JP2020123357A - Automatic conveyance system - Google Patents

Abstract

To accurately and safely perform loading and unloading by estimating the self position of automatic conveyance means with a simple device configuration at time of conveyance of a conveyance target object (for example, equipment) by use of the automatic conveyance means.SOLUTION: Provided are: conveyance target object information storage means 10 for storing identification information and conveyance destination information which serve as information for identifying the type of a conveyance target object 50 and a conveyance destination and which are composed of symbols photographable by photographing means or signals receivable by reception means; conveyance control information storage means 20 for storing conveyance control information which serves as information for controlling the conveyance of the conveyance target object and which is composed of the symbols photographable by the photographing means or the signals receivable by the reception means; and automatic conveyance means 30 for performing automatic conveyance of the conveyance target object. Autonomous travel control means 37 causes the automatic conveyance means 30 to automatically travel according to the identification information and the conveyance destination information of the conveyance target object to convey the conveyance target object from a loading site to an unloading site.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automatic transfer system, and for example, relates to a system capable of automatically performing a work of picking up a work, a work of placing a load, and a transfer of dust at a construction site.

Various materials and equipment are brought into the construction site. The transported materials and equipment must be transported to the target transport position, and the worker can transport the materials and equipment to the target transport position by placing the materials and equipment on a dolly or by using a crane. It is the current situation.

However, there are various kinds of materials and equipment that are carried into the construction site, and it takes time and effort to identify the intended transportation position. Also, due to the circumstances of transportation means, traffic conditions, etc., the materials and equipment are not always delivered as scheduled, and the setting of the transportation procedure is complicated. In order to deal with such inconvenience, various techniques have been proposed for efficiently transporting the loaded materials and equipment (see, for example, Patent Documents 1 and 2).

The technique described in Patent Document 1 relates to an automatic transfer device for automating a horizontal transfer process. In this automatic transfer device, first, relocatable markers are placed at turning points on the route of the work floor, at the loading/unloading points, and the like. Then, the marker is picked up by the image pickup device on the self-propelled carriage, and the operation instruction is recognized by the image processing to autonomously set the route to control the self-propelled carriage.

The technique described in Patent Document 2 relates to a system that comprehensively manages a plurality of transport robots for transporting materials and a construction robot for constructing materials. This comprehensive management system for transfer robots and construction robots controls and manages the transfer operation of a plurality of transfer robots via a public line network, and controls the construction operation of a construction robot via a public line network. It is equipped with construction robot management means.

JP-A-2000-53395 JP, 2017-228101, A

However, there are still unsolved problems in the conventional techniques including the techniques described in the above-mentioned patent documents. That is, in order to automate the work of picking up and placing the load on the construction site, it is necessary to grasp the surrounding environment, estimate the self-position of the automatic carrier, and accurately grasp the position of picking up and placing the load.

As a technique for grasping the self position, there is a method of detecting obstacles in the vicinity by using a laser sensor or the like and creating map information (for example, SLAM (Simultaneous Localization and Mapping). GPS, magnetic tape, embedded In the case of the method of using the built-in marker, it is not necessary to create map information, but with SLAM technology, it is necessary to create map information for self-position estimation, and there is a problem that it cannot flexibly cope with daily environmental changes. there were.

As a method of estimating the self-position, there are a method of estimating by communicating with some kind of sensor such as GPS or a marker, and a method of estimating while comparing with the map information with the initial position as a reference. The usage of GPS is limited in a place where signals from satellites cannot be received, such as indoors or in a tunnel.

In addition, since it is necessary to determine the traveling route of the magnetic tape in advance and install the magnetic tape over the entire traveling route, not only the installation work becomes complicated, but also the traveling route at the construction site where the situation changes day by day. It cannot flexibly deal with changes and obstacles placed on the magnetic tape. Furthermore, it cannot be used in places where edging is required, such as in elevators.

In addition, the embedded marker is not suitable for construction sites because it requires some work on the road. SLAM technology is a large space with few walls and obstacles, an environment with few characteristic points such as a monotonous corridor, and inside a building under construction (construction of walls and doors, changing sections with load cones, daily construction material loading). As described above, the accuracy is greatly reduced in an environment where the characteristics are likely to change greatly in a short time.

Furthermore, in order to carry out unloading/loading at a pre-designated place using the automatic carrier, it is necessary that the stuff is placed at the designated position at an accurate angle and orientation. That is, unless the transfer target is placed at a correct position and at a correct angle and orientation, the automatic transfer device cannot hold the transfer target. Therefore, it is required that the objects to be conveyed are placed and arranged accurately. In addition, it is necessary to individually set the loading positions one by one, and there is no flexibility such as placing in a vacant space.

The present invention has been proposed in view of the above-mentioned circumstances, and it is possible to easily grasp the surrounding environment and to estimate the self-position of the automatic conveyance device with a simple device configuration, which is more accurate and safe. It is an object of the present invention to provide an automatic transfer system capable of carrying out a work of picking up and placing a load.

The automatic transport system according to the present invention has the following features in order to achieve the above-mentioned object. That is, the automatic transfer system according to the present invention is installed at the object to be transferred itself (for example, equipment or a dolly or pallet loaded with the material) or a holding start position (for example, a unloading place) of the object to be conveyed, Information for identifying the type of the object and the transportation destination (for example, a loading place), which is a symbol (for example, a two-dimensional code) or a receiving unit (for example, a two-dimensional code) that can be photographed by a photographing unit (for example, a digital camera). A signal receiver), which stores the identification information and the transportation destination information that are composed of signals receivable by the signal receiver, and at least the holding start position (for example, a unloading place) of the transportation object and the transportation destination ( For example, the information (for example, a two-dimensional code) or the receiving means (for example, a two-dimensional code) that is installed in a cargo storage area and is for controlling the transportation of an object to be transported and that can be photographed by a photographing means (for example, a digital camera). (Transmission control information storage means for storing transportation control information composed of signals receivable by a signal receiver), and automatic transportation means (for example, AGV) for automatically transporting an object to be transported.

