JP7355614B2 - Dolly, transport support system and transport support method - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Law Obayashi Corporation has published on its website (address: https://www.youtube.com/watch?v=RHERJJHcdBA) Tomoya Kaneko, Eri Omoto, Shintaro Ida, Automated building material automation of Obayashi Corporation's automatic conveyance system ``Low-floor AGV'', including the ``trolley, conveyance support system, and conveyance support method'' invented by Isamu Kunimoto, Katsuhiro Ueno, Ryo Miura, Takahiro Kawakami, Shunichiro Asai, and Keisuke Takeda. "Transportation Experiment" was published.

The present invention relates to a trolley, a transportation support system, and a transportation support method for transporting objects to be transported at a construction site or the like.

At construction sites, transport devices equipped with jacks are sometimes used to transport materials and equipment. Typically, the equipment is placed on two spaced apart bins. Then, the transport device sneaks between the pieces of wood, lifts up the materials and equipment from the pieces of wood, and transports them (see, for example, Patent Document 1). In the technique described in this document, the truck includes wheels and a jack. The control unit of the truck causes the truck to run or turn in a predetermined direction (front-back direction, left-right direction, diagonal direction) by controlling the rotational direction and speed of the motor to which each wheel is attached. The control unit drives and controls the pumps, raises and lowers the rams of the jacks connected to each pump, and raises and lowers the mounting table fixed to the tips of the rams.

Japanese Patent Application Publication No. 2016-113283

The cart described in Patent Document 1 uses a magnetic tape (guide member) attached to the floor surface. Then, the cart raises the mounting table at the transport start point and lowers the mounting table at the transport end point of the object to be transported. However, when preparing guide members, it has been difficult to carry them efficiently depending on the situation.

A dolly that solves the above problems includes a plurality of drive wheels whose rotation direction and speed can be controlled, and a control unit that controls the drive of the plurality of drive wheels for linear movement and turning around a central axis. a placement surface for placing an object to be transported; a lifting mechanism disposed in an area surrounded by the plurality of drive wheels for raising and lowering the placement surface; and a photographing section for photographing the object to be transported. , and a situation acquisition unit that acquires surrounding arrangement information. The control unit identifies the object to be transported based on the image acquired from the photographing unit, and uses the placement information acquired from the situation acquisition unit to move the object under the object to be transported. The driving wheel is driven, and the lifting mechanism places the object to be transported on the placing surface.

The conveyance support system also includes a display unit, a drive wheel whose rotation direction and speed can be controlled, a placement surface for placing an object to be conveyed, and a lifting mechanism for raising and lowering the placement surface. The control unit includes a photographing unit that photographs the object to be transported, a situation acquisition unit that acquires surrounding arrangement information, and a control unit that issues transport instructions using a self-propelled trolley. The control unit displays on the display unit an area setting screen including a map in which the cart can move, and in the area setting screen, the arrangement of the transport start area and the transport end area set in the map. displaying on the display section a container setting screen for setting identification information of the container to be transported, and obtaining container information regarding the identification information of the container to be transported on the container setting screen; Using the photographing section and the situation acquisition section, the container of identification information is placed on the placement surface of the cart by the elevating mechanism, and the driving wheels are driven to run, and the map is displayed. A transport instruction for transporting from the transport start area to the transport end area is transmitted.

According to the present invention, an object to be transported can be efficiently transported.

FIG. 3 is an external perspective view of the truck in the embodiment with the camera in an upright state. FIG. 3 is an external perspective view of the trolley according to the embodiment in a state where the camera is stored. An explanatory diagram of a container in an embodiment. FIG. 2 is an explanatory diagram of a configuration example of an information processing device in an embodiment. FIG. 3 is an explanatory diagram of functional blocks of the administrator terminal in the embodiment. FIG. 3 is an explanatory diagram of functional blocks of the trolley in the embodiment. FIG. 4 is an explanatory diagram of a layout map in the embodiment. An explanatory diagram of an environment map in the embodiment. FIG. 3 is an explanatory diagram of a processing procedure of a transport route setting process in the embodiment. FIG. 4 is an explanatory diagram of the processing procedure of container setting processing in the embodiment. FIG. 4 is an explanatory diagram of a processing procedure of a destination setting process in the embodiment. FIG. 3 is an explanatory diagram of the processing procedure of transport management processing in the embodiment. FIG. 4 is an explanatory diagram of the processing procedure of loading processing in the embodiment. FIG. 3 is an explanatory diagram of the processing procedure of elevator usage processing in the embodiment. FIG. 6 is an explanatory diagram of the transport route in the case where an elevator is not used in the embodiment, in which (a) there is one goal area and empty containers are not collected, and (b) there is one goal area and empty containers are collected. (c) is an explanatory diagram when there are two goal areas and empty containers are not collected, and (d) is an explanatory diagram when there are two goal areas and empty containers are collected. FIG. 4 is an explanatory diagram of a transport route when using an elevator in the embodiment, in which (a) there is one goal area and empty containers are not collected, and (b) there is one goal area and empty containers are collected. , (c) is an explanatory diagram when there are two goal areas and empty containers are not collected, and (d) is an explanatory diagram when there are two goal areas and empty containers are collected. An explanatory diagram of a correction handle in the embodiment. FIG. 3 is an explanatory diagram of a conveyance route in the embodiment, in which (a) is a floor where a stock area is arranged, and (b) is an explanatory diagram of a floor where a goal area is arranged. An explanatory diagram of a container setting screen in the embodiment. FIG. 3 is an explanatory diagram of a transport destination setting screen in the embodiment. FIG. 4 is an explanatory diagram of the movement of the cart in the embodiment. FIG. 3 is an explanatory diagram of how the marker looks in the embodiment, where (a) is a case where the cart is not directly facing the container, and (b) is an explanatory diagram when the cart is directly facing the container. FIG. 3 is an explanatory diagram of the operation when loading a container in the embodiment, in which (a) is an explanatory diagram when the container is temporarily stopped, and (b) is an explanatory diagram when the container is submerged. FIG. 7 is an external perspective view of a truck in a modified example. It is an explanatory view of a trolley in a modification example, and (a) is an explanatory view when the mounting surface is lowered, and (b) is an explanatory diagram when the mounting surface is raised.

