Conveying system

Abstract

To provide a conveyance system capable of properly conveying a load.SOLUTION: A conveyance system comprises: a carrier which is provided to be mounted with a load 400 to be passed to a shelf, or to receive a load 500 on the shelf; a conveyance robot 100 which is mounted with the carrier and moves for transfer of the loads between the shelf and carrier; a sensor unit which is provided to detect whether there is a load on the shelf or the carrier; and a detection part which detects abnormality of transfer of a load according to a detection result of the sensor unit. The conveyance robot 100 may uses a machine learnt model of deep learning for the control.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a conveying system.

Background Art

[0002] Patent Document 1 discloses a robot including a traveling device and a storage device for storing articles. This robot includes an article gripping device for gripping an article. The article gripping device grips an article from an article storage device and places it in the storage device. Also, the article gripping device grips an article from the storage device and places it in the article storage device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In Patent Document 1, since an article gripping device is used, there is a problem that the delivery of luggage cannot be performed efficiently. When transporting luggage by a moving body such as a robot, it is desirable to efficiently transfer (load or unload) the luggage. By easily performing the transfer of the luggage, the transport efficiency can be increased. Furthermore, if an abnormality in the delivery of the luggage occurs, there is a risk of imposing an excessive load on the robot. A system that can achieve both high transport efficiency and abnormality suppression is desired.

Means for Solving the Problems

[0005] The transport system according to this embodiment includes a carrier provided for placing packages to be transferred to a shelf, or for transferring packages that are on the shelf; a transport robot on which the carrier is mounted and which moves to transfer packages between the shelf and the carrier; a sensor unit provided for detecting the presence or absence of packages on the shelf or the front carrier; and a detection unit that detects abnormalities in package transfer according to the detection result of the sensor unit.

[0006] In the transport system according to this embodiment, the cargo is provided with a marker, and the sensor unit may be an optical sensor that detects the marker.

[0007] In the transport system according to this embodiment, the sensor unit may include a first sensor positioned facing forward in the direction of movement of the transport robot, and a second sensor positioned facing backward in the direction of movement of the transport robot.

[0008] In the transport system according to this embodiment, the first sensor may capture an image of the marker, and the mobile robot may approach the shelf based on the captured image of the marker.

[0009] In the transport system according to this embodiment, the transport robot may further include wheels and drive sensors that detect drive information related to the driving of the wheels, and the detection unit may detect a transfer abnormality based on the drive information.

[0010] In the transport system according to this embodiment, the detection unit may be configured to detect an abnormality when the driving torque of the wheels is greater than or equal to a threshold.

[0011] In the transport system according to this embodiment, the wheels are provided on the left and right sides of the transport robot. The detection unit may be configured to detect an abnormality when the difference between the left and right drive wheels is a predetermined value.

[0012] In the transport system according to this embodiment, when the detection unit detects an abnormality, the mobile robot may be decelerated or stopped.

[0013] In the transport system according to this embodiment, when the detection unit detects an abnormality, the server may be notified of the occurrence of the abnormality. In the transport system according to this embodiment, the shelf may be a movable shelf that moves with other transport robots.

[0014] The transport system according to this embodiment may include the shelf.

Effect of the Invention

[0015] According to the present disclosure, it is possible to provide a transport system capable of appropriately transporting luggage.

Brief Description of the Drawings

[0016] [Figure 1] It is a perspective view schematically showing the overall configuration of the transport robot according to this embodiment. [Figure 2] It is a perspective view showing a configuration in which a transport robot is mounted with a carrier. [Figure 3] It is a top view showing the configuration of the transport system before transfer. [Figure 4] It is a side view showing the configuration of the transport system before transfer. [Figure 5] It is a side view showing the configuration of the transport system after transfer. [Figure 6] It is a schematic view showing a marker provided on the luggage. [Figure 7] It is a flowchart showing the process when a transfer abnormality is detected. [Figure 8] It is a side view showing an example of a transfer abnormality. [Figure 9] It is a side view showing an example of a transfer abnormality. [Figure 10] It is a side view showing an example of a transfer abnormality. [Figure 11] It is a side view showing an example of a transfer abnormality. [Figure 12] It is a side view showing an example of abnormal transfer. [Figure 13] It is a side view schematically showing the configuration of the transport system according to the second embodiment. [Figure 14] It is a side view schematically showing the configuration of the transport system according to the third embodiment.

Embodiments for Carrying Out the Invention

[0017] Hereinafter, the present invention will be described through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Also, not all of the configurations described in the embodiments are necessarily essential as means for solving the problems.

[0018] Embodiment 1 FIG. 1 is a perspective view showing the overall configuration of the transfer robot 100 used in the transfer system according to the present embodiment. In the following description, the XYZ orthogonal coordinate system will be used for explanation as appropriate. The X direction is the front-rear direction of the transfer robot 100, the Y direction is the left-right direction, and the Z direction is the vertical up-down direction. More specifically, the +X direction is defined as the front direction of the transfer robot 100, and the -X direction is defined as the rear direction of the transfer robot 100. The +Y direction is the left direction of the transfer robot 100, and the +Y direction is the left direction of the transfer robot 100. The +Z direction is the vertically upward direction, and the -Z direction is the vertically downward direction.

[0019] Note that the transfer robot 100 is movable in both the front and rear directions. That is, when the wheels are rotated forward, the transfer robot 100 moves forward, and when rotated backward, the transfer robot 100 moves backward. By changing the rotation speeds of the left and right wheels, the transfer robot 100 can turn left and right.

