JP2011059859A - Autonomous moving device and conveyance method using the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an autonomous moving device capable of holding (for example, connecting) a loading object, and being autonomously moved to a desired delivery destination without needing any high level control even when a plurality of loading objects (for example, trucks) are placed closely or arranged disorderly. <P>SOLUTION: This autonomous moving device 10 is configured to autonomously move while a loading object 1 on which a conveyance object is loaded is held to convey the loading object, and provided with a holding mechanism 3 for holding the loading object from a state that it is separated from the loading object 1; and a moving mechanism 5 for moving the holding mechanism 3 to the desired conveyance destination and a control unit 7 for switching a mode between a passive mode and an autonomous mode. The control unit 7 controls the holding mechanism 3 and the moving mechanism 5 to move according to an operation command from the outside in the passive mode, and autonomously control the moving mechanism 5, and controls the holding mechanism 3 to move to a desired delivery destination in the autonomous mode. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an autonomous mobile device that autonomously moves in a state of holding a loading body (cart) on which a conveyed product is loaded, and a conveyance method using the autonomous moving device.

  The autonomous mobile device is, for example, an automated guided vehicle (AGV) that has a means for detecting a guidance means and moves according to the guidance means. The guiding means is, for example, a high-frequency signal line, a reflective tape, a landmark, a magnetic rail, or the like.

  In recent years, it has been proposed that an autonomous mobile device has a function capable of being connected to a carriage. With this configuration, it becomes possible for the autonomous mobile device to transport many types of conveyed objects without giving the autonomous mobile device excessive capacity. Since the carriage can be loaded with many types of transported goods, the autonomous mobile device can wait for the function of connecting with the cart by autonomous control, and can transport various types of transported goods with this autonomous mobile device. Is possible. Such an autonomous mobile device is described in, for example, Patent Documents 1 to 3 below.

JP 2008-246596 A JP 2008-264901 A JP 2008-184112 A

  In the above-described autonomous mobile device, in order to connect the autonomous mobile device to the carriage by autonomous control, it is necessary to specify the position of the connection location by sensing, mechanical ingenuity, or the like.

  However, there are cases where such position identification or mechanical device cannot be used. In actual logistics and factories, a plurality of carts are often placed in a predetermined area with gaps between them or randomly arranged. In such an environment, there are many cases where it is difficult to specify the position of a connection location or connection is difficult even if a mechanical device is implemented. For example, in order to avoid contact with other carts when connecting to a desired cart, advanced control is required.

  Accordingly, an object of the present invention is to require a high degree of control even when a plurality of loading bodies (for example, trolleys) are placed close to each other or arranged randomly. An object of the present invention is to provide an autonomous mobile device that can hold (for example, connect) a loaded body and autonomously move to a desired transport destination and a transport method using the same.

In order to achieve the above object, according to the present invention, there is an autonomous mobile device that transports the loaded body by autonomously moving in a state of holding a loaded body on which a transported object is loaded,
A holding mechanism capable of holding the loader from a state separated from the loader;
A moving mechanism for moving the holding mechanism to a desired transport destination;
A control unit that can be switched between a passive mode and an autonomous mode,
The control unit operates the holding mechanism and the moving mechanism in accordance with an operation command from the outside when in the passive mode, and autonomously controls the moving mechanism and holds the desired transport destination when in the autonomous mode. An autonomous mobile device characterized by moving a mechanism is provided.

Preferably, an operation unit operable by a person is provided,
The control unit operates the holding mechanism and the moving mechanism in accordance with an operation command input by operating the operation unit when in the passive mode.

According to a preferred embodiment of the present invention, the loading body is a carriage on which a conveyed product is loaded,
The holding mechanism is a connection mechanism that holds the carriage by being connected to the carriage.

According to another embodiment of the present invention, the loading body is a pallet on which a conveyed product is loaded,
The holding mechanism is a lifting mechanism that lifts and holds the pallet from a state where the pallet is placed at a predetermined position.