An embodiment of a cart, a transport support system, and a transport support method will be described below with reference to FIGS. 1 to 23.
As shown in FIG. 1, a manager terminal 10, a trolley 20, and an operator terminal 30 are used. The trolley 20 wirelessly transmits and receives data to and from the administrator terminal 10 and the operator terminal 30. The administrator terminal 10 to the operator terminal 30 function as information processing devices.

(Configuration of trolley 20)
As shown in FIG. 1, the trolley 20 is a transport device that includes a main body portion having a substantially rectangular horizontal cross section, wheels 24 as driving wheels, and a jack 25 as an elevating mechanism. This wheel 24 is controlled by a computer. In this embodiment, a mecanum wheel is used as the wheel 24. By using mecanum wheels, the trolley 20 can be moved forward and backward, horizontally, turned, and diagonally at any speed.

The main body section is composed of a fixed housing section 201 and a movable housing section 202. The fixed housing portion 201 is movably supported by wheels 24 of the truck 20 and casters (not shown). The movable housing portion 202 is provided with a plate-shaped mounting surface. The height position of this mounting surface can be changed (raised and lowered) with respect to the fixed housing section 201 using a jack 25.

The jack 25 is fixed to the fixed housing part 201 and is arranged below the mounting surface. The jacks 25 are arranged in an area surrounded by a plurality of wheels 24 by placing one jack between each wheel 24 . In this embodiment, the jack 25 is arranged in a well-balanced manner with respect to the mounting surface. In this embodiment, a hydraulic jack is used as the jack 25.

Further, the trolley 20 includes a camera 26 as a photographing section and a range sensor 27 as a situation acquisition section. The camera 26 is supported by an arm 261 (approximately 50 cm) serving as a support section. The arm 261 is rotated by the arm driving section 262, so that the camera 26 is placed in an upright state (first height) and in a stored state (second height). For this reason, a storage section 203 is provided between the fixed housing section 201 and the movable housing section 202. FIG. 1 shows an upright state.

As shown in FIG. 2, by rotating the arm 261 by the arm driving section 262, the camera 26 attached to the arm 261 is brought into a housed state in the fixed housing section 201. In this case, the mounting surface of the movable housing section 202 becomes the uppermost end of the carriage 20.

The camera 26 acquires a two-dimensional image by photographing a visible image of the front of the trolley 20.
The range sensor 27 is a scanning optical distance sensor that acquires placement information by measuring the distance to a detection object while scanning a laser beam. In this embodiment, the range sensor 27 uses a two-dimensional scanning type optical distance sensor to obtain two-dimensional arrangement information, but may also obtain three-dimensional arrangement information by two-axis scanning. Then, the range sensor 27 is used to create an environmental map of the floor, specify the shape of the legs 41 of the container 40, and recognize obstacles.

(Configuration of container 40)
Next, the configuration of the container 40 will be explained using FIG. 3. During transportation, this container 40 is lifted with materials and equipment 70 to be transported placed on the mounting surface of the trolley 20.

The container 40 includes two legs 41 and a top plate 42 that bridges the legs 41. The materials and equipment 70 are arranged on the top surface of the top plate section 42. Although the width and depth of the top plate part 42 of the container 40 can be changed, the front sides of the leg parts 41 have the same shape on the left and right sides.

A marker 43a is attached to the front surface of the leg portion 41, and a marker 43b is attached to the side surface. Markers 43a and 43b include information regarding a container ID for identifying each container 40. So-called AR markers are used for the markers 43a and 43b, and the distance and angle between the markers and the camera that captured them can be calculated. Furthermore, the front and side surfaces of the container 40 have different color schemes.

(Example of configuration of information processing device)
FIG. 4 shows an example of the hardware configuration of the information processing device H10 that functions as the administrator terminal 10, the trolley 20, the operator terminal 30, and the like.

The information processing device H10 includes a communication device H11, an input device H12, a display device H13, a storage section H14, and a processor H15. Note that this hardware configuration is just an example, and other hardware may be included.

The communication device H11 is an interface that establishes a communication path with other devices and executes data transmission and reception, and is, for example, a network interface card, a wireless interface, or the like.

The input device H12 is a device that receives input from a user or the like, and is, for example, a mouse, a keyboard, or the like. The display device H13 is a display, touch panel, or the like that displays various information.

The storage unit H14 is a storage device that stores data and various programs for executing various functions of the administrator terminal 10 to the operator terminal 30 (for example, a floor map storage unit 12, a setting information storage unit 13, and an environment map storage unit, which will be described later). section 22 and setting information storage section 23). Examples of the storage unit H14 include ROM, RAM, hard disk, and the like.

The processor H15 uses the programs and data stored in the storage unit H14 to perform various processes in the information processing apparatus H10 functioning as the administrator terminal 10 to operator terminal 30, etc. (for example, processes in the control units 11 and 21 described later). control. Examples of the processor H15 include a CPU, an MPU, and the like. This processor H15 expands a program stored in a ROM or the like into a RAM and executes various processes corresponding to various processing. For example, when the application programs of the administrator terminal 10 to the operator terminal 30 are started, the processor H15 operates a process that executes each process described later.

The processor H15 is not limited to performing software processing for all processes that it executes. For example, the processor H15 may include a dedicated hardware circuit (for example, an application-specific integrated circuit: ASIC) that performs hardware processing for at least part of the processing that it executes. That is, the processor H15 is [1] one or more processors that operate according to a computer program (software), [2] one or more dedicated hardware circuits that execute at least some of various processes, or [2] one or more dedicated hardware circuits that execute at least some of various processes. 3] Can be configured as a circuit including a combination thereof. A processor includes a CPU and memory, such as RAM and ROM, where the memory stores program codes or instructions configured to cause the CPU to perform processing. Memory or computer-readable media includes any available media that can be accessed by a general purpose or special purpose computer.

(Function of administrator terminal 10)
Next, the functions of the administrator terminal 10 will be explained using FIG. 5. The administrator terminal 10 is a computer terminal (transport support system) used by the administrator of the trolley 20. Using this administrator terminal 10, a transport instruction is given to the trolley 20. The administrator terminal 10 includes a control section 11, a floor map storage section 12, and a setting information storage section 13.

The control unit 11 executes information processing such as a setting management stage, an area setting stage, a route setting stage, and a container setting stage. For this reason, the control unit 11 stores a transport instruction program. By starting this transport instruction program, the control section 11 functions as a setting management section 110, an area setting section 111, a route setting section 112, and a container setting section 113.