[0020] The transport robot 100 comprises a chassis 110, a stand 120, and an operating unit 130. The chassis 110 is equipped with wheels 111, axles, a battery, a control computer, a drive motor, etc. The chassis 110 holds the wheels 111 so that they can rotate. Furthermore, the chassis 110 may be equipped with various sensors such as a camera and a distance measuring sensor. Here, the transport robot 100 is described as an autonomous mobile robot. Of course, the transport robot 100 may also be a mobile robot that moves according to user operation.

[0021] The chassis 110 houses a lifting stage 140 for loading and unloading cargo. The lifting stage 140 is located on the upper side of the chassis 110. The lifting stage 140 is equipped with a motor or other drive mechanism. The chassis 110 has a built-in motor and guide mechanism for lifting. The upper surface of the lifting stage 140 is the mounting surface on which the wagon is placed. The lifting stage 140 has a lift mechanism to lift the wagon. The lifting stage 140 supports the shelf section that serves as the carrier. The space above the lifting stage 140 is the loading space for cargo. The chassis 110 is equipped with a rechargeable secondary battery.

[0022] The stand 120 is attached to the chassis 110. The stand 120 is a rod-shaped member extending upward from the chassis 110. Here, the stand 120 is formed in a cylindrical shape with the Z direction as its longitudinal direction. The longitudinal direction of the stand 120 is parallel to the Z direction. The stand 120 is positioned outside the lifting stage 140. In other words, the stand 120 is positioned so as not to interfere with the lifting operation of the lifting stage 140. The stand 120 is positioned on one end of the chassis 110 in the Y direction (left-right direction). The stand 120 is attached near the left front corner of the chassis 110. In the XY plane, the stand 120 is provided at the end of the chassis 110 on the +X side and -Y side.

[0023] The stand 120 supports the control unit 130. The control unit 130 is attached near the upper end of the stand 120. This allows the control unit 130 to be installed at a height that is easy for the user to operate. In other words, the stand 120 extends to a height that is easy for a standing user to operate. The control unit 130 extends from the stand 120 in the +Y direction. In the left-right direction, the control unit 130 is positioned in the center of the chassis 110.

[0024] The control unit 130 has a touch panel monitor or the like that accepts user input. Of course, the control unit 130 may also have a microphone for voice input. The monitor of the control unit 130 faces away from the chassis 110. In other words, the display surface (operation surface) of the control unit 130 is the +X side. The control unit 130 may be detachably mounted from the stand 120. In other words, the stand 120 may have a holder attached to hold the touch panel. By operating the control unit 130, the user can input information such as the destination of the cargo and other cargo-related transport information. Furthermore, the control unit 130 can display information to the user such as the contents of the cargo in transport, the cargo scheduled for transport, and its destination.

[0025] Furthermore, a front sensor 131 is attached to the control unit 130. The front sensor 131 is positioned facing forward, i.e., in the +X direction. In addition, a rear sensor 121 is built into the stand 120. The rear sensor 121 is positioned facing backward, i.e., in the -X direction. The rear sensor 121 and the front sensor 131 are used to detect whether or not the delivery of the package was performed correctly. The rear sensor 121 and the front sensor 131 are optical sensors such as cameras.

[0026] The user places goods (also referred to as items or transported objects) on a shelf mounted on the transport robot 100 and requests transport. The transport robot 100 autonomously moves to the set destination and transports the goods. In other words, the transport robot 100 performs the task of transporting goods (hereinafter also referred to simply as the task). In the following explanation, the place where the goods are loaded will be referred to as the source or loading place, and the place where the goods are delivered will be referred to as the destination or delivery destination.

[0027] For example, suppose the transport robot 100 moves around within a general hospital with multiple medical departments. The transport robot 100 transports supplies, consumables, medical equipment, etc., between multiple medical departments. For example, the transport robot 100 delivers goods from the nurse station of one medical department to the nurse station of another medical department. Alternatively, the transport robot 100 delivers goods from a storage room for supplies and medical equipment to the nurse station of a medical department. In addition, the transport robot 100 delivers medications dispensed in the pharmacy department to the medical department or patient where they are to be used.

[0028] Examples of cargo include consumables such as medicines and bandages, specimens, testing equipment, medical devices, hospital meals, stationery, and other supplies. Examples of medical devices include blood pressure monitors, blood transfusion pumps, syringe pumps, foot pumps, nurse call systems, bed exit sensors, foot pumps, low-pressure continuous inhalers, electrocardiogram monitors, drug infusion controllers, enteral nutrition pumps, ventilators, cuff pressure gauges, touch sensors, suction devices, nebulizers, pulse oximeters, blood pressure monitors, resuscitation devices, sterile equipment, and ultrasound devices. It may also transport meals such as hospital meals and test meals. Furthermore, the transport robot 100 may transport used equipment, used dishes, etc. If the destination is on a different floor, the transport robot 100 may use an elevator or other means of transportation.

[0029] Next, using Figure 2, we will describe the configuration in which a carrier shelf is mounted on the transport robot 100. As shown in Figure 2, a shelf section 200 is provided above the chassis 110. The shelf section 200 is attached to the chassis 110. Therefore, the chassis 110 supports the shelf section 200. The shelf section 200 comprises a shelf board 210, a frame 220, and a base plate 240. As will be described later, the transport robot 100 can transfer goods between the transport robot and the installed shelf by passing through the shelf. In other words, the transport robot 100 can receive goods from the installed shelf by passing through it. Alternatively, the transport robot 100 can transfer goods from the shelf section 200 to the installed shelf by passing through it.

