JP2023069514A - Self-propelled conveying device and control system - Google Patents

Abstract

To provide a technique for enabling a self-propelled conveying device to stably travel when the self-propelled conveying device lifts a dolly and travels with the dolly thereon.SOLUTION: A self-propelled conveying device capable of traveling, includes: a plurality of pins provided with a sensor for measuring a load, a raising/lowering mechanism capable of raising/lowering the plurality of pins; a control unit that controls the raising/lowering mechanism and acquires load data measured by the sensor when the plurality of pins are raised to lift a dolly while keeping in contact with a bottom surface of the dolly on which at least one article is loaded; and a storage unit that stores a gravity center position of the self-propelled conveying device. The control unit calculates a gravity center position of the dolly based on the load data and lifts the dolly by controlling the raising/lowering mechanism while keeping a predetermined positional relation between the gravity center position of the self-propelled carrying device and the gravity center position of the dolly.SELECTED DRAWING: Figure 1

Description

The present invention relates to a self-propelled transport device and control system.

A self-propelled transport device such as a mobile robot lifts a trolley and travels. Patent Literature 1 discloses a mechanism technology for stably carrying a load.

JP 2006-123854 A

When a load is placed on a carriage, the center of gravity of the carriage varies depending on how the load is placed on the carriage. If the self-propelled transport equipment lifts the cart without considering the center of gravity of the cart, vibrations may occur while the self-propelled transport equipment is running, or the self-propelled transport equipment may You may fall over.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and its object is to provide a technique that enables a self-propelled transport device to travel stably when the self-propelled transport device lifts a carriage and travels. It is to be.

A self-propelled transport apparatus according to one aspect of the present invention is a self-propelled transport apparatus capable of traveling, comprising: a plurality of pins provided with sensors for measuring loads; and an elevating mechanism capable of elevating the plurality of pins. , the load data measured by the sensor when the lifting mechanism is controlled and the trolley is lifted while the plurality of pins are raised to contact the bottom surface of the trolley on which at least one load is loaded; and a storage unit for storing the center-of-gravity position of the self-propelled transport device, wherein the control unit calculates the center-of-gravity position of the carriage based on the load data, and the self-propelled transport device In the self-propