Driving system and driving method

Abstract

To provide a travel system and travel method capable of properly coupling a carriage to a travel apparatus.SOLUTION: A travel system includes a display processing unit that, when a travel apparatus reaches a predetermined position, allows a display unit included in a carriage to display first identification information, a determination processing unit that determines a display size of the first identification information, which is displayed on the display unit, on the basis of a distance between the travel apparatus and carriage, and a coupling processing unit that, when the first identification information is read by a reading unit included in the travel apparatus, performs a coupling motion of coupling the carriage to the travel apparatus.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to a traveling system and a traveling method for a traveling device capable of traveling while connecting and towing a carriage.

Background Art

[0002] Conventionally, a traveling device (also referred to as an AGV or an unmanned transport device) has been used in factories, warehouses, etc. The traveling device travels along a designated traveling route in accordance with instructions from a management server. Further, the traveling device reads a marker (e.g., an RFID tag) disposed on the floor surface of the traveling route, and based on the identifier information of the read marker, acquires the current position, switches the traveling direction, stops, executes a charging operation, connects a carriage, etc., and executes a predetermined operation associated with the identifier information of the marker (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, in the operation of connecting a carriage to a traveling device, a connection error may occur. For example, the traveling device may not stop appropriately at the connection position with respect to the carriage placed at a predetermined position, and a positional deviation may occur between the traveling device and the carriage. In this case, for example, the connecting portion of the traveling device may not be correctly connected to the connected portion of the carriage, resulting in a connection error.

[0005] An object of the present disclosure is to provide a traveling system and a traveling method capable of appropriately connecting a carriage to a traveling device.

Means for Solving the Problems

[0006] A travel system according to one aspect of the present disclosure is a travel system including a trolley and a travel device that can travel while being towed by a connected trolley, comprising: a display processing unit that causes a first identification information to be displayed on a display unit provided on the trolley when the travel device reaches a predetermined position; a determination processing unit that determines the display size of the first identification information displayed on the display unit based on the distance between the travel device and the trolley; and a coupling processing unit that performs a coupling operation to connect the trolley to the travel device when the first identification information is read by a reading unit provided on the travel device.

[0007] Another aspect of the present disclosure is a method for traveling a vehicle that travels while being towed by a connected trolley, wherein one or more processors perform the following actions: when the traveling vehicle reaches a predetermined position, they cause a first identification information to be displayed on a display unit provided on the trolley; they determine the display size of the first identification information displayed on the display unit based on the distance between the traveling vehicle and the trolley; and when the first identification information is read by a reading unit provided on the traveling vehicle, they perform a coupling operation to connect the trolley to the traveling vehicle. [Effects of the Invention]

[0008] According to this disclosure, it is possible to provide a travel system and a travel method that enable appropriate coupling of a trolley to a travel device. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is an external view of a traveling device according to an embodiment of the present disclosure. [Figure 2] Figure 2 is an external view showing the connected state of the running gear and bogie according to the present disclosure. [Figure 3] Figure 3 is a block diagram showing the configuration of the running gear and trolley according to the present disclosure. [Figure 4] Figure 4 is a diagram illustrating the driving method of the traveling device according to the present disclosure. [Figure 5]Figure 5 shows an example of control information used in a traveling device according to an embodiment of this disclosure. [Figure 6] Figure 6 shows an example of a course set by a driving device according to an embodiment of this disclosure. [Figure 7] Figure 7 shows an example of a method for connecting a running device and a trolley according to the present disclosure. [Figure 8A] Figure 8A shows an example of the display on the display unit of a trolley according to Embodiment 1 of this disclosure. [Figure 8B] Figure 8B shows an example of the display on the display unit of a trolley according to Embodiment 1 of this disclosure. [Figure 8C] Figure 8C shows an example of the display on the display unit of a trolley according to Embodiment 1 of this disclosure. [Figure 9A] Figure 9A shows an example of the display on the display unit of a trolley according to Embodiment 2 of this disclosure. [Figure 9B] Figure 9B shows an example of the display on the display unit of a trolley according to Embodiment 2 of this disclosure. [Figure 9C] Figure 9C shows an example of the display on the display unit of a trolley according to Embodiment 2 of this disclosure. [Figure 9D] Figure 9D shows an example of the display on the display unit of a trolley according to Embodiment 2 of this disclosure. [Figure 10A] Figure 10A shows an example of the display on the display unit of a trolley according to Embodiment 4 of this disclosure. [Figure 10B] Figure 10B shows an example of the display on the display unit of a trolley according to Embodiment 4 of this disclosure. [Figure 10C] Figure 10C shows an example of the display on the display unit of a trolley according to Embodiment 4 of this disclosure. [Figure 10D] Figure 10D shows an example of the display on the display unit of a trolley according to Embodiment 4 of this disclosure. [Figure 11] Figure 11 shows a method for connecting a running device and a trolley according to Embodiment 4 of the present disclosure. [Figure 12] Figure 12 shows an example of the display on the display unit of a trolley according to Embodiment 5 of this disclosure. [Figure 13]FIG. 13 is a diagram showing a display example of the display unit of the carriage according to Example 7 of the present disclosure. [Figure 14] FIG. 14 is a diagram showing a display example of the display unit of the carriage according to Example 8 of the present disclosure. [Figure 15] FIG. 15 is a diagram showing a traveling method of the traveling device according to Example 9 of the present disclosure. [Figure 16A] FIG. 16A is a diagram showing a display example of the display unit of the carriage according to Example 10 of the present disclosure. [Figure 16B] FIG. 16B is a diagram showing a display example of the display unit of the carriage according to Example 10 of the present disclosure.