The settings management unit 110 executes processing for managing a user interface for making various settings for areas, routes, and containers 40.
The area setting unit 111 executes a process of setting each area related to transportation in the floor layout diagram. In this embodiment, a stock area, goal area, empty area, return area, home position, etc. are set.

The stock area is a transport start area at a transport source where the container 40 is loaded (jacked up) and transport is started. The goal area is a transport end area of the transport destination where the container 40 is unloaded (jacked down) and transport ends. The empty area corresponds to the goal area, is a place where empty containers are temporarily placed after being transported, and is where empty containers are collected. The return area corresponds to the stock area and is a place where collected empty containers are returned. The home position is the place where the trolley 20 returns after completing the transport work.

The route setting unit 112 executes processing for setting the movement route of the trolley 20 in the floor layout diagram. For example, a route is set for loading the container 40 in the stock area and unloading it in the goal area. It is also possible to set a route to place an empty container in an empty area near the goal area, return it to a return area near the stock area, and return to the home position.

The container setting unit 113 executes processing for setting the container 40 to be transported. Further, the container setting unit 113 executes a process of setting a transport source area and a transport destination area of this container 40.

As shown in FIG. 7, the floor map storage unit 12 stores a floor map 120 of each floor of the building where the trolley 20 is used. This floor map 120 records the arrangement (layout) of walls 121, obstacles 122 such as pillars, temporary elevators 123, etc. in two-dimensional coordinates for each floor of a building consisting of multiple floors.

The setting information storage unit 13 stores various information used in the administrator terminal 10. Specifically, area information, route information, container information, option information, etc. are recorded in this setting information storage unit 13.

The area information records the arrangement of each area set with respect to the two-dimensional coordinates of the floor map. For example, the arrangement of a stock area, goal area, home position, empty area, return area, etc. is set. In the area information of each area, area coordinates are recorded for the area identifier. Furthermore, the direction of approach to each area is set in this area information. Details of each setting will be described later.

The route information records the order of movement between areas set on the floor map.
Information regarding the container 40 transported by the trolley 20 is recorded in the container information. Specifically, the container information records information regarding the container ID, the size of the object to be transported, the stock area ID, the goal area ID, and the landing position/direction. Note that the larger one of the sizes of the container 40 and the materials and equipment 70 is used as the size of the object to be transported.
In the option information, information regarding the transport order of the containers 40 and the transport end conditions is recorded.

(Function of trolley 20)
Next, the functions of the trolley 20 will be explained using FIG. 6.
The trolley 20 includes a control section 21, an environment map storage section 22, and a setting information storage section 23. As described above, the trolley 20 further includes a wheel 24, a jack 25, a camera 26, an arm 261, an arm drive section 262, and a range sensor 27.

Each wheel 24 is driven by a wheel drive unit 241, and the rotation speed and rotation direction are controlled. The wheel drive unit 241 includes a motor and a wheel encoder. Thereby, the trolley 20 can be moved forward and backward, horizontally, turned, and diagonally at any speed.
Each jack 25 is controlled to rise and fall by a jack drive unit 251, respectively. Thereby, the mounting surface of the trolley 20 can be raised or lowered.
The arm driving section 262 rotates an arm 261 having a camera 26 attached to its tip.

The control unit 21 executes information processing such as a map creation stage, a travel control stage, and a loading control stage. For this reason, the control unit 21 stores a transport execution program. By starting this transport execution program, the control section 21 functions as a map creation section 211, a travel control section 212, and a loading control section 213.

When a floor map is registered, the map creation unit 211 travels around each floor in advance and uses the range sensor 27 to generate an environment map including the placement of obstacles.
The travel control unit 212 executes a process of driving the wheels 24 to move to a destination (transport source, transport destination). In this case, the travel control unit 212 determines a travel route to the bottom of the object to be transported (container) specified by the loading control unit 213, and drives the wheels 24 according to this travel route.

The loading control unit 213 identifies the container 40 in which the object to be transported is placed in the stock area, and performs a process of loading the container 40 . In this embodiment, the object to be transported is identified by image recognition including the color scheme and shape of the container 40, and by reading markers attached to the container 40. Furthermore, it crawls under the specified object to be transported and raises and lowers the mounting surface of the trolley 20.

As shown in FIG. 8, the environment map storage unit 22 records an environment map 220 created by the map creation unit 211. This environment map is recorded for each floor. The layout of each floor is set in the environment map 220. In the environment map 220, the locations of the walls 221, obstacles 222, temporary elevators 223, etc. measured using the range sensor 27 are recorded in correspondence with the walls 121 to the temporary elevators 123 of the floor map 120. In this environmental map 220, a prohibited area 225 is set according to the size of the trolley 20 or the container 40. Here, the map creation unit 211 sets the no-entry area 225 at a distance from buildings and obstacles such as the wall 221 to the temporary elevator 223 at which a container of the size recorded in the container information will collide. The area excluding this no-entry area 225 becomes the driveable area.

The setting information storage unit 23 records setting information that is set at the administrator terminal 10 and recorded in the setting information storage unit 13.
The operator terminal 30 is a computer terminal used by an operator who operates the elevator car to move up and down. By using the operator terminal 30, instructions are given to the trolley 20 to get on or off the temporary elevator car by wireless communication.

(Transportation instruction registration process)
Next, with reference to FIGS. 9 to 11, a description will be given of the process of registering transport instructions in the above-mentioned trolley 20. This transport instruction registration process is performed using the administrator terminal 10 in the order of transport route setting processing, container setting processing, and transport destination setting processing. In the transport route setting process, the transport source and transport destination areas within the site and the route therebetween are set. In the container setting process, classification of containers 40 based on size and allocation of two-dimensional codes are set. In the destination setting process, the allocation and position/direction of the container 40 to the destination area are set.

(Transport route setting process)
The conveyance route setting process will be explained using FIG. 9 .
First, the control unit 11 of the administrator terminal 10 executes area setting processing (step S1-1). Specifically, when a transport route setting instruction is input on the administrator terminal 10, the setting management section 110 of the control section 11 outputs a setting screen. Using this setting screen, input the presence or absence of a temporary elevator, the presence or absence of collection of empty containers, and the number of destinations. In this case, the setting management unit 110 sets the stock area (S) of the transport source, the goal area (G*) of the transport destination, and the home position (H). Furthermore, an empty area (E*), a return area (R), and a temporary elevator (ELV) are set as necessary. Note that "*" is a number for identifying each area when setting a plurality of goal areas and empty areas. Then, the area setting section 111 records area information including the coordinates of each arranged area in the setting information storage section 13.