Further, the operation unit has a force sensor that detects applied force,
The control unit may drive the moving mechanism with a driving force corresponding to the magnitude of the force detected by the force sensor when in the passive mode.

In order to achieve the above object, according to the present invention, there is provided a transport method using the autonomous mobile device described above,
(A) In a predetermined area, the control unit is set to a passive mode, and an operation command is input from the outside to the control unit to operate the holding mechanism and the moving mechanism according to the operation command. The holding mechanism holds the load body,
(B) Next, the control unit is set to an autonomous mode, and the control unit autonomously controls the moving mechanism, whereby the holding mechanism is moved to a desired transport destination together with the loading body. A method is provided.

  According to the present invention described above, the control unit operates the holding mechanism and the moving mechanism according to an operation command from the outside in the passive mode, so that the holding mechanism can hold the loaded body. The holding mechanism is moved to the desired transport destination by autonomously controlling the moving mechanism. As a result, even when a plurality of loading bodies are placed close to each other or arranged randomly, the loading bodies can be held without requiring high-level control, and It can move autonomously to a desired transport destination.

It is a block diagram of the autonomous mobile device by embodiment of this invention. It is a top view which shows the state which the connection mechanism of the autonomous mobile device connected with the trolley | bogie. It is a top view which shows the structural example of the operation part provided in the autonomous mobile apparatus. It is a top view which shows the movement path | route of an autonomous mobile device. It is a flowchart of the conveyance method by embodiment of this invention.

  The best mode for carrying out the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

  FIG. 1 is a configuration diagram of an autonomous mobile device 10 according to an embodiment of the present invention. 1A is a plan view, and FIG. 1B is a view taken along the line BB in FIG. 1A. The autonomous mobile device 10 moves the loaded body 1 and the conveyed object 1a loaded thereon by autonomously moving while holding the loaded body 1 on which the conveyed object 1a is loaded. In the present application, autonomous movement means that the control unit 7 moves the autonomous mobile device 10 by its own judgment without being instructed by a person or without a detailed instruction from a person. Autonomous control means that the control unit 7 does not receive a command from a person or does not receive a detailed command from a person, and determines whether the autonomous mobile device 10 such as a holding mechanism 3 or a moving mechanism 5 described later is based on its own determination. Controlling each mechanism.

The autonomous mobile device 10 includes a holding mechanism 3, a moving mechanism 5, a control unit 7, and an operation unit 9. The holding mechanism 3, the moving mechanism 5, the control unit 7, and the operation unit 9 may be attached to the main body (vehicle body) of the autonomous mobile device 10.

  The holding mechanism 3 can hold the loader 1 from a state separated from the loader 1. In the present embodiment, the loading body 1 is a carriage on which the conveyed product 1 a is loaded, and the holding mechanism 3 is a connection mechanism that holds the carriage 1 by being connected to the carriage 1. The connection mechanism 3 may be a mechanism that can be connected to the carriage 1. In the example of FIG. 1, the connection mechanism 3 is connected to a connected portion 1 b provided on the carriage 1. The to-be-connected part 1b has the protrusion part 11 which protrudes in the width direction outer side of the trolley | bogie 1 in the both ends of a horizontal direction (namely, the up-down direction of FIG. 1 (A)). The coupling mechanism 3 is provided at the same height as the pair of protrusions 11 and is separated or close to each other in the horizontal direction (that is, the vertical direction in FIG. 1A) by appropriate means such as a ball screw or a hydraulic cylinder. It has a pair of clamping parts 3a which operate | move. In this configuration, first, as shown in FIG. 1A, the holding mechanism 3 is positioned between the pair of sandwiching portions 3a so as to sandwich the pair of projecting portions 11 therebetween, and then each sandwiching portion 3a. The coupling mechanism 3 is operated so as to move in directions close to each other, whereby the pair of projecting portions 11 are clamped in the width direction of the carriage 1 by the pair of clamping portions 3a as shown in FIG. At this time, in each clamping part 3 a, the locking part 13 clamps the protruding part 11 in the front-rear direction of the carriage 1. In the example of FIG. 1, the connection mechanism 3 is connected to the carriage 1 in this way. When the carriage 1 is disconnected from the connection mechanism 3, the operation opposite to that described above is performed. In addition, in FIG. 1, the code | symbol 1c shows the wheel of a trolley | bogie.

