Transport device

Abstract

[Problem] To provide a transport device that can enhance safety when transporting an object to be transported by a transport vehicle. [Solution] A transport device, wherein a coupling device is rotatable about an axis extending in the vertical direction in relation to a transport vehicle, and is provided with a rotation suppression unit that suppresses rotation of the coupling device with respect to the transport vehicle, a lock control unit that controls the rotation suppression unit to thereby control whether the coupling device is in a locked state in which rotation is suppressed, or in an unlocked state in which rotation is permitted, and a rotation state detection unit that detects a rotation angle of the coupling device with respect to the transport vehicle. The lock control unit controls the rotation suppression unit on the basis of the rotation angle.

Description

Conveyor

[0001] The present disclosure relates to a transport device.

[0002] In recent years, automated guided vehicles have been utilized to transport various items within facilities such as manufacturing plants. When transporting items using an automated guided vehicle, it is conceivable to couple a wheeled transport target object, such as a cart carrying the item, to the automated guided vehicle and transport (tow) it. Patent Document 1 discloses a system in which a cart is coupled to an automated guided vehicle for transport.

[0003] Patent No. 7226156

[0004] In the above system, the connecting part that connects the transport vehicle and the object to be transported is rotatable relative to the transport vehicle. In such a configuration, the position and angle of the object to be transported relative to the transport vehicle tend to become unstable, and there is room for improvement in terms of safety.

[0005] Therefore, the present disclosure has been made in consideration of the above-mentioned problems, and its purpose is to provide a transport device that can increase safety when transporting objects by transport vehicle.

[0006] According to the present disclosure, there is provided a conveying device including a coupling device that couples an object to be conveyed to a conveying vehicle, the coupling device being rotatable around an axis extending in the vertical direction relative to the conveying vehicle, the conveying device including a rotation suppression unit that suppresses rotation of the coupling device relative to the conveying vehicle, a lock control unit that controls the rotation suppression unit to control whether the coupling device is in a locked state that suppresses the rotation or an unlocked state that allows the rotation, and a rotation state detection unit that detects the rotation angle of the coupling device relative to the conveying vehicle, and the lock control unit controls the rotation suppression unit based on the rotation angle.

[0007] According to the present disclosure, it is possible to provide a transport device that can improve safety when transporting an object to be transported by a transport vehicle.

[0008] 9 is a perspective view showing an example of the configuration of a transport vehicle and a coupling device according to the present embodiment; FIG. 10 is a plan view showing an example of the configuration of a transport vehicle and a coupling device according to the present embodiment; FIG. 11 is a diagram showing a flow of a coupling operation of the control system according to the present embodiment; FIG. 12 is a diagram showing a flow of decoupling of the control system according to the present embodiment; FIG. 13 is a side view showing an enlarged view of a gripping unit in a release position according to the present embodiment; FIG. 14 is a side view showing an enlarged view of a gripping unit in a gripping position according to the present embodiment; FIG. 15 is a side view showing a state in which a transport vehicle and a coupling device according to the present embodiment approach a transport object; FIG. 16 is a schematic enlarged view of the coupling device of FIG. 7; FIG. 17 is a side view showing a state in which a transport vehicle and a coupling device according to the present embodiment are coupled to a transport object; FIG. 18 is a side view showing a state in which the auxiliary fixed wheel of the coupling device of FIG. 10 is in contact with the ground; FIG. 19 is a perspective view showing an enlarged view of a gripping unit according to the present embodiment; FIG. 19 is a bottom view showing an example of a transport vehicle according to the present embodiment; FIG. 11 is a diagram showing an example of the configuration of an operating area according to the present embodiment; FIG. 12 is a diagram showing an example of an overall configuration diagram of a transport system according to the present embodiment; FIG. 13 is a diagram showing a configuration diagram of a general control device according to the present embodiment; FIG. 14 is a diagram showing a functional configuration diagram of a transport vehicle according to the present embodiment.

[0009] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted.

[0010] The conveying system of this embodiment is used to convey transport items such as various manufactured parts and luggage in, for example, a manufacturing factory, a logistics warehouse, etc. The conveying device constituting the conveying system includes an unmanned guided vehicle (hereinafter also simply referred to as a "conveying vehicle") and a coupling device that couples the transported item (transport target).

[0011] FIG. 1 is a perspective view showing an example of the configuration of a transport device 1 according to this embodiment, and FIG. 2 is a plan view. The transport device 1 according to this embodiment includes a transport vehicle 10 and a coupling device 20 that couples an object to be transported to the transport vehicle 10. As indicated by the arrow in FIG. 2 , the coupling device 20 is rotatable around an axis extending in the vertical direction relative to the transport vehicle (in this example, with the shaft 11 as a fulcrum). Here, "rotation" does not necessarily mean a 360° rotation, but also includes displacement within a predetermined range, such as 180°, 90°, or less. Preferably, the axis (shaft 11) is located rearward of the center of the transport vehicle 10 and rearward of the rotation center (the center point of the left and right drive wheels) of the transport vehicle 10, but is not limited thereto.

[0012] The transport device 1 of this embodiment includes a rotation suppression unit that suppresses rotation of the coupling device relative to the transport vehicle, and a lock control unit that controls the rotation suppression unit to switch between a locked state that suppresses rotation and an unlocked state that allows rotation. The rotation suppression unit may be a physical brake that suppresses rotation of the shaft portion 11 (shaft or bearing). The rotation suppression unit may be, for example, a member that extends from the transport vehicle 10 and engages with the coupling device 20 to restrict rotation of the coupling device 20 relative to the transport vehicle 10, or a member that extends from the coupling device 20 and engages with the transport vehicle to suppress rotation. The rotation suppression unit may electrically or mechanically stop a motor that controls the rotation of the coupling device 20. The lock control unit in this example is configured as a control unit of the transport vehicle, which will be described later, but may also be provided independently within the coupling device 20, etc.

[0013] In this embodiment, a rotation state detection unit detects the rotation angle of the coupling device relative to the transport vehicle, and the lock control unit controls the rotation suppression unit based on the rotation angle. In this way, by determining whether to lock based on the rotation angle of the coupling device relative to the transport vehicle, the angle at which the coupling device is locked can be limited. In other words, since the coupling device can be prevented from being locked at an unintended angle, it is easier to match the orientation of the transport vehicle with the orientation of the coupling device. As a result, it is easier to prevent the transported object from unintentionally contacting surrounding workers or objects, thereby improving safety when transporting the transported object using the transport vehicle. It is also possible to improve the safety and efficiency of, for example, coupling and uncoupling operations. The rotation state detection unit may be configured, for example, with an encoder that converts and detects rotational displacement into an electrical signal, or with other sensors (such as an angle sensor). For example, the lock control unit can control the rotation suppression unit to enter a locked state when the rotation angle, based on the angle at which the coupling device extends rearward of the transport vehicle (the state shown in FIG. 2 ), is within a predetermined range or a predetermined angle. In this case, the locked state is not entered when the rotation angle exceeds the predetermined range. Such rotation angle information regarding the conditions for the locking rotation angle may be determined in advance and stored in a memory unit, or numerical information on the rotation angle input by the user may be stored.

[0014] The lock control unit may control the rotation suppression unit to enter a locked or unlocked state during a predetermined operation. Examples of predetermined operations include empty cart transport, which transports an empty cart or basket cart that does not carry any cargo; a predetermined coupling operation, in which the transport vehicle approaches an object to be transported and couples with the object; and a predetermined detaching operation, in which the transport vehicle is detached from the object to be transported and detached from the object to be coupled. A locked or unlocked state may be set for each of these operations. Whether a cargo is placed on the cart may be determined based on an analysis of a camera image or information acquired by a sensor, input information from a user, or information received from a management device. Condition information for the predetermined operation, and information regarding the coupling operation and the detaching operation are predetermined and stored in the memory unit. The coupling operation is initiated, for example, when the control unit determines that the position and posture of the transport vehicle and the object to be coupled are within a predetermined range. In the coupling operation, for example, the transport vehicle moves backward while controlling its position and posture so that its back surface (the surface on which the coupling device is located) faces the front surface of the object to be coupled. Then, when the gripping portion of the coupling device is located at a predetermined location (grasped portion) of the object to be transported based on information from a detection unit such as a sensor, the gripping portion is shifted from a release position to a gripping position to grip the predetermined location of the object to be transported. This completes the coupling operation, connecting the transport vehicle and the object to be transported by the coupling device.

