Automatic moving device and control method for automatic moving device

Abstract

An automatic moving device of the present disclosure is for conveying an object to be conveyed and comprises: a vehicle body including a drive unit; a coupling unit provided to the vehicle body and capable of coupling to and decoupling from the object to be conveyed; and a control unit that controls the coupling unit and the drive unit, such that the vehicle body, in a state of being coupled to the object to be conveyed, is moved to a position at a prescribed distance from an edge of a passage, is decoupled from the object to be conveyed and moved to a position where the end portion of the vehicle body on the passage edge side is located below the object to be conveyed, and thereafter, the vehicle body is coupled again to the object to be coupled and the end portion of the vehicle body is moved to the passage edge.

Description

Technical Field

[0001] This specification discloses an automatic mobile device and a control method for the automatic mobile device.

Background Art

[0002] Conventionally, in a system for transporting transported objects, when transport information indicating that a transport robot has unloaded a package at a first placement position, which is the first placement position the transport robot passes when entering a first area along a first transport path, is received, it is determined that the first area is in a full state, and based on the determination result of the full state, a system has been proposed that determines whether or not a package can be carried into the first area (see, for example, Patent Document 1). This transport robot is said to be capable of improving transport efficiency.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] By the way, in automatic mobile devices used in commercial facilities and the like, transported objects are unloaded at the transport destination, but for example, unloading a transported object in a narrow passage may obstruct traffic. The automatic mobile device described in Patent Document 1 is said to improve transport efficiency by determining whether the unloading area is full, but no consideration has been given to making the passage easier to traverse.

[0005] The present disclosure has been made to solve such problems, and a main object thereof is to provide an automatic mobile device and a control method for the automatic mobile device that can make a passage easier to traverse.

[0006] The present disclosure adopts the following means to achieve the above main object.

[0007] The automated mobile devices disclosed herein are An automated moving device for transporting objects, The vehicle body including the drive unit, A coupling part disposed on the vehicle body that can be connected to and disconnected from the transported object, A control unit controls the coupling unit and the drive unit to move the vehicle body to a predetermined distance from the end of the passage while connected to the transported object, to release the connection from the transported object and move the vehicle body so that the end of the vehicle body on the passage end side is positioned below the transported object, and then reconnect it to the transported object and move the end of the vehicle body to the end of the passage. It is something that is provided.

[0008] This automated moving device pulls the end of the vehicle body closer to the end of the transported object, and then moves the transported object closer to the end of the aisle, allowing the transported object to be brought closer to the aisle. Therefore, this automated moving device can pass through aisles more easily. [Brief explanation of the drawing]

[0009] [Figure 1] A schematic diagram illustrating an example of the transport system 10. [Figure 2] An explanatory diagram showing an example of store 60. [Figure 3] An explanatory diagram showing an example of an automatic mobile device 30. [Figure 4] A four-view drawing showing an example of an automatic mobile device 30. [Figure 5] Three-view drawing of the automatic moving device 30 connected to the trolley 12. [Figure 6] A flowchart illustrating an example of a work instruction processing routine. [Figure 7] A flowchart illustrating an example of an automated movement processing routine. [Figure 8] An explanatory diagram showing an example where there is an obstacle at the end wall 68 of the passageway. [Figure 9] A side view illustrating an example of edge alignment processing by the automatic moving device 30. [Figure 10]A plan view illustrating an example of edge alignment processing using the automatic moving device 30. [Figure 11] A flowchart illustrating an example of another automated movement processing routine. [Modes for carrying out the invention]

[0010] Embodiments of the present disclosure will be described with reference to the drawings. Figure 1 is a schematic diagram showing an example of a transport system 10. Figure 2 is a diagram showing an example of a store 60. Figure 3 is a diagram showing an example of an automatic moving device 30. Figure 4 is a four-view drawing of an example of an automatic moving device 30, where Figure 4A is a top view, Figure 4B is a front view, Figure 4C is a side view, Figure 4D is a rear view, and Figure 4E is a side view with the connecting part 42 raised. Figure 5 is a three-view drawing of the automatic moving device 30 connected to a trolley 12, where Figure 5A is a top view, Figure 5B is a front view, and Figure 5C is a side view.

[0011] The transport system 10 has an automatic moving device 30 that automatically moves articles, which are the items to be transported, within a specific space, and is a system that processes the transport of these articles. This transport system 10 will be described as an example in which articles are transported using a trolley 12, but it is not limited to this, and the trolley 12 may be omitted or other components may be used. Here, "articles" are not particularly limited as long as they are to be transported, and examples include industrial products such as machinery and equipment, equipment units and parts, as well as everyday household goods, food and fresh produce. In addition, "distribution source" and "distribution destination" examples include a logistics center 20 that collects and distributes articles, a warehouse that stores articles, and a store 60 that sells articles. For the sake of explanation, here we will mainly describe the automatic moving device 30 that moves articles at the store 60, which is the delivery destination, as part of the transport system 10.