  The moving mechanism 5 is a mechanism that moves the holding mechanism 3 to a desired transport destination. The moving mechanism 5 may be any mechanism that can move. In the example of FIG. 1, the moving mechanism 5 is a pair of drive wheels 15 that are provided on the left and right sides with an interval. The pair of drive wheels 15 may be provided in parallel with each other, but are driven to rotate independently of each other. These driving wheels 15 are rotationally driven while being in contact with the traveling surface, so that the autonomous mobile device 10 moves (runs). In addition, by making the rotational speed of the left driving wheel 15 larger than the rotational speed of the right driving wheel 15, the autonomous mobile device 10 bends to the right, and the rotational speed of the right driving wheel 15 is changed to the left driving wheel. By making the rotation speed higher than 15, the autonomous mobile device 10 can turn to the left.

  The control unit 7 operates the holding mechanism 3 and the moving mechanism 5 in accordance with an external operation command when in the passive mode, and autonomously controls the moving mechanism 5 when in the autonomous mode to hold the desired transport destination. 3 is moved. When in the passive mode, the control unit 7 does not perform autonomous control on the moving mechanism 5 but controls the coupling mechanism 3 and the moving mechanism 5 in accordance with an external operation command. When in the autonomous mode, the control unit 7 moves the moving mechanism 5 to the transport destination by autonomous control based on the input information indicating the transport destination. For example, the control unit 7 includes a sensor that detects guiding means provided along the travel route to the conveyance destination, and controls the moving mechanism 5 so as to travel along the guiding means.

  When the operation unit 9 is operated by a person, the operation command indicated by the operation is output to the control unit 7. The operation unit 9 may be any means that can be operated by a person, and may be, for example, a lever, a handle, a button, or the like. The operation command indicated by the operation may include not only the operation command for the coupling mechanism 3 but also the operation command for the moving mechanism 5. The operation command of the coupling mechanism 3 is an operation command for coupling the coupling mechanism 3 to the carriage 1. In the example of FIG. 1, an operation in which the pair of holding portions 3 a are separated from each other or close to each other, and the operation is stopped / locked. This is a command related to the operation. The operation command of the movement mechanism 5 is an operation command for the movement mechanism 5 to move the connection mechanism 3 to a position where the connection mechanism 3 can be connected to the carriage 1 (the position in FIG. 1A). These commands are for forward movement, stop, forward diagonally to the right, forward diagonally to the left, and backward. The operation unit 9 may be attached to the main body of the autonomous mobile device 10, or remote from the main body of the autonomous mobile device 10 so that a person can carry it and wirelessly transmit the above-described operation command to the control unit 7. It may be a controller.