MODE FOR CARRYING OUT THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. The following embodiments are an example of embodying the present disclosure and do not have the character of limiting the technical scope of the present disclosure.

[0011] The traveling system according to the present disclosure includes a traveling device 1 and a carriage 3 (cage car). FIG. 1 shows the appearance of the traveling device 1. FIG. 2 shows a state where the traveling device 1 and the carriage 3 are connected to each other.

[0012] The traveling device 1 is introduced into facilities such as a warehouse or a manufacturing line, for example. The traveling device 1 travels along a guiding body (for example, a magnetic tape L (see FIG. 4)) for traveling guidance corresponding to a preset course (traveling route) in the facility. Further, when the traveling device 1 detects a marker M (see FIG. 4) on which control information (control parameters) is set and arranged on the magnetic tape L, the traveling device 1 performs an operation according to the control information. The magnetic tape L and the marker M are installed on the floor surface in the facility by the user based on the course. Note that the traveling device 1 of the present disclosure may not have a function of detecting the marker M.

[0013] Further, the traveling device 1 is configured to be able to travel while connecting and towing the carriage 3. The traveling device 1 performs a connecting operation (described later) at a predetermined connecting position to connect the carriage 3.

[0014] Figure 3 shows a functional block diagram illustrating the configuration of the running gear 1 and the trolley 3. As shown in Figure 3, the running gear 1 includes a control unit 11, a memory unit 12, a line sensor 13, a marker sensor 14, a drive unit 15, a communication unit 16, a camera 17, and the like.

[0015] The communication unit 16 is a communication interface that wirelessly connects the running device 1 to a communication network and performs data communication with external devices such as the trolley 3, operating terminal, and server via the communication network, in accordance with a predetermined communication protocol.

[0016] The drive unit 15 includes the left drive wheel 21L and the right drive wheel 21R, a motor, a battery, and the like. The drive unit 15 drives the motor with power from the battery, and the driving force of the motor rotates the drive wheels 21L and 21R to move the running device 1. The battery is a rechargeable battery and is charged by an automatic charger (not shown). For example, the running device 1 can charge the battery by the automatic charger at a predetermined charging position while running on a set course.

[0017] Figure 4 schematically shows a magnetic tape L and marker M installed on the floor of the facility, and a traveling device 1 that travels within the facility. The line sensor 13 is a detection sensor that detects the magnetic tape L installed on the floor of the facility. As shown in Figure 4, the line sensor 13 is provided on the bottom surface of the traveling device 1 and consists of a plurality of detection elements (not shown) arranged in a line perpendicular to the direction of travel of the traveling device 1. Each detection element outputs a detection signal when the magnetic tape L is present at an opposing position.

[0018] The marker sensor 14 detects markers M placed on the course. As shown in Figure 4, the marker sensor 14 is positioned so that it can face the markers M when the vehicle 1 is in motion. The marker sensor 14 is an RFID sensor that can communicate with the RFID tag used as the marker M. However, the marker sensor 14 may be positioned at a location offset from the position facing the marker M, as long as communication with the marker M is possible. The marker sensor 14 can also be appropriately changed depending on the type of communication tag used as the marker M. In addition, the marker M may consist of a two-dimensional code, and the marker sensor 14 may consist of a camera capable of reading the two-dimensional code.

[0019] Marker M has its identification information (e.g., marker number, marker ID, etc.) recorded in a readable format. For example, marker sensor 14 obtains the marker number recorded on marker M by detecting marker M placed on the course. Specifically, marker sensor 14 obtains the marker number recorded on marker M by communicating with marker M while the vehicle 1 is in motion.

[0020] By using a communication tag such as an RFID tag as the marker M, communication can be performed between the marker sensor 14 and the marker M for a predetermined period of time while passing near the marker M (a period longer than the time the marker sensor 14 is facing the marker M). Therefore, even while the traveling device 1 is in motion, the marker number recorded on the marker M can be acquired with high accuracy. The control unit 11 acquires the marker number from the marker sensor 14.

[0021] Camera 17 is a digital camera that captures images of a subject and outputs them as digital image data. As shown in Figure 1, Camera 17 is mounted on the top (ceiling) of the running device 1 so as to be able to photograph the rear (reverse direction) of the direction of travel. For example, when the running device 1 is coupled to a trolley 3, Camera 17 photographs the trolley 3 when it is moving backward toward the trolley 3. Camera 17 may be able to photograph in both the reverse and forward directions, or it may be able to photograph 360 degrees.

[0022] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various types of information. Data such as control information D1 is stored in the storage unit 12.

[0023] Figure 5 shows an example of control information D1. Control information D1 is information that defines the driving operation of the traveling device 1. As shown in Figure 5, control information D1 includes information such as "operation order," "marker number," "driving operation," "speed," and "specific operation." The operation order is information that indicates the order of the driving operations of the traveling device 1; for example, the traveling device 1 performs the driving operations in the order of 1 to 10. The marker number is identification information of marker M and corresponds to the marker number recorded on marker M. A marker ID may be registered in control information D1 instead of the marker number.