[0012] As shown in Figure 1, the transport system 10 is composed of a logistics PC 21, a store PC 61, an automatic moving device 30, and a management server 70. The trolley 12 is a transport object used to transport goods, and as shown in Figures 1 and 5, it is equipped with a mounting section 13 and casters 14. The mounting section 13 is a flat plate-shaped member on which goods are loaded. The casters 14 have wheels that allow the trolley 12 to move and are arranged on the underside of the mounting section 13. This trolley 12 may also be a cage trolley. The delivery vehicle 18 is a vehicle that transports goods by loading one or more trolleys 12. The delivery vehicle 18 loads the trolleys 12 into its cargo compartment at the logistics center 20, delivers the goods to the destination, and returns the empty trolleys 12 to the logistics center 20.

[0013] The logistics center 20 is a place where goods are collected and distributed to stores 60 and other logistics centers 20 in various locations. As shown in Figure 1, the logistics center 20 has one or more automated moving devices 30 that can automatically move the carts 12. In this logistics center 20, workers and arm robots (not shown) perform the task of loading goods onto the carts 12 according to the delivery destination. The automated moving devices 30 collect the carts 12 whose delivery destinations have been identified and perform the tasks of loading and unloading them.

[0014] The logistics PC 21 is installed in the logistics center 20 and is configured as a control device that manages goods and automated moving devices 30 at the logistics center 20. The logistics PC 21 comprises a control unit 22, a storage unit 23, and a communication unit 27. The control unit 22 has a CPU and is responsible for controlling the entire device. The storage unit 23 stores various application programs and various data files. The storage unit 23 stores map information 24 and transport management information 25, among other things. The map information 24 is map information of the logistics center 20. The transport management information 25 is information that manages jobs used to transport goods, and includes information such as the type, weight, and size of the goods, as well as the initial position and the transport position after movement. The communication unit 27 communicates wirelessly with external devices such as automated moving devices 30. The communication unit 27 exchanges information with the management server 70 and store PC 61 via the network 15.

[0015] As shown in Figures 2 to 4, the automatic mobile device 30 is a vehicle that automatically moves the trolley 12 serving as a conveyed object. This automatic mobile device 30 sneaks into the space between the casters 14 on the lower surface side of the placement portion 13 of the trolley 12, and is connected to the trolley 12 so as to lift and load the placement portion 13 from below, or to engage with and tow the placement portion 13, thereby moving the trolley 12. This automatic mobile device 30 may be an AGV (Automatic Guided Vehicle) that moves along lines formed on road surfaces, wall surfaces, etc., or may be an AMR (Autonomous Mobile Robot) that detects the surroundings and moves along a free route. As shown in Figure 3, the automatic mobile device 30 includes a control device 31, a vehicle body portion 37, an elevating portion 38, a communication portion 39, a drive portion 40, a connection portion 42, a detection portion 50, and an illumination portion 56.

[0016] The control device 31 is a controller that controls the entire apparatus of the automatic mobile device 30, and includes a conveyance control unit 32 such as a CPU, and a storage unit 33 such as a flash memory. The conveyance control unit 32 outputs control signals and the like to the elevating portion 38, the drive portion 40, the communication portion 39, and the detection portion 50, and inputs signals from the communication portion 39 and the detection portion 50. The conveyance control unit 32 controls the connection portion 42 by controlling the elevating portion 38. The conveyance control unit 32 grasps the moving direction, moving distance, current position, and the like of the automatic mobile device 30 based on the driving state and the like of the drive portion 40. The conveyance control unit 32 controls the movement and stop of the automatic mobile device 30 based on the information from the detection portion 50. The storage unit 33 stores various application programs and various data files. The storage unit 33 stores, for example, map information 34, conveyance information 35, and the like. The map information 34 is, for example, the map of the distribution center 20 when it is used there, and is the map information of the store 60 when it is used there. The conveyance information 35 is job information used to execute conveyance of articles, and includes information such as the type, weight, and size of the articles, as well as the initial position, the target position of the movement destination, the movement route, and whether or not edge alignment processing is to be executed. The map information 34 and the conveyance information 35 are acquired via communication from the distribution PC 21, the store PC 61, the management server 70, and the like.