Then, the automatic carrying means, carrying object information acquisition means (for example, a digital camera or a signal receiver) that acquires identification information and carrying destination information of the carrying object stored in the carrying object information storage means, Transfer control information acquisition means (for example, a digital camera or a signal receiver) for acquiring the transfer control information stored in the control information storage means, the acquired identification information of the transfer target and the transfer destination information, and the acquired transfer control In accordance with the information, the autonomous traveling control means (for example, a computer system) that autonomously travels the automatic transportation means, the transportation target object is held at the holding start position (for example, the loading place) of the transportation target object, and Holding means for releasing the holding of the object to be carried at the carrying destination (for example, a loading place).

Further, in addition to the above-mentioned configuration, the automatic transporting means is an obstacle detecting means for detecting an obstacle existing in the transporting path, and when the obstacle is detected, avoids the obstacle and acquires the transport target object. The obstacle avoiding route determining means for determining a route that matches the identification information and the transport destination information can be configured.

Further, in addition to the above-described configuration, the automatic transporting means is configured to automatically transport the transporting object relative position detecting means for detecting the relative position with the transporting object, and the acquired relative position of the transporting object. It is possible to employ a configuration including an automatic unloading control means for controlling the means so that the means can reliably position the object to be transported.

In addition to the above-described configuration, the information is provided for identifying the installation position of the charging power supply device and the route to the charging power supply device, and identifying the installation position of the charging power supply device and the route to the charging power supply device. In addition, the power supply device installation position information storage means including a symbol that can be imaged by the imaging device or a signal that can be received by the reception device is provided, and the automatic transporting device is the charging power source stored in the power supply device installation position information storage device. It is possible to provide a power supply device installation position information acquisition means for acquiring the installation position information of the device and the route information to the charging power supply device. In the case of such a configuration, the self-sustained travel control means, when charging is required, the automatic carrier means of the charging power supply device according to the acquired installation position information of the charging power supply device and route information to the charging power supply device. Autonomously drive to the installation position.

Further, in addition to the above-described configuration, the identification information of the transport target can include transport destination area information in which a plurality of transport targets can be loaded. In this case, the automatic transporting means is already loaded position information acquisition means for acquiring the position information of the transport target already loaded in the transport destination area corresponding to the acquired identification information of the transport target; Free space information acquisition means for acquiring the position information of an empty space in which the transfer target can be loaded based on the position information of the transferred transfer target, and loading of a new transfer target in the empty space It is possible to adopt a configuration including a load placing position determining means for determining the position.

Further, in addition to the above-mentioned configuration, the transport control information storage means can be configured by a first two-dimensional code and a second two-dimensional code that display transport control information and have different sizes. In this case, the first two-dimensional code and the second two-dimensional code are displayed adjacent to each other.

According to the automatic transport system of the present invention, the automatic transport means autonomously travels according to the identification information and the transport destination information of the transport target and the transport control information to accurately transfer the transport target from the unloading site to the unloading site. And it is designed to be automatically transported safely.

Therefore, it is not necessary for the automatic transportation means to create map information for estimating the self-position, and it is possible to appropriately respond to changes in the situation at the transportation site, and perform unloading work and unloading work accurately and safely. You can In other words, even if you do not create map information that sets the destination and the transportation route of the transportation target according to the situation of the transportation site, you can specify the transportation destination information of the transportation target It can be transported to the destination.

Further, since the self-position of the automatic transfer means is estimated and the surrounding environment is grasped by a simple device configuration, it is possible to more accurately and safely perform the unloading work and the unloading work.

The functional block diagram of the automatic conveyance system which concerns on embodiment of this invention. The flowchart which shows the operation procedure of the automatic conveyance system which concerns on embodiment of this invention. Explanatory drawing which shows the conveyance method of the conveyance target object by the automatic conveyance system which concerns on embodiment of this invention.

An automatic carrying system according to an embodiment of the present invention will be described below with reference to the drawings. 1 to 3 are diagrams for explaining an automatic carrying system according to an embodiment of the present invention, FIG. 1 is a functional block diagram, FIG. 2 is a flowchart showing an operating procedure of the automatic carrying system, and FIG. It is explanatory drawing which shows a method.

<Outline of automatic transport system>
As shown in FIG. 1, the automatic transport system according to the embodiment of the present invention has a transport object information storage unit 10, a transport control information storage unit 20, and an automatic transport unit 30 as basic constituent elements. The transport object information storage means 10 is attached to the transport object 50 (for example, materials and equipment or a trolley or pallet loaded with the materials and equipment), or installed in the unloading place of the transportation object 50.

<Transport target information storage means>
The transport object information storage means 10 is a means for storing the identification information of the transport object 50 and the transport destination information, and acquires the individual information (type etc.) of the transport target 50 and the transport destination information at the time of unloading. can do.

It should be noted that the identification information of the transport target 50 may be at least information for identifying the type of material and equipment, and further includes information that can uniquely identify each transport target 50. However, it is possible to comprehensively manage information from the loading of each object 50 to the loading and setting.

The automatic carrying unit 30 is a unit for automatically carrying the object 50 to be carried, and is composed of, for example, an automatic guided vehicle/AGV (Automatic Guided Vehicle). As will be described later in detail, the automatic transporting means 30 is a means for acquiring information from various information storing means existing in the surroundings and a means for autonomously traveling the automatic transporting means 30 (moving means 90, driving means 91). , Autonomous driving control means 37, etc.).

The transport control information storage unit 20 is a unit that is installed at least in the loading place and the loading place of the transport target 50 and stores the transport control information of the transport target 50. This conveyance control information storage means 20 is, for example, a printed matter (paper) on which a two-dimensional code is printed, electronic paper or a tablet terminal displaying the two-dimensional code, a projected image displaying the two-dimensional code, or the above-mentioned two-dimensional code. And a signal generator that generates the same information signal as. In addition, the transport control information storage unit 20 may be installed at an appropriate position on the transport path of the transport target 50 to control the transport of the transport target 50.