[0015] The detachment operation is initiated, for example, when the control unit determines that the coupled object coupled to the transport vehicle has been transported to the destination position. The detachment operation can be performed, for example, by shifting the gripping unit from the gripping position to the release position and moving the transport vehicle forward a predetermined distance (for example, the distance until the portion of the object that is under the object is positioned outside the object, or a predetermined fixed distance), thereby detaching the transport vehicle and the coupling device from the object and completing the detachment operation. The transport vehicle then moves toward the next destination position.

[0016] The lock control unit may control the rotation suppression unit to be in an unlocked state when the transport vehicle is traveling with the transport object coupled to it. In particular, the rotation suppression unit may be controlled to be in an unlocked state when transporting a dolly (including a basket dolly) loaded with cargo. In the unlocked state, the coupling device and the transport object rotate (displace circumferentially around the axis) in any direction relative to the transporter. For example, the coupling device and the transport object rotate in any direction due to centrifugal force or the like as the transport vehicle travels. The rotation angle of the coupling device may be controlled to a predetermined angle by a drive device such as a motor provided inside the transport vehicle, or the coupling device may be biased in the direction of the predetermined rotation angle by a biasing member such as a spring.

[0017] In this embodiment, the coupling device is locked during the coupling and detaching operations. This allows the coupling device to be placed at a predetermined location on the coupled object in a stable state and coupled to it. Furthermore, because the position of the coupling device is stable, it is possible to prevent the coupling device from unintentionally rotating and colliding with an obstacle. This makes it possible to increase the efficiency when coupling the coupling device to the transported object.

[0018] 2 shows a state in which the coupling device extends toward the rear of the transport vehicle. In this embodiment, during the coupling operation, the coupling device may be in a locked state in which the coupling device extends toward the rear of the transport vehicle, and the transport vehicle may be moved backward to bring the coupling device closer to the transported object.

[0019] The lock control unit may control the rotation suppression unit to be in the locked state only when the rotation angle is a predetermined angle. For example, the lock control unit may be configured to be able to control the rotation suppression unit to be in the locked state only when the rotation angle is 0°, that is, when the coupling device extends rearward of the transport vehicle (the state shown in FIG. 2 ), or may be configured to be able to control the rotation suppression unit to be in the locked state only when the rotation angle is within a range of 10° or less on both the left and right sides.

[0020] In this embodiment, a travel control unit is provided that controls the travel of the transport vehicle by controlling the drive wheels of the transport vehicle, and the travel control unit may control the orientation of the transport vehicle based on rotation information acquired by the rotation state detection unit so that the rotation angle of the coupling device relative to the transport vehicle is a predetermined angle. For example, when the rotation information acquired by the rotation state detection unit exceeds 10°, the transport vehicle may be rotated in a direction that is 10° or less. In this way, the control unit can control the drive wheels so that the coupling device is at a predetermined angle relative to the transport vehicle. Information for controlling the drive wheels may also be stored in the storage unit.

[0021] In this embodiment, the transport vehicle or the coupling device may further include a transport object detection unit that detects the relative position and orientation of the transport object with respect to the transport vehicle or the coupling device, and the lock control unit may control the rotation suppression unit based on the information on the relative position and orientation of the transport object. The transport object detection unit may be, for example, a three-dimensional camera, a distance measurement sensor, etc. Then, the transport vehicle can be controlled so that the transport vehicle and the coupling device are at appropriate positions and angles with respect to the transport object.

[0022] In this embodiment, a biasing member may be provided to bias the coupling device so that the rotation angle of the coupling device in the unlocked state is a predetermined rotation angle. The biasing member may be, but is not limited to, a coil spring, a leaf spring, an actuator, or the like. When a biasing member is provided, the coupling device temporarily rotates in response to the movement of the transport vehicle, and then is biased to return to its original predetermined position. This configuration makes it less likely that the position of the coupling device relative to the transport vehicle will become unstable.

[0023] In this embodiment, a rotation control unit may be provided that controls a rotation drive unit provided at a connection portion between the transport vehicle and the coupling device to control the rotation angle of the coupling device in the unlocked state in accordance with the rotation instruction information. In this case, the lock control unit may control the rotation suppression unit so that the coupling device enters the locked state when the rotation control unit controls the rotation drive unit to cause the rotation angle of the coupling device to reach a predetermined angle. The rotation drive unit may be configured, for example, by a motor that rotates the coupling device, and the rotation control unit may be a control unit that controls the motor.

[0024] In this embodiment, the connecting device is provided with a gripping portion that grips a predetermined portion of the transported object, and the gripping portion may have a detection portion for detecting whether the predetermined portion of the transported object is in a position that can be gripped by the gripping portion.

[0025] FIG. 3 shows an example of the flow of the coupling operation. First, a transport vehicle to which an object to be transported is not coupled moves close to the object to be transported. Then, the transport vehicle moves until its relative position and angle with respect to the object become predetermined relative positions and angles (S101). Specifically, the transport vehicle moves a predetermined distance to a position where the coupling device of the transport vehicle faces the front of the object to be transported. At this time, the coupling device is locked in a position facing the rear of the transport vehicle. In other words, the transport vehicle moves so that the back of the transport vehicle faces the front of the object to be transported.

[0026] Next, the control unit unlocks the coupling device (S102), and the transport vehicle moves backward to approach the transport object. The control unit then moves the transport vehicle so that the gripping portion of the coupling device is positioned at a predetermined location on the transport object, and the gripping portion is shifted from the release position to the gripping position. This causes the coupling device to grip the transport object, and the transport object is coupled to the transport vehicle (S103). By thus releasing the lock during the coupling operation, the transport object can be flexibly gripped even if there is a slight misalignment in position or direction between the gripping portion of the coupling device and the gripped portion of the transport object.

[0027] The determination of whether the gripper of the coupling device is positioned at a predetermined location on the transported object may be based on position information, information from a sensor 29 installed in the gripper, or distance information acquired from a camera image, a distance sensor, or other sensor. When based on position information, the gripper may detect the position from a two-dimensional code or other element constituting a guide line, or estimate the current position using Lidar or other sensors, and grasp the object when the current position reaches a predetermined position (coordinates). Alternatively, the distance to the transported object may be estimated from a camera image, a distance sensor, or other sensor, and the object may be grasped when the predetermined distance is reached. Alternatively, the distance traveled by the transported vehicle may be estimated from a camera image, a distance sensor, or other sensor, and the object may be grasped when it has traveled a predetermined distance from the time of S101. After the gripper grips the transported object, the auxiliary fixed wheels 34 are lowered and grounded as necessary (depending on the type of wheels of the transported object). The gripper may remain locked until the coupling operation is complete.

[0028] After the connection of the transport object is completed as described above, the rotation of the coupling device is unlocked, and the transport vehicle is allowed to travel, towing and transporting the transport object toward the destination (S104). Note that the lock may be left locked even during travel. The transport mode may be a towing mode in which the transport vehicle located in front pulls the transport object located behind, or a transport mode in which the transport vehicle moves while pushing the transport object located in front from behind. In the transport mode in which the transport object is moved while pushing, it is preferable that the coupling device be locked to stabilize the orientation of the transport object. In the towing mode in which the transport vehicle pulls the transport object located behind, even if the lock is unlocked, the transport object and the coupling device will be oriented directly backwards as the transport vehicle moves forward (the rotation angle will be 0°).

[0029] FIG. 4 shows an example of a flow of the detachment operation. After the transport vehicle transports the transport object to the destination position (S201), the gripper is shifted from the gripping position to the release position, thereby detaching the transport object (S202). The rotation angle of the coupling device is adjusted to a lockable range (S203). This adjustment may be performed by turning the transport vehicle or by rotating the coupling device. Once the rotation angle of the coupling device is set to an appropriate angle, the coupling device is locked (S204). If the auxiliary fixed wheels 34 are in contact with the ground at S201, the auxiliary fixed wheels 34 are raised after S201 or S202 to remove them from the ground. The order of S202 to S204 may be reversed or may be performed simultaneously. The transport vehicle (and coupling device) is then detached from the transport object by, for example, moving the transport vehicle forward (S205). The transport vehicle can then move toward the next transport object to be transported or to an area for charging.