[0017] The vehicle body section 37 is a flat plate-shaped housing that fits into the lower surface of the trolley 12, with wheels 41 disposed on the lower surface side, a connecting section 42 disposed on the upper surface side, and is configured to travel. Inside the vehicle body section 37, the control device 31, the communication section 39, the drive section 40, the power section 45, and the like are accommodated. A detection section 50 is disposed on the outer surface of the vehicle body section 37. For this vehicle body section 37, for example, the length Lb along the direction in which it fits into the trolley 12 may be longer than the length Lc of the trolley 12 (see Fig. 5A). For this reason, when the vehicle body section 37 moves in connection with the trolley 12, it may protrude outward from the end of the trolley 12. The communication section 39 is an interface that wirelessly exchanges information with external devices such as the distribution PC 21 and the store PC 61. The conveyance control section 32 exchanges information with external devices via the communication section 39.

[0018] The drive section 40 is a motor that is connected to each of the wheels 41 included in the vehicle body section 37, and drives the automatic moving device 30 to travel by rotationally driving the connected wheels 41. The automatic moving device 30 has four wheels 41, and moves by the rotational driving of the wheels 41. The wheels 41 may be mecanum wheels or omni wheels that are movable longitudinally and laterally by four-wheel independent drive.

[0019] The connecting section 42 is a unit disposed on the upper surface of the vehicle body 37 that can be connected to and disconnected from the trolley 12 as a transported object by moving up and down. This connecting section 42 is a structure that loads the trolley 12 or engages with the trolley 12 to move the trolley 12. The connecting section 42 has, for example, a loading member 43 that moves the trolley 12 in a loaded state with the mounting section 13 of the trolley 12 lifted, and an engaging member 44 that locks onto the mounting section 13 and pulls the trolley 12. The loading member 43 is a flat plate-shaped member that pushes up the lower surface of the object to be moved, and one by one is disposed on the upper side of the vehicle body 37 so as to be able to move up and down. The engaging member 44 is a plurality of pin-shaped members that are configured to descend by spring when a load is applied from the upper side. The engaging members 44 are disposed at the four corners of the upper surface of the vehicle body 37 and are also disposed so as to be inserted into the central through hole of the loading member 43. The lifting unit 38 is a drive unit that raises and lowers the connecting unit 42, and raises and lowers the loading member 43 and the engaging member 44. The connecting unit 42 can be connected to a bogie 12 having a length Lc shorter than the length Lb of the car body 37.

[0020] The detection unit 50 is installed on the vehicle body 37 and detects the state of the automatic moving device 30 and objects present in at least a part of the area surrounding the automatic moving device 30, as well as their distance. The detection unit 50 may, for example, detect the presence and distance of objects by irradiating the surroundings with light such as a laser or sound waves and detecting the reflected waves. The detection unit 50 may be one or more of the following: an inertial measurement unit, a laser scan sensor, an imaging camera, a stereo camera, and a sonar sensor. The detection unit 50 is composed of first to fifth detection units 51 to 55. The first detector 51 may be a stereo camera installed on the front of the vehicle. The second detector 52, third detector 53, fourth detector 54, and fifth detector 55 may be LiDAR (light detection and ranging) installed on the front, side, or rear of the vehicle body 37. Furthermore, the detection unit 50 may include a gyro sensor and an acceleration sensor (not shown), and the automatic moving device 30 may be equipped with an inertial measurement unit (IMU) that detects the tilt and acceleration of its own vehicle body. The detection unit 50 can detect objects around the vehicle body 37 using the first detector 51. The lighting unit 56 is an LED light that illuminates the surroundings.

[0021] As shown in Figure 1, the store 60 displays and sells the transported goods. The store 60 has one or more automatic moving devices 30 that can automatically move the carts 12. The store 60 has a road surface through which the carts 12 pass and display shelves 69 for displaying goods. The display shelves 69 also serve as aisle end walls 68 that obstruct the passage of the automatic moving devices 30. The store PC 61 is installed in the store 60 and is configured as a control device that manages merchandise in the store 60. This store PC 61 comprises a control unit 62, a storage unit 63, and a communication unit 67. The control unit 62 has a CPU and is responsible for controlling the entire device. The storage unit 63 stores various application programs and various data files. The storage unit 63 stores map information 64 of the store 60 and transport management information 65, which includes information for managing the jobs of transported goods transported by the automatic moving devices 30. The transport management information 65 is information used to manage jobs used to transport goods, and includes information such as the type, weight, and size of the goods, as well as the initial position and the transport position after movement.

[0022] The management server 70 is a device that manages the transport system 10. This management server 70 comprises a control unit 72, a storage unit 73, and a communication unit 77. The storage unit 73 stores map information 74, which is a database of maps of the logistics center 20 and stores 60, and transport management information 75, which is a database used to manage the transport of goods. The communication unit 77 exchanges information with external devices such as the logistics PC 21 and store PC 61 via the network 15. The control unit 72 transmits the map information 74 and transport management information 75 via the communication unit 77 based on requests from the logistics PC 21 and store PC 61.