[0024] The aforementioned driving actions are information that describes the actions to be performed by the driving device 1. "Forward" describes the action of driving the driving device 1 forward. "Right spin" describes the action of turning the driving device 1 90 degrees to the right (spin turn). "Right follow" describes the action of turning the driving device 1 to the right by giving it a steering angle to the right by a predetermined angle. "Center follow" describes the action of driving the driving device 1 forward by giving it a steering angle towards the center. "Stop" describes the action of stopping the driving device 1.

[0025] The speed refers to the travel speed of the running device 1. The specific operation refers to information representing a specific operation to be performed by the running device 1. The specific operation includes a charging operation to charge the running device 1, a coupling operation to connect an object to be coupled (e.g., a bogie) to the running device 1, and so on.

[0026] In the control information D1, the operation sequence, the driving operation, the speed, and the specific operation are each registered in association with the marker number. The control information D1 is set, for example, on an operation terminal (not shown) and output (transferred) from the operation terminal to the driving device 1. When the driving device 1 receives the control information D1 from the operation terminal, it stores it in the storage unit 12 and drives along the set course while executing the driving operation corresponding to the control information D1.

[0027] Furthermore, the storage unit 12 stores control programs that cause the control unit 11 to execute various control processes. For example, the control programs are non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, read by a reader (not shown) provided in the transport device 1, and stored in the storage unit 12. The control programs may also be distributed from a cloud server and stored in the storage unit 12.

[0028] The control unit 11 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The control unit 11 controls the traveling device 1 by executing various control programs that have been stored in advance in the ROM or memory unit 12 using the CPU.

[0029] Specifically, as shown in Figure 3, the control unit 11 includes various processing units such as a driving processing unit 111, a coupling processing unit 112, a notification processing unit 113, a detection processing unit 114, and a decision processing unit 115. The control unit 11 functions as these various processing units by executing various processes according to the control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The control program may be a program that causes multiple processors to function as these processing units.

[0030] The travel processing unit 111 controls the travel operation of the travel device 1. Specifically, the travel processing unit 111 acquires control information D1 (see Figure 5) from the operation terminal. Once the travel processing unit 111 acquires the control information D1, it stores it in the storage unit 12. The travel processing unit 111 also makes the travel device 1 travel along the magnetic tape L based on the detection result of the line sensor 13 (see Figure 4).

[0031] Furthermore, when the marker sensor 14 detects a marker M, the driving unit 111 causes the driving device 1 to execute a driving operation corresponding to the marker M. Specifically, when the marker sensor 14 detects a marker M and reads the marker number recorded on the marker M, the driving unit 111 refers to the control information D1 (see Figure 5) and causes the driving operation associated with the marker number to execute.

[0032] Figure 6 shows a specific example of a course (travel route) corresponding to the control information D1 shown in Figure 5. When the user sets the course and control information D1, they place a magnetic tape L on the floor of the facility based on the set course and place an RFID tag corresponding to the marker M on the magnetic tape L. The travel device 1 starts traveling from the position of marker number "2" (starting point), proceeds in the direction of the arrow d1, and stops at the position of marker number "2" (ending point).

[0033] Specifically, first, when the running device 1 detects marker M with marker number "2", it starts moving forward at a speed of 10 m / min, and when it detects marker M with marker number "3", it changes its speed to 30 m / min and continues moving forward. Next, when the running device 1 detects marker M with marker number "4", it turns to the right while searching for the magnetic tape L, and when it detects the magnetic tape L, it resumes moving forward. When it detects marker M with marker number "5", it turns to the right again while searching for the magnetic tape L, and when it detects the magnetic tape L, it resumes moving forward. Next, when the running device 1 detects marker M with marker number "6", it changes its speed to 10 m / min and moves forward, and when it detects marker M with marker number "7", it pauses and performs the coupling operation with the trolley 3 (see Figure 2). After that, the running device 1 moves while towing the trolley 3. When the vehicle 1 detects marker M with marker number "8", it switches to a driving control suitable for a right turn, changes its speed to 20 m / min, and turns. Subsequently, when the vehicle 1 detects marker M with marker number "9", it continues the driving control suitable for a right turn, and when it detects marker M with marker number "1", it switches to a driving control suitable for straight-line driving. Finally, when the vehicle 1 detects marker "2", it stops and performs a charging operation.

[0034] As described above, the driving device 1 performs automatic driving based on the pre-set course and control information D1.

[0035] The coupling processing unit 112 performs a coupling operation to connect the trolley 3 to the running gear 1. Here, a specific example of the coupling operation will be described. The running gear 1 tows the trolley 3, which is equipped with casters (wheels) that can rotate freely. As shown in Figure 1, the running gear 1 is equipped with couplers 22 (a coupler 22L on the left and a coupler 22R on the right) for connecting the trolley 3. While traveling along a set course, the running gear 1 can connect the trolley 3 at a predetermined coupling position using couplers 22L and 22R (see Figure 2) and travel while towing the trolley 3.

[0036] For example, as shown in Figure 7, when the running gear 1 detects a marker M associated with information indicating coupling operation with the bogie 3, it pauses and drives (lifts and lowers) the couplers 22L and 22R to raise the hooks of the couplers 22L and 22R. Then, the running gear 1 reverses toward the bogie 3, and the rear of the vehicle body goes under the bogie 3. When the optical sensors (not shown) of the couplers 22L and 22R detect the bogie 3, the running gear 1 lowers the hooks of the couplers 22L and 22R and hooks them onto the railing (horizontal bar) of the bogie 3 (see Figure 2). With the hooks of the couplers 22L and 22R connected to the bogie 3, the running gear 1 switches to forward travel and moves while towing the bogie 3. In this way, the running gear 1 can couple with the bogie 3. The method of coupling with the bogie 3 is not limited to the method described above, and well known methods can be applied.