[0030] The connecting device 20 includes a vehicle-side coupling part 21 that is rotatably coupled to the transport vehicle 10, and a gripping part 22 that releasably grips the lower frame of the transported object. The transport vehicle 10 may be an AGV that moves along a guideline, an AMR that moves autonomously regardless of the guideline, or a combination of these that can perform both.

[0031] The vehicle-side coupling 21 is located at the top of the transport vehicle 10 and is supported from below by the transport vehicle 10. In this example, the vehicle-side coupling 21 is coupled to the transport vehicle 10 so as to be rotatable around a shaft 11 extending vertically (up and down) and provided at the top of the transport vehicle 10. The vehicle-side coupling 21 may be fixed to the transport vehicle 10 so as not to be rotatable. The vehicle-side coupling 21 does not displace vertically relative to the transport vehicle 10, but may be configured to displace vertically. The relative position (angle) of the vehicle-side coupling 21 (with respect to the transport vehicle 10) around the shaft 11 is controlled by a driving device such as an internal motor or actuator. The vehicle-side coupling 21 is basically installed relative to the transport vehicle 10 so that the gripping portion 22 is located at the rear side of the transport vehicle 10. The vehicle-side coupling 21 may be detachable from the transport vehicle 10.

[0032] Fig. 5 is an enlarged side view of the gripping portion 22. As shown in Fig. 5, the gripping portion 22 has a lower support portion 23 that supports the horizontal plate portion 511 of the lower frame 51 from below, a protrusion 24 that protrudes upward from the tip side of the lower support portion 23 and engages with a side surface 511a of the horizontal plate portion 511, and a displacement portion 25 that displaces around a shaft portion 25a as a fulcrum between the release position and the gripping position. Fig. 5 shows the displacement portion 25 in the release position.

[0033] The displacement unit 25 includes an upper support portion 26 that supports the lower frame 51 from above in the gripping posture, and a side support portion 27 that supports the lower frame 51 from the front side (the transport vehicle 10 side). The upper support portion 26 and the side support portion 27 are fixed to each other, are substantially integrated, and displace together between the release posture and the gripping posture. The upper support portion 26 abuts against the upper end (end face) of the vertical plate portion 512 of the lower frame 51 in the gripping posture, thereby preventing the lower frame 51 from moving upward. The side support portion 27 abuts against the outer surface of the vertical plate portion 512 in the gripping posture, thereby preventing the lower frame 51 from moving in a direction away from the protrusion 24. The shaft portion 25a in this example is composed of two rotation shafts and is configured to allow the displacement unit 25 to move between the release posture and the gripping posture while maintaining the side support portion 27 of the displacement unit 25 extending vertically. The configuration of the displacement unit 25 is not limited to the illustrated example, and it may be configured so that it swings and displaces with a shaft unit consisting of only one rotation shaft, or it may have a structure in which the side support unit 27 slides horizontally and the upper support unit 26 slides vertically. In the case of such a sliding mechanism, a guide member such as a rail for guiding linear movement may be provided.

[0034] 6 shows a state in which the displacement unit 25 is in the gripping position and the gripping unit 22 is gripping the lower frame 51. In the gripping position, the gripping unit 22 grips the lower frame 51 by sandwiching the lower frame 51 between the lower support unit 23 and the upper support unit 26 in the vertical direction and by sandwiching the lower frame between the protrusion unit 24 and the side support unit 27 in the depth direction.

[0035] 6, the upper support portion 26 is configured so as not to protrude inward (inside the car bogie) beyond the inner surface of the vertical plate portion 512. The lower support portion 23 and the protrusion portion 24 are configured so as not to protrude beyond the top surface of the horizontal plate portion 511.

[0036] 5 to the gripping posture of Fig. 6, the displacement portion 25 is displaced in the depth direction toward the protrusion 24 (forward) and in the up-down direction toward the lower support portion 23 (downward). In this example, the side support portion 27 is displaced while maintaining an angle extending in the vertical direction by the shaft portions 25a provided at the base end of the lower support portion 23 and the lower end of the side support portion 27, and the members connecting them.

[0037] 7 shows a coupling operation in which the transport vehicle 10 approaches the object 50 to be transported (cart) in order to couple the coupling device 20 installed on the transport vehicle 10 to the object 50. At this time, the displacement unit 25 is in the released position. The transport vehicle 10 approaches the object 50 so that the tip of the horizontal support unit 23 is inserted between the left and right wheels 52 of the object 50 (and between the ground and the support frame 51). It is preferable that the gripping unit 22 be coupled to the center of the object 50 in the left-right direction.

[0038] Fig. 8 is an enlarged view of the gripping unit 22. Note that Fig. 8 does not show the entire object to be transported, but only shows the lower frame 51 in a schematic manner. The lower frame 51 is, for example, a metal member having an L-shaped cross section, and has a horizontal plate portion 511 extending horizontally and a vertical plate portion 512 extending vertically. The lower frame 51 is not limited to this, and may be formed of, for example, a member having a rectangular cross section.

[0039] Here, an inclined guide surface 28 that slopes diagonally downward toward the tip is provided on the tip side of the horizontal support part 23 (the tip side of the protrusion 24). The tip of the lower support part 23 has a tapered shape due to the provision of the inclined guide surface 28, and the size (height) in the vertical direction gradually decreases. With this configuration, when connecting the gripper 22 to the transported object 50, the lower support part 23 can be smoothly inserted under the lower frame 51 and guided to the appropriate connecting position.

[0040] The lower support portion 23 is configured to be elastically displaceable in the vertical direction by contacting the transport object 50 during the process of connecting the transport object 50, and a biasing member is provided to return the displaced lower support portion 23 to its original position. The biasing member may be, but is not limited to, a coil spring, a leaf spring, an actuator, or the like. In this example, as shown in FIG. 8 , two coil springs 31 are provided as the biasing members. The two coil springs 31 are installed parallel to each other between an upper frame 32 and a lower frame 33 extending outward from the transport vehicle-side coupling portion 21. The upper frame 32 and the lower frame 33 are parallel to each other and support the gripping portion 22. When the lower support portion 23 is displaced downward, the coil springs 31 expand, exerting a compressive force, causing the lower support portion 23 to rise toward its original position.

[0041] The height of the lower support portion 23 is set in advance to a height corresponding to the lower frame 51 of the object to be transported 50. When the transport vehicle 10, with the coupling device 20 attached, approaches the object to be transported 50, such as a cart, and the lower end of the outer surface of the lower frame 51 comes into contact with the inclined guide surface 28, the lower support portion 23 elastically displaces downward along the inclination of the inclined guide surface 28, and when the lower frame 51 rides over the protrusion 24, the lower support portion 23 rises to a position where the upper surface of the lower support portion 23 abuts against the lower surface of the lower frame 51. Then, when the displacement portion 25 displaces from the release position to the gripping position, the gripping portion 22 grips the lower frame 51, and the object to be transported 50 is coupled to the transport vehicle 10 (see FIG. 6 ).

[0042] As shown in Figure 9, when the transport vehicle 10 and the object to be transported 50 are connected by the coupling device 20, the transport vehicle can move to any destination, thereby transporting the object to be transported 50 (cart and items to be transported, luggage, etc.) to the destination location.

[0043] In the example of FIG. 9 , the auxiliary fixed wheels 34 provided on the coupling device 20 do not touch the ground, but as shown in FIG. 10 , the auxiliary fixed wheels 34 may touch the ground. For example, if two of the wheels 52 of the transported object 50 located on the coupling device 20 side are fixed wheels, the object may be transported in a state where it is lifted off the ground as shown in FIG. 9 . If all of the wheels 52 of the transported object 50 are swivel wheels, the object may be transported in a state where the auxiliary fixed wheels 34 are in contact with the ground as shown in FIG. 10 . In other words, whether the auxiliary fixed wheels 34 are in contact with the ground during transportation may be selected depending on information about the type of wheels of the transported object 50. Such wheel information and information about the conditions for whether the auxiliary fixed wheels 34 are in contact with the ground may be stored in a storage unit in advance, may be input by a user and controlled or stored at any time, or may be determined by a control unit based on a camera image. When the control unit makes the determination, the control unit may analyze a camera image to identify the type of cart, or may identify the type of wheels from image analysis of the wheels. The image analysis method can be a known method, and a label such as a two-dimensional code associated with type information in advance can be attached to the transported object. When the auxiliary fixed wheel 34 is in a grounded state, the coupling device 20 does not move left or right (or moves with difficulty), so the rotation angle of the coupling device relative to the transport vehicle can be adjusted by turning the transport vehicle.