Each unit that constitutes the automatic transport system according to the embodiment of the present invention is configured by a device that exhibits each function, a computer, and a program installed in the computer. It should be noted that the computer and the program installed in the computer are broad concepts including a device having an arithmetic function such as a personal computer, a microcomputer, and a PLC, and a program installed in these.

Further, although not shown, each unit includes a communication unit (including a communication control unit) so that data can be communicated with each other. Data communication is basically performed by wireless communication, but wired communication may be used or these may be used in combination. Further, the communication system may be any system. Generally, data communication in the same device is performed by wire communication using a communication cable, and data communication between separated devices is performed by wireless communication.

<Transport control information storage means>
The transport control information storage unit 20 can represent the transport direction of the transport target object 50 as information and can represent a symbol that can be captured by a digital camera, which is an image capturing unit configuring the transport control information acquisition unit 32, in the transport route. It can be composed of symbol display means (for example, printed matter (paper) on which a two-dimensional code is printed, electronic paper or a tablet terminal on which a two-dimensional code is displayed, a projection image on which a two-dimensional code is projected and displayed) that is displayed at an appropriate place. Is.

When a paper or the like on which a two-dimensional code is printed is used as the transport control information storage unit 20, it is preferable to attach two types of two-dimensional codes having different sizes to the same location. In this case, if the photographing angle of view of the digital camera, which is the photographing means that constitutes the conveyance control information acquisition means 32, is fixed, and the position of the automatic conveyance means 30 with respect to the conveyance control information storage means 20 is a long distance, The presence of a large size two-dimensional code enables the two-dimensional code to be recognized from a distance. On the other hand, when the position of the automatic conveyance means 30 with respect to the conveyance control information storage means 20 is a short distance, there is a possibility that a large-sized two-dimensional code cannot be recognized outside the photographing field angle. Therefore, the existence of the small-sized two-dimensional code enables the two-dimensional code to be recognized even at a short distance. In general, the information expressed by two-dimensional codes of different sizes is the same, but the two-dimensional code that can be recognized from a long distance stores rough information, and the two-dimensional code that can be recognized from a short distance does not. Detailed information may be stored. By adopting such an aspect, it is possible to obtain general information from a long distance, and it is possible to obtain more detailed information from a short distance.

Further, the transport control information storage means 20 may be a signal generator that transmits the transport control information. When a paper on which a two-dimensional code is printed, an electronic paper or a tablet terminal that displays the two-dimensional code, or a projection device that projects the two-dimensional code is used as the transportation control information storage unit 20, the transportation site of the transportation target object 50 is used. In addition to being able to easily create the transport control information storage means 20, it is easy to recreate the transport control information when it is dirty or damaged, and the transport control information can be changed flexibly according to the situation of the transport site. Can

<Automatic transport means>
The automatic carrying unit 30 is a unit for causing the carrying target object 50 to travel to a desired position. The automatic carrying means 30 includes a moving means 90 provided on the main body, a driving means 91 for driving the moving means 90, a holding means 80 for holding the object 50 to be carried, and an autonomous traveling control means 37. Equipped with.

Further, the automatic carrying means 30, the carrying target object information acquiring means 31, the carrying control information acquiring means 32, the obstacle detecting means 33, the obstacle avoiding route determining means 33a, the carrying target object relative position detecting means 34, the already-loaded position. The information acquisition means 35, the vacant space information acquisition means 36, the automatic unloading control means 38a, the unloading position determination means 38b, and the power supply device installation position information acquisition means 39 are provided.

<Driving means>
The driving means 91 is composed of a motor or the like for driving the moving means 90. For example, when the moving means 90 is a wheel, the driving means 91 is a motor for driving the wheel. In this case, in addition to the wheels functioning as the moving means 90, wheels to which the driving force is not transmitted may be provided. Although the number of the moving means 90 is not limited, all the wheels may be the moving means 90, or some of the wheels may be the moving means 90.

Specifically, the moving means 90 has a roller (barrel wheel) rotatably supported on the circumference of a wheel connected to the shaft, and has a rotation direction (relative to the reference direction) of the wheel. The front and back) and the rotation direction of the roller (left and right relative to the reference direction). Further, as the moving means 90 and the driving means 91, a crawler or a walking device for walking on multiple legs (for example, walking on four legs) may be used.

<Holding means>
The holding means 80 is a means for holding the conveyance target object 50, and can have various modes depending on the mode of the automatic conveyance means 30. For example, the device for placing the object 50 to be conveyed, the device for suspending the object 50 to be conveyed, and the device for towing the object 50 to be conveyed are the holding means 80.

Further, the object 50 to be transported may be placed on a pallet or housed in a basket with wheels to hold the pallet or the basket for transportation. When using a basket or a pallet with wheels, the automatic carrier 30 having a gate-shaped main body is used. Although not shown in detail, the automatic carrying means 30 of such a mode is provided with a moving means 90 at the lower part of the main body and functions as a carrying target object information obtaining means 31 and a carrying control information obtaining means 32 at the upper part of the main body. A digital camera is attached, and an infrared sensor functioning as an obstacle detecting means 33 and an LRF (range-finding sensor) functioning as a conveyance target relative position detecting means 34 are attached to the front surface of the main body.

Further, a movement stop switch for stopping the movement of the automatic carrying means 30 when an obstacle (a wall or the like) is brought into contact with the side surface of the gate-shaped main body portion, and for mitigating a contact impact on the obstacle. An impact absorbing device (a plurality of rollers and a spring or the like that applies a biasing force to the rollers so as to project them outward from the main body) may be provided. In such a configuration, when the side surface of the automatic transporting means 30 comes into contact with an obstacle (a wall or the like), the impact mitigating device first mitigates the contact impact, and when the impact mitigating device is further pressed, the movement stop switch is applied. Is activated and the movement of the automatic transporting means 30 is stopped.