[0037] Here, for example, in the state shown in Figure 7, if a misalignment occurs between the running gear 1 and the bogie 3, the hooks of the couplers 22L and 22R of the running gear 1 will not be properly connected to the railing (connected part) of the bogie, resulting in a connection error. When such a connection error occurs, the automatic running of the running gear 1 will stop. In response to this, the running system according to this disclosure has a configuration that allows the bogie to be properly connected to the running gear, as shown below.

[0038] Specifically, as shown in Figure 3, the trolley 3 includes a control unit 31, a storage unit 32, a communication unit 33, and a display unit 34.

[0039] The communication unit 33 is a communication interface that connects the trolley 3 to a communication network wirelessly and performs data communication with external devices such as the running device 1, operating terminal, and server via the communication network, in accordance with a predetermined communication protocol.

[0040] The display unit 34 is a display display such as electronic paper, liquid crystal display, or organic EL display that displays various types of information. For example, the display unit 34 displays a predetermined AR (Advanced Reality) tag (AR marker) in accordance with a command from the control unit 31. The AR tag is an example of the identification information of this disclosure. The identification information of this disclosure is not limited to AR tags, but may also be an information-readable medium such as a one-dimensional code or a two-dimensional code.

[0041] The storage unit 32 is a non-volatile storage unit such as an HDD or SSD that stores various types of information. Data such as tag information D2 is stored in the storage unit 32. Tag information D2 includes information about AR tags. For example, tag information D2 includes image information of multiple types of AR tags and multiple size information related to the display size when displayed on the display unit 34.

[0042] The control unit 31 includes control devices such as a CPU, ROM, and RAM. The CPU is a processor that performs various arithmetic operations. The ROM is a non-volatile memory unit that stores control programs such as a BIOS and OS in advance to cause the CPU to perform various arithmetic operations. The RAM is a volatile or non-volatile memory unit that stores various information and is used as a temporary memory (work area) for the various processes performed by the CPU. The control unit 31 then performs display control by executing various control programs that have been stored in advance in the ROM or memory unit 32 using the CPU.

[0043] Specifically, the control unit 31 includes various processing units, such as a display processing unit 311, as shown in Figure 3. The control unit 31 functions as these various processing units by executing various processes according to the control program using the CPU. Some or all of these processing units may be composed of electronic circuits. The control program may be a program that causes multiple processors to function as these processing units.

[0044] The display processing unit 311 displays predetermined information on the display unit 34 according to commands received from an external device. Specifically, when the display processing unit 311 receives a display instruction for AR tag T1 from the traveling device 1, it displays AR tag T1 on the display unit 34. For example, the display processing unit 311 displays AR tag T1 when the traveling device 1 reaches a predetermined position. The display processing unit 311 is an example of a display processing unit in this disclosure.

[0045] The control unit 11 of the running gear 1 transmits a display instruction to the trolley 3 as follows. Specifically, the notification processing unit 113 of the control unit 11 notifies the trolley 3 of a display instruction for the AR tag T1 when the running gear 1 approaches the trolley 3, that is, when the distance between the running gear 1 and the trolley 3 falls below a predetermined distance. For example, when the running gear 1 is moving towards coupling with the trolley 3, the notification processing unit 113 notifies the trolley 3 of a display instruction for the AR tag T1 when communication with the trolley 3 becomes possible. The notification processing unit 113 also notifies the trolley 3 of a display instruction for the large-sized AR tag T1 (see Figure 8A). The display processing unit 311 of the trolley 3 displays the large-sized AR tag T1 on the display unit 34 according to the display instruction received from the running gear 1 (see Figure 8A).

[0046] The detection processing unit 114 detects the AR tag T1 displayed on the display unit 34. Specifically, the detection processing unit 114 detects the AR tag T1 by performing image analysis on the image captured by the camera 17. Once the detection processing unit 114 detects the AR tag T1, the driving processing unit 111 controls the direction and position of the driving device 1 so that the orientation (display direction) of the AR tag T1 coincides with the front of the driving device 1 (direction of travel).

[0047] The decision processing unit 115 determines the display size of the AR tag T1. Specifically, the decision processing unit 115 determines the display size of the AR tag T1 to be displayed on the display unit 34 based on the distance between the running device 1 and the bogie 3. The notification processing unit 113 notifies the bogie 3 of the display instruction for the AR tag T1 with the display size determined by the decision processing unit 115. The notification processing unit 113 is an example of a display processing unit in this disclosure. The following describes specific examples of the display instruction transmitted by the running device 1 to the bogie 3 and the display processing in the bogie 3.

[0048] [Example 1] Figure 8 shows an example of the display of the AR tag T1 in Embodiment 1. The determination processing unit 115 determines the display size of the AR tag T1 such that the display size decreases as the distance between the running device 1 and the trolley 3 decreases. For example, the display size of the AR tag T1 at the position where communication between the running device 1 and the trolley 3 becomes possible (first position) (see Figure 8A) is large. As the running device 1 approaches the trolley 3 from the first position (second position), the determination processing unit 115 determines a medium size, which is smaller than the large size. The notification processing unit 113 notifies the trolley 3 of the medium size display determined by the determination processing unit 115. The display processing unit 311 displays the AR tag T1 in the determined medium size on the display unit 34 (see Figure 8B).