[0030] The shelf board 210 is a plate-shaped member provided along the XY plane. In Figure 2, two shelf boards 210 are provided on the shelf section 200. Luggage 400 is placed on the shelf boards 210. In other words, the shelf boards 210 support the luggage 400. The two shelf boards 210 are positioned at different heights. Luggage 400 is placed on each of the two shelf boards 210. In other words, the two shelf boards 210 are spaced apart in the Z direction by a distance greater than or equal to the height of the luggage 400. The shelf section 200 is the moving body side stage on which luggage is placed.

[0031] In Figure 2, the shelf section 200 has two shelf boards 210, but the number of shelf boards 210 is not particularly limited. There may be one shelf board 210, or there may be three or more. The shelf board 210 is positioned directly above the chassis 110. That is, in the XY plan view, the shelf board 210 overlaps with the chassis 110. The shelf board 210 is positioned above the lifting stage 140.

[0032] The base plate 240 is a plate-shaped member provided along the XY plane. The base plate 240 is attached to the upper surface of the lifting stage 140. The base plate 240 is positioned on the -X side of the stand 120. For example, the base plate 240 may be fixed to the chassis 110 using fastening means such as bolts.

[0033] The frame 220 is attached to the base plate 240. The base plate 240 supports the frame 220. The frame 220 is attached to the base plate 240 at the -Y end of the base plate 240. The frame 220 extends upward from the base plate 240. In other words, the frame 220 is positioned above the right end of the chassis 110. The frame 220 is positioned -X side of the stand 120.

[0034] The frame 220 supports the shelf board 210. The frame 220 is attached to the chassis 110 outside the lifting stage 140. Outside the lifting stage 140, the frame 220 extends upward. The shelf board 210 extends from the frame 220 in the +Y direction. In other words, the shelf board 210 is provided projecting from the frame 220 in the +Y direction. In the XY plane, the shelf board 210 is approximately the same size as the chassis 110.

[0035] The shelf unit 200 transfers the cargo 400 to and from the installation shelf. The facility where the transport robot 100 is used is equipped with an installation shelf. Furthermore, cargo placed on the installation shelf is transferred to the shelf unit 200. Furthermore, cargo 400 placed on the shelf unit 200 is transferred to the installation shelf. The frame 220 is provided with a contact portion 230 for transferring cargo 500. For example, the contact portion 230 is a rod-shaped member extending in the +Y direction.

[0036] The transport robot 100 passes over the installation shelf, thereby transferring the cargo 400. The cargo 400 and 500 can be transferred between the shelf unit 200 and the installation shelf without the use of transport actuators. In other words, there is no need to provide a transfer robot arm on the installation shelf or the transport robot. By installing the shelf unit 200, loading and unloading of cargo can be performed simply and quickly.

[0037] Figures 3 to 5 will be used to explain the configuration of the transport robot 100 and the storage shelf. Figures 3 to 5 are diagrams illustrating the configuration of the transport system 1, which includes the storage shelf 300 and the transport robot 100. Figure 3 is a schematic top view showing the configuration of the storage shelf 300 and the transport robot 100. Figures 4 and 5 are schematic side cross-sectional views showing the configuration of the storage shelf 300 and the transport robot 100. Figures 3 and 4 show the configuration before the transfer of goods. Figure 5 shows the configuration after the transfer of goods; that is, from the state shown in Figures 3 and 4, the transport robot 100 moves in the +X direction and approaches the storage shelf 300. Then, as the transport robot 100 passes over the storage shelf 300, the goods 400 and 500 are transferred. Once the transport robot 100 has passed over the storage shelf 300, the transfer is completed as shown in Figure 5.

[0038] The installed shelf 300 is a fixed shelf fixed to a warehouse or passageway. Goods 400 are placed on the installed shelf 300. The transport robot 100 is equipped with a shelf section 200. The shelf boards 210 of the shelf section 200 mounted on the transport robot 100 can also be called a mobile stage or carrier.

[0039] As the transport robot 100 passes over the installation shelf 300, the cargo 500 is transferred from the installation shelf 300 to the shelf section 200, and the cargo 400 is transferred from the shelf section 200 to the installation shelf 300. In other words, as the transport robot 100 passes over the installation shelf 300, cargo 400 and 500 are transferred between the installation shelf 300 and the shelf section 200. Since the transport robot 100 can transfer cargo 400 and cargo 500 almost simultaneously, cargo can be transferred efficiently. Although cargo 400 and 500 are described as rectangular boxes, their shapes are not particularly limited.

[0040] The installation shelf 300 comprises a first shelf 310, a frame 330, and a second shelf 320. The first shelf 310 is the first stage on which the cargo 400 is transferred. The second shelf 320 is the second stage on which the cargo 500 is placed. Before the transfer, the first shelf 310 is an empty shelf with no cargo 500 on it. When the transfer is complete, the cargo 500 is placed on shelf 210 and the cargo 400 is placed on the first shelf 310. After the transfer is complete, the second shelf 320 becomes an empty shelf with no cargo 500 on it. The first shelf 310 and the second shelf 320 are assumed to be flat plates parallel to the XY plane, but they may also be a chute structure that is inclined along the Y direction.

[0041] The first shelf 310 is formed in two tiers, upper and lower, similar to shelf 210. The second shelf 320 is also formed in two tiers, upper and lower, similar to shelf 210. Here, the cargo 400 on the upper shelf 210 is transferred to the upper first shelf 310. The cargo 500 on the upper second shelf 320 is transferred to the upper shelf 210. In the following explanation, we will describe the configuration of the same tier of the two shelves. For example, we will only describe the upper shelf and omit the description of the lower shelf.

[0042] The first shelf 310 is positioned on the -X side of the second shelf 320. The first shelf 310, the second shelf 320, and the shelf 210 are at different heights. Specifically, the first shelf 310 is set lower than the shelf 210, and the second shelf 320 is set higher than the shelf 210. Even when the transport robot 100 moves, the heights of the first shelf 310, the second shelf 320, and the shelf 210 do not change.