[0023] Next, we will describe the process of setting the work to be performed by the automatic mobile device 30 in a specific space in the transport system 10 configured in this way. Here, as a specific example, we will describe the process in which the store PC 61 determines the movement path of the automatic mobile device 30 in the store 60, and the automatic mobile device 30, which functions as an AMR, moves within the store. Figure 6 is a flowchart of an example of a work command processing routine executed by the control unit 62 of the store PC 61. This routine is stored in the memory unit 63 and is executed repeatedly at predetermined intervals after the store PC 61 is started. When this routine is started, first the control unit 62 of the store PC 61 determines whether it is time to set transport information 35, which the automatic mobile device 30 will use when moving the transported items to the transport destination (S100). This timing can be set, for example, to a time well before the delivery vehicle 18 brings in the goods. If it is not time to set the transport information 35, the control unit 62 terminates this routine. On the other hand, when it is time to set the transport information 35, the control unit 62 reads and obtains the map information 64 and the transport management information 65 from the storage unit 63 (S110), and selects the transport item to be set this time (S120).

[0024] Next, the control unit 62 determines whether the selected transported object is an object that should be placed at the end of the aisle (S130). The operator may, for example, specify in advance in the transport management information 65 whether the transported object should be placed at the end of the aisle or not. Alternatively, the control unit 62 may obtain the aisle width at the target position of the transported object based on the map information 64 and make the determination in S130 based on whether placing the transported object would obstruct passage or whether passage beyond the placement position is unnecessary. The control unit 62 may determine that if the aisle width at the target position where the trolley 12 is placed is greater than or equal to a predetermined value, the trolley 12 will not be placed at the end, and if it is less than the predetermined value, the trolley 12 will be placed at the end.

[0025] If the selected item is not an item to be transported to an end, the control unit 62 sets the destination location set in the transport management information 65 as the target position (S140). On the other hand, if the selected item is an item to be transported to an end, the control unit 62 sets the target position at a predetermined distance from the end of the aisle, which is the destination location set in the transport management information 65 (S150). In other words, the control unit 62 moves the transported item to the target position at a predetermined distance from the end of the aisle, and then performs the end-to-end transport process to the end of the aisle.

[0026] After S150 or S140, the control unit 62 uses the map information 64 to set a movement path from the initial position and the target position (S160). The control unit 62 may set a movement path that minimizes the travel distance. In this case, the control unit 62 may prioritize selecting a wider passage or a passage where no other transported objects are placed based on the transport positions of other transported objects. Next, the control unit 62 determines whether there are any unset transported objects based on the transport management information 65 (S170), and if there are unset transported objects, it repeats the process from S120 onwards. That is, the control unit 62 selects the transported objects and sets the target position and movement path. On the other hand, when the setting of all transported objects is completed in S170, the control unit 62 outputs the set contents as transport information 35 to the automatic moving device 30 (S180), and terminates this routine. Upon receiving the transport information 35, the automatic moving device 30 executes the transported object movement process when it is time for its execution.

[0027] Next, the processing performed by the control device 31 of the automatic moving device 30 will be described. Figure 7 is a flowchart showing an example of an automatic moving processing routine executed by the control device 31 of the automatic moving device 30. This routine is stored in the storage unit 33 and is repeatedly executed at predetermined intervals by the transport control unit 32 after the automatic moving device 30 is started. When this routine is started, first the transport control unit 32 of the control device 31 reads and acquires map information 34 and transport information 35 from the storage unit 33 (S200). Next, the transport control unit 32 moves to the initial position of the trolley 12, which is the object to be transported, and executes the process of connecting to the trolley 12 (S210). Specifically, the transport control unit 32 detects the trolley 12 with the detection unit 50, moves the vehicle body 37 to the lower part of the trolley 12, moves to a connection position where the center of the trolley 12 and the center of the vehicle body 37 align, and raises the connecting part 42 with the lifting unit 38 to engage the engaging member 44 with the mounting part 13. The transport control unit 32 may use each sensor of the detection unit 50 to, for example, acquire the position of the caster 14 and confirm the coupling position.

[0028] Next, the transport control unit 32 drives the drive unit 40 so that the vehicle body 37 moves to the target position along the movement path (S220). At this time, the transport control unit 32 uses the detection unit 50 to move the vehicle body 37 to the target position while correcting the movement path to avoid contact with obstacles if there are obstacles in the surrounding area. Next, the transport control unit 32 determines whether or not the vehicle body 37 has arrived at the target position (S230), and if it has not arrived at the target position, it executes the processing from S220 onwards. On the other hand, if the vehicle body 37 has arrived at the target position in S230, the transport control unit 32 determines whether or not the connected item is an end-target transport item based on the information set in the transport information 35 (S240). If the connected item is not an end-target transport item, the transport of this trolley 12 is considered complete, and the connecting unit 42 is lowered to release the connection (S280).