[0049] As the running device 1 approaches the trolley 3 from the second position, the determination processing unit 115 determines the size to be small, which is smaller than the medium size. The notification processing unit 113 notifies the trolley 3 of the display size (small size) determined by the determination processing unit 115. The display processing unit 311 displays the AR tag T1 on the display unit 34 in the determined small size (see Figure 8C).

[0050] In this manner, the display processing unit 311 displays the AR tag T1 such that the display size decreases as the running device 1 approaches the bogie 3. Furthermore, the display processing unit 311 does not display the AR tag T1 on the display unit 34 if the running device 1 is more than a predetermined distance away from the bogie 3, or if communication between the running device 1 and the bogie is not possible. In addition, the display processing unit 311 may turn off the power to the display unit 34 when it does not display the AR tag T1 on the display unit 34.

[0051] The decision processing unit 115 may also determine the display size of the AR tag T1 based on the pixel size of the AR tag T1 relative to the image (angle of view) captured by the camera 17. For example, if the running device 1 approaches the bogie 3 and the AR tag T1 goes out of the angle of view (out of frame), the decision processing unit 115 will determine the display size of the AR tag T1 to be smaller. Furthermore, if the running device 1 approaches the bogie 3 and the AR tag T1 goes out of the angle of view, the decision processing unit 115 will determine the display size of the AR tag T1 to be even smaller.

[0052] With the above configuration, the running device 1 approaches the bogie 3 while accurately detecting the AR tag T1. The running processing unit 111 also reverses the running device 1 until, for example, a small AR tag T1 goes out of the field of view and can no longer be detected. The coupling processing unit 112 executes the coupling operation when the optical sensors of the couplers 22L and 22R detect the bogie 3.

[0053] [Example 2] Figure 9 shows an example of the display of AR tags T1 in Embodiment 2. The determination processing unit 115 determines the number of AR tags T1 to display based on the distance between the running device 1 and the trolley. The display processing unit 311 causes the number of AR tags T1 determined by the determination processing unit 115 to be displayed on the display unit 34.

[0054] Specifically, the decision processing unit 115 determines the display size of the AR tag T1 such that the display size decreases as the distance between the running device 1 and the bogie 3 decreases, and also determines the number of AR tags T1 to display such that the number of tags to display increases as the distance between the running device 1 and the bogie 3 decreases.

[0055] For example, at the position where communication between the running device 1 and the bogie 3 becomes possible (first position), the display size (large) and number of AR tags T1 displayed (1) (see Figure 9A) are determined. When the running device 1 approaches the bogie 3 from the first position (second position), the determination processing unit 115 determines the size to be medium, which is smaller than the large size, and the number of displayed tags to be 4. The notification processing unit 113 notifies the bogie 3 of the display size (medium) and number of displayed tags (4) determined by the determination processing unit 115. The display processing unit 311 displays 4 of the determined medium-sized AR tags T1 on the display unit 34 (see Figure 9B).

[0056] As the running device 1 approaches the trolley 3 from the second position, the decision processing unit 115 determines the size to be small, which is smaller than the medium size, and also determines the number of displays to be 8. The notification processing unit 113 notifies the trolley 3 of the display size (small size) and the number of displays (8) determined by the decision processing unit 115. The display processing unit 311 displays 8 AR tags T1 in the determined small size on the display unit 34 (see Figure 9C).

[0057] In this way, the display processing unit 311 displays the AR tags T1 in such a way that the display size becomes smaller and the number of tags increases as the running device 1 approaches the bogie 3. This improves the detection accuracy of the AR tags T1.

[0058] As shown in Figure 9D, the display processing unit 311 may arrange the AR tags T1 so that their display positions are offset from each other when displaying multiple AR tags T1.

[0059] [Example 3] The decision processing unit 115 may determine the display size of the AR tag T1 according to the detection accuracy (reading accuracy) of the AR tag T1. For example, if the entry angle or position of the running device 1 relative to the trolley 3 is misaligned, variations in the detection accuracy of the AR tag T1 may occur. Therefore, the decision processing unit 115 monitors the detection accuracy and determines a display size that satisfies a predetermined detection accuracy. In addition, the running processing unit 111 monitors the detection accuracy after the display size has been changed and controls the direction and position of the running device 1.

[0060] The decision processing unit 115 may also determine the number of AR tags T1 to display according to the detection accuracy of the AR tags T1. The decision processing unit 115 monitors the detection accuracy and determines the number of displays that satisfies a predetermined detection accuracy.

[0061] [Example 4] Figure 10 shows an example of the display of AR tag T1 in Embodiment 4. The display processing unit 311 displays an AR tag T2, which is different from AR tag T1, on the display unit 34 when the distance between the running device 1 and the bogie reaches a predetermined distance that allows the bogie 3 to be coupled to the running device 1. When the coupling processing unit 112 reads AR tag T2 from the camera 17, it corrects the position of the hooks of the couplers 22L and 22R to couple the bogie 3.

[0062] For example, the decision processing unit 115 determines that the display size of AR tag T1 becomes smaller as the running device 1 approaches the bogie 3, and switches to AR tag T2 when the running device 1 is closest to the bogie 3. AR tag T2 is composed of, for example, a stripe pattern. The display processing unit 311 switches AR tag T1 (see Figure 10A) to AR tag T2 (see Figure 10B) and displays it.