Further, lock bars are attached to both side surfaces of a pallet or a basket with wheels, and a lock mechanism capable of engaging with and locking the lock bars is provided at a position facing the lock bar on the main body of the automatic transporting means 30. .. The lock mechanism is normally in an open state, and when it is pressed against the lock bar, it is in a closed state, so that the main body portion of the automatic carrying means 30 and the pallet or the basket with wheels can be integrally connected. In addition, the lock of the lock mechanism is configured to be automatically released when the automatic transport means 30 recognizes that the automatic transport means 30 has arrived at the load placing position.

<Autonomous traveling control means>
The autonomous traveling control unit 37 is a unit for causing the automatic conveyance unit 30 to autonomously travel according to the acquired identification information of the transportation target object 50 and the transportation destination information, and acquires the identification information of the transportation target object 50 and the transportation destination. The drive means 91 is controlled based on the information, the obstacle information, etc., and the automatic transport means 30 is caused to travel to the target position.

<Transportation object information acquisition means>
The transport target object information acquisition unit 31 is a unit for acquiring the identification information and the transport destination information of the transport target target 50 stored in the transport target target information storage unit 10, and, for example, a digital camera, which is a photographing unit, It is configured by the accessory device, a microcomputer, and a program installed therein. Further, when the transport target object information storage means 10 is a signal generator, the transport target object information acquisition means 31 is configured by a signal receiver (reception means) for receiving a signal.

As described above, the transport target object information storage unit 10 includes the two-dimensional code or the like attached to the transport target object 50, and the two-dimensional code is photographed and analyzed by the digital camera to analyze the transport target object 50. The identification information and the transportation destination information can be acquired. The transport destination is a loading place for the transport target 50, but an area where not only one transport target 50 can be loaded but also a plurality of transport target 50 can be loaded (transport destination area 70) It is possible to In this case, the identification information of the transport target 50 includes the area information of the loading place (transport destination area information).

<Transport control information acquisition means>
The transfer control information acquisition unit 32 is a unit for acquiring the transfer control information stored in the transfer control information storage unit 20, and is, for example, a digital camera as an image pickup unit and its accessory device, a microcomputer, and installed therein. It is composed by the programmed program. Further, when the transport control information storage means 20 is a signal generator, the transport control information acquisition means 32 is composed of a signal receiver (reception means) for receiving a signal.

As described above, the transport control information includes the paper printed with the two-dimensional code installed (for example, attached) at an appropriate position on the transport route, the electronic paper or tablet terminal displaying the two-dimensional code, and the two-dimensional code projected and displayed. The two-dimensional code is captured by a digital camera, which is an image capturing unit that constitutes the transport control information acquisition unit 32, and is analyzed, so that the transport control information of the transport target object 50 (for example, the automatic transport unit 30). Information) can be obtained.

The conveyance object information acquisition unit 31 and the conveyance control information acquisition unit 32 can be configured by the same device. That is, the conveyance object information acquisition means 31 and the conveyance control information acquisition means 32 are digital cameras attached to the front and left and right sides in the traveling direction of the automatic conveyance means 30, a program for analyzing photographing data, and a program for installing the same. It can be configured by a microcomputer. In this case, by providing a pan/tilt mechanism in the digital camera and changing the shooting direction of the digital camera, it is possible to reliably shoot the two-dimensional code or the like to be shot.

Furthermore, the number of digital cameras can be reduced by using digital cameras that can be rotated in the horizontal direction as the conveyance object information acquisition means 31 and the conveyance control information acquisition means 32. When each information storage means is a signal generator, the conveyance object information acquisition means 31 and the conveyance control information acquisition means 32 may be constituted by a signal receiver.

Further, like an obstacle detection means 33, a conveyed object relative position detection means 34, and an already-loaded position information acquisition means 35 which will be described later, it is configured by a digital camera, an infrared sensor, an LRF (range-finding sensor), and auxiliary devices thereof. Regarding the means for doing so, they may all be configured by the same device or may be configured by separate devices. The digital camera is a camera including an image pickup lens, a focusing device, an image pickup device, a transmission/reception device capable of transmitting/receiving data including video data (each unit configured by the digital camera described below. Also in).

The digital camera functioning as the transfer control information acquisition unit 32 moves together with the automatic transfer unit 30 while photographing the two-dimensional code that is the transfer control information storage unit 20. At this time, not only the transfer control information of the automatic transfer unit 30 is acquired by analyzing the image data of the captured two-dimensional code, but also the distance between the automatic transfer unit 30 and the two-dimensional code and the automatic transfer unit 30 are determined. Information about the angle facing the dimension code is acquired, and self-position estimation is performed.

<Obstacle detection means>
The obstacle detection unit 33 is a unit for detecting the obstacle 40 existing in the transport path, and is configured by, for example, an infrared sensor and an auxiliary device, a microcomputer, and a program installed therein. Further, a digital camera and an accessory device may be used as the obstacle detection means 33. When the obstacle detecting means 33 is composed of an infrared sensor, the obstacle 40 can be detected by sensing using infrared rays. Further, when the obstacle detecting means 33 is constituted by a digital camera and its accessory device, while the automatic transporting means 30 is running, the digital camera captures an image in front of the automatic transporting means 30 and analyzes the image data. Thus, the obstacle 40 can be detected.

<Obstacle avoidance route determination means>
The obstacle avoiding route determination means 33a, when detecting the obstacle 40, means for avoiding the obstacle 40 and determining a route that matches the acquired identification information of the transport object 50 and the transport destination information. And is composed of, for example, a microcomputer and a program installed therein. When the obstacle detection means 33 detects the obstacle 40 in the traveling direction of the automatic conveyance means 30, the obstacle avoidance route determination means 33a avoids the obstacle 40 and conveys the automatic conveyance means 30. The bypass route is determined so that the route matches the identification information of the target object 50 and the transport destination information. After avoiding the obstacle 40 by the detour route, the automatic transport means 30 is caused to travel based on the identification information of the transport target object 50 and the transport destination information held by the automatic transport means 30.