[0043] As the transport robot 100 moves, the shelf 210 passes through the height between the first shelf 310 and the second shelf 320. Specifically, when the transport robot 100 passes, the cargo 400 on shelf 210 is transferred to the first shelf 310. Therefore, the upper surface (placement surface) of the first shelf 310 is below the lower surface of the cargo 400. When the transport robot 100 passes, the cargo 500 on the second shelf 320 is transferred to shelf 210. Therefore, the upper surface (placement surface) of the first shelf 310 is below the lower surface of the cargo 400.

[0044] As the transport robot 100 moves in the +X direction, the cargo 400 on shelf 210 is first transferred to the first shelf 310. This creates space on shelf 210 for placing cargo 500. The transfer of cargo 400 from shelf unit 200 to installation shelf 300 is completed. Furthermore, as the transport robot 100 moves in the +X direction, the cargo 500 on the second shelf 320 is transferred to shelf 210. The transfer of cargo 400 from installation shelf 300 to shelf unit 200 is completed.

[0045] The installed shelf 300 is equipped with a contact portion 321. The contact portion 321 is positioned higher than the shelf board 210. Specifically, the contact portion 321 is located at the height of the luggage 400. When the contact portion 321 comes into contact with the luggage 400, the luggage 400 is pushed onto the first shelf board 310. Here, the contact portion 321 is located at the height of the second shelf board 320. For example, the contact portion 321 is located at the -X end of the second shelf board 320. The contact portion 321 is a rod-shaped member extending from the frame 330 in the -Y direction. Alternatively, the end face of the second shelf board 320 may be the contact portion 321.

[0046] When the contact portion 321 comes into contact with the load 400, the movement of the load 400 is restricted. In other words, the contact portion 321 holds down the load 400, preventing it from moving along with the movement of the transport robot 100. Therefore, the contact portion 321 can push the load 400 away from the shelf 210 in the -X direction. The load 400 is then transferred from the shelf 210 to the first shelf 310.

[0047] The shelf section 200 is equipped with a contact section 230. The contact section 230 is positioned higher than the second shelf board 320 and the luggage 400. Specifically, the contact section 230 is located at the height of the luggage 500. As will be described later, when the contact section 230 comes into contact with the luggage 500, the luggage 500 is pushed onto the shelf board 210. The contact section 230 is positioned on the -X side of the luggage 400. Here, in the X direction, the contact section 230 is positioned near the -X side end of the shelf board 210. The contact section 230 is attached to the frame 220. For example, the contact section 230 is a member that extends from the frame in the +Y direction.

[0048] When the contact portion 230 comes into contact with the load 500, the load 500 moves in the +X direction along with the movement of the transport robot 100. In other words, the contact portion 230 can push the load 500 out of the second shelf 320 in the + direction. The load 400 is then transferred from the second shelf 320 to the shelf 210.

[0049] Frame 330 and other components are positioned so as not to interfere with shelf 200. Similarly, stand 120 and frame 220 are positioned so as not to interfere with installation shelf 300.

[0050] Furthermore, the transport robot 100 is equipped with a front sensor 131 and a rear sensor 121. The front sensor 131 is a camera positioned facing forward in the direction of movement of the transport robot 100. The front sensor 131 is provided to detect the presence or absence of items on the first shelf 310 and the second shelf 320. The rear sensor 121 is provided to detect the presence or absence of items on the shelf 210.

[0051] As shown in Figure 4, before the transfer of the cargo 400 and 500, the front sensor 131 is imaging cargo 500. The rear sensor 121 is a camera positioned facing the rear in the direction of movement. The rear sensor 121 and the front sensor 131 capture moving images or a series of still images. In Figure 4, the front sensor 131 is imaging only the upper cargo 500, but it may also image the lower cargo 500. Alternatively, a separate front sensor 131 for imaging the lower cargo 500 may be provided on the transport robot 100.

[0052] The rear sensor 121 is positioned facing the rear of the transport robot 100. Therefore, the image captured by the rear sensor 121 is considered the rear image. The front sensor 131 is positioned facing the front of the transport robot 100. Therefore, the image captured by the front sensor 131 is considered the front image.

[0053] Before the transfer of cargo 400 and 500, the rear sensor 121 is imaging cargo 400. In other words, the front sensor 131 is mounted on the transport robot 100 in such a way that cargo 500 before transfer is included in the field of view of the front sensor 131. In the state before transfer shown in Figure 4, cargo 500 is included in the front image. The rear sensor 121 is mounted on the transport robot 100 in such a way that cargo 400 before transfer is included in the field of view of the rear sensor 121. In the state before transfer shown in Figure 4, cargo 400 is included in the rear image. In the state after transfer shown in Figure 5, cargo 500 is included in the rear image.

[0054] Furthermore, as shown in Figure 6, a marker 510 is attached to the side of package 500. The marker 510 is provided to detect the location of package 500. The marker 510 is a two-dimensional marker, such as a QR code (registered trademark), and is used to detect or identify package 500. Similarly, a marker 510 is also provided on package 400. For example, a unique marker 510 is attached to each package 400 and 500. The marker 510 contains ID information such as the identification number of package 400 and 500. The marker 510 of package 500 will be described below. Note that the marker 510 of package 400 is the same as that of package 500, so the description will be omitted.

[0055] It is preferable that the marker 510 be provided on two opposing sides of the load 500. That is, the same marker 510 is formed on the front and rear surfaces in the X direction. This allows the front sensor 131 to image the marker 510 before transfer, and the rear sensor 121 to image the marker 510 after transfer.