FIG. 3 is a plan view illustrating a configuration example of the operation unit 9 provided in the autonomous mobile device 10. The operation unit 9 in FIG. 3 is for operating the moving mechanism 5, and the operation unit 9 for operating the coupling mechanism 3 is not shown. The operation unit 9 in FIG. 3 includes a force sensor 25 that detects applied force. The control unit 7 drives the moving mechanism 5 with a driving force corresponding to the magnitude of the force detected by the force sensor 25 when in the passive mode. Thereby, the movement mechanism 5 can be driven by a person applying force to the force sensor 25. In this case, even if the weight of the autonomous mobile device 10 is large, the autonomous mobile device 10 can be operated (pressed) with the same feeling as when a person operates (pushes) a light cart or the like.
The operation unit 9 in FIG. 3 will be described in more detail. The operation unit 9 is attached to the main body of the autonomous mobile device 10. The operation unit 9 further includes a force application unit 27 that receives a force from a person and a force transmission unit 28 that transmits the force applied to the force application unit 27 to the force sensor 25. In this example, the force application unit 27 is a handle that can be gripped by a person and arranged horizontally. A person moves forward with the force acting unit 27 in the forward direction of the autonomous mobile device 10 (left side in FIG. 3) and the forward right turn direction having both the forward direction and the right direction of the autonomous mobile device 10 (upper side in FIG. 3). , The forward left turn direction having both the forward direction and the left direction of the autonomous mobile device 10 (the lower side of FIG. 3), the backward direction of the autonomous mobile device 10 (the right side of FIG. 3), the reverse direction and the autonomous mobile device 10 in the backward right turn direction having both components with the right direction (upper side in FIG. 3), or in the backward left turn direction having both components in the backward direction and the left direction of the autonomous mobile device 10 (lower side in FIG. 3). You can apply power. On the other hand, the force sensor 27 includes a longitudinal force sensor that detects a force applied to the force application unit 27 in the forward direction and the backward direction, and a force applied to the force application unit 27 in the right direction and the left direction. It may consist of a lateral force sensor that detects With this configuration, the force sensor 27 detects the longitudinal force applied to the force application unit 27 in the forward direction or the backward direction, and the right and left applied to the force application unit 27 in the right direction or the left direction. The control unit 7 detects the directional force, and moves the moving mechanism 5 (drive wheel 15) in the forward or backward direction with the driving force corresponding to the front-rear direction force, and moves by the amount corresponding to the left-right direction force. The moving mechanism 5 is controlled so that the mechanism 5 is bent in the right direction or the left direction. At this time, when the force is applied to the force application unit 27 in the forward direction, the control unit 7 moves the moving mechanism 5 in the forward direction, and the force is applied to the force application unit 27 in the backward direction. In this case, when the force is applied to the force application unit 27 in the right direction while moving the moving mechanism 5 in the backward direction, the control unit 7 bends the moving mechanism 5 in the right direction and moves the left direction. When a force is applied to the force application unit 27, the control unit 7 bends the moving mechanism 5 leftward.

The switching method between the passive mode and the autonomous mode may be, for example, any one of the following (1) to (4) or a combination of some of (1) to (4). It may be done in a way.
(1) A person operates the operation unit 9 to switch between the passive mode and the autonomous mode.
(2) A sensor (for example, an infrared sensor) provided in the autonomous mobile device 10 detects that a person has approached the main body of the autonomous mobile device 10, thereby switching between the passive mode and the autonomous mode. Made automatically.
(3) When the control unit 7 detects that the autonomous mobile device 10 has entered the area where the carriage 1 is placed (area 21 described later) by the autonomous control of the control unit 7, the passive mode and the autonomous mode Is automatically switched between.
(4) Upon completion of the operation of the connection mechanism 3 connecting to the carriage 1 (completion of the operation of the holding mechanism 3 holding the loading body 1), the mode is automatically switched from the passive mode to the autonomous mode.

  Next, a transport method using the above-described autonomous mobile device 10 will be described with reference to FIGS. FIG. 4 is a plan view showing a movement route of the autonomous mobile device 10. FIG. 5 is a flowchart showing a transport method using the autonomous mobile device 10.

  In the example of FIG. 4, although not shown, the autonomous mobile device 10 moves autonomously between the area 21 and the transport destination 23a or 23b using guiding means such as a high-frequency signal line, a reflective tape, and a landmark. Alternatively, the vehicle may autonomously travel by grasping its own position by GPS or measurement without using guiding means, or may be autonomously moved by another appropriate method.

  In step S1, the autonomous mobile device 10 that has finished transporting autonomously moves to an area 21 where one or more carts 1 loaded with the transported object 1a are placed.