[0029] On the other hand, in S240, if the connected object is an object being transported at an end, the transport control unit 32 determines whether or not there is an obstacle on the aisle end wall 68 side based on the detection result of the detection unit 50 (S250). The transport control unit 32 also uses a second sensor 52 or the like to detect whether or not there is an obstacle protruding above the trolley 12. Figure 8 is an explanatory diagram showing an example where there is an obstacle on the aisle end wall 68. As shown in Figure 8, when there is an obstacle between the trolley and the aisle end wall 68, the transport control unit 32 determines that there is a possibility that the trolley 12 will come into contact with the obstacle if the end-shifting process is performed, interrupts the entire end-shifting process, disconnects the connection in S280, and terminates the transport process for this trolley 12. The transport control unit 32 may also perform the process in S250 while the trolley 12 is being moved towards the aisle end wall 68 side, and if an obstacle is detected, interrupt the end-shifting process midway.

[0030] On the other hand, if there is no obstacle on the aisle end wall 68 side in S250, the transport control unit 32 executes the end-alignment process in S260 to S270. Figure 9 is a side view illustrating an example of the end-alignment process by the automatic moving device 30, where Figure 9A shows the vehicle reaching the target position and being uncoupled, Figure 9B shows the vehicle body 37 moving so that its end is positioned below the transported object and being recoupled, Figure 9C shows the vehicle moving towards the aisle end wall 68 and being uncoupled, and Figure 9D shows the vehicle moving after the transport is completed. Figure 10 is a plan view illustrating an example of the end-alignment process by the automatic moving device 30, where Figure 10A shows the vehicle reaching the target position and being uncoupled, Figure 10B shows the vehicle body 37 moving so that its end is positioned below the transported object and being recoupled, and Figure 10C shows the vehicle moving towards the aisle end wall 68, being uncoupled, and then the transport is completed and the vehicle body 37 is moved.

[0031] The transport control unit 32 moves the vehicle body 37 to a target position at a predetermined distance from the end of the aisle while it is connected to the trolley 12. When the trolley 12 arrives at the target position, the transport control unit 32 releases the connection with the trolley 12 (Figures 9A and 10A) and moves the vehicle body 37 so that the end of the vehicle body 37 on the aisle end side is positioned below the trolley 12 (S260, Figures 9B and 10B). When stopping the trolley 12, the transport control unit 32 may measure the distance between the vehicle body 37 and the aisle end wall 68. Furthermore, before reconnecting to the trolley 12, the transport control unit 32 controls the drive unit 40 so that the end of the vehicle body 37 is at the same position as the end of the trolley 12, or the end of the vehicle body 37 is inward from the end of the trolley 12. From the viewpoint of detecting the aisle end, it is preferable for the transport control unit 32 to move the vehicle body 37 so that the end of the vehicle body 37 is at the same position as the end of the trolley 12. The transport control unit 32 may move the vehicle body 37 until its end is approximately at the lower center of the trolley 12. Alternatively, the transport control unit 32 may move the vehicle body 37 a predetermined distance so that its front end is at a desired position, without using the detection unit 50. The predetermined distance may be determined from the dimensions of the trolley 12 and the vehicle body 37. Or, the transport control unit 32 may move the vehicle body 37 after confirming the position of the casters 14, for example, using the detection unit 50. Furthermore, when reconnecting the trolley 12 and the connecting unit 42, the transport control unit 32 may detect the position of the bottom surface of the trolley 12 and the position of the casters 14 to correct any misalignment.

[0032] Next, the transport control unit 32 raises the coupling unit 42, reconnects it to the trolley 12, and controls the coupling unit 42 and the drive unit 40 to move the end of the vehicle body 37 toward the end of the aisle (S270, Figures 9C and 10C). At this time, the transport control unit 32 may move the vehicle body 37 by a predetermined distance so that the front end of the vehicle body 37 is closer to the aisle end wall 68. The predetermined distance may be set from the distance from the target position to the aisle end wall 68. Alternatively, when the transport control unit 32 moves the trolley 12 toward the wall, it may use the detection unit 50 to confirm the position of the aisle end wall 68 and move the vehicle body 37 accordingly. At this time, the transport control unit 32 moves the trolley 12 so that it is parallel to the aisle end wall 68 by using the map information 34 and the information of the current position of the vehicle body 37, or by using the detection result from the detection unit 50. Then, in S280, the transport control unit 32 lowers the coupling section 42, disengaging it from the trolley 12 and moving the car body 37 to the next position (Figures 9D and 10C). In this way, in the normal coupling state where the automatic moving device 30 can move stably (Figures 9A and 10A), the car body 37 protrudes beyond the trolley 12, and even if the end-to-end process is performed as is, it is not possible to move it to the end by the length of this protruding section. Here, the transport control unit 32 moves the front end of the car body 37 below the trolley 12 and reconnects it to move the trolley 12 to the end, so that the trolley 12 can be brought closer to the aisle end wall 68.