[0056] Before transferring the package 500, the front sensor 131 captures an image of the package 500's marker 510. This allows the transport robot 100 to detect that the package 500 to be received is on the shelf 300. If the transport robot 100 does not detect the package 500 to be received, it may send an alarm or message. Furthermore, before transferring the package 400, the rear sensor 121 captures an image of the package 400's marker 510. This allows the transport robot 100 to detect that the package 400 to be handed over is on the shelf 200.

[0057] The transport robot 100 can identify the packages 400 and 500 from the images captured by the marker 510. Furthermore, based on the images captured by the marker 510, it can detect whether the packages 400 and 500 are placed in the correct positions. For example, if the packages 400 and 500 are tilted or deviated from their correct positions, the transport robot 100 may send an alarm or message. In this way, the transport robot 100 can detect transfer abnormalities in advance based on the images captured by the marker 510.

[0058] Furthermore, if the packages 400 and 500 identified from the identification information of the marker 510 are not appropriate packages, a transfer anomaly can be detected. For example, suppose there are many packages of different sizes and weights. The transport robot 100 can detect from the identification information that packages 400 and 500 of an unsuitable size or weight are placed on the shelf 200 and the installation shelf 300. In such a case, the transport robot 100 may send an alarm or message. In this way, the transport robot 100 can detect transfer anomalies in advance based on the images captured by the marker 510.

[0059] The relative position of the transport robot 100 to the cargo 500 can be detected according to the position and size of the marker 510 in the captured image. The transport robot 100 then performs movement control based on the marker 510 included in the forward image. In other words, the transport robot 100 approaches the installation shelf 300 based on the forward image. For example, the transport robot 100 moves while adjusting its left and right position based on the forward image from the front sensor 131. By using the forward image including the marker 510 for movement control of the transport robot 100, the transport robot 100 can move to the appropriate transfer position. Specifically, the transport robot 100 can accurately control its Y-direction position relative to the installation shelf 300.

[0060] For example, a forward image of the normal transfer position is acquired in advance. The transport robot 100 moves so that the position of marker 510 in the forward image currently being captured matches the position of marker 510 included in the forward image of the normal transfer position. The transport robot 100 travels while feedback controlling its position according to the position of marker 510 in the captured image. This suppresses deviation from the normal transfer position. The transport robot 100 can appropriately transfer the loads 400 and 500. The position of the transport robot 100 can be corrected according to the position coordinates of marker 510 in the forward image. Therefore, even if the position of load 500 is misaligned on the installation shelf 300, load 500 can be appropriately transferred. Furthermore, the transport robot 100 can move without reducing its speed to align the transfer position. Therefore, efficient transport becomes possible.

[0061] Furthermore, the rear sensor 121 images the load 400 before transfer and the load 500 after transfer. Also, the front sensor 131 images the load 400 after transfer. The rear sensor 121 sequentially images the markers 510 of the load 400 and the load 500. The front sensor 131 images the marker 510 of the load 400. The transport robot 100 determines whether the transfer was performed normally based on the front and rear images. The transport robot 100 detects a transfer abnormality based on the front and rear images.

[0062] For example, the transport robot 100 can determine whether the transfer has been completed properly based on the position of the marker 510 before and after the transfer. Also, before the transfer, the rear image of the rear sensor 121 includes the marker 510 of the cargo 400. After the transfer, the rear image of the rear sensor 121 includes the marker 510 of the cargo 500. The transport robot 100 can determine whether the transfer was performed successfully based on whether the ID information of the marker 510 has changed or not.

[0063] Figure 7 is a control block diagram showing the configuration for detecting transfer abnormalities. The transport robot 100 is equipped with a rear sensor 121, a front sensor 131, a drive sensor 116, a detection unit 160, a drive control unit 162, a communication unit 164, and a notification unit 166. The rear sensor 121 and the front sensor 131 are collectively referred to as a sensor unit.

[0064] As described above, the front sensor 131 captures a forward image, and the rear sensor 121 captures a rear image. The drive control unit 162 controls the drive of the wheels 111. It has a drive motor for the wheels 111 and its controller. Specifically, it generates motor command values ​​that indicate the drive torque and rotational speed of the wheels 111. As a result, each wheel 111 rotates at a desired rotational speed. As described above, when transferring the loads 400 and 500, they move based on the position of the marker 510 in the forward image. In other words, the drive control unit 162 controls the rotational speed of the wheels 111 so that the position of the marker 510 in the forward image is at a desired position.

[0065] The drive sensor 116 detects drive information related to the driving of the wheels 111. For example, the drive sensor 116 detects the drive torque of the wheels 111. The drive sensor 116 detects the drive torque of the left and right wheels 111 separately. For example, the drive sensor 116 detects the current flowing to the drive motor of the drive control unit 162 and detects the drive torque of the wheels 111 according to the current value.

[0066] The detection unit 160 detects transfer abnormalities based on the detection results of the drive sensor 116, rear sensor 121, and front sensor 131. The detection unit 160 can read ID information and other data by performing image analysis on the captured image of the marker 510. Furthermore, the detection unit 160 can estimate the relative position of the transport robot 100 with respect to the loads 400 and 500 from the position of the marker 510 in the captured image.

[0067] The detection unit 160 receives drive information detected by the drive sensor 116 or imaging information. imageBased on this, the system detects whether the transfer was performed correctly. For example, the detection unit 160 detects that a transfer abnormality has occurred in any of the following cases. If a transfer abnormality is detected, the drive control unit 162 may decelerate or stop the transport robot 100.