  In step S2, the mode of the autonomous mobile device 10 that has moved to the area 21 in step S1 is switched from the autonomous mode to the passive mode. This switching may be performed by any of the switching methods described above.

In step S3, when the operator operates the operation unit 9, the holding mechanism 3 holds the stack 1 on which the transported object 1a to be transported next is loaded. In the present embodiment, when the operator operates the operation unit 9, the connection mechanism 3 is connected to the carriage 1 on which the conveyed product 1 a to be transferred next is loaded. For example, the movement mechanism 5 moves and positions the connection mechanism 3 to a position where the connection mechanism 3 can be connected to the carriage 1 by the operation of the operation unit 9, and the connection mechanism 3 is operated in this state (see FIG. 1). In the example, the pair of sandwiching portions 3a is moved in the direction in which the pair of sandwiching portions 3a are brought close to each other), thereby connecting the connecting mechanism 3 to the carriage 1 and then maintaining this state.
In step S3, the loading body 1 (cart 1) to be held next by the holding mechanism 3 may be determined based on a conveyance plan managed by a computer, or may be determined by an operator. Good. When the transportation plan is managed by a computer, the display device of the autonomous mobile device 10 displays the transported object 1a to be transported next based on the transportation plan managed by the computer, and the operator views this display. By the operation of the operation unit 9, the loaded body 1 (cart 1) on which the displayed conveyed product 1a is loaded is held (connected) to the holding mechanism 3 as described above. When the operator manages, the operator selects the transported object 1a to be transported next, and the operation of the operation unit 9 causes the loading body 1 (cart 1) on which the selected transported object 1a is loaded, It is held (coupled) to the holding mechanism 3 as described above.

  In step S4, the mode of the control unit 7 is switched from the passive mode to the autonomous mode by any one of the switching methods described above. When the mode of the control unit 7 is switched from the passive mode to the autonomous mode by manipulating the operation unit 9, the autonomous mobile device 10 is moved to a wide space where there is no possibility of interfering with other carts 1. A person may perform an operation on the operation unit 9, and then a person may perform an operation on the operation unit 9 to switch the mode of the control unit 7 from the passive mode to the autonomous mode. When using the above-described guiding means, a person performs an operation for moving the autonomous mobile device 10 to a position where the sensor of the autonomous mobile device 10 can detect the guiding means, and then the control unit 7 A person may perform an operation to switch the mode from the passive mode to the autonomous mode on the operation unit 9.

  In step S5, the control unit 7 controls the moving mechanism 5 to move to a designated transport destination (for example, the transport destination 23a) by autonomous control. Note that when the transport plan is managed by a computer, the control unit 7 controls the moving mechanism 5 so that the transport destination moves to the transport destination designated by the set transport plan. Instead, the operator inputs a transport destination to the control unit 7 using a predetermined input device, and the control unit 7 controls the moving mechanism 5 to move to the transport destination designated by the input. Good.

  In step S6, when the autonomous mobile device 10 arrives at the transport destination specified in step S5 by autonomous movement, the autonomous mobile device 10 is held (connected) by itself by the control of the control unit 7. The holding mechanism 3 is operated so as to separate the body 1 (cart 1) from the holding mechanism 3. Instead, in step S6, when the autonomous mobile device 10 arrives at the transport destination specified in step S5, the mode of the control unit 7 is switched from the autonomous mode to the passive mode by any of the switching methods described above. The holding mechanism 3 may be operated so that the loading body 1 (cart 1) is separated from the holding mechanism 3 by a person operating the operation unit 9.

  When step S6 is completed, the process returns to step S1, the conveyance is completed, and the autonomous mobile device 10 separated from the carriage 1 returns to the area 21 by the autonomous control of the control unit 7.