[0033] After S280, the transport control unit 32 determines whether there is another transport item (S290), and if there is, it executes the processing from S210 onwards. That is, it moves to the initial position of the next trolley 12 and connects the trolley 12, then moves the trolley 12 to the target position and performs end-shifting processing as necessary. On the other hand, if there is no next transport item in S290, the transport control unit 32 controls the drive unit 40 to move the vehicle body 37 to a predetermined initial position (S300), and terminates this routine. The predetermined initial position may be, for example, a charging position in the backyard.

[0034] In stores such as 60, goods are loaded onto a cart 12 and transported in front of the display shelves 69 before being placed on the shelves 69. When transporting the cart 12, in narrow aisles, the cart 12 may block the aisle, preventing workers or the automatic moving device 30 from passing. Also, when transporting the cart 12 with the automatic moving device 30, the end of the automatic moving device 30 may protrude from the end of the cart 12, making it difficult to move the cart 12 close enough to the edge of the aisle. This automatic moving device 30 stops the cart 12 at a predetermined distance from the edge of the aisle, reconnects it in a state where the protruding end of the car body 37 is removed, and then moves the cart 12 closer to the edge of the aisle. Therefore, this automatic moving device 30 can move the cart 12 closer to the edge of the aisle than if the cart 12 were moved to the edge of the aisle without modification. As a result, this automatic moving device 30 does not require workers to move the cart 12 to the edge of the aisle, ensuring passage through the aisle. Furthermore, this automatic moving device 30 can further improve work efficiency by suppressing unnecessary detours.

[0035] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The automatic moving device 30 of this embodiment is an example of the automatic moving device of the present disclosure, the transport control unit 32 is an example of a control unit, the vehicle body 37 is an example of a vehicle body, the drive unit 40 is an example of a drive unit, the coupling unit 42 is an example of a coupling unit, and the detection unit 50 is an example of a detection unit. In addition, in this embodiment, an example of a control method for the automatic moving device 30 of the present disclosure is also clarified by describing the operation of the automatic moving device 30.

[0036] The automatic moving device 30 of this embodiment, as described above, transports a trolley 12 as a transported object within a commercial facility as a specific space, and includes a vehicle body 37 including a drive unit 40, a coupling unit 42 disposed on the vehicle body 37 that can be connected to and disconnected from the trolley 12, and a transport control unit 32 that controls the coupling unit 42 and the drive unit 40 to move the vehicle body 37 to a predetermined distance from the end of the passageway while connected to the trolley 12, disconnect the vehicle body 37 from the trolley 12 and move the vehicle body 37 so that the end of the vehicle body 37 on the passageway end side is positioned below the trolley 12, then reconnect it to the trolley 12 and move the end of the vehicle body 37 to the end of the passageway. In this automatic moving device 30, the end of the vehicle body 37 is pulled closer to the end of the trolley 12 before the trolley 12 is moved closer to the end of the passageway, so that the trolley 12 can be moved closer to the passageway end wall 68. For this reason, this automatic moving device 30 can make it easier to pass through passageways.

[0037] Furthermore, the transport control unit 32 controls the drive unit 40 so that the end of the vehicle body 37 is at the same position as the end of the vehicle body 37, or the end of the vehicle body 37 is inward from the end of the vehicle body 12, before reconnecting to the trolley 12. In this automatic moving device 30, the vehicle body 37 is positioned further inward from the trolley 12, allowing the trolley 12 to be moved closer to the edge of the aisle, making it easier to pass through the aisle. The automatic moving device 30 also includes a detection unit 50 disposed on the vehicle body 37 that detects at least a portion of its surroundings, and the transport control unit 32 performs one or more of the following movements based on the detection results of the detection unit 50: moving the vehicle body 37 to a predetermined distance from the edge of the aisle, moving the vehicle body 37 downward from the trolley 12 after uncoupling, or moving the vehicle body 37 to the edge of the aisle after reconnecting. In this automatic moving device 30, the detection results of the detection unit 50 are used to further suppress contact with objects and make it easier to pass through the aisle. Furthermore, the transport control unit 32 sets a target position at a predetermined distance from the end of the aisle and executes a process to move the trolley 12 toward the aisle end wall 68 from this target position. Therefore, this automatic moving device 30 can achieve the process of moving the trolley 12 toward the end of the aisle by setting a target position.