[0068] (1) If the value detected by the drive sensor 116 becomes an abnormal value during transfer (2) If marker 510 is not properly imaged (3) If the rear image from the rear sensor 121 does not transition in the order of luggage present → no luggage present → luggage present (4) When the identification information of the marker 510 detected from the rear image of the rear sensor 121 does not change.

[0069] (1) If the drive torque exceeds a threshold, the detection unit 160 detects a transfer abnormality. In other words, if an abnormal load is applied to the wheel 111, the detection unit 160 determines that a transfer abnormality has occurred. In this case, the transport robot 100 may decelerate or stop. This prevents excessive load from being placed on the transport robot 100.

[0070] In (2), the detection unit 160 detects a transfer abnormality in advance, depending on the marker 510 included in the forward image before transfer. For example, the detection unit 160 detects from the image of the marker 510 that the package 500 is not placed on the shelf 300 in the correct position or angle. Alternatively, if the marker 510 is not included in the captured image, the detection unit 160 detects that the package 500 is not on the shelf 300. In these cases, the detection unit 160 detects a transfer abnormality. Alternatively, if the identification number of the marker 510 cannot be read, the detection unit 160 detects a transfer abnormality. If the read identification number is incorrect, the detection unit 160 detects a transfer abnormality. If a transfer abnormality is detected, the transport robot 100 may slow down or stop. This makes it possible to prevent the occurrence of an abnormality in advance.

[0071] In (3), if the state transitions from having the package 400 on the shelf 210, having neither the package 400 nor the package 500, or having the package 500, the detection unit 160 detects that the transfer has been performed normally. Otherwise, the detection unit 160 detects that there is a transfer abnormality. In this case, the package 400 has not been transferred from the transport robot 100 to the shelf 300, or the package 500 has not been handed over from the shelf 300 to the transport robot 100. Therefore, the detection unit 160 determines that a transfer abnormality has occurred.

[0072] (4) If the identification information of the marker 510 detected by the rear sensor 121 is the same before and after the transfer, the detection unit 160 detects that there is a transfer abnormality. If the identification number of the marker 510 detected by the rear sensor 121 changes before and after the transfer, the detection unit 160 detects that the transfer was performed normally.

[0073] Furthermore, the detection unit 160 only needs to use one of the judgment conditions (1) to (4) above to detect a transfer abnormality. In other words, the detection unit 160 does not need to use one or more of the judgment conditions (1) to (4). For example, the detection unit 160 may determine whether or not there is a transfer abnormality using only the drive information. Alternatively, the detection unit 160 may determine whether or not there is a transfer abnormality using only the rear image. Of course, the detection unit 160 may use any two or three of the judgment conditions (1) to (4) above to determine whether or not there is a transfer abnormality. The detection unit 160 may also use all of the judgment conditions (1) to (4) above to determine whether or not there is a transfer abnormality.

[0074] The communication unit 164 transmits an abnormality signal indicating that a transfer abnormality has occurred to other transport robots 100A, the server device 800, or the user terminal 900. This allows the transport robot 100 to notify other transport robots 100A or users that a transfer abnormality has occurred. For example, the server device 800 is a computer that collects information from multiple transport robots 100 or user terminals 900, etc. The user terminal 900 is a device in which users input information to request the transport of goods, etc. In this case, users in the vicinity may also resolve the transfer abnormality. Therefore, goods can be transported efficiently.

[0075] The communication unit 164 may transmit an abnormality signal only to the server device 800. The abnormality signal is then transmitted via the server device 800 to other transport robots 100A and user terminals 900. Communication between the transport robot 100 and the server device 800, other transport robots 100A, or user terminals 900 is performed by wireless communication such as WiFi (registered trademark). Therefore, surrounding users can recover quickly, thereby improving transport efficiency.

[0076] The notification unit 166 notifies that a transfer error has occurred. For example, the notification unit 166 outputs an alarm sound or message sound from the speaker of the operation unit 130. The notification unit 166 may also display a message in text on the monitor of the operation unit 130 instead of outputting audio. In addition, if a transfer error is detected, the transport robot 100 may retry the transfer.

[0077] The process for detecting a transfer abnormality will be explained using Figure 8. Figure 8 is a flowchart showing the process for detecting a transfer abnormality. First, the detection unit 160 determines whether or not a transfer abnormality has occurred (S101). For example, the detection unit 160 determines whether or not an abnormality has occurred based on drive information such as drive torque. For example, if the drive torque does not exceed a threshold, the detection unit 160 determines that no transfer abnormality has occurred. If the drive torque exceeds a threshold, the detection unit 160 determines that a transfer abnormality has occurred. Alternatively, the detection unit 160 may detect a transfer abnormality based on the image of the marker 510 included in the forward image.

[0078] If no transfer abnormality occurs (NO in S101), the detection unit 160 determines whether the transfer is complete or not (S102). For example, the detection unit 160 determines whether the transfer is complete or not based on the rear image. The detection unit 160 determines that the transfer is complete if the identification information of the marker 510 in the rear image changes. If the transfer is complete (YES in S102), the transfer process ends normally. If the transfer is not complete (NO in S102), the process returns to step S101. For example, the transport robot 100 passes through the installation shelf 300 again and performs the transfer process. The transport robot 100 may repeat the process until the transfer is completed normally.

[0079] If a transfer malfunction occurs (YES in S101), the transport robot 100 will decelerate (S103). That is, the drive control unit 162 will gradually reduce the rotational speed of the wheels 111. Alternatively, the drive control unit 162 will apply the brakes. This will cause the transport robot 100 to decelerate. Here, the transport robot 100 may decelerate until it comes to a complete stop.