[0044] The auxiliary fixed wheels 34 are connected to the transport vehicle-side coupling part 21, and are displaced between a grounded state and a non-grounded state by moving up and down using a drive device such as an actuator. The up and down movement may involve swinging about a horizontally extending shaft as a fulcrum, or sliding up and down along a rail or the like. When the auxiliary fixed wheels 34 of the coupling device move in and out below the transport target object 50 to couple or uncouple the coupled object 50 to the coupling device 20, it is preferable that the auxiliary fixed wheels 34 be raised above the ground and in a non-grounded state.

[0045] In this example, the auxiliary fixed wheel 34 is provided at the tip of a support arm 35 extending from the transport vehicle-side coupling 21. The support arm 35 is located below the upper frame 32, the lower frame 33, and the gripping unit 22. The auxiliary fixed wheel 34 is located forward of the gripping unit 22 (in a direction away from the transport vehicle 10) and is configured to slip under the transported object 50, but is not limited to this. The auxiliary fixed wheel 34 and the gripping unit 22 are located at the center of the coupling device 20 in the left-right direction and are arranged at the same circumferential position around the transport vehicle 10. When the coupling device 20 rotates relative to the transport vehicle, the auxiliary fixed wheel 34 and the gripping unit 22 both move circumferentially. The support arm 35 extends downward from the transport vehicle-side coupling 21, bends, and extends forward, but the shape can be modified as appropriate.

[0046] In this embodiment, a sensor 29 is provided to detect whether the lower frame 51 is positioned appropriately relative to the gripper 22. The sensor 29 may be disposed adjacent to the lower support 23. In this case, it can be determined whether the horizontal plate 511 of the lower frame 51 is properly supported by the lower support 23. That is, when the sensor 29 detects the lower support 23, it can be determined that the lower frame 51 is positioned appropriately. Preferably, multiple sensors 29 are provided. The sensor 29 may be a physical switch that detects the presence or absence of an object by passing a current when pressed, or an infrared sensor, etc. Note that the sensor 29 is not a required component, and the gripper 22 may operate without the sensor 29. For example, the gripper may be shifted from the release position to the gripper position in response to a user input, or may be shifted automatically according to a predetermined program, or may be shifted from the release position to the gripper position when the distance and angle of the transport vehicle relative to the transported object fall within a predetermined range.

[0047] 11, the sensor 29 in this example is composed of a pair of sensors 29a, 29b spaced apart in the left-right direction. The pair of sensors 29a, 29b is located between a pair of lower support parts 23 spaced apart in the left-right direction, and is disposed adjacent to each lower support part 23.

[0048] In this embodiment, the device includes an ejector 30 that lifts the lower frame 51 of the transported object 50 from below to disengage the lower frame 51 from the protrusions 24. The ejector 30 in this example is located between a pair of lower support members 23 (between a pair of sensors 29a, 29b) that are spaced apart in the left-right direction. When releasing the transported object, the ejector 30 is driven (raised) with the gripper in the release position. After releasing the transported object, the ejector 30 descends and returns to its original position. While the gripper is in the gripping position, the ejector 30 remains in the descended position. The operation of the ejector 30 is controlled by a control unit based on predetermined information stored in a memory unit. Alternatively, the ejector 30 may be operated based on instruction information input by a user via an input unit.

[0049] In this embodiment, the vertical distance between the lower support portion 23 and the upper support portion 26 and the depth distance between the protrusion portion 24 and the side support portion 27 are configured to be changeable depending on the size of the lower frame 51 of the transport object 50. For example, the members constituting the upper support portion 26 are detachable from the base member of the displacement portion 25 using fasteners such as bolts. The vertical distance between the lower support portion 23 and the upper support portion 26 can be changed by changing the position (vertical position) of the upper support portion 26. Similarly, if the members constituting the protrusion portion 24 are detachable using fasteners, the depth distance between the protrusion portion 24 and the side support portion 27 can be changed by changing the horizontal position of the protrusion portion 24. This is not limited to this example, and the positions of the members constituting the lower support portion 23, the side support portion 27, etc. may be changeable.

[0050] In this embodiment, connectors for power supply and communication are provided at the connection between the transport vehicle-side coupling unit 21 and the transport vehicle 10, enabling power supply and signal communication (transmission and reception) between the transport vehicle 10 and the coupling device 20. Specifically, the power supply and control signals from the transport vehicle 10 can control the up and down movement of the gripper 22 and auxiliary fixed wheels 34 of the coupling device 20. Note that the coupling device 20 itself may be provided with a control unit, memory unit, communication unit, power source, etc., which will be described later, or may operate without a power supply or control signal from the transport vehicle.

[0051] In this embodiment, the connecting device 20 is provided with an imaging unit 36. The imaging unit 36 ​​is preferably located above the gripping unit 20, and the mounting position of the imaging unit 36 ​​in the width direction (left-right direction) of the connecting device 20 is preferably arranged so as to overlap the gripping unit 20 and the auxiliary fixed wheel 34. In other words, it is preferable that the imaging direction of the imaging unit 36 ​​coincides with the extension direction of the gripping unit 20, and the center of the imaging unit 36 ​​coincides with the center of the gripping unit 20 in the left-right direction. The imaging unit 36 ​​may be a sensor having an imaging function and a ranging function (depth detection function). Specifically, it may be, for example, an Intel RealSense (registered trademark) Depth Camera. The control unit can estimate the position of the transported object 50 and its angle (posture) relative to the connecting device based on the information acquired by the imaging unit 36. The control unit can also detect the presence of an obstacle (whether or not there is an obstacle), its posture (e.g., whether it is touching the cart), its distance (distance from the image capture unit 36), and its status (whether the person is working, walking, sitting, or lying down) by analyzing the image captured by the image capture unit 36. The control unit may select one of multiple options pre-stored in the storage unit through image analysis. Based on this information, for example, if an obstacle (including an object or a person) is detected in the direction of travel, the control unit may stop travel. Alternatively, if it detects that a worker is loading or unloading an object from the cart, the control unit may stop the coupling or uncoupling operation. Conversely, if it determines that there is no obstacle or that the worker is not working (or has finished working), the control unit may start the coupling or uncoupling operation. In this way, the control unit can control the transport vehicle and the coupling device based on the information acquired from the image capture unit 36. The image capture unit 36 ​​may also be provided on the upper part of the support arm 35 supporting the auxiliary fixed wheel 34, as shown in FIG. 7 . By providing the imaging units 36 on both the upper and lower sides of the gripping unit 20, the imaging range can be expanded and the detection accuracy (accuracy of estimating the position and orientation) of the transported object can be improved, thereby improving the efficiency and safety of the connecting operation. Note that the imaging units 36 are not an essential component.

[0052] When connecting the connecting device 20 to the transport object 50, the control unit of the transport vehicle can bring the connecting device 20 close to the transport object 50 at an appropriate position and angle based on information from the imaging unit 36 ​​and / or information from an imaging unit (including a camera or a sensor) provided on the transport vehicle itself. For example, the transport vehicle 10 is moved so that the gripping unit 20 of the connecting device 20 is positioned at the center in the left-right direction (center in the width direction) of the transport object 50, and the transport object 50 is positioned directly in front of the gripping unit 20.

[0053] Then, when it is determined based on information from a sensor 29 provided in the gripping unit 20 that the lower frame 51 of the transport target object 50 has been placed in an appropriate position relative to the gripping unit 20, the displacement unit 25 is displaced from the release posture to the gripping posture, thereby enabling the gripping unit 20 to grip the lower frame 51 with high precision.