<Transfer target relative position detecting means>
The conveyance object relative position detection means 34 is a means for detecting the relative position between the automatic conveyance means 30 and the conveyance object 50, and includes, for example, an LRF (range-finding sensor) and an accessory device, a digital camera and an accessory device. , And a program installed in the microcomputer. The transport target object relative position detection means 34 recognizes the transport target object 50 existing in front of the automatic transport means 30 by an LRF (range-finding sensor) or a digital camera, and analyzes the recognition data to detect the automatic transport means 30. It is possible to detect the relative position with respect to the conveyance target object 50. This makes it possible to obtain information on the relative position of the automatic transporting means 30 with respect to the transport target object 50 when carrying out unloading.

<Automatic pickup control means>
The automatic unloading control unit 38a ensures that the automatic transfer unit 30 ensures the transfer target 50 based on the acquired relative position between the automatic transfer unit 30 and the transfer target 50 regardless of the installation status of the transfer target 50. It is a means for controlling the position so that the cargo can be picked up, and is constituted by, for example, a microcomputer. That is, when the relative position of the conveyance target 50 and the automatic conveyance unit 30 is detected by the conveyance target relative position detection unit 34, the relative position information is analyzed and the automatic conveyance unit 30 loads the conveyance target 50. The orientation of the automatic transporting means 30 is adjusted by controlling the automatic transporting means 30 (driving means 91) so that the position can be set.

The objects to be conveyed 50 are not always placed in a precise alignment, and may be displaced from the position where they should be placed. That is, in order to accurately align the objects 50 to be conveyed, delicate work is required, and if the accuracy is pursued, the conveying work may take too much time. Therefore, in order to facilitate the transportation work, the alignment accuracy of the transportation target objects 50 has a certain degree of tolerance. Then, when carrying out the unloading, unless the automatic carrying means 30 is located at a position where the carrying object 50 can safely and autonomously carry out the unloading, the carrying object 50 is damaged during the unloading. Or, in the worst case, it may not be possible to unload the cargo. Therefore, in the present embodiment, the automatic unloading control means 38a controls the automatic carrying means 30 to a position where the object 50 to be carried can be safely unloaded, thereby facilitating easy, accurate and safe unloading work. I am able to do it.

More specifically, the existence and rough position of the material and equipment are grasped by confirming the object-to-be-transported information storage means 10 (two-dimensional code) installed on the material to be transported 50 (material and equipment) with a digital camera. After that, the shape of the material and equipment is scanned by the LRF (range-finding sensor), the holding approach position is determined, and the object to be conveyed 50 (material and equipment) is held by the holding means 80. The information stored in the two-dimensional code that functions as the transport target information storage unit 10 includes information such as "what is the transport target 50 (material/equipment)" and "transportation of the transport target 50 (material/equipment)". In the present embodiment, the transport object information storage unit 10 (two-dimensional code) indicates the presence (presence or absence) of the transport object 50 (material or equipment) and a rough position. It also has a role to grasp.

<Means to acquire information on the location of already loaded items>
The already-loaded position information acquisition means 35 acquires the position information of the transport target 60 already loaded in the transport destination area 70 corresponding to the acquired identification information of the transport target 50 and the transport destination information. The LRF (range-finding sensor) and auxiliary devices, digital cameras and auxiliary devices, a microcomputer, and a program installed therein. When the automatic transportation means 30 arrives at the transportation destination area 70, the inside of the transportation destination area 70 is scanned by the LRF (range-finding sensor) which is the already-loaded position information acquisition means 35, or the transportation destination area 70 is scanned by the digital camera. By taking an image of the inside and analyzing the acquired data, the position information of the transported object 60 already placed on the load is acquired. This makes it possible to recognize at which position in the transport destination area 70 the transport target 60 is already placed.

<Free space information acquisition method>
The empty space information acquisition unit 36 is a unit for acquiring the position information of the empty space in which the transport target object 50 can be loaded based on the position information of the transport target object 60 that has already been loaded. It is composed of a microcomputer. The empty space information acquisition unit 36 acquires the position information of the transfer target (the transfer target 60 already loaded) acquired by the function of the already-loaded position information acquisition unit 35, and the transfer destination area 70 information (area, etc.). Information) to analyze the free space and obtain free space information.

<Means for determining loading position>
The loading position determining means 38b is means for determining the loading position of the new object 50 to be transported in the empty space, and is configured by, for example, a microcomputer. In the transportation destination area 70, which is the transportation destination of the transportation target object 50, the loading position determination means 38b, based on the empty space information acquired by the function of the empty space information acquisition means 36, the automatic transportation means 30 (driving means 91). The object 50 to be transported is placed in an empty space in the destination area 70 by controlling the.

<Power supply for charging>
Since the driving means 91 of the automatic carrying means 30 of this embodiment is composed of an electric motor, it is necessary to charge the rechargeable battery as needed. Therefore, as shown in FIG. 3, the automatic transport system according to this embodiment includes a charging power supply device 110. The charging power supply device 110 is installed at an appropriate position such as a construction site to which the automatic transfer system is applied.

In the present embodiment, the power supply device installation position information storage means 100 indicating that is installed in the installation place of the charging power supply device 110. The power supply device installation position information storage means 100, similar to the transport object information storage means 10 and the transport control information storage means 20, is a printed matter (paper) on which a two-dimensional code is printed, electronic paper, a tablet terminal, a projection image, and signal generation. It can be configured by a container. Therefore, in order for the automatic carrying means 30 to recognize the installation place of the charging power supply device 110, the power supply device installation position information obtaining means 39 having the same configuration as the carrying object information obtaining means 31 and the carrying control information obtaining means 32 is used. You can use it.