Next, the control unit 11 of the administrator terminal 10 executes a route setting process (step S1-2). Specifically, the route setting unit 112 of the control unit 11 links each area to set a conceptual transport route. Here, a round trip route (link) between the stock area (S) and the goal area (G*) and a route back to the home position (H) are set. When an empty area (E*) and a return area (R) are set, the route setting unit 112 sets the empty area (E*), Add a route that stops at the return area (R). Furthermore, if the floor of the stock area (S) and the floor of the goal area (G*) are different, the route setting unit 112 sets a route that uses a temporary elevator (ELV) in the round trip route.

FIG. 15 shows a conceptual transport route when a temporary elevator is not used, and FIG. 16 shows a conceptual transport route when a temporary elevator is used. Figure 15(a) shows a case where there is one goal area and empty containers are not collected, Figure 15(b) shows a case where there is one goal area and empty containers are collected, and Figure 15(c) shows a case where there are two goal areas. When empty containers are not collected, FIG. 15(d) shows a conceptual transport route when empty containers are collected in two goal areas. Figure 16(a) shows the case where there is one goal area and empty containers are not collected, Figure 16(b) shows the case where there is one goal area and empty containers are collected, and Figure 16(c) shows the case where there are two goal areas and empty containers. When containers are not collected, FIG. 16(d) shows a conceptual transport route when empty containers are collected in two goal areas. When collecting empty containers using the trolley 20, an empty area (E*) and a return area (R) are required. In FIG. 15, line segments (links) indicate routes, and triangular icons indicate the direction of travel. The orientation of the triangle icons indicates that the outbound and inbound routes overlap. The circle icon provided in each area (S, G*, E*, R, ELV) indicates the approach (stop position) to each area, and the trolley 20 will check this node before entering each area. Pause at the position.

Next, the control unit 11 of the administrator terminal 10 executes a map acquisition process (step S1-3). Specifically, the map creation unit 211 of the control unit 21 adds each area (S, G*, E*, R, ELV, H) to the floor map 120 of each floor recorded in the floor map storage unit 12. Deploy.

Next, the control unit 11 of the administrator terminal 10 executes area/route correction processing (step S1-4). Specifically, the setting management section 110 of the control section 11 allows modification of the position, size, orientation, etc. of each set area on the administrator terminal 10. For example, when the area setting unit 111 detects selection of an area (S, G*, E*, R, ELV) on the setting screen, it displays a correction handle in the selected area.

Although FIG. 17 shows an example of a correction handle in the stock area (S), the same applies to other areas. The correction handles include a moving handle h1, a rotating handle h2, a resizing handle h3, and an approach handle h4.
The movement handle h1 is used when moving an area. In this case, the approach also moves at the same time.

The rotation handle h2 is used to rotate the area. In this case, the approach also rotates at the same time.
The resize handle h3 is used to change the size of the area. In this case, the approach moves while maintaining the width ratio.

The approach handle h4 is used to change the position and length of the approach that is temporarily stopped before entering each area.
Then, the area setting unit 111 updates the area information in the setting information storage unit 13 with the corrected area.

Furthermore, when the route setting unit 112 detects selection of a link triangle on the setting screen, it outputs a pop-up menu. When "Create Vertex" is selected in this pop-up menu, the route setting unit 112 adds a new node (passing point) to the selected position of the link. A movement handle is displayed on this node, and it can be moved by dragging. Note that when "delete vertex" is selected from the pop-up menu, the route setting unit 112 deletes the selected node.
The route setting unit 112 then updates the route information in the setting information storage unit 13 with the corrected route.

FIG. 18 is an example in which areas and routes are set in the layout map. FIG. 18(a) shows a floor where a stock area (S) is set, and FIG. 18(b) shows a floor where a goal area (G*) is set. In this example, one common empty area is set by moving the empty areas E1 and E2 and overlapping them at the same position.

(Container setting process)
Next, the container setting process will be described using FIG. 10.
First, the control unit 11 of the administrator terminal 10 executes display processing of a container setting screen (step S2-1). Specifically, when a container setting instruction is input on the administrator terminal 10, the setting management section 110 of the control section 11 outputs a container setting screen.

As shown in FIG. 19, the container setting screen 510 includes a new type creation area 511, container setting areas 512 for standard container A, standard container B, and long type container, and an unused container area 515. The new type creation area 511 is an area for setting a container type of a new size. Each container setting area 512 is an area for allocating container icons 516 of container types of different sizes. The unused container area 515 is an area where a container icon 516 to which no container type has been assigned is placed.

Next, the control unit 11 of the administrator terminal 10 executes container allocation processing (step S2-2). Specifically, when assigning a type to a container, the container icon 516 in the unused container area 515 is dragged to each container setting area 512.

When creating a new type of container, drag the container icon 516 from the unused container area 515 to the new type creation area 511. In this case, the container setting unit 113 displays a dialog for setting the width, depth, height, and name. When the container specifications are set in the dialog, the container setting unit 113 records the size (width, depth, height) and name of the object to be transported in the container information for each container ID. The container setting unit 113 then generates a container setting area 512 for the new container type on the container setting screen 510.
Then, the container setting unit 113 records the size (width, depth, height) and name of each container ID in the container information in the setting information storage unit 13.

(Delivery destination setting process)
Next, the transport destination setting process will be explained using FIG. 11.
First, the control unit 11 of the administrator terminal 10 executes a process of setting a container destination area (step S3-1). Specifically, when a destination setting instruction is input on the administrator terminal 10, the setting management section 110 of the control section 11 outputs a destination setting screen.

As shown in FIG. 20, the destination setting screen 520 includes a layout map area 521, a destination unset area 522, a goal area G1 area 523, and a goal area G2 area 524. The setting management unit 110 displays a layout map of the floor on which the goal area is set in the layout map area 521. In this layout map area 521, goal areas G1 and G2 are set. Further, the setting management unit 110 displays a goal area G1 area 523 and a goal area G2 area 524 according to the number of goal areas recorded in the setting information storage unit 13. Note that when there is only one goal area and only the goal area G1, the setting management unit 110 arranges and displays all the container icons in the goal area G1 area 523.