[0054] When the transport vehicle transports the object 50 to the destination position and the connection is to be released, the connection can be released by displacing the displacement unit 25 from the gripping position to the release position and then causing the transport vehicle to travel in a direction away from the object 50 (the opposite direction from when coupled). Even in this case, the control unit can determine whether the lower frame 51 has properly detached from the gripping unit 20 based on information from the sensor 29 provided in the gripping unit 20, and can determine whether the object 50 has been released in an appropriate position based on information from the imaging unit 36.

[0055] It is also possible to provide a rotatable plate-shaped turntable on the top of the transport vehicle, and to install the transport vehicle-side coupling unit 21 thereon. In this case, the turntable rotates together with the coupling device, and the rotation of the coupling device can be suppressed by suppressing the rotation of the turntable with a disc brake or the like.

[0056] Furthermore, when the rotation angle of the coupling device relative to the transport vehicle 10 is controlled by a motor, the motor is basically relaxed and rotates freely, but only when necessary (to set a predetermined angle for locking or to adjust the angle of the object being transported relative to the transporter) can the motor be driven and rotated so that the rotation angle (orientation) of the coupling device can be changed as desired.

[0057] Here, the transported object 50 may be, for example, a cart, a dolly, a cabinet, a pallet, a conveyor, or any other device, but is not limited thereto. The transported object 50 is equipped with wheels 52 and is towed while coupled to the transport vehicle 10, thereby moving along with the transport vehicle. In other words, the transported object 50 is basically positioned behind the transport vehicle 10 (assuming the direction of travel of the transport vehicle 10 is the forward direction), but may be positioned on the forward direction side of the transport vehicle 10, for example, when the transport vehicle 10 is reversing. A plurality of wheels 52 (e.g., four, six, etc.) are provided on the bottom surface of the basket portion of the cart that carries the transported object, and may all be configured as swivel wheels, or may be configured as a combination of fixed and swivel wheels. When the transported object has fixed and swivel wheels, it is preferable to couple the transport vehicle and the transported object so that the transport vehicle is positioned on the fixed wheel side.

[0058] <Configuration of the Transport Vehicle> Figure 12 is a perspective view showing an example of the configuration of the transport vehicle 10. The transport vehicle 10 in this example is an unmanned transport vehicle, but can also be applied to various vehicles that can accommodate people. Arrow 15 in Figure 12 indicates the direction of travel of the transport vehicle. The direction of travel is basically forward of the transport vehicle, but can also be backward depending on the situation. As shown in Figure 12, the transport vehicle 10 includes a shaft 11 for connecting the coupling device 20, an object position detection unit 12 for detecting objects around the transport vehicle, drive wheels 13, and non-drive wheels 14.

[0059] For example, the transport vehicle is equipped with an object position detection unit 12. The object position detection unit 12 is a device that detects the relative distance and angle from the transport vehicle to an object (including a transport target, a person, etc.). Examples of the object position detection unit 12 and the imaging unit 36 ​​include a laser distance sensor (such as LiDAR (Light detection and ranging)) that measures the distance and direction to an object by emitting laser light and measuring the time it takes for the light to hit the object and bounce back; a millimeter-wave radar that detects the distance to an object based on a millimeter-wave transmission signal and a received signal that is reflected by the object and returns; and a camera-type distance sensor that measures the distance to an object by photographing the object with a camera and analyzing the photographed image. In this embodiment, the object position detection unit 12 is disposed on the top surface of the transport vehicle at the front in the direction of travel. However, instead, the object position detection unit 12 may be disposed on the front side in the direction of travel. Furthermore, the object position detection unit 12 may also be disposed on the rear side or both left and right sides in the direction of travel, rather than just the front.

[0060] The object position detection unit 12 may be configured to detect objects in a 360-degree range around the transport vehicle, but is configured to detect objects at least in the traveling direction 15 of the transport vehicle. The traveling direction 15 may be either in front of or behind the transport vehicle.

[0061] FIG. 13 is a bottom view showing an example of the hardware configuration of a transport vehicle according to this embodiment. Drive wheels 13 are provided on the bottom of the transport vehicle at both the left and right sides in the direction of travel 15 of the transport vehicle, and non-drive wheels 14 are provided in front of and behind each drive wheel 13. The drive wheels 13 are connected to the rotating shaft of a motor and driven, and the right drive wheel and the left drive wheel are controlled individually. The control unit can control the speed of the transport vehicle by controlling the rotation speed of the drive wheels. The control unit can also individually control the rotation speed and rotation direction of each drive wheel to make the transport vehicle curve, turn the transport vehicle on the spot to change direction, stop the transport vehicle, and move backward. The non-drive wheels 14 are not driven and rotate passively as the transport vehicle moves due to the drive wheels 13. The non-drive wheels 14 have, for example, forks that secure the wheels and axles, and the forks are formed by swivel casters that are rotatably connected to the bottom member of the transport vehicle. Therefore, the wheel rotation direction of the non-driven wheels 14 changes passively depending on the traveling direction and rotational movement of the transport vehicle. Although Fig. 13 illustrates a hardware configuration of a transport vehicle having two driven wheels and four non-driven wheels at the four corners, the present invention is not limited to this hardware configuration, and it is also possible to adopt a configuration with a total of four wheels, two driven wheels and two non-driven wheels, and it is also possible to adopt a configuration in which the front wheels are steerable in the four-wheel configuration.

[0062] A guide line detector 16 for detecting guide lines (guidelines) is provided on the bottom of the transport vehicle. The guide line detector 16 is preferably located further forward in the direction of travel than the drive wheels 13. This allows the transport vehicle to easily follow the guide lines when traveling around curved areas. Furthermore, by quickly receiving information from the guide lines as the transport vehicle and the towing cart advance, they can quickly take action, such as stopping. The guide line detector uses a sensor appropriate for the type of guidance method, as described above. A pickup coil is used when using an electromagnetic induction method; a magnetic sensor is used when using a magnetic induction method; and a camera is used when using an image recognition method. The guide lines may be provided on the side walls or ceilings of buildings, rather than on floors. The transport vehicle's sensors (including cameras) can be installed in locations where the guidelines can be recognized (such as the bottom, side, or top of the transport vehicle). The guidelines may also be virtual tracks created on two-dimensional or three-dimensional map data. The control unit of the transport vehicle may control the travel of the transport vehicle along virtual guidelines based on map information and trajectory information (travel route information) stored in advance in the memory unit, and current self-position information estimated based on information from cameras, sensors, etc.

[0063] 14 is a diagram showing an example of the configuration of an operation area 130 according to this embodiment. As shown in FIG. 14 , guide lines 131 are laid within the operation area 130, and when a guided vehicle traveling in autonomous travel mode detects the guide lines 131 at a preset travel mode switching position 132, the travel control mode is switched from the autonomous travel mode to the guided travel mode. Conversely, when a guided vehicle traveling in guided travel mode on the guide lines enters the preset travel mode switching position 132, the travel control mode is switched from the guided travel mode to the autonomous travel mode. In order to guide the guided vehicle to a position close to a shelf where packages are stored, a conveyor belt, or a worker's work position, the track formed by the guide lines 131 is laid at a position close to the shelf or work position via multiple branch points.

[0064] A guided vehicle 10 traveling in an autonomous travel area where no guide lines are installed in autonomous travel mode changes its travel mode to a guided travel mode in which it follows the guide lines when it enters travel mode switching position 132 and detects a guide line 131. On the other hand, when a guided vehicle traveling in guided travel mode on a guide line enters travel mode switching position 132, the travel control mode is switched from the guided travel mode to the autonomous travel mode, and the guided vehicle leaves the guide line and starts autonomous travel.

[0065] The guide line 131 shown in FIG. 14 can be implemented using various conventional guidance methods, as described below. Specifically, examples include an electromagnetic induction method in which a pickup coil on the transport vehicle detects the magnetic field generated by passing a weak alternating current through a metal wire installed as the guide line; a magnetic induction method in which a magnetic sensor on the transport vehicle reads magnetic tape laid on the floor as the guide line; and an image recognition method in which a camera on the transport vehicle captures and processes images of codes (e.g., barcodes, two-dimensional codes) laid on the floor as the guide line. When the guide line is configured with multiple two-dimensional codes, the guide line is printed with multiple two-dimensional codes, each with code information printed on a two-dimensional plane, aligned in the direction of the guide line, as shown in the figure. Upon detecting a two-dimensional code, the guide line detection unit 16 acquires position information for the two-dimensional code based on the code information acquired from the two-dimensional code. When the guide line is configured with magnetic tape, the guide line detection unit 16 can be configured to include multiple magnetic sensors for detecting the magnetic tape, arranged laterally in the direction of travel of the transport vehicle. The plurality of magnetic sensors provided in the guide line detection unit 16 each output a detection signal indicating whether or not the magnetic tape has been detected. This makes it possible to detect the position of the magnetic tape on the guide line detection unit 16 by determining whether the magnetic sensor located in the center of the guide line detection unit 16 detects the magnetic tape, or whether the magnetic sensors located on the left or right ends detect the magnetic tape.