  According to the autonomous mobile device 10 and the transport method using the same according to the embodiment of the present invention described above, the control unit 7 operates the coupling mechanism 3 and the moving mechanism 5 according to an operation command from the outside in the passive mode. The connecting mechanism 3 can be connected to the carriage 1 and the moving mechanism 5 is autonomously controlled in the autonomous mode to move the connecting mechanism 3 to the desired transport destination. As a result, even if a plurality of carts 1 are placed close to each other or arranged in a messy manner, they can be connected to the cart 1 without requiring advanced control, and It can move autonomously to a desired transport destination.

[Other Embodiments]
In the above-described embodiment, the loading body 1 is the carriage 1 on which the conveyed product 1a is loaded, and the holding mechanism 3 is the connection mechanism 3 that holds the carriage 1 by being connected to the carriage 1. According to the invention, the loading body 1 is a pallet on which the conveyed product 1a is loaded, and the holding mechanism 3 is a hand platter or fork that lifts and holds the pallet 1 from a state where the pallet 1 is placed at a predetermined position. A lifting mechanism such as a lifter may be used. In this case, the operation command output to the control unit 7 when the operation unit 9 is operated by a person includes the operation command of the moving mechanism 5 and the operation command of the lifting mechanism 3 described in the above embodiment. Well, the operation command of the lifting mechanism 3 is a command related to the operation of lifting and holding the pallet 1 placed at a predetermined position, and the lifting mechanism 3 lifts and holds the pallet 1. May include a command relating to the operation of placing the pallet 1 at the transport destination and separating it from the pallet 1. When the holding mechanism 3 is the lifting mechanism 3, the other configurations, operations, and procedures of the autonomous mobile device 10 and the transport method using the same are the same as those in the above-described embodiment.

  The present invention is not limited to the above-described embodiment, and various changes can be made without departing from the scope of the present invention.

1 loading body (cart, pallet), 1a transported object, 1b connected part,
1c wheel, 3 holding mechanism (coupling mechanism, lifting mechanism), 3a clamping part,
5 moving mechanism, 7 control unit, 9 operation unit,
10 autonomous mobile devices, 11 protrusions, 13 locking parts,
15 Drive wheel, 21 area, 23a, 23b Transport destination

Claims (6)

An autonomous mobile device that conveys the loaded body by autonomously moving in a state of holding the loaded body on which the object is loaded,
A holding mechanism capable of holding the loader from a state separated from the loader;
A moving mechanism for moving the holding mechanism to a desired transport destination;
A control unit that can be switched between a passive mode and an autonomous mode,
The control unit operates the holding mechanism and the moving mechanism in accordance with an operation command from the outside when in the passive mode, and autonomously controls the moving mechanism and holds the desired transport destination when in the autonomous mode. An autonomous mobile device characterized by moving a mechanism. It has an operation unit that can be operated by humans,
2. The autonomous mobile device according to claim 1, wherein the control unit operates the holding mechanism and the moving mechanism in accordance with an operation command input by an operation of the operation unit when in the passive mode. The loading body is a carriage on which a conveyed product is loaded,
The autonomous mobile device according to claim 1, wherein the holding mechanism is a connection mechanism that holds the carriage by being connected to the carriage. The loading body is a pallet on which a conveyed product is loaded,
The autonomous moving device according to claim 1, wherein the holding mechanism is a lifting mechanism that lifts and holds the pallet from a state where the pallet is placed at a predetermined position. The operation unit includes a force sensor that detects applied force,
The autonomous mobile device according to claim 2, wherein the control unit drives the moving mechanism with a driving force corresponding to the magnitude of the force detected by the force sensor when in the passive mode. A transport method using the autonomous mobile device according to any one of claims 1 to 5,
(A) In a predetermined area, the control unit is set to a passive mode, and an operation command is input from the outside to the control unit to operate the holding mechanism and the moving mechanism according to the operation command. The holding mechanism holds the load body,
(B) Next, the control unit is set to an autonomous mode, and the control unit autonomously controls the moving mechanism, whereby the holding mechanism is moved to a desired transport destination together with the loading body. Method.

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