When setting the destination of each container, drag the container icon 525 in the destination unset area 522 to either the goal area G1 area 523 or the goal area G2 area 524. In FIG. 20, it is assumed that containers with container IDs (102, 104, 106, 108, 110) are transported to goal area G2.

It is also possible to set the landing position and direction of the container 40. In this case, the control unit 11 of the administrator terminal 10 executes a process for setting the position and orientation of the container (step S3-2). Specifically, the user selects the container icon 525 displayed in the goal area G1 area 523 and the goal area G2 area 524, and selects the "specify position and orientation" button 528. In this case, the setting management unit 110 displays a movement handle and a rotation handle on the selected container icon in the layout map area 521. The position and orientation of the container can be set using the movement handle and rotation handle. When the settings are completed, the settings management unit 110 records information regarding the specified position and orientation in the container information.

When all the container icons 525 that were placed in the destination unset area 522 are placed in the goal area G1 area 523 and the goal area G2 area 524 and the delivery destination setting is completed, the setting management unit 110 Container information is recorded in the information storage unit 13, and the transport start icon 527 is changed to be selectable.

Then, the control unit 11 of the administrator terminal 10 executes a transport instruction process (step S3-3). When the transport instruction button is selected, the setting management unit 110 of the control unit 11 checks the following conditions.

・The transport route has been created.
・There must be at least one stock area, one goal area, and one home position.
- At least one container ID is assigned to a valid container type.
- If there are multiple destinations, the destinations must be set for all dedicated containers.

Next, the setting management unit 110 outputs a setting screen for the transport order and termination conditions. On this setting screen, the transport order can be selected from "no designation", "forward order of container ID", and "reverse order of container ID" using radio buttons. Further, the "end condition" is a condition for the trolley 20 to determine that the work is completed and return to the home position. As end conditions, "transport of predetermined container", "no container in stock area", and "no container in empty area" can be selected by checking the AND condition checkbox.

When the transport order and termination conditions are set, the setting management unit 110 records option information including the transport order and termination conditions in the setting information storage unit 13.
Then, when all settings are completed, the setting management unit 110 transmits a transport start instruction to the trolley 20. This transport start instruction includes area information, route information, container information, and option information recorded in the setting information storage section 13.

(Transportation management processing)
Next, the transport management process will be explained using FIG. 12.
First, the control unit 21 of the trolley 20 executes a standby process at the home position (step S4-1). Specifically, the travel control unit 212 of the control unit 21 waits at the home position to receive a transport start instruction from the administrator terminal 10.

Next, the control unit 21 of the trolley 20 executes a process for acquiring a transport start instruction (step S4-2). Specifically, the travel control unit 212 of the control unit 21 acquires a transport start instruction from the administrator terminal 10. The travel control unit 212 records the area information, route information, container information, and option information of the transport start instruction acquired from the administrator terminal 10 in the setting information storage unit 23.

Next, the control unit 21 of the trolley 20 executes a movement process to the transport source (step S4-3). Specifically, the travel control unit 212 of the control unit 21 uses the setting information recorded in the setting information storage unit 23 to control the wheel drive unit 241 to move to the stock area of the transport source. In this case, in order to improve the accuracy of traveling, the map creation unit 211 operates the range sensor 27 and travels while updating the environmental map. In creating this environmental map, surrounding shape data is acquired, a SLAM (Simultaneous Localization and Mapping) map corresponding to the floor map is created, and the map is recorded in the environmental map storage unit 22. The self-position of the trolley 20 is estimated using the environmental map and odometry information. This odometry information is calculated from the counter value of the wheel encoder of the wheel drive unit 241.

Next, the control unit 21 of the trolley 20 executes a loading process (step S4-4). Specifically, when arriving at the approach (standby position) of the stock area, the loading control unit 213 of the control unit 21 recognizes the container 40, approaches the container 40, selects the container 40, and crawls into the container 40. Let's do it. Details will be described later.

Next, the control unit 21 of the trolley 20 executes a movement process to the destination (step S4-5). Specifically, the travel control unit 212 of the control unit 21 uses the setting information recorded in the setting information storage unit 23 to specify the goal area to which the container 40 is to be transported, and uses route information to this goal area. The wheel drive unit 241 is controlled accordingly. In this case, as in step S4-3, an environment map is created by the range sensor 27, and the environment map and odometry information are used to estimate the self-position. Note that processing when a temporary elevator (ELV) is set in the route information in the setting information storage section 23 will be described later.

Next, the control unit 21 of the trolley 20 executes an unloading process (step S4-6). Specifically, the loading control unit 213 of the control unit 21 causes the container 40 to land in the destination area. In this case, if the position and orientation of the container 40 in the destination area are recorded in the setting information recorded in the setting information storage unit 23, the travel control unit 212 adjusts the position and orientation of the container 40 in the destination area. , drives the wheel 24. Then, the loading control section 213 drives the arm drive section 262 to rotate the arm 261 and raise the height of the camera 26 to secure a field of view.

Next, the control unit 21 of the trolley 20 executes empty container take-back processing (step S4-7). Specifically, the travel control unit 212 of the control unit 21 determines whether an empty area (E*) is set in the route information recorded in the setting information storage unit 23. If the empty area (E*) is set, the travel control unit 212 controls the wheel drive unit 241 to move to the empty area. Then, the loading control unit 213 checks whether there is a container 40 placed in the empty area. When the loading control unit 213 detects an arbitrary container 40 in the empty area, it recognizes the container 40, approaches the container 40, selects the container 40, and sneaks into the container 40, similarly to step S4-4. The travel control unit 212 then controls the wheel drive unit 241 to move to the return area (R) set in the route information recorded in the setting information storage unit 23. Next, the loading control unit 213 of the control unit 21 causes the container 40 to land in the return area, similarly to step S4-6.

Next, the control unit 21 of the trolley 20 executes a movement process to the home position (step S4-8). Specifically, the travel control unit 212 of the control unit 21 controls the wheel drive unit 241 to move to the home position (H) set in the route information recorded in the setting information storage unit 23.