[0066] <Configuration of the Transport System> Next, the configuration of the transport system of this embodiment will be described. Fig. 15 is a diagram showing an example of the overall configuration of the transport system according to this embodiment. The transport system 1000 includes a plurality of transport vehicles (10a, 10b), a carriage 2000 as a transported object, a control device 3000 capable of displaying the status of the transport vehicles or inputting commands to the transport vehicles, a general control device 4000 that manages information necessary for the operation of the transport vehicles, an input / output device 5000 that displays information from the general control device and inputs information to the general control device, and a communication network 6000 that communicably connects the plurality of transport vehicles (10a, 10b), the control device 3000, and the general control device 4000.

[0067] The transport system 1000 can also be connected to an external system 7000 via a communication network 6000. When the transport system 1000 is introduced into a manufacturing factory to transport parts required for manufacturing from a storage warehouse to a manufacturing line, the transport system 1000 performs inter-system cooperation with a manufacturing management system as the external system 7000. In this case, by obtaining information on the operational progress of manufacturing work from the manufacturing management system, the transport volume and transport route of the transport vehicle can be dynamically adjusted according to the progress of the manufacturing work.

[0068] As another example, when the conveyance system 1000 is introduced into a logistics warehouse, and when cargo is brought into the warehouse by truck or the like, the incoming cargo is transported from an inlet to a storage warehouse, and when cargo is shipped from the warehouse, the cargo to be shipped from the storage warehouse is transported to an outlet, the conveyance system 1000 performs inter-system cooperation with a logistics management system as an external system 7000. In this case, by obtaining information related to carrying in and shipping from the logistics management system, the transportation volume and transportation route by the transport vehicle can be changed.

[0069] In a facility where a transport system is installed, a plurality of transport vehicles (10a, 10b) are generally in operation, and each transport vehicle is communicably connected to other transport vehicles and other components via a communication network 6000. For example, the transport vehicle transmits various detection information detected by its own detection unit and other control information to the control device 3000, the overall control device 4000, and other transport vehicles 10. The transport vehicle 10 is also electrically connected to the cart 2000 or communicably connected via short-range communication means, and is configured to be able to receive information about the connection state and cart identification information from the cart.

[0070] The controller 3000 has a function to display status information of each transport vehicle and a function to input commands to a specified transport vehicle. For example, the status information of the transport vehicle displayed on the controller can display all information acquired and stored by this system, such as the identification information of each transport vehicle, its position (coordinates, position on a map), speed, direction, running history, transport history of the transported object (including identification information of the transported object, time information such as the transport start position, the transport end position, the transport time, the coupling time, and the release time), information on the charge level of the battery mounted on the transport vehicle and serving as the power source for the transport vehicle, sensor information acquired by the transport vehicle, captured images, identification information of the transported object (transported object) such as a cart transported by the transport vehicle, information on the coupling device, whether it is in a gripping position or a release position, information on the locking of the coupling device (whether it is locked or not), and the rotation angle. The commands input to the transport vehicle include, for example, command information regarding the destination (target position) of the transport vehicle, operational commands to couple and uncouple with the trolley, commands to start the transport vehicle, commands to stop the transport vehicle, commands to return to the charging station, instructions for the object to be transported by the transport vehicle, coupling instructions, uncoupling instructions, rotation lock support, unlocking instructions, rotation angle instructions, instructions regarding locking conditions (lockable rotation angle), identification information for the object to be transported, time information such as the transport start position, transport end position, transport time, coupling time, and uncoupling time.

[0071] 16 is a configuration diagram of the overall control device 4000 in this embodiment. The overall control device 4000 has a status information recording unit 4010 that records status information of multiple guided vehicles operating in a facility area, an operation scenario management unit 4020 that manages operation scenarios of the multiple guided vehicles, a map management unit 4030 that generates and updates a map of the work area based on detection information of the guided vehicles including detection information of guide lines acquired by a guide line detection unit of the guided vehicles, an abnormality determination unit 4040 that determines abnormalities in the guide lines and the guided vehicles based on the detection information of the guided vehicles, and a communication unit 4050 that communicates with an external input / output device 5000 and a communication network 6000.

[0072] The status information of the guided vehicles recorded by the status information recording unit 4010 includes, for example, obstacle detection positions detected by the multiple guided vehicles in operation, guide line detection positions, history information of the travel positions of the guided vehicles, information on the battery charge level, identification information of the carriages connected to the multiple guided vehicles, operation modes of the multiple guided vehicles (guided travel mode or autonomous travel mode), various other detection information detected by the detection unit 230 of the guided vehicles, map information of the work area, etc. The operation scenario managed by the operation scenario management unit 4020 includes, for example, information on the destination of each of the multiple guided vehicles, the multiple operations to be performed until the vehicle reaches the destination, the operation sequence of the multiple operations, and switching conditions for the multiple operations.

[0073] The map management unit 4030 generates a map including the position information of obstacles and guide lines within the work area based on the historical information of the obstacle detection positions, guide line detection positions, and travel position of the guided vehicle detected by the guided vehicle. Furthermore, the map management unit 4030 updates the information of the guide lines and work area registered in the map based on the information of the detected positions of the guide lines accumulated by one or more guided vehicles.

[0074] The abnormality determination unit 4040 determines abnormalities in the guide lines and the guided vehicle based on the position information of the guide lines registered in the map information and the detection information of the guided vehicle including the detected position information of the guide lines detected by the guided vehicle.

[0075] The input / output device 5000 displays information recorded in the status information recording unit 4010 of the overall control device 4000, map information (including map update information), and the results of judgment by the abnormality judgment unit, and can add or update new operation scenarios by inputting operation scenarios managed by the operation scenario management unit 4020. Information input to the input / output device 5000 includes, for example, that the destination of a given transport vehicle is the working area A of the guided travel area 110, the operation content for entering the guided travel area 110 and arriving at the working area A, operation switching conditions, etc.

[0076] <Functions of the Transport Vehicle> The functions of the transport vehicle will be described using Figure 17. Figure 17 is a diagram showing the functional configuration of the transport vehicle according to this embodiment. The transport vehicle 10 is equipped with a coupling device 20, a communication unit 210 that communicates with a carriage 2000 outside the transport vehicle and a communication network 6000, a recording unit 220 (including a memory unit), a detection unit 230 equipped with various sensors described below, a coupling device for coupling with the carriage, a wheel drive unit 280 that drives the wheels, an input unit 240, a display unit 250, and a control unit 260 that controls the operation of the wheel drive unit 280, etc.

[0077] The recording unit 220 has a function of recording information received from the outside by the communication unit 210, detection information detected by the detection unit 230, and information generated and output by the control unit. The recording unit 220 can store information such as the destination position of the transport vehicle, the travel route, and the travel history. The recording unit 220 can store speed information according to the distance to the destination position, calculation formula (program) information for calculating the speed information, and the like.

[0078] The detection unit 230 includes an object position detection unit 12, a guide line detection unit 16, a travel distance detection unit 233, a collision detection unit 234, a posture detection unit 235, and a charge amount detection unit 236. As described above, the object position detection unit 12 includes a laser distance sensor (such as LiDAR (Light detection and ranging)) that measures the distance and direction to an object by emitting laser light and measuring the time it takes for the light to hit the object and bounce back; a millimeter-wave radar that detects the distance to an object based on a millimeter-wave transmission signal and a received signal that is reflected by the object and returns; or a camera-type distance sensor that measures the distance to an object by photographing the object with a camera and analyzing the captured image. The control unit can estimate information about the current position and current speed of the transport vehicle based on information from the detection unit. The detection unit 230 includes a position sensor, such as a GNSS, that detects the current position of the transport vehicle, and a speed sensor that detects the speed of the transport vehicle.