[0080] Furthermore, the transport robot 100 notifies that a transfer error has occurred (S104). That is, the notification unit 166 generates an alarm sound or the like. Alternatively, the communication unit 164 sends an error signal to other transport robots 100A, the server device 800, and the user terminal 900. In this way, the transfer error can be notified to nearby users. As a result, nearby users can check whether there are any problems with the loading positions of the packages 400 and 500. Alternatively, nearby users can check whether there are any abnormalities in the installation of the mounting shelves 300 or the shelf section 200. As a result, recovery can be carried out quickly, and the transport robot 100 can transport the packages efficiently.

[0081] Next, examples of transfer abnormalities will be explained using Figures 9 to 12. Figures 9 to 12 are schematic side views illustrating examples of transfer abnormalities. Note that the configurations in Figures 9 to 12 have been simplified as appropriate.

[0082] Figure 9 schematically shows a state in which the shelf unit 200 and the installed shelf 300 have collided. At least one of the installed shelf 300 and the shelf unit 200 is at a different height, and the shelf board 210 is colliding with the second shelf board 320. For example, the lifting height of the lifting stage 140 is shifted up or down. Alternatively, the mounting height of the shelf unit 200 relative to the lifting stage 140 is shifted. Or, the height of the installed shelf 300 is shifted. In these cases, since the cargo 500 is loaded normally, it is difficult to detect an anomaly in the forward image of the front sensor 131. Therefore, the detection unit 160 detects an anomaly based on the value detected by the drive sensor 116. In other words, if the drive torque value detected by the drive sensor 116 shows an abnormal value, the detection unit 160 detects an anomaly. Therefore, the transport robot 100 can be safely stopped.

[0083] Figure 10 schematically illustrates the case where the cargo 500 collides with the installation shelf 300. In Figure 10, the height of at least one of the installation shelf 300 and the shelf section 200 is misaligned. Therefore, the shelf board 210 collides with the second shelf board 320. The cargo 500 gets caught between the shelf section 200 and the installation shelf 300. As a result, the cargo 500 cannot be transferred properly.

[0084] In such cases, it is difficult to detect anomalies using the forward image from the front sensor 131. Therefore, the detection unit 160 detects an anomaly based on the value detected by the drive sensor 116. In other words, if the drive torque value detected by the drive sensor 116 indicates an abnormal value, the detection unit 160 detects the anomaly. Thus, the transport robot 100 can be safely stopped.

[0085] Figure 11 shows that the position of the package 500 on the shelf 300 is shifted to the left or right from its normal position. As a result, the package 500 is trapped between the package 400 and the shelf 300. Consequently, the package 400 is not transferred to the shelf 300, resulting in a transfer anomaly. In this case, the detection unit 160 detects the transfer anomaly based on the front or rear image. Figure 12 shows the case where the package 500 is placed on the shelf 200 at an angle. In this case, the detection unit 160 can detect the anomaly based on the front or rear image.

[0086] In this way, the detection unit 160 can detect a transfer abnormality based on the detection result of the drive sensor 116. The detection unit 160 determines that when the transport robot 100, including the shelf unit 200, comes into contact with the installed shelf 300 or the cargo 500, a large drive torque is applied to the wheels 111. Therefore, the drive sensor 116 detects a large drive torque. The detection unit 160 compares the drive torque of the wheels 111 detected by the drive sensor 116 with a threshold. If the detected drive torque is greater than or equal to the threshold, the detection unit 160 detects a transfer abnormality. In this way, transfer abnormalities can be detected appropriately. Therefore, cargo can be transported appropriately.

[0087] Furthermore, wheels 111 are provided on both the left and right sides of the transport robot 100. Depending on the direction and position of the collision, the difference in driving torque applied to the left and right drive wheels may become large. In the left-right direction, the driving torque on the side that collided becomes larger. The detection unit 160 may be configured to detect an abnormality when the difference in driving torque between the left and right sides reaches a predetermined value. In this way, transfer abnormalities can be appropriately detected. Thus, the cargo can be transported appropriately.

[0088] Markers are provided on the cargo 400 and 500. The front sensor 131 or rear sensor 121 is an optical sensor that detects the markers. In this way, transfer abnormalities can be appropriately detected. For example, the sensor unit 170 is equipped with a front sensor 131 and a rear sensor 121. The front sensor 131 is positioned facing forward in the direction of movement. The rear sensor 121 is positioned facing backward in the direction of movement. In this way, cargo 400 and 500 can be imaged before and after transfer, respectively. The detection unit 160 can appropriately detect transfer abnormalities using the front image or the rear image. Therefore, cargo can be transported appropriately.

[0089] In the above description, the transport robot 100 transfers the cargo 400 and cargo 500 to each other, but it is also possible to transfer only one of them. For example, if the transport robot 100 performs a transfer operation when cargo 400 is not placed on the shelf 200, cargo 500 on the installation shelf 300 will be transferred to the shelf 200. Alternatively, if the transport robot 100 performs a transfer operation when cargo 500 is not placed on the installation shelf 300, cargo 400 on the shelf 200 will be transferred to the installation shelf 300.

[0090] Embodiment 2 The transport system 1 according to this embodiment will be described with reference to Figure 13. Figure 13 is a side view showing the configuration of the transport system 1. In this embodiment, the positions of the front sensor 131 and the rear sensor 121 are different from those of Embodiment 1. Figure 13 shows the state before transfer.

[0091] The front sensor 131 and the rear sensor 121 are mounted on the mounting shelf 300. The front sensor 131 is positioned facing forward in the direction of movement and captures a forward image. The rear sensor 121 is positioned facing backward in the direction of movement and captures a rear image.