[0063] When the detection processing unit 114 detects the stripe pattern of the AR tag T2, the coupling processing unit 112 adjusts the positions of the hooks of the couplers 22L and 22R. For example, as shown in Figure 11, the coupling processing unit 112 adjusts the positions of the hooks of the couplers 22L and 22R in the left-right direction (direction of the arrows in Figure 11) so that they fit between the fences 36 of the bogie 3.

[0064] Furthermore, as shown in Figure 10C, the display processing unit 311 may display AR tags T3 on the display unit 34 to align the positions of the hooks of the couplers 22L and 22R. As shown in Figure 10C, the display processing unit 311 displays the AR tags T3 with a stripe pattern at display positions corresponding to the positions of the hooks. The coupling processing unit 112 adjusts the position of each hook in the left-right direction to match the positions of the left and right stripes and performs the coupling operation. As a result, the running device 1 can properly connect the couplers 22L and 22R to the bogie 3. In another embodiment, as shown in Figure 10D, the display processing unit 311 may display the stripe pattern image using AR tags T1. The coupling processing unit 112 adjusts the position of each hook in the left-right direction to match the positions of the left and right rows of AR tags T1 and performs the coupling operation.

[0065] [Example 5] Figure 12 shows an example of the display of the AR tag T1 in Embodiment 5. The display processing unit 311 displays warning information on the display unit 34 when there is an imbalance in the load on the trolley 3. Specifically, if the cargo stored on the trolley 3 is concentrated in either the left or right direction, an uneven load may be placed on the trolley 3, causing it to tilt in that direction.

[0066] The detection processing unit 114 detects the tilt state of the AR tag T1 displayed on the display unit 34 and determines whether or not an uneven load is occurring. When the detection processing unit 114 detects an uneven load, the notification processing unit 113 notifies the trolley 3 of the detection information. The display processing unit 311 displays a message on the display unit 34 indicating that an uneven load is occurring (for example, the message "Caution: Uneven Load"). This allows, for example, an operator to recognize the message and take action to eliminate the uneven load. The notification processing unit 113 may also output the warning information as an audio signal or notify the operator's terminal or server.

[0067] [Example 6] The detection processing unit 114 may adjust the angle of the camera 17 so that the display unit 34 is included in the camera's shooting range. For example, the camera 17 is mounted on the upper part of the traveling device 1 so as to be rotatable in the up, down, left, and right directions.

[0068] When the control unit 11 starts detecting the AR tag T1, it controls the movement of the mobile device 1 so that the AR tag T1 is in front of the mobile device 1. If the detection accuracy of the AR tag T1 decreases, the control unit 11 rotates the camera 17 to a position where the detection accuracy of the AR tag T1 satisfies a predetermined accuracy. Also, if the AR tag T1 goes out of frame from the shooting range of the camera 17, the control unit 11 rotates the camera 17 in a predetermined order to search for the AR tag T1 so that it is in the shooting range of the camera 17. In this way, the control unit 11 controls the movement of the mobile device 1 so that the AR tag T1 is in front of the mobile device 1 while adjusting the angle of the camera 17.

[0069] [Example 7] Figure 13 shows an example of the display of the AR tag T1 in Embodiment 7. The trolley 3 is equipped with a display unit 35 in addition to the display unit 34. The display unit 34 is located on the front of the trolley 3, which is in the direction of travel, and the display unit 35 is located on the side of the trolley 3. The display unit 35 is made of, for example, electronic paper. The display processing unit 311 causes the AR tag T1 to be displayed on the display unit 35.

[0070] For example, when the AR tag T1 is displayed on the display unit 35 and the detection processing unit 114 detects the AR tag T1, the control unit 11 determines that the running device 1 is located on the side of the bogie 3. In this case, the running processing unit 111 controls the running device 1 so that it is positioned in front of the bogie 3. When the running device 1 starts communicating with the display unit 34 on the front side of the bogie 3, the display processing unit 311 displays the AR tag T1 on the display unit 34. In this way, by displaying the AR tag T1 on the display unit 35, the running device 1 can be guided to the coupling position.

[0071] [Example 8] Figure 14 shows an example of the display of the AR tag T1 in Embodiment 8. For example, when multiple trolleys 3 are included, the display processing unit 311 causes the AR tag T1 to be displayed on the display unit 34 of a designated trolley 3 among the multiple trolleys 3. For example, as shown in Figure 14, when three trolleys (trolley ID: "1", trolley ID: "2", trolley ID: "3") are included, and trolley ID: "1" is designated as the trolley 3 to be connected, the notification processing unit 113 communicates with trolley ID: "1" 3 to notify it of the display instruction. As a result, trolley ID: "1" 3 displays the AR tag T1 on the display unit 34 (see Figure 14). This prevents the mistake of accidentally connecting a trolley 3 that is not the intended target.

[0072] [Example 9] Figure 15 shows an example of the display of the AR tag T1 in Embodiment 9. For example, when the camera 17 reads the AR tag T1, the driving processing unit 111 autonomously drives the driving device 1 based on the detection results of the orientation and distance of the AR tag T1 to the driving device 1.