When the rechargeable battery mounted on the automatic transporting means 30 needs to be charged, the autonomous traveling control means 37 controls the driving means 91 to drive the automatic transporting means 30 to the installation position of the charging power supply device 110. Then, the rechargeable battery is charged, and when the automatic carrying means 30 becomes usable, the use of the automatic carrying means 30 is started.

<Operation of automatic transport system>
Next, operation of the above-described automatic transport system will be described. FIG. 2 is a flowchart of the operation of the automatic transport system. It should be noted that although specific information is shown in the following description, these are examples and can be appropriately modified and implemented.

In order to operate the automatic transport system, as shown in FIG. 2, data relating to the number of trucks on which the objects to be transported 50 are loaded and destinations of the trucks are input to a computer system (personal computer) constituting the automatic transport system (S1). ). This data input step is a step for calculating a required transportation time when there are a plurality of transportation destinations (load storage areas). In order to calculate the required transportation time, it is necessary to have information such that the cargo storage area "G01" has a carriage of "○", the cargo storage area "G02" has a carriage of "△", and the cargo storage area "G03" has a carriage of "carry".

Further, the charging power supply device 110 is arranged at an appropriate position in the transportation area, and the power supply device installation position information storage means 100 is installed at the arrangement position (installation place) of the charging power supply device 110 (S2). The information stored in the power supply device installation position information storage unit 100 is “PEND”.

The transport object information storage means 10 is attached to the trolley on which the transport object 50 is loaded, and the transport control information storage means 20 is provided in each of the loading place, the loading place, the trolley, the standby place of the automatic transport means 30, and the transport route. Install (S3). “A1/M01”, “A2/M02”, and “A3/” are respectively stored in the transport object information storage means 10 as identification information (material information) of the transport object 50 and transport destination information (transport destination information). “M03” is stored. “A1”, “A2”, and “A3” are material/material information, and “M01”, “M02”, and “M03” are destination information. In this case, the conveyance object information storage means 10 also has the function of the conveyance control information storage means 20. The transport control information storage unit 20 installed at the unloading site stores transport control information indicating that it is a unloading site. The transport control information indicating that this is the loading place is "S01", "S02", "S03",....

The transport control information storage unit 20 installed in the cargo storage area stores transport control information indicating that the cargo storage area is the cargo storage area. The transport control information indicating that this is the loading place is “G01”, “G02”, “G03”... The transfer control information storage unit 20 installed at the standby position of the automatic transfer unit 30 stores transfer control information indicating that it is the standby position of the automatic transfer unit 30. The transport control information indicating that the automatic transport means 30 is on standby is “QEND”.

The transport control information storage unit 20 installed on the transport route stores transport control information about the transport route in sequence. The transport control information storage means 20 is installed at an interval of about 5 m on a general transport path, and the transport control information storage means 20 is set at an interval of about 2 m at a corner where the next transport control information storage means 20 cannot be confirmed. Install 20. The transport control information stored in the transport control information storage means 20 installed on this transport route stores “E01”, “E02”, “E03”... (Not shown) as transport control information up to the elevator. , “N01”, “N02”, “N03”... Are stored as the transfer control information on the N floor, and “P01” and “P02” are stored as the transfer control information from the unloading site to the installation position of the charging power supply device 110. , "P03"... Are stored.

When the above steps are completed, the automatic carrying means 30 is turned on (S4) and the operation of the automatic carrying system is started. To end the operation of the automatic transfer system, the automatic transfer means 30 may be turned off. Turning on the power of the automatic transporting means 30 means operating the computer system (personal computer) and pressing the start button, and turning off the power of the automatic transporting means 30 operates the computer system (personal computer) and the stop button. Is to press.

<Specific example of automatic transportation method>
Next, a method of transporting the transport target object 50 using the above-described automatic transport system will be described. FIG. 3 is a view for explaining a series of steps in which the automatic transporting means 30 performs a unloading operation at a unloading site and an unloading operation at a designated transportation destination (loading site) using the automatic transportation system. FIG. Further, the automatic transport system will be described as including all the above-described functional means, but in actual operation, some functional means may be omitted, or other functional means may be provided. Good.

In order to convey the conveyance target 50 from the unloading place to the loading place by using the automatic conveying means 30 of the present embodiment, the conveyance target (materials or a trolley or pallet loaded with the materials) 50 may be transferred in advance, or At the unloading site of the transport target 50, the transport target information storage means 10 storing the identification information for identifying the transport target 50 and the transport destination information is installed. Specifically, the identification information for identifying the transport target 50 (transport material or a trolley or pallet loaded with the transport material) or the unloading place of the transport target 50 and the transport purpose. A printed material of a two-dimensional code indicating the geographical information is attached, or electronic paper or a tablet terminal displaying the two-dimensional code is installed.

In addition, a transportation control information storage means 20 (mark S01) that stores information indicating that the transportation target object 50 is to be loaded is installed at the unloading location of each transportation target object 50. A transport control information storage unit 20 (marks G01, G02, G03) that stores information indicating that each of the transport target objects 50 is a cargo storage place is installed in the cargo storage place. Further, the transport control information storage means 20 (marks N01, N02, N03) that stores information regarding the passage of each transport target object is installed at an appropriate position on the transport path of each transport target object 50. The transport destination information M01, M02, M03 stored in the transport object information storage means 10 attached to each transport object 50 (or a trolley or pallet on which each transport object 50 is loaded) and M01, M02, and M03, respectively, are installed at the loading place. It is the same as the position information of the pickup place represented by the marked signs G01, G02, and G03. That is, M01=G01, M02=G02, and M03=G03 as the location information of the pickup area.

