1 is detected. In the posture change step, the posture of the transport robot 1 relative to the movement direction is changed from a first posture to a second posture different from the first posture based on the detection result in the tilt detection step. In the movement control step, the transport robot 1 is moved to the transport target 2 while maintaining the second posture. In the transport robot control method, the transport robot 1 grips the transport target 2 while facing the transport target 2 in the second posture.

[0110] The (computer) program according to the above embodiment is a program for causing a computer system to execute the above-described transport robot control method.

[0111] Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0112] 12, the posture changer 175 may maintain the main body 10 of the transport robot 1 in the second posture after the transport robot 1 in the second posture has grasped the transport target 2. In this case, the movement controller 171 moves the main body 10, for example, forward by the first guidance method while maintaining the second posture. This eliminates the time required to change the posture of the main body 10 and the transport target 2 after grasping the transport target 2, thereby shortening the time required to transport the transport target 2 to the target position.

[0113] At least a portion of the transport object 2 whose inclination is detected by the inclination detection unit 160 is not limited to the straight line L1 connecting the pair of wheels 22, but may be a portion of the main body 10 of the transport object 2, a reflector provided on the main body 10, etc.

[0114] Furthermore, the tilt detection unit 160 is not limited to being equipped with a range sensor, and may detect the tilt of the object 2 to be transported based on an image captured by a visible light camera, for example, or may detect the tilt of the object 2 to be transported based on a distance image acquired using a distance image sensor.

[0115] The transport robot control system 100 of the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. The functions of the transport robot control system 100 of the present disclosure are realized by the processor executing a program stored in the memory of the computer system. The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, optical disk, or hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integrations (VLSIs), and ultra-large-scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmable after the LSI is manufactured, or logic devices capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0116] Furthermore, it is not essential for the transport robot control system 100 that multiple functions are integrated into one housing, and the components of the transport robot control system 100 may be distributed across multiple housings. Furthermore, at least some of the functions of the transport robot control system 100, for example, the functions of the control unit 17, may be realized by cloud computing or the like.

[0117] In the above embodiment, in the comparison of the inclination of at least a part of the transport target 2 with a reference value, "less than" may be replaced with "equal or less." In other words, in the comparison of two values, whether or not the two values ​​are equal can be arbitrarily changed depending on the setting of the reference value, etc., so there is no technical difference between "less than" and "equal or less." Similarly, "greater than or equal" may be replaced with "greater than."

[0118] (4) Summary As described above, the transfer robot control system (100) of the first aspect includes a tilt detection unit (160), a posture change unit (175), and a movement control unit (171). The tilt detection unit (160) detects the tilt of at least a portion of the transfer target (2) being transferred by the transfer robot (1). The posture change unit (175) changes the posture of the transfer robot (1) relative to the movement direction from a first posture to a second posture different from the first posture based on the detection result of the tilt detection unit (160). The movement control unit (171) moves the transfer robot (1) to the transfer target (2) while maintaining the second posture.

[0119] According to this embodiment, even if the transport object (2) is positioned at an angle relative to the movement direction of the transport robot (1), changing the posture of the transport robot (1) to the second posture has the advantage that the transport object (2) can be easily grasped.

[0120] In the transfer robot control system (100) of the second embodiment, in the first embodiment, the transfer robot (1) grips the transfer object (2) while facing the transfer object (2) in the second posture.

[0121] This embodiment has the advantage that the transport robot (1) can easily grasp the transport object (2).

[0122] In the transport robot control system (100) of the third aspect, in the first or second aspect, the guidance method by which the movement control unit (171) guides the transport robot (1) includes a first guidance method in which the transport robot (1) moves along a guide path (M1). The object (2) to be transported is placed at an end point (E1) of the guide path (M1). The tilt detection unit (160) detects the tilt of at least a part of the object (2) to be transported with respect to the guide path (M1).

[0123] According to this embodiment, the transport robot (1) can be accurately guided to the object (2) to be transported.