[0092] Therefore, before transfer, the front sensor 131 images the cargo 500 on the mounting shelf 300, and the rear sensor 121 images the cargo 400 on the shelf section 200. After transfer, the rear sensor 121 images the cargo 400 that has been transferred to the mounting shelf 300. Therefore, by using the front image or the rear image, transfer abnormalities can be appropriately detected. Thus, cargo can be transported appropriately.

[0093] Embodiment 3 The transport system 1 according to this embodiment will be described with reference to Figure 14. Figure 14 is a side view showing the configuration of the transport system 1. In this embodiment, instead of the installation shelf 300, a shelf unit 200 mounted on the transport robot 100 is provided. In other words, the cargo 400 is transferred between the installation shelves of two transport robots 100.

[0094] Here, the directions of movement are opposite. Alternatively, only one transport robot 100 is moving. The cargo 400 of the two transport robots 100 is transferred to each other. Even in this configuration, transfer abnormalities can be detected in the same way. Therefore, the cargo can be transported appropriately. In this embodiment, the shelf unit 200 mounted on one transport robot 100 becomes a carrier, and the shelf unit 200 mounted on the other transport robot 100 becomes a shelf on which the cargo 500 is placed. The shelf on which the cargo 500 is placed may also be a movable shelf. For example, the shelf on which the cargo is placed may be a movable shelf mounted on the other transport robot 100 and moved by it. The cargo placed on the carrier may be transferred to a movable shelf moved by the other transport robot.

[0095] The transport robot 100 may use machine learning models such as deep learning for pathfinding and control of the drive control unit 162.

[0096] Furthermore, some or all of the processing in the transport robot 100 described above can be implemented as a computer program. Such a program can be stored using various types of non-temporary computer-readable media and supplied to a computer. Non-temporary computer-readable media include various types of tangible recording media. Examples of non-temporary computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memory (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). Programs may also be supplied to a computer using various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can be supplied to a computer via wired communication channels such as electric wires and optical fibers, or via wireless communication channels.

[0097] It should be noted that the present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. For example, although the above-described embodiment describes a system in which a transport robot autonomously moves within a hospital, the above-described system can transport predetermined items as luggage in hotels, restaurants, office buildings, event venues, or multi-purpose facilities.

[0098] It should be noted that the present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. [Explanation of Symbols]

[0099] 1. Conveying System 100 Transport Robots 110 chassis 111 Wheels 116 Drive Sensor 120 stands 121 Rear Sensor 130 Operation section 131 Front Sensor 140 Elevating Stage 162 Drive Control Unit 164 Communications Department 166 Hochi Department 170 Sensor Unit 200 Shelf 210 shelves 220 frames 230 Contact part 240 Base Plate 300 installation shelves 310 First shelf 320 Second shelf 321 Contact part 330 frames 400 pieces of luggage 500 pieces of luggage 510 Marker

Claims

1. A carrier provided for placing the first package to be handed over to the shelf, and for receiving the second package that is on the shelf, A transport robot, on which the carrier is mounted, moves to transfer the first and second packages between the shelf and the carrier, A sensor unit provided for detecting the presence or absence of the first and second packages on the shelf or carrier, The system includes a detection unit that detects abnormalities in the delivery of the first and second packages according to the detection results of the sensor unit, As the transport robot passes over the shelf, the first contact portion provided on the shelf pushes out the first load placed on the carrier, thereby transferring the first load from the carrier to the shelf. As the transport robot passes over the shelf, the second contact portion provided on the carrier pushes out the second load placed on the shelf, thereby transferring the second load from the shelf to the carrier. The second package is equipped with a marker, The sensor unit A first optical sensor is positioned facing forward in the direction of movement of the transport robot, The transport robot is equipped with a second optical sensor positioned facing the rear in the direction of movement of the transport robot, The detection unit detects a transfer abnormality based on the images captured by the first optical sensor and the second optical sensor. The first optical sensor images the marker on the second package on the shelf, A transport system in which the transport robot approaches the shelf based on an image of the marker on the second package.

2. The transport system includes shelves, The aforementioned shelf is A first shelf onto which the first package placed on the carrier is transferred, The transport system according to claim 1, further comprising: a second shelf provided at a higher position than the first shelf, on which the second load to be transferred to the carrier is placed.

3. The markers are formed on the front and rear surfaces of the first package, respectively. The markers are formed on the front and rear surfaces of the second package, respectively. The detection unit, The imaging result of the marker of the second load included in the image captured by the first optical sensor before transfer, The transition order of the first and second packages obtained from the image captured by the second optical sensor, and The transport system according to claim 2, which detects the transfer abnormality based on at least one of the identification results of the marker included in the image captured by the second optical sensor.

4. The second contact portion is a rod-shaped member extending in the left-right direction of the transport robot, The conveying system according to claim 3, wherein the first contact portion is provided at a lower position than the second contact portion and is a rod-shaped member extending in the left-right direction.

5. The aforementioned transport robot Wheels and, The system further includes a drive sensor that detects drive information related to the driving of the aforementioned wheels, The transport system according to any one of claims 1 to 4, wherein the detection unit detects a transfer abnormality based on the drive information.

6. The transport system according to claim 5, wherein the detection unit detects an abnormality when the driving torque of the wheel is greater than or equal to a threshold.

7. The wheels are provided on the left and right sides of the transport robot. The transport system according to claim 6, wherein the detection unit detects an abnormality when the difference in driving torque between the left and right drive wheels is a predetermined value.

8. The transport system according to claim 5, wherein the transport robot is decelerated or stopped when the detection unit detects an abnormality.

9. The transport system according to any one of claims 1 to 4, wherein the detection unit notifies the server of the occurrence of an abnormality when an abnormality is detected.

10. The transport system according to any one of claims 1 to 4, wherein the shelf is a mobile shelf that is mounted on another transport robot and moved.

Images