[0079] As described above, the guide line detection unit 16 uses a sensor according to the type of guidance method. When the electromagnetic induction method is used, a pickup coil is used as the sensor for the guide line detection unit; when the magnetic induction method is used, a magnetic sensor is used; and when the image recognition method is used, a camera is used. The guide line detection unit detects the guide line when it is located directly above the guide line and outputs a detection signal. Furthermore, in the case of an image recognition method in which a camera reads a guide line using a two-dimensional code or barcode, position information is generated based on information from the detected code in addition to the guide line detection signal, and further, information on the relative angle between the guide line and the transport vehicle can be generated by examining image information from the code.

[0080] The travel distance detection unit 233 detects the number of rotations of the non-driven wheels 14 or the driven wheels 13, and can measure the travel distance and travel speed of the transport vehicle based on the detected information on the number of rotations and information on the diameter (or circumference) of the non-driven wheels or the driven wheels (in this case, the travel distance detection unit 233 can function as a speed sensor). Alternatively, a millimeter-wave sensor that irradiates millimeter waves in any horizontal direction (including a wall or floor) and detects reflected waves can be used to detect the travel speed of the transport vehicle and integrate the travel speed to estimate the travel distance. Any method for measuring the travel distance or acquiring the travel speed other than the above-mentioned methods can also be applied.

[0081] The collision detection unit 234 has the function of detecting when the transport vehicle collides with an object or a person. Specifically, it can detect acceleration using a gyro sensor or the like and determine that a collision has occurred when a sudden change in acceleration is detected. As an alternative, it is possible to install a physical switch along with a bumper at the front of the transport vehicle in the direction of travel and determine that a collision has occurred when the physical switch is pressed. Collision detection methods other than those described above can also be applied. When the collision detection unit 234 detects a collision, it stops the transport vehicle and records at least one of information on the collision occurrence and the collision location in a recording unit, and notifies the information to the overall control device 4000 and the control device 3000. The attitude detection unit 235 detects the direction (attitude) of the host vehicle based on a magnetic compass, information on the rotation speed of the left and right drive wheels, or wheel steering information.

[0082] The charge amount detection unit 236 detects the charge amount of the battery that is the power source for the transport vehicle. When the charge amount detected by the charge amount detection unit 236 falls below a predetermined value, the unit determines that charging is necessary, records the detection information of the decrease in charge amount in the recording unit, and notifies the information to the overall control device 4000 and the control device 3000. Furthermore, when it is detected that the charge amount is below a predetermined value, in addition to the above processing, the unit may automatically move to a charging spot and charge the vehicle. Note that the predetermined value used by the charge amount detection unit 236 to determine that charging is necessary may be a value set in advance based on at least one of the distance to the destination set for the transport vehicle and the weight of the transported object coupled to the transport vehicle.

[0083] The input unit 240 is configured with a physical switch or a touch panel mounted on the transport vehicle, and allows a user to directly input operation commands, etc. to the transport vehicle. The display unit 250 is configured with, for example, a liquid crystal panel mounted on the transport vehicle, and can display status information of the transport vehicle (various types of detection information by the detection unit 230, the type of driving mode, the operation scenario currently being executed, etc.).

[0084] The control unit 260 includes an operation determination unit 261, a mode switching unit 262, a connection control unit 263, a display control unit 264, a position estimation unit 265, and a travel control unit 266. The operation determination unit 261 determines the operation of the guided vehicle based on the operation scenario of the self-guided vehicle acquired from the operation scenario management unit 4020.

[0085] The mode switching unit 262 switches the travel mode of the transport vehicle between a guided travel mode and an autonomous travel mode based on conditions predetermined by an operation scenario or the like or commands input by the input unit 240. The connection control unit 263 controls the operation of the coupling device to control connection / disconnection with a transported object such as a cart based on conditions predetermined by an operation scenario or the like or commands input by the input unit 240. The display control unit 264 controls the input IF of the input unit 240 and the display unit 250 described above.

[0086] The position estimation unit 265 can estimate the position of the vehicle at a given time, including the current position of the vehicle, within the entire travel area, based on the travel distance detected by the travel distance detection unit 233, information on the direction of the vehicle detected by the attitude detection unit 235, and map information on the entire area recorded in the recording unit 220. Alternatively, the position of the vehicle within the entire travel area can be estimated based on information on the distance and direction from the vehicle to an object measured by the object position detection unit 12 and map information on the entire area recorded in the recording unit 220. Alternatively, when the vehicle is traveling on a guide line formed by a two-dimensional code, the position of the vehicle within the entire travel area can be estimated based on the identification information of the two-dimensional code and the map information. The position estimation unit 265 can also acquire position information using a GNSS or the like provided in the transport vehicle.

[0087] The position estimation unit 265 can estimate the position of an object based on the estimated vehicle position information and the distance information from the vehicle to the object detected by the object position detection unit 12. Furthermore, based on the vehicle position information when the guide line detection unit 16 detects the guide line, it estimates the installation position of the guide line.

[0088] The travel control unit 266 controls the travel of the transport vehicle based on at least one of the determination information by the operation determination unit 261 and the mode switching unit 262. The travel control unit 266 can control the forward movement, backward movement, stopping, turning, and the moving speed and turning speed of the transport vehicle. Specifically, the travel control unit 266 individually controls the right wheel drive unit 281 and the left wheel drive unit 282 of the wheel drive unit 280. The right wheel drive unit 281 and the left wheel drive unit 282 are configured with, for example, motors, and by individually controlling the rotation speed and rotation direction of each drive wheel, it becomes possible to make the transport vehicle travel on a curve with an arbitrary trajectory radius or to rotate the transport vehicle to change direction.

[0089] The orientation of the transport vehicle may be controlled based on the angle and relative position of the transport vehicle, by performing an angle estimation process to estimate the angle of the transport vehicle relative to the extension direction of the guideline based on information from a sensor provided on the transport vehicle, and a relative position estimation process to estimate the relative position of the guideline and the transport vehicle in a direction perpendicular to the extension direction of the guideline based on information from a sensor provided on the transport vehicle. For example, in the case of an image recognition method in which a camera reads a guideline using a two-dimensional code or a barcode, position information may be generated based on information from the detected code in addition to a detection signal of the guide line, and further image information of the code may be used to generate relative angle information between the guide line and the transport vehicle.

[0090] In this embodiment, a rotation state detection unit is provided that detects the rotation angle of the coupling device relative to the transport vehicle. The rotation state detection unit may be configured, for example, by an encoder that converts rotational displacement into an electrical signal for detection, or may be configured by another sensor (such as an angle sensor). By providing the rotation state detection unit, the position and orientation of the transported object relative to the transport vehicle can be detected.

[0091] Furthermore, based on information from the rotation state detection unit, the direction behind the vehicle when reversing can be estimated. Specifically, since the vehicle travels in the direction of the fixed wheels of the coupling device or the fixed wheels of the transported object when reversing, the direction of travel when reversing can be estimated from angle information from the rotation state detection unit. The control unit of the transport vehicle controls the drive unit in real time based on the information on the direction of travel to correct the direction of travel, thereby allowing the vehicle to safely revert toward the destination position. Furthermore, by estimating the position of the transported object, the vehicle can travel while preventing collision with obstacles during forward and reverse travel. In other words, the travel path of the transported object can be estimated from information on the travel path of the transport vehicle and the position and orientation of the transported object relative to the transporter. Therefore, the presence or absence of an obstacle on the planned travel path of the transported object can be estimated, and if an obstacle is present, the vehicle can stop travel or avoid the obstacle when traveling.

[0092] Although the preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is clear that a person skilled in the art of the present disclosure can conceive of various modified or altered examples within the scope of the technical idea described in the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure.

[0093] The devices described herein may be implemented as stand-alone devices, or may be implemented as multiple devices (e.g., cloud servers) partially or entirely connected via a network. For example, the control unit 260 and the recording unit 220 of the transport vehicle may be implemented as different servers connected to each other via a network. In addition, in the transport system described herein, the controller 3000, the overall control device 4000, and the input / output device 5000 are configured as separate pieces of hardware connected via a network. However, some or all of the functions of the controller 3000, the overall control device 4000, and the input / output device 5000 may be implemented in the transport vehicle 10.