(Processing during loading)
Next, the loading process will be described using FIG. 13.
Here, the control unit 21 of the trolley 20 executes a container search process (step S5-1). Specifically, the loading control section 213 of the control section 21 drives the arm drive section 262 to rotate the arm 261 and raise the height of the camera 26 to secure the field of view. In this state, the loading control unit 213 rotates the cart 20 360 degrees on the spot, and creates a list of the containers 40 detected by the camera 26 during this time together with relative position information as seen from the camera 26. Here, to recognize the container 40, color information of the container is used. In this case, the loading control unit 213 aims to improve recognition accuracy through various pre-processing (image resizing, hue conversion, noise removal, etc.) and post-processing (noise removal, filtering, etc.). Then, the loading control unit 213 identifies the front surface that can be crawled into and the side surface that cannot be crawled into by identifying the colors of the front and side surfaces of the container 40.

Next, the control unit 21 of the trolley 20 executes marker reading processing (step S5-2). Specifically, the loading control unit 213 of the control unit 21 identifies the marker 43a of each container 40 in the image taken by the camera 26. Then, the loading control unit 213 decodes the container ID of the marker 43a.

Next, the control unit 21 of the trolley 20 executes a process for specifying the material to be transported (step S5-3). Specifically, the loading control unit 213 of the control unit 21 gives priority to the detected containers 40 in order of distance from the trolley 20. In addition, when the transport order is recorded in the option information of the setting information storage part 23, a priority is given according to a transport order using a container ID. Then, the loading control unit 213 performs travel control with the target being a position where the container 40 having a high priority can be crawled into. Note that the estimated position of the container 40 is corrected at any time while the vehicle is traveling.

Next, the control unit 21 of the trolley 20 executes a process of moving the transported materials to the front (step S5-4). Specifically, the loading control unit 213 of the control unit 21 calculates the distance and angle between the marker 43a and the camera 26. In this case, the loading control unit 213 calculates the approximate distance to the container 40 from the resolution, viewing angle, installation angle, etc. of the camera. Then, the loading control unit 213 drives each wheel 24 while observing the relative position with respect to the marker 43a, and moves to a position directly facing the marker 43a (in front of the container 40).

For example, as shown in FIG. 21, when the trolley 20 is located at a position and orientation P1 that is laterally shifted from the front of the container 40, the marker 43a included in the photographed image is , the shape changes depending on the amount of deviation. Therefore, when the marker 43a of the container ID of the object to be transported is detected, the trolley 20 moves to the arrangement P2 shown in FIG. 21 so that the deformation of the photographed marker 43a is reduced, as shown in FIG. 22(b). do.

When directly facing the marker 43a, the loading control section 213 moves straight toward the container 40. Note that the target container 40 may move out of the field of view of the camera 26 due to obstacle avoidance. It is difficult to move forward while always looking at the container 40 while adjusting the direction. Therefore, the loading control unit 213 places the cart 20 and the container 40 on the absolute coordinate plane, and travels to the front of the container 40 while estimating its own position on the coordinate plane of the cart 20.

Next, the control unit 21 of the trolley 20 executes camera storage processing (step S5-5).

Specifically, as shown in FIG. 23(a), when the trolley 20 arrives at the approach of the container 40, as shown in FIG. 23(b), the loading control section 213 of the control section 21 262 is driven, the arm 261 is rotated, and the camera 26 is housed in the fixed housing section 201.

Next, the control unit 21 of the trolley 20 executes a process of detecting the foot of the container (step S5-6). Specifically, the loading control unit 213 of the control unit 21 uses the range sensor 27 to capture the shape of the legs 41 of the container 40 and performs travel control. Here, when crawling into the container 40, the inner surfaces of the left and right legs 41 are caught, and the running is corrected so that the vehicle is equidistant from both inner surfaces. Then, the loading control unit 213 identifies the position where the left and right inner surfaces end, and when the relative position with the trolley 20 becomes constant, determines that the central position under the container 40 has been reached, and ends the straight movement. do.

Next, the control unit 21 of the truck 20 executes a lift-up process (step S5-7). Specifically, the loading control section 213 of the control section 21 drives the jack drive section 251 to lift the container 40 on which the object to be transported is placed using the jack 25, and loads it on the placement surface.

(Elevator usage processing)
Next, the elevator usage process will be explained using FIG. 14. This process is performed when a temporary elevator (ELV) is set in the route information recorded in the setting information storage section 23.

First, the control unit 21 of the trolley 20 executes a movement process to the front of the elevator (step S6-1). Specifically, the travel control unit 212 of the control unit 21 controls the wheel drive unit 241 to move to the approach (stop position) of the temporary elevator (ELV) of the route information recorded in the setting information storage unit 23. do.

Next, the control unit 21 of the trolley 20 executes a waiting process for a boarding instruction (step S6-2). Specifically, the travel control unit 212 of the control unit 21 stops at the approach position of the temporary elevator (ELV) until a boarding instruction is obtained.

Then, the control unit 21 of the trolley 20 executes the elevator boarding process (step S6-3). Specifically, when the temporary elevator car arrives, the operator operating the temporary elevator wirelessly connects the trolley 20 and the operator terminal 30. In this case, the travel control unit 212 of the control unit 21 transmits floor information (alighting floor) in which the goal area is set to the operator terminal 30. Then, the operator who has confirmed the exit floor uses the operator terminal 30 to transmit a boarding instruction to the trolley 20. In this case, the travel control unit 212 controls the wheel drive unit 241 to move into the car of the temporary elevator (ELV). Then, the trolley 20 stops running within the cage.

Next, the control unit 21 of the trolley 20 executes a waiting process for a disembarking instruction (step S6-4). Specifically, the travel control unit 212 of the control unit 21 waits until it receives an instruction to get off the vehicle from the operator terminal 30.

Next, the control unit 21 of the trolley 20 executes an elevator exit process (step S6-5). Specifically, when the operator arrives at the alighting floor, the operator uses the operator terminal 30 to transmit an alighting instruction to the trolley 20. In this case, the travel control unit 212 controls the wheel drive unit 241 to move from the temporary elevator (ELV) car to the exit floor. The travel control unit 212 then controls the wheel drive unit 241 to move to the goal area at the exit floor.