[0038] Furthermore, the automatic moving device 30 includes a detection unit 50 disposed on the vehicle body 37 that detects at least a portion of the surroundings, and the transport control unit 32, based on the detection result of the detection unit 50, either completely interrupts the movement of the vehicle body 37 to the end of the passage after reconnecting it to the trolley 12, or interrupts it midway, if an obstacle is present. This automatic moving device 30 can further suppress unnecessary contact between the trolley 12 and obstacles. Moreover, the vehicle body 37 slides underneath the trolley 12, and the connecting unit 42 can connect to a trolley 12 having a length Lc shorter than the length Lb of the vehicle body 37, and is provided on the upper part of the vehicle body 37, connecting to and disconnecting from the trolley 12 by moving up and down. In this automatic moving device 30, when the long body section 37 slides under the bogie 12, the body section 37 is exposed from the end of the bogie 12. However, by performing the control described above, the tip of the exposed body section 37 is pushed under the bogie 12, allowing the bogie 12 to be moved even closer to the end of the aisle.

[0039] The transport system 10 includes the automatic moving device 30 described above, and the logistics PC 21, store PC 61, and management server 70 as management devices described above. Because this transport system 10 is equipped with the automatic moving device 30 described above, the trolley 12 can be moved closer to the aisle end wall 68, making it easier to pass through the aisle.

[0040] It goes without saying that this disclosure is not limited in any way to the embodiments described above, and can be implemented in various forms as long as they fall within the technical scope of this disclosure.

[0041] For example, in the embodiment described above, the transport control unit 32 controls the drive unit 40 so that the end of the car body 37 is at the same position as the end of the car body 12, or the end of the car body 37 is inward from the end of the car body 12, before reconnecting to the trolley 12. However, the embodiment is not limited to this, as long as the end of the car body 37 is brought closer to the end of the trolley 12. Furthermore, it is preferable that the end of the car body 37 does not protrude as much as possible from the bogie 12, as this allows the bogie 12 to be brought closer to the aisle end wall 68.

[0042] In the above-described embodiment, the transport control unit 32 moves the vehicle body 37 to a predetermined distance from the end of the aisle, moves the vehicle body 37 downward to the side of the trolley 12 after uncoupling, and moves the vehicle body 37 back to the end of the aisle after recoupling, based on the detection result of the detection unit 50. However, one or more of these steps may be omitted. The transport control unit 32 can perform these movements without using the detection result of the detection unit 50. However, it is preferable for the transport control unit 32 to use the detection result of the detection unit 50 in order to prevent unnecessary contact with objects.

[0043] In the embodiment described above, the target position is set at a predetermined distance from the end of the aisle, and the process of moving the trolley 12 toward the aisle end from this target position is performed, but the system is not limited to this. For example, the transport control unit 32 may set the end of the aisle as the target position, perform a process of releasing the connection with the trolley 12 at a predetermined distance from this target position, move the vehicle body 37 downwards from the trolley 12 to reconnect, and then perform the end-moving process. Figure 11 is a flowchart of an example of another automatic movement processing routine. Processes similar to those in the routine in Figure 7 are given the same step numbers, and their detailed explanations are omitted. In this automatic movement device 30, the store PC 61, which acts as a management device, sets the target position for end-moving transported items to be near the end of the aisle. Then, when the transport control unit 32 is moving the end-moving transported item toward the target position in S220, it determines whether or not it has reached a predetermined distance from the target position (S400), and if it has reached the predetermined distance, it performs the end-moving process (S260, S410). In this automatic moving device 30 as well, setting a target position enables the process of moving the transported object towards the end of the aisle.

[0044] In the embodiments described above, the automatic mobile device 30 was described as transporting goods within the store 60, but it is not limited to this and may also transport goods within a logistics center 20, a warehouse, or other commercial facilities such as exhibition halls, sports facilities, museums, science museums, zoos, or aquariums.

[0045] In the embodiments described above, the automatic moving device 30 uses Mecanum wheels or omniwheels for its wheels 41, but is not limited to these, and may use ordinary wheels.

[0046] In the embodiments described above, the present disclosure was explained as an automatic moving device 30, but it is not limited to this and may also be used for a transport system 10 or a control device 31. Furthermore, the present disclosure may be applied to a control method for the automatic moving device 30, or as a program thereof, or as a setting method or program executed by one or more of the management devices: the logistics PC 21, the store PC 61, and the management server 70.

[0047] This disclosure may be configured as follows: For example, the control method for the automated mobile device of this disclosure is A control method for an automatic moving device that transports an object, comprising a vehicle body including a drive unit and a coupling unit disposed on the vehicle body and capable of connecting to and disconnecting from an object to be transported, A step of controlling the coupling unit and the drive unit to move the vehicle body to a predetermined distance from the end of the passage while connected to the transported object, to release the connection from the transported object and move the vehicle body so that the end of the vehicle body on the passage end side is positioned below the transported object, then reconnecting to the transported object, and moving the end of the vehicle body to the end of the passage. It includes.