Hereinafter, the transportation of the materials and equipment (the transportation target object 50) at the construction site will be described. Various materials and equipment are brought into the unloading area. Since each of the materials and equipment can be held by the automatic carrying means 30, they are placed on a trolley or stored in a basket. In addition, the transport object information storage means 10 (for example, two-dimensional) for recognizing the identification information of the transport equipment (transport target 50) and the transport destination information is provided at each material itself or at an appropriate place of the yard. Install a printed material that prints the code, electronic paper or tablet terminal that displays the two-dimensional code. Specifically, the materials and equipment A1, A2, and A3 are carried into the unloading site, and the identification information (A1, A2, and A3) and the respective materials and equipment itself or the unloading position of the materials and equipment are provided. A transport object information storage means 10 indicating transport destination information (M01, M02, M03) is installed.

When the automatic carrying means 30 recognizes that it is a yard by the function of the carrying control information obtaining means 32, it carries out the unloading work (holding means 33 holds materials and equipment). Then, by the function of the transfer target object information acquisition means 31, the identification information of the transfer target object 50 and the transfer destination information are acquired. That is, it recognizes whether the material/material to be picked up is A1, A2, or A3, and also recognizes where the material storage area for the material/material A1, A2, or A3 is. Hereinafter, the conveyance object information storage means 10 and the conveyance control information storage means 20 will be described as markers S01, M01 to M03, N01 to N03, P01, and PEND.

When the automatic transporting means 30 for holding the material 40 travels in the work area and recognizes the sign S01 indicating the pickup site by the function of the transport control information acquiring means 32, the material A1, A2, A3. To start the unloading work. At this time, the function of the transport target object information acquisition means 31 recognizes which of the materials, equipment A1, A2, and A3 is to be picked up, and, based on the destination information M01 to M03, each equipment A1. , A2, A3 recognizes where the loading place is. As described above, the delivery destination information (position information of the loading place) represented by the delivery destination information M01, M02, and M03 is the same as the information represented by the markers G01, G02, and G03 installed at the loading place. ing.

A sign G01 indicating that effect is installed in the cargo storage area (1) of the material A1 and a sign G02 indicating that effect is installed in the cargo storage area (2) of the material A2. A sign G03 indicating that effect is installed at the loading place (3) of A3. Further, signs N01, N02, N03 indicating the passage points of the materials and equipment are installed on the transportation route of the materials and equipment. The sign N01 is a transport control information storage means 20 indicating information for passing the materials A1, A2, A3, and the sign N02 is a transport control information storage means 20 indicating information for passing the materials A1, A2. The mark N03 is a transport control information storage unit 20 that indicates information for passing the equipment A1.

In addition, a sign PEND indicating that is installed at the installation position (installation site) of the charging power supply device 110, and is provided on the route from the unloading site to the installation position (installation site) of the charging power supply device 110. , A sign P01 indicating that is installed.

It should be noted that, at the unloading site, the transport target 50 existing in front of the automatic transport means 30 is scanned by the LRF (range-finding sensor) which is the transport target relative position detection means 34, and the acquired data is analyzed, The relative position between the automatic carrying means 30 and the carrying object 50 is detected. Then, by the function of the automatic unloading control means 38a, the automatic carrying means 30 (driving means 91) is controlled automatically so that the automatic carrying means 30 can autonomously pick up the object 50 to be carried. The orientation of the transport means 30 is adjusted.

When the automatic transporting means B1 holding the material A1 travels in the work area and recognizes the signs N01, N02, N03, it passes through the installation positions of the respective signs N01, N02, N03. Further, when the automatic transporting means B1 holding the material A1 travels in the work area and recognizes the signs G02 and G03, the other information can be recognized because the information regarding the material A1 is not included. Continue running until. When the automatic transporting means B1 holding the material A1 travels in the work area and recognizes the sign G01, it is the loading place for the material A1 and therefore the loading is performed at an appropriate position in the loading place.

At this time, it is preferable to perform control such that the cargo is placed in an empty space in the cargo storage area. Specifically, the transportation destination area 70 is scanned by the LRF (range-finding sensor) which is the already-loaded location information acquisition means 35, and the acquired data is analyzed, so that the already-loaded transportation target object 60 is obtained. Get location information of. Then, the function of the vacant space information acquisition means 36 analyzes the vacant space based on the position information of the transported object 60 already loaded and the information (information such as area) of the transport destination area 70, and the vacant space Get information. When the empty space information is acquired, the automatic loading means B1 is controlled by the function of the loading position determining means 38b to load the new equipment A1 in the empty space which is the transportation destination area 70. The materials A2 and A3 can also be loaded in an empty space by performing the same control.

Further, when an obstacle (temporarily placed materials and equipment) 40 exists in the middle of the transportation route, the obstacle detecting means 33 detects the obstacle 40. Then, by the function of the obstacle avoiding route determination means 33a, the obstacle 40 is avoided, and the route is detoured so that the route matches the identification information of the equipment A1 and the transport destination information held by the automatic transport means B1. Determine the route. After avoiding the obstacle 40 by the bypass route, the automatic transporting means B1 is caused to travel based on the identification information of the equipment A1 and the transporting destination information held by the automatic transporting means B1. By performing the same control for the materials A2 and A3, the automatic conveyance means B2, B3 can be run while avoiding the obstacle 40.

When the automatic transporting means B2 holding the material A2 travels in the work area and recognizes the signs N01 and N02, it passes through the installation positions of the signs N01 and N02. Further, when the automatic transporting means B2 holding the material A2 travels in the work area and recognizes the signs G01, G03, N03, since the information regarding the material A2 is not included, another sign is displayed. Continue driving until you can recognize it. When the automatic transporting means B2 holding the material A2 travels in the work area and recognizes the sign G02, it is the loading place for the material A2, and therefore the loading is performed at an appropriate position in the loading place.

When the automatic transporting means B3 holding the material A3 travels in the work area and recognizes the sign N01, it passes through the installation position of the sign N01. In addition, when the automatic transporting means B3 holding the material A3 travels in the work area and recognizes the signs G01, G02, N02, and N03, the information regarding the material A3 is not included, and thus other information is not included. Continue driving until you recognize the sign. When the automatic transporting means B3 holding the material A3 travels in the work area and recognizes the sign G03, it is the loading place for the material A3, so that the article is placed at an appropriate position in the loading place.