According to this embodiment, the following effects can be obtained.
(1) In this embodiment, the truck 20 includes wheels 24 and a jack 25. The control unit 21 of the trolley 20 controls the rotational direction and speed of the wheels 24 to cause the wheels 24 to run or turn in a predetermined direction (front-back direction, left-right direction, diagonal direction). Further, the control unit 21 raises and lowers the mounting surface using the jack 25. That is, by individually controlling the rotational direction and speed of the wheels 24, it is possible to change the running direction of the truck 20 or to turn the truck 20 around the center on the spot. Furthermore, by raising and lowering the loading surface using the plurality of jacks 25, the materials and equipment 70 can be loaded and unloaded on the spot. Therefore, even in a narrow space, it can be efficiently transported.

(2) In this embodiment, the trolley 20 includes a camera 26 and a range sensor 27. The container 40 can be recognized by the camera 26. Furthermore, the range sensor 27 can create an environmental map of the floor, specify the shape of the legs 41 of the container 40, and recognize obstacles, allowing for accurate travel.

(3) In this embodiment, the camera 26 is attached to the arm 261, and the arm driving section 262 rotates the arm 261 to change the height position of the camera 26. This ensures a wide field of view at a high position while traveling, and does not become an obstacle when crawling into the container 40.

(4) In this embodiment, the container 40 is comprised of two leg parts 41 and a top plate part 42 that bridges between the leg parts 41. By jacking up this top plate portion 42 with the jack 25, the container 40 can be transported together with the materials and equipment 70 placed thereon. Since the container 40 is placed on the ground at the destination, there is no need to prepare a platform or the like on which the materials and equipment are placed at the destination.

(5) In this embodiment, a marker 43a is attached to the front surface of the leg portion 41, and a marker 43b is attached to the side surface. Markers 43a and 43b include information regarding a container ID for identifying each container 40. By decoding the markers 43a and 43b, the container 40 to be transported can be identified.

(6) In this embodiment, the front and side surfaces of the container 40 have different color schemes. By image recognition of the image taken by the camera 26 based on this color scheme, the front or side of the container 40 can be identified.

(7) In the present embodiment, the control unit 11 of the administrator terminal 10 executes a transport route setting process. In this case, on the setting screen, the stock area (S) of the transport source, the goal area (G*) of the transport destination, and the home position (H) can be efficiently set using the GUI. Furthermore, when each area is set, a link connecting each area is set, so a conceptual transport route can be efficiently generated.

(8) In the present embodiment, the control unit 11 of the administrator terminal 10 executes container setting processing. In this case, the size of the container 40 and the container ID can be set using the GUI on the setting screen. Thereby, the control unit 21 of the trolley 20 can grasp the size of the container 40 and materials and equipment 70 to be placed, and can specify the travelable area on the environmental map.

(9) In the present embodiment, the control unit 11 of the administrator terminal 10 executes a destination setting process. In this case, on the setting screen, the destination and landing location can be set using the GUI.

(10) In this embodiment, the control unit 21 of the trolley 20 executes a loading process (step S4-4). Here, recognition of the container 40, approach to the container 40, selection of the container 40, and diving into the container 40 are performed. Thereby, even when a plurality of containers 40 are arranged in the stock area, an appropriate container 40 can be selected and transported. Furthermore, the control unit 21 of the trolley 20 executes a process of moving the transported material to the front (step S5-4), a process of storing the camera (step S5-5), and a process of detecting the foot of the container (step S5-6). Thereby, taking into account the structure of the container 40, it is possible to crawl into the container 40 and lift it up according to the situation of the container 40.

(11) In this embodiment, the control unit 21 of the trolley 20 executes empty container take-back processing (step S4-7). Thereby, by transporting the used empty container to the goal area and moving it to the empty area, it is returned to the return area and can be used for new transport in the stock area.

(12) In this embodiment, the control unit 21 of the trolley 20 executes the elevator usage process. As a result, even if the stock area and goal area are located on different floors, the temporary elevator can be used for transportation according to the operator's instructions.

This embodiment can be modified and implemented as follows. This embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.
- The trolley 20 of the above embodiment uses mecanum wheels as drive wheels. The driving wheels of the trolley 20 are not limited to mecanum wheels, but may be Omniwheels (registered trademark) as long as they can move at least in a straight line and turn around the central axis by controlling the rotational direction and speed. Good too. Here, the number of wheels attached to the trolley is not limited to four, as long as at least straight movement and turning around the central axis can be achieved by controlling the rotational direction and speed; for example, in the case of omni-wheels, it may be three, etc. Good too.

- In the truck 20 of the above embodiment, the jack 25 is arranged between each of the wheels 24 as drive wheels. The truck jacks 25 may be disposed between the driving wheels (inner side of the driving wheels), and the number is not limited to the same number as the driving wheels. For example, only one jack 25 may be provided at the center of the truck 20. In this case, it is desirable that the plurality of jacks 25 be arranged evenly with respect to the mounting surface. Thereby, the upper surface of the mounting surface can be raised and lowered horizontally, and the load from the mounting surface can be evenly distributed.

- In the above embodiment, the control unit 21 of the trolley 20 executes the movement process to the transport source (step S4-3). In this case, the map creation unit 211 activates the range sensor 27 to create an environmental map in parallel. In addition to this, an environment map may be created when executing the map acquisition process (step S2-3). In this case, the control unit 11 of the administrator terminal 10 transmits an environment map creation instruction to the trolley 20. This creation instruction includes the floor map 120. Then, the map creation unit 211 of the control unit 21 of the trolley 20 operates the range sensor 27 while traveling on each floor to create an environment map. Then, the map creation unit 211 records the created environment map in the environment map storage unit 22.

- In the above embodiment, the camera 26 attached to the arm 261 is placed in the fixed housing section 201 by rotating the arm 261 by the arm driving section 262. Instead of rotating the arm 261, the height of the camera 26 may be changed by extending and contracting it. For example, it is also possible to use a telescopic structure in which hollow cylinders of similar shapes are housed inside in order of size, and the inner barb of the larger cylinder is joined to the outer barb of the smaller cylinder.

- In the above embodiment, the trolley 20 is equipped with the camera 26. The number of cameras 26 used for image recognition is not limited to one.
For example, as shown in FIG. 24, a camera 26b may be provided at a lower position (on the side of the truck 20) with respect to the camera 26 at the upper position. In this case, when the camera 26 is stored, image recognition is performed using the camera 26b. Furthermore, the camera 26 may search for the color of the container 40, and the camera 26b may decode the marker.
Further, in the embodiment described above, the control unit 21 of the trolley 20 executes a container search process (step S5-1) and a marker reading process (step S5-2). In this case, the camera 26b may be used.