[0094] The series of processes performed by the device described herein may be implemented using software, hardware, or a combination of software and hardware. A computer program for implementing each function of the control unit 260 according to this embodiment may be created and installed on a PC or the like. A computer-readable recording medium storing such a computer program may also be provided. Examples of the recording medium include a magnetic disk, an optical disk, a magneto-optical disk, and a flash memory. The computer program may also be distributed, for example, via a network, without using a recording medium.

[0095] Furthermore, the processes described herein using flowchart diagrams do not necessarily have to be performed in the order shown. Some process steps may be performed in parallel. Additional process steps may be employed, and some process steps may be omitted.

[0096] Furthermore, the effects described herein are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that will be apparent to those skilled in the art from the description of this specification, in addition to or in place of the above-described effects.

[0097] The following configuration also falls within the technical scope of the present disclosure: A program for controlling a transport system including a coupling device that couples an object to be transported to a transport vehicle, wherein the coupling device is rotatable about an axis extending in a vertical direction relative to the transport vehicle, and a lock control unit that controls a rotation suppressing unit that suppresses rotation of the coupling device relative to the transport vehicle to control whether the coupling device is in a locked state that suppresses the rotation or an unlocked state that allows the rotation, executes processing to control the rotation suppressing unit to enter the locked state during a predetermined coupling operation in which the transport vehicle approaches the object to be transported and couples with it, and during a predetermined detaching operation in which the object is released from the coupled object and detached from the coupled object, and executes processing to control the rotation suppressing unit to enter the unlocked state during transport travel in which the transport vehicle travels with the object coupled to it. A control method for a conveying system including a coupling device that couples an object to be conveyed to a conveying vehicle, the coupling device being rotatable around an axis extending in a vertical direction relative to the conveying vehicle, the control method including: a rotation suppression unit that suppresses rotation of the coupling device relative to the conveying vehicle; and a lock control unit that controls the rotation suppression unit to control whether the coupling device is in a locked state that suppresses the rotation or an unlocked state that allows the rotation, by controlling the rotation suppression unit; the lock control unit controls the rotation suppression unit to be in the locked state during a predetermined coupling operation in which the conveying vehicle is brought close to the object to be conveyed and coupled, and during a predetermined detaching operation in which the connection to the object to be conveyed is released and the object is detached from the coupled object, and the lock control unit controls the rotation suppression unit to be in the unlocked state during conveying travel in which the conveying vehicle is made to travel with the object to be conveyed coupled to it.

[0098] It should be noted that the following configurations also fall within the technical scope of the present disclosure. (Item 1) A transport device including a coupling device that couples an object to be transported to a transport vehicle, the coupling device being rotatable about an axis extending in a vertical direction relative to the transport vehicle, the transport device including: a rotation suppressing unit that suppresses rotation of the coupling device relative to the transport vehicle; a lock control unit that controls the rotation suppressing unit to control whether the coupling device is in a locked state that inhibits the rotation or an unlocked state that allows the rotation; and a rotation state detecting unit that detects a rotation angle of the coupling device relative to the transport vehicle, the lock control unit controlling the rotation suppressing unit based on the rotation angle. (Item 2) The transport device according to Item 1, wherein, during a coupling operation to couple the transport vehicle to the object to be transported, the transport vehicle is moved backward in the locked state in which the coupling device extends toward the rear of the transport vehicle, thereby bringing the coupling device closer to the object to be transported. (Item 3) The transport device according to item 1 or 2, wherein the lock control unit controls the rotation suppression unit to enter the locked state only when the rotation angle is a predetermined angle. (Item 4) The transport device according to item 1 or 2, further comprising a travel control unit that controls travel of the transport vehicle by controlling drive wheels of the transport vehicle, and the travel control unit controls the orientation of the transport vehicle based on the rotation information acquired by the rotation state detection unit so that the rotation angle of the coupling device relative to the transport vehicle becomes a predetermined angle. (Item 5) The transport device according to item 1 or 2, further comprising a transport object detection unit that is provided on the transport vehicle or the coupling device and detects the relative position and orientation of the transport object with respect to the transport vehicle or the coupling device, and the lock control unit controls the rotation suppression unit based on the information on the relative position and orientation of the transport object. (Item 6) The transport device according to item 1 or 2, further comprising a biasing unit that biases the coupling device so that the rotation angle of the coupling device in the unlocked state becomes a predetermined rotation angle.(Item 7) The transport device according to item 1 or 2, further comprising: a rotation control unit that controls a rotation angle of the coupling device in the unlocked state in accordance with rotation instruction information by controlling a rotation drive unit provided at a coupling unit between the transport vehicle and the coupling device, and the lock control unit controls the rotation suppression unit to enter the locked state when the rotation control unit controls the rotation drive unit so that the rotation angle of the coupling device reaches a predetermined angle. (Item 8) The transport device according to item 1 or 2, further comprising: a gripping unit that grips a predetermined location of the transport object, and the gripping unit has a detection unit that detects whether the predetermined location of the transport object is in a position where it can be gripped by the gripping unit.

[0099] 10: Transport vehicle, 20: Coupling device, 22: Grip unit, 23: Lower support unit, 24: Protrusion, 25: Displacement unit, 50: Transported object, 51: Lower frame of transported object, 130: Operation area, 131: Guide line, 132: Travel mode switching position, 210: Communication unit, 220: Recording unit, 230: Detection unit, 240: Input unit, 250: Display unit, 260: Control unit, 280: Wheel drive unit, 2000: Cart, 2010: Connection receiving unit, 3000: Control device, 4000: Overall control device, 5000: Input / output device, 6000: Communication network, 7000: External system

Claims

1. A conveying device comprising a connecting device for connecting an object to be conveyed to a conveying vehicle, wherein the connecting device is rotatable about an axis extending in the vertical direction with respect to the conveying vehicle, a rotation suppressing portion that suppresses rotation of the connecting device with respect to the conveying vehicle, a lock control portion that controls whether to be in a locked state that suppresses the rotation by controlling the rotation suppressing portion or a unlocked state that allows the rotation, and a rotation state detecting portion that detects a rotation angle of the connecting device with respect to the conveying vehicle, and the lock control portion controls the rotation suppressing portion based on the rotation angle.

2. The conveying device according to claim 1, wherein, during a connecting operation of connecting the conveying vehicle to the object to be conveyed, the conveying vehicle is moved backward in the locked state where the connecting device extends toward the rear of the conveying vehicle, so that the connecting device approaches the object to be conveyed.

3. The conveying device according to claim 1 or 2, wherein the lock control portion controls the rotation suppressing portion so as to be in the locked state only when the rotation angle is a predetermined angle.

4. The conveying device according to claim 1 or 2, further comprising a traveling control portion that controls the traveling of the conveying vehicle by controlling the drive wheels of the conveying vehicle, and the traveling control portion controls the direction of the conveying vehicle based on the rotation information acquired by the rotation state detecting portion so that the rotation angle of the connecting device with respect to the conveying vehicle becomes a predetermined angle.

5. The conveying device according to claim 1 or 2, further comprising an object to be conveyed detecting portion provided on the conveying vehicle or the connecting device that detects the relative position and posture of the object to be conveyed with respect to the conveying vehicle or the connecting device, and the lock control portion controls the rotation suppressing portion based on the information on the relative position and posture of the object to be conveyed.

6. The conveying device according to claim 1 or 2, comprising a biasing portion that biases the connecting device so that the rotation angle of the connecting device in the unlocked state becomes a predetermined rotation angle.

7. A rotation control unit is provided that controls the rotation angle of the connection device in the unlocked state according to rotation instruction information by controlling a rotation drive unit provided at a connection portion between the transport vehicle and the connection device. The lock control unit controls the rotation suppression unit so as to be in the locked state when the rotation control unit controls the rotation drive unit and the rotation angle of the connection device reaches a predetermined angle. The transport device according to claim 1 or 2.

8. The connection device includes a gripping unit that grips a predetermined portion of the object to be transported, and the gripping unit has a detection unit that detects whether or not a predetermined portion of the object to be transported is in a position where it can be gripped by the gripping unit. The transport device according to claim 1 or 2.

Images