Even if the automatic transporting means B1 fails to recognize the marker N01 on such a transporting route, if the marker N02, the marker N03, and the marker G01 can be recognized, the material A1 can be accurately transported to the transport destination. That is, when the operator happens to be at the position of the sign N01 and the automatic transporting means B1 fails to recognize the sign N01, the automatic transporting means B1 goes straight to the sign N02 and continues autonomous traveling.

Similarly, even if the automatic carrier B2 fails to recognize the marker N01, if the marker N02 and the marker G02 can be recognized, the material A2 can be conveyed to an accurate destination. That is, when the operator happens to be at the position of the sign N01 and the automatic transporting means B2 fails to recognize the sign N01, the automatic transporting means B2 goes straight to the sign N02 and continues autonomous traveling.

Further, when the automatic carrier B3 fails to recognize the marker N01 and moves to the position of the marker N02, the marker N02 does not include information on the equipment A3, and therefore the automatic carrier B3 is different. Look for the sign and drive. For example, the automatic carrier B3 continues traveling to a position where it can recognize the sign N01 or the sign G03 containing the related information, and if it can recognize these signs, it will carry out the unloading at the loading place of the equipment A3. You can

When the loading operation is completed, the automatic carrying means 30 is moved to a predetermined position. Also on the return path, the traveling of the automatic conveying means 30 is controlled by the above-described method, and the traveling is performed while avoiding the obstacle 40. Further, on the return route, the unloading work or the unloading work may be performed via another unloading place or the unloading place. Further, when charging is required, the automatic carrier means 30 is moved according to the marker P01 installed on the path to the installation position of the charging power supply device 110 and the PEND installed at the installation position of the charging power supply device 110, and charging is performed. Charge the battery.

Although a plurality of means are individually defined in the above description, related means among these means may be integrated as one means, or one means may be divided into a plurality of means. .. Further, in addition to the above-mentioned means, means related to the present invention may be provided.

10 Transport Object Information Storage Means 20 Transport Control Information Storage Means 30 Automatic Transport Means 31 Transport Object Information Obtaining Means 32 Transport Control Information Obtaining Means 33 Obstacle Detecting Means 33a Obstacle Avoidance Route Determining Means 34 Transport Object Relative Position Detecting Means 35 Already-loaded position information acquisition means 36 Free space information acquisition means 37 Autonomous traveling control means 38a Automatic unloading control means 38b Loading position determination means 39 Power supply device installation position information acquisition means 40 Obstacle 50 Transport target 60 Already loaded Object to be transferred 70 Transfer destination area 80 Holding means 90 Moving means 91 Driving means 100 Power supply device installation position information storage means 110 Charging power supply device

Claims (6)

Information for identifying the type and destination of the object to be transferred, which is installed at the holding start position of the object to be conveyed or the object to be conveyed, and is a symbol which can be photographed by the photographing means or a signal which can be received by the receiving means. Transport object information storage means storing identification information and transport destination information consisting of,
At least the information for controlling the transportation of the transportation target, which is installed at the holding start position of the transportation target and the transportation destination, and is composed of a symbol that can be captured by the image capturing unit or a signal that can be received by the receiving unit. Transport control information storage means storing control information,
An automatic transporting means for automatically transporting the transport target;
Equipped with
The automatic transfer means,
Transport target information acquisition means for acquiring identification information and transport destination information of the transport target stored in the transport target information storage means,
Transport control information acquisition means for obtaining the transport control information stored in the transport control information storage means,
In accordance with the acquired identification information and the destination information of the transportation target, and the acquired transportation control information, autonomous traveling control means for autonomously traveling the automatic transportation means,
A holding unit that holds the transfer target at the holding start position of the transfer target and releases the transfer target from the transfer destination of the transfer target,
An automatic transfer system characterized by having. The automatic transfer means,
An obstacle detection means for detecting an obstacle existing in the transport path,
When an obstacle is detected, avoiding the obstacle, obstacle avoidance route determining means for determining a route that matches the identification information of the acquired transport target and the transport destination information,
The automatic transport system according to claim 1, further comprising: The automatic transfer means,
A conveyance target relative position detection means for detecting a relative position to the conveyance target,
Based on the relative position with the acquired object to be transferred, automatic transfer means for controlling the automatic transfer means to be in a position where the object to be transferred can be reliably loaded,
The automatic transport system according to claim 1 or 2, further comprising: Information for identifying the installation position of the charging power supply device and the route to the charging power supply device and identifying the installation position of the charging power supply device and the route to the charging power supply device, which can be photographed by the photographing means. A power supply device installation position information storage means comprising a symbol or a signal receivable by the reception means,
The automatic transfer means,
A power supply device installation position information acquisition means for acquiring installation position information of the charging power supply device and route information to the charging power supply device stored in the power supply device installation position information storage means;
The self-sustaining traveling control means autonomously travels the automatic carrying means to the installation position of the charging power supply device according to the acquired installation position information of the charging power supply device and route information to the charging power supply device when the charging is required. Let
The automatic transport system according to any one of claims 1 to 3, characterized in that. The transfer destination information of the transfer target includes transfer destination area information in which a plurality of transfer targets can be placed,
The automatic transfer means,
An already-loaded position information acquisition unit that acquires the position information of the transfer target already loaded in the transfer destination area corresponding to the transfer destination information of the acquired transfer target;
Based on the position information of the already-conveyed transportation target object, empty space information acquisition means for acquiring position information of an empty space in which the transportation target object can be newly loaded,
A loading position determining means for determining a loading position of a new object to be transported in the empty space,
The automatic transport system according to any one of claims 1 to 4, further comprising: The transfer control information storage means,
It is composed of a first two-dimensional code and a second two-dimensional code which are different in size and which display the transport control information, and the first two-dimensional code and the second two-dimensional code are displayed adjacent to each other. Is
The automatic transport system according to any one of claims 1 to 5, characterized in that.

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