- In the above embodiment, the area of the temporary elevator (ELV) is set in the area setting process (step S1-1). The elevator is not limited to temporary construction, and an existing elevator may be used.

- In the above embodiment, the height position of the mounting surface of the movable housing section 202 is changed using the jack 25 fixed to the fixed housing section 201. The method of changing the height position is not limited to the method using the jack 25. For example, the height position of the mounting surface may be relatively changed by raising and lowering each wheel 24.
For example, as shown in FIG. 25(a), an elevating section 242 (elevating mechanism) for moving each wheel 24 up and down is attached to the movable housing section 202. This elevating section 242 is provided for each wheel 24 and between the wheels 24. For the elevating section 242, a rack-and-pinion mechanism that converts the rotational force of a motor into linear movement or a telescoping mechanism using an actuator can be used. Further, the wheel box housing the wheel 24 is fixed to the movable housing section 202 using a rotatable support member, and by rotating this support member, the wheel 24 is made to protrude from the movable housing section 202. It's okay. In this case, a storage section 203 for a camera or range sensor is attached to the movable housing section 202. Then, from the state in which the mounting surface shown in FIG. 25(a) is lowered, as shown in FIG. Raise the height of the mounting surface.

DESCRIPTION OF SYMBOLS 10... Administrator terminal, 11... Control unit, 110... Setting management unit, 111... Area setting unit, 112... Route setting unit, 113... Container setting unit, 12... Floor map storage unit, 13... Setting information storage unit, 20 ...Dolly, 21...Control unit, 211...Map creation unit, 212...Travel control unit, 213...Loading control unit, 22...Environment map storage unit, 23...Setting information storage unit, 201...Fixed housing unit, 202...Movable Housing part, 203... Storage part, 24... Wheel, 25... Jack, 26... Camera, 27... Range sensor, 30... Operator terminal, 40... Container, 41... Leg part, 42... Top plate part, 43a, 43b ...Marker, 70...Materials and equipment.

Claims (6)

a drive wheel whose rotation direction and speed can be controlled;
a truck control unit that controls driving of the drive wheels;
a placement surface for placing an object to be transported;
a lifting mechanism that changes the height position of the placement surface;
a photography department that photographs the object to be transported;
a support part that rotatably supports the photographing part;
Equipped with a situation acquisition unit that acquires surrounding location information,
The trolley control section includes:
When photographing the surroundings by the photographing section, the supporting section is rotated and placed at a first height;
Identifying the object to be transported based on the image acquired from the photographing unit,
Using the placement information acquired from the situation acquisition unit, the driving wheels are driven so as to move below the conveyed object , and the photographing unit becomes at a second height lower than the placement surface. Place the support part by rotating it so that
A trolley, characterized in that the object to be transported is placed on the placement surface by the lifting mechanism. The trolley control unit acquires a marker attached to the object to be transported from the imaging unit,
The trolley according to claim 1, wherein the object to be transported is specified based on the marker. The trolley according to claim 2, wherein the trolley control unit specifies a route for getting under the object to be transported, depending on the arrangement of the markers. The trolley control section includes:
Maintains a map in which the transport start area and transport end area are set,
using the imaging unit to identify the object to be transported in the transport start area of the map and place the object to be transported;
The trolley according to any one of claims 1 to 3 , wherein the placed object to be transported is unloaded in a transport end area of the map. A display section;
A drive wheel whose rotational direction and speed can be controlled, a trolley control unit that controls the drive of the drive wheel, a placement surface for placing an object to be transported, and a lift that changes the height position of the placement surface. Transport instructions using a self-propelled trolley that includes a mechanism, an imaging unit that photographs an object to be transported , a support unit that rotatably supports the imaging unit, and a situation acquisition unit that acquires surrounding arrangement information. A transportation support system comprising a control unit that performs
The control section,
Displaying an area setting screen including a map in which the trolley can move on the display unit;
On the area setting screen, obtain area information regarding the arrangement of a transport start area and a transport end area set in the map,
displaying a container setting screen for setting identification information of the container to be transported on the display unit;
On the container setting screen, obtain container information regarding identification information of the container to be transported,
transmitting a transport instruction to the trolley to transport the container of the identification information from the transport start area to the transport end area ;
The trolley control section of the trolley includes:
When photographing the surroundings by the photographing section, the supporting section is rotated and placed at a first height;
Identifying the container of the identification information in the transport start area as an object to be transported based on the image acquired from the photographing unit,
Using the placement information acquired from the situation acquisition unit, the driving wheels are driven so as to move below the conveyed object, and the photographing unit becomes at a second height lower than the placement surface. Place the support part by rotating it so that
A conveyance support system characterized in that the object to be conveyed is placed on the placement surface by the elevating mechanism . A display section;
A drive wheel whose rotational direction and speed can be controlled, a trolley control unit that controls the drive of the drive wheel, a placement surface for placing an object to be transported, and a lift that changes the height position of the placement surface. Transport instructions using a self-propelled trolley that includes a mechanism, an imaging unit that photographs an object to be transported , a support unit that rotatably supports the imaging unit, and a situation acquisition unit that acquires surrounding arrangement information. A transportation support method using a transportation support system comprising a control unit that performs
The control section,
Displaying an area setting screen including a map in which the trolley can move on the display unit;
On the area setting screen, obtain area information regarding the arrangement of a transport start area and a transport end area set in the map,
displaying a container setting screen for setting identification information of the container to be transported on the display unit;
On the container setting screen, obtain container information regarding identification information of the container to be transported,
transmitting a transport instruction to the trolley to transport the container of the identification information from the transport start area to the transport end area ;
The trolley control section of the trolley includes:
When photographing the surroundings by the photographing section, the supporting section is rotated and placed at a first height;
Identifying the container of the identification information in the transport start area as an object to be transported based on the image acquired from the photographing unit,
Using the placement information acquired from the situation acquisition unit, the driving wheels are driven so as to move below the conveyed object, and the photographing unit becomes at a second height lower than the placement surface. Place the support part by rotating it so that
A transportation support method , characterized in that the object to be transported is placed on the placement surface by the lifting mechanism .

Images