[0073] Specifically, the AR tag T1 displayed on the trolley 3 is used as a landmark (marker) for autonomous driving. For example, when the driving device 1 is in an environment where there are no landmarks such as other devices around it while it is driving, the amount of positional information that can be estimated from the LiDAR sensor (obstacle detection sensor 23, etc.) decreases. When the amount of surrounding positional information decreases, the driving device 1 will experience a deviation in its own position, making it difficult to control its driving to the destination.

[0074] Figure 15 shows an environmental map of the area in which the running device 1 travels. Trolleys A and B are positioned in the area, and the running device 1 moves to the coupling position of trolley A according to the travel route R1 and performs the coupling operation. At this point, the control unit 11 displays the AR tag T1 on the display unit 34 of trolley B. When the running device 1 detects the AR tag T1 displayed on the display unit 34 of trolley B, it corrects the positional deviation of the running device 1 relative to the travel route R1 based on the detected direction and detected distance of the AR tag T1. As a result, the control unit 11 controls the running device 1 to travel according to the travel route R1.

[0075] In this manner, when the AR tag T1 is read by the camera 17 installed on the driving device 1, the driving processing unit 111 autonomously drives the driving device 1 based on the detection results of the orientation and distance of the AR tag T1 relative to the driving device 1.

[0076] The control unit 11 may be configured to display the AR tag T1 on the bogie B when the running device 1 deviates from the running route R1, and not to display the AR tag T1 on the bogie B when the running device 1 does not deviate from the running route R1.

[0077] [Example 10] Figure 16 shows an example of the display on the display unit 34 in Embodiment 10. When the trolley 3 is connected to the running device 1, the display processing unit 311 causes the running device 1 to display running information, including the destination of the running device 1, on the display unit 311. For example, when the coupling operation of connecting the trolley 3 to the running device 1 is completed, the display processing unit 311 causes the display unit 34 or electronic paper (display unit 35 in Figure 13) to display information such as the sorting location, destination, and progress of the sorting work within the warehouse.

[0078] Furthermore, if a linking error occurs, the display processing unit 311 displays the details of the linking error, how to deal with it, etc., on the display unit 34 or electronic paper, as shown in Figure 16B. This allows the linking error to be addressed and resolved.

[0079] When the running device 1 approaches the bogie 3 at a high speed, it is necessary to switch the identification information (AR tag T1, etc.) displayed on the display unit 34 at high speed. In this case, if electronic paper is used for the display unit 34, it has low responsiveness, and switching the AR tag T1 requires power ON / OFF processing, so it may not be suitable. Liquid crystal displays have high responsiveness and do not require power ON / OFF processing, so they are preferable when high-speed display switching is required. On the other hand, when the running device 1 approaches the bogie 3 at a low speed, the switching speed of the identification information (AR tag T1, etc.) displayed on the display unit 34 does not need to be high speed, so it is preferable to use electronic paper, which consumes less power than liquid crystal displays. Although electronic paper and liquid crystal displays have been given as examples of the display unit 34, it is also possible to use other display devices with similar characteristics.

[0080] As described above, the travel system of this disclosure is a travel system that includes a trolley 3 and a travel device 1 that can travel while being towed by a trolley 3. The travel system also displays an AR tag T1 (first identification information) on a display unit 34 provided on the trolley 3 when the travel device 1 reaches a predetermined position. The travel system also determines the display size of the AR tag T1 displayed on the display unit 34 based on the distance between the travel device 1 and the trolley 3. The travel system also determines the number of AR tags T1 to be displayed on the display unit 34 based on the distance between the travel device 1 and the trolley 3. Furthermore, when the AR tag T1 is read by a camera 17 (reading unit) provided on the travel device 1, the travel system performs a coupling operation to connect the trolley 3 to the travel device 1.

[0081] With the above configuration, the running gear 1 can be guided to the coupling position by detecting the AR tag T1, making it possible to properly couple the bogie 3 to the running gear 1.

[0082] The travel system relating to this disclosure is not limited to the embodiments described above. For example, in the travel system, a server capable of communicating with each of the travel device 1 and the trolley 3 may measure the distance between the travel device 1 and the trolley 3, determine the display size and number of AR tags T1, and notify the trolley 3 of a display instruction. That is, the server may include a display processing unit and a determination processing unit relating to this disclosure. The server may consist of an information processing device installed in a facility where the travel device 1 and the trolley 3 are introduced, or it may consist of a cloud server.

[0083] [Disclosure Note] The following is an overview of the disclosures extracted from the above-described embodiments. Note that each configuration and processing function described in the following notes can be selected and combined as desired.

[0084] <Note 1> A running system including a trolley and a running device that can run while being connected to and towing the trolley, A display processing unit that causes the traction device to display first identification information on a display unit provided on the trolley when it reaches a predetermined position, A determination processing unit that determines the display size of the first identification information displayed on the display unit based on the distance between the running device and the trolley, When the first identification information is read by the reading unit provided on the running device, a coupling processing unit performs a coupling operation to connect the trolley to the running device, A driving system equipped with the following features.

[0085] <Note 2> The determination processing unit determines the display size such that the display size decreases as the distance decreases. The display processing unit displays the first identification information at the display size determined by the determination processing unit. The driving system described in Appendix 1.

[0086] <Note 3> The determination processing unit further determines the number of displays of the first identification information based on the distance. The display processing unit displays the first identification information of the number to be displayed, which is determined by the determination processing unit. The driving system described in Appendix 1 or 2.