[0048] This control method for the automatic moving device allows the transported object to be moved closer to the edge of the passage, similar to the automatic moving device described above, making it easier for the object to pass through the passage. In this control method for the automatic path device, various embodiments of the automatic moving device described above may be adopted, and steps to realize each of the functions of the automatic moving device described above may be added.

[0049] This specification also discloses technical concepts in which the "automatic moving device described in claim 1 or 2" in the original claim 4 was changed to the "automatic moving device described in any one of claims 1 to 3", in which the "automatic moving device described in claim 1 or 2" in the original claim 5 was changed to the "automatic moving device described in any one of claims 1 to 4", and in which the "automatic moving device described in claim 1 or 2" in the original claim 6 was changed to the "automatic moving device described in any one of claims 1 to 5". [Industrial applicability]

[0050] The automated moving device and control method for the automated moving device described herein are applicable in the technical field of distribution systems for transporting goods. [Explanation of Symbols]

[0051] 10 Delivery system, 12 Trolley, 13 Loading section, 14 Caster, 15 Network, 18 Delivery vehicle, 20 Logistics center, 21 Logistics PC, 22 Control unit, 23 Memory unit, 24 Map information, 25 Transport management information, 27 Communication unit, 28 Road surface, 30 Automatic moving device, 31 Control device, 32 Control unit, 33 Memory unit, 34 Map information, 35 Transport information, 37 Vehicle body, 38 Lifting unit, 39 Communication unit, 40 Drive unit, 41 Wheel, 42 Coupling unit, 43 Loading member, 44 Engaging member, 50 Detection unit, 51 First sensor, 52 Second sensor, 53 Third sensor, 54 Fourth sensor, 55 Fifth sensor, 56 Lighting unit, 60 Store, 61 Store PC, 62 Control unit, 63 Memory unit, 64 Map information, 65 Transport management information, 67 Communication unit, 68 Aisle end wall, 69 Display shelf, 70 Management server, 72 Control unit, 73 Storage unit, 74 Map information, 75 Transport management information, 77 Communication unit, Lb,Lc Length.

Claims

1. An automated moving device for transporting objects, The vehicle body including the drive unit, A coupling part disposed on the vehicle body that can be connected to and disconnected from the transported object, A control unit controls the coupling unit and the drive unit to move the vehicle body to a predetermined distance from the end of the passage while connected to the transported object, to release the connection from the transported object and move the vehicle body so that the end of the vehicle body on the passage end side is positioned below the transported object, and then reconnect it to the transported object and move the end of the vehicle body to the end of the passage. An automated mobile device equipped with [the following features].

2. The automatic moving device according to claim 1, wherein the control unit controls the drive unit so that, before reconnecting to the transported object, the end of the vehicle body is at the same position as the end of the transported object, or the end of the vehicle body is inward from the end of the transported object.

3. An automatic moving device according to claim 1 or 2, The vehicle body is equipped with a detection unit that detects at least a portion of the surrounding area, The control unit performs one or more of the following movements based on the detection result of the detection unit: moving the vehicle body to a position at a predetermined distance from the end of the passage, moving the vehicle body downward to the side of the transported object after the coupling has been released, and moving the vehicle body to the end of the passage after it has been re-coupled.

4. The automatic moving device according to claim 1 or 2, wherein the control unit performs either of the following processes: setting a target position at a predetermined distance from the end of the passage and moving the transported object from the target position toward the end of the passage; or setting the end of the passage as the target position and releasing the connection at a predetermined distance from the target position.

5. An automatic moving device according to claim 1 or 2, The vehicle body is equipped with a detection unit that detects at least a portion of the surrounding area, The control unit is an automatic moving device that, based on the detection result of the detection unit, either completely suspends or interrupts the movement of the vehicle body to the end of the passage after it has been reconnected to the transported object.

6. The vehicle body section slides underneath the transported object. The automatic moving device according to claim 1 or 2, wherein the connecting portion is capable of connecting the transported object which is shorter than the vehicle body, is provided on the upper part of the vehicle body, and connects to and disconnects from the transported object by moving up and down.

7. A control method for an automatic mobile device that transports an object, comprising a vehicle body including a drive unit and a coupling unit disposed on the vehicle body and capable of coupling to and uncoupling an object, and executed by a computer, A step of controlling the coupling unit and the drive unit to move the vehicle body to a predetermined distance from the end of the passage while connected to the transported object, to release the connection from the transported object and move the vehicle body so that the end of the vehicle body on the passage end side is positioned below the transported object, then reconnecting to the transported object, and moving the end of the vehicle body to the end of the passage. A method for controlling an automatic moving device, including the device itself.

Images