[0124] In the transport robot control system (100) of the fourth aspect, in the third aspect, the tilt detection unit (160) detects the tilt of at least a part of the transport object (2) when the transport robot (1) is moving by the first guidance method.

[0125] According to this embodiment, since the transport robot (1) is in a state along the guide path (M1) while moving using the first guidance method, the inclination of at least a portion of the transport object (2) relative to the guide path (M1) can be accurately detected.

[0126] In the transport robot control system (100) of the fifth aspect, in the third or fourth aspect, the guidance method includes a second guidance method in which the transport robot (1) is moved based on the detection result of the current position of the transport robot (1). The transport robot control system (100) further includes a setting unit (174) that switches the guidance method between the first guidance method and the second guidance method.

[0127] According to this aspect, when the transport robot (1) is away from the guide path (M1), the transport robot (1) can be moved at a faster speed than when moving by the first guide method. Also, when the transport robot (1) detects the guide path (M1), the transport robot (1) can be moved with higher accuracy than when moving by the second guide method.

[0128] In the sixth aspect of the transport robot control system (100), in any of the third to fifth aspects, the movement control unit (171) moves the transport robot (1) by the first guidance method while maintaining the second posture after the transport robot (1) has grasped the transport object (2).

[0129] According to this aspect, it is possible to reduce the time required to change the posture of the transport robot (1) after gripping the transport object (2).

[0130] In the seventh aspect of the transport robot control system (100), in any one of the third to fifth aspects, the posture changer (175) changes the posture of the transport robot (1) from the second posture to the first posture after the transport robot (1) has grasped the transport object (2). The movement controller (171) moves the transport robot (1) in the first posture by a first guidance method.

[0131] According to this aspect, after gripping the transport object (2), the transport robot (1) can transport the transport object (2) in a stable posture.

[0132] In the eighth aspect of the transport robot control system (100), in any one of the first to seventh aspects, the transport object (2) includes a pair of wheels (22). The tilt detection unit (160) detects the angle between the direction of a straight line (L1) connecting the pair of wheels (22) and the moving direction of the transport robot (1) as the tilt.

[0133] According to this embodiment, a pair of wheels (22), which are part of the moving mechanism of the transport object (2), can be used to detect the inclination of the transport object (2), and the direction of the front surface (201) of the transport object (2) can be detected.

[0134] The transport robot control system (100) of a ninth aspect is any one of the first to eighth aspects, and includes a pair of tilt sensors (164) that detect the tilt of the transport robot (1) relative to the guide path (M1). The pair of tilt sensors (164) are arranged symmetrically with respect to a reference point (P1) of the transport robot (1).

[0135] According to this embodiment, the inclination of the transport robot (1) relative to the guide path (M1) can be detected with high accuracy.

[0136] In a transport robot control system (100) of a tenth aspect, in any one of the first to ninth aspects, the transport object (2) includes a pair of gripped parts (21). The transport robot (1) includes a pair of gripping parts (11) provided corresponding to the pair of gripped parts (21). When the transport robot (1) moves to a position where the pair of gripping parts (11) are inserted between the pair of gripped parts (21), the transport robot (1) widens the gap between the pair of gripping parts (11) and brings the pair of gripping parts (11) into contact with the pair of gripped parts (21), thereby gripping the transport object (2).

[0137] According to this aspect, the transfer robot (1) and the transfer object (2) come into contact with each other at two points, so that the transfer object (2) can be stably grasped.

[0138] In the transport robot control system (100) of the eleventh aspect, in any of the first to tenth aspects, in the second posture, the inclination of the transport object (2) relative to the movement direction of the transport robot (1) and the inclination of the transport robot (1) relative to the movement direction of the transport robot (1) are the same.

[0139] According to this aspect, the transport robot (1) can grasp the transport object (2) in a state substantially parallel to the transport object (2), which makes it easier to grasp the transport object (2).