[0087] <Note 4> The determination processing unit determines the number of displays such that the number of displays increases as the distance decreases. The driving system described in Appendix 3.

[0088] <Note 5> The determination processing unit determines the display size according to the reading accuracy of the first identification information by the reading unit. A driving system as described in any of the appendices 1 to 4.

[0089] <Note 6> When the distance reaches a predetermined distance at which the trolley can be connected to the running device, the display processing unit displays a second identification information different from the first identification information on the display unit. When the reading unit reads the second identification information, the coupling processing unit corrects the position of the coupling part provided on the running device to connect the trolleys. A driving system as described in any of the appendices 1 to 5.

[0090] <Note 7> The display processing unit causes warning information to be displayed on the display unit when there is an imbalance in the load capacity of the trolley. A driving system as described in any of the appendices 1 to 6.

[0091] <Note 8> The reading unit is a camera provided on the upper part of the traveling device, The angle of the camera is adjusted so that the display unit is included in the camera's shooting range. A driving system as described in any of the appendices 1 to 7.

[0092] <Note 9> The display unit includes a first display unit provided on the front of the trolley in the direction of travel, and a second display unit provided on the side of the trolley. The display processing unit causes the second display unit to display the first identification information. A driving system as described in any of the appendices 1 to 8.

[0093] <Note 10> When multiple trolleys are included, The display processing unit causes the first identification information to be displayed on the display unit of a designated trolley among the plurality of trolleys. A driving system as described in any of the appendices 1 to 9.

[0094] <Note 11> When the first identification information is read by the reading unit provided on the traveling device, the traveling device is made to travel autonomously based on the detection results of the direction and distance of the first identification information relative to the traveling device. The driving system described in any of the appendices 1 to 10.

[0095] <Note 12> The display processing unit, when the trolley is connected to the trolley, causes the display unit to display travel information including the destination of the trolley. A driving system as described in any of the appendices 1 to 11. [Explanation of Symbols]

[0096] 1: Running gear 3: Dolly 11: Control Unit 12: Storage section 13: Line Sensor 14: Marker Sensor 15: Drive unit 16: Communications Department 17: Camera 21L: Drive wheels 21R: Drive wheel 22L:Coupler 22R:Coupler 31: Control Unit 32: Storage section 33: Communications Department 34: Display section 35:Display section 36: Fence 111: Driving section 112: Linking Processing Unit 113: Notification Processing Unit 114: Detection Processing Unit 115: Decision Processing Unit 311: Display Processing Unit D1: Control information D2: Tag Information L: Magnetic tape M: Marker T1: AR tag T2: AR tag T3: AR tag d1: Arrow direction R1: Driving route

Claims

1. A running system including a trolley and a running device that can run while being connected to and towing the trolley, A display processing unit that causes the traction device to display first identification information on a display unit provided on the trolley when it reaches a predetermined position, A determination processing unit that determines the display size of the first identification information displayed on the display unit based on the distance between the running device and the trolley, When the first identification information is read by the reading unit provided on the running device, a coupling processing unit performs a coupling operation to connect the trolley to the running device, A driving system equipped with the following features.

2. The determination processing unit determines the display size such that the display size decreases as the distance decreases. The display processing unit displays the first identification information at the display size determined by the determination processing unit. The driving system according to claim 1.

3. The determination processing unit further determines the number of displays of the first identification information based on the distance. The display processing unit displays the first identification information of the number to be displayed, which is determined by the determination processing unit. The driving system according to claim 2.

4. The determination processing unit determines the number of displays such that the number of displays increases as the distance decreases. The driving system according to claim 3.

5. The determination processing unit determines the display size according to the reading accuracy of the first identification information by the reading unit. The driving system according to claim 1.

6. When the distance reaches a predetermined distance at which the trolley can be connected to the running device, the display processing unit displays a second identification information different from the first identification information on the display unit. When the reading unit reads the second identification information, the coupling processing unit corrects the position of the coupling part provided on the running device to connect the trolleys. The driving system according to claim 1.

7. The display processing unit causes warning information to be displayed on the display unit when there is an imbalance in the load capacity of the trolley. The driving system according to claim 1.

8. The reading unit is a camera provided on the upper part of the traveling device, The angle of the camera is adjusted so that the display unit is included in the camera's shooting range. The driving system according to claim 1.

9. The display unit includes a first display unit provided on the front of the trolley in the direction of travel, and a second display unit provided on the side of the trolley. The display processing unit causes the second display unit to display the first identification information. The driving system according to claim 1.

10. When multiple trolleys are included, The display processing unit causes the display unit of a designated trolley among the plurality of trolleys to display the first identification information. The driving system according to claim 1.

11. When the first identification information is read by the reading unit provided on the traveling device, the traveling device is made to travel autonomously based on the detection results of the direction and distance of the first identification information relative to the traveling device. The driving system according to claim 1.

12. The display processing unit, when the trolley is connected to the trolley, causes the display unit to display travel information including the destination of the trolley. The driving system according to claim 1.

13. A method of operation for a traction device that moves while being towed by a connected bogie, One or more processors When the traveling device reaches a predetermined position, the first identification information is displayed on the display unit provided on the trolley. The display size of the first identification information displayed on the display unit is determined based on the distance between the running device and the trolley. When the first identification information is read by the reading unit provided on the running device, a coupling operation is performed to connect the trolley to the running device. A driving method that performs this task.

Images