[0140] A transport robot control method of a twelfth aspect includes a tilt detection step, a posture change step, and a movement control step. In the tilt detection step, the tilt of at least a part of a transport target (2) of the transport robot (1) is detected. In the posture change step, the posture of the transport robot (1) relative to the movement direction is changed from a first posture to a second posture different from the first posture based on the detection result in the tilt detection step. In the movement control step, the transport robot (1) is moved to the transport target (2) while maintaining the second posture.

[0141] This embodiment has the advantage that the transport object (2) can be easily grasped even when the transport object (2) is disposed at an angle with respect to the moving direction of the transport robot (1).

[0142] In the transport robot control method of the thirteenth aspect, in the twelfth aspect, the transport robot (1) grips the transport object (2) while facing the transport object (2) in the second posture.

[0143] This embodiment has the advantage that the transport robot (1) can easily grasp the transport object (2).

[0144] The second to tenth aspects are not essential components of the transport robot control system 100 and can be omitted as appropriate. The twelfth aspect is not essential components of the transport robot control method and can be omitted as appropriate. [Explanation of symbols]

[0145] 1. Transport robot 2. Transport target 11 Gripping part 21 Grasped part 22 wheels 100 Transport robot control system 160 Tilt detection unit 164 Tilt Sensor 171 Movement control unit 174 Settings 175 Posture change unit 201 Front E1 endpoint L1 straight line M1 Guiding Path P1 reference point

Claims

1. an inclination detection unit that detects the angle between the direction of a straight line connecting a pair of wheels provided on a transport object transported by a transport robot and the extension direction of a guide path for guiding the transport robot to the transport object; a posture changer that changes the posture of the transport robot with respect to the moving direction from a first posture to a second posture different from the first posture based on a detection result of the tilt detection unit; a movement control unit that moves the transport robot to the transport target while maintaining the second posture. Transport robot control system.

2. The transport robot grips the object to be transported while facing the object to be transported in the second posture. The transport robot control system according to claim 1 .

3. a guidance method in which the movement control unit guides the transport robot includes a first guidance method in which the transport robot moves along the guide path; The object to be conveyed is placed at an end point of the guideway.

3. The transport robot control system according to claim 1.

4. The tilt detection unit detects the angle when the transfer robot moves by the first guidance method. The transport robot control system according to claim 3 .

5. the guidance method includes a second guidance method in which the transport robot is moved based on a detection result of a current position of the transport robot; The device further includes a setting unit that switches the induction method between the first induction method and the second induction method. The transport robot control system according to claim 3 .

6. The movement control unit moves the transport robot by the first guidance method while maintaining the second attitude after the transport robot has grasped the transport object. The transport robot control system according to claim 3 .

7. the posture changing unit changes the posture of the transport robot from the second posture to the first posture after the transport robot has grasped the transport target; The movement control unit moves the transport robot in the first posture by the first guidance method. The transport robot control system according to claim 3 .

8. A pair of tilt sensors for detecting the angle, The pair of tilt sensors are arranged symmetrically with respect to a reference point of the transport robot.

3. The transport robot control system according to claim 1.

9. The object to be transported has a pair of gripped portions, the transport robot includes a pair of gripping portions provided corresponding to the pair of gripped portions, respectively; The transport robot moves to a position where the pair of gripping parts are inserted between the pair of gripped parts, and then widens the gap between the pair of gripping parts to bring the pair of gripping parts into contact with the pair of gripped parts, thereby gripping the transport object.

3. The transport robot control system according to claim 1.

10. In the second posture, the inclination of the transport target relative to the movement direction and the inclination of the transport robot relative to the movement direction are the same.

3. The transport robot control system according to claim 1.

11. An inclination detection step for detecting the angle between the direction of a straight line connecting a pair of wheels of an object to be transported by a transport robot and the extension direction of a guide path for guiding the transport robot to the object; a posture changing step of changing a posture of the transport robot with respect to a moving direction from a first posture to a second posture different from the first posture based on a detection result in the tilt detecting step; a movement control step of moving the transport robot to the transport target while maintaining the second attitude. A transport robot control method.

12. The transport robot grasps the transport target while facing the transport target in the second posture. The transport robot control method according to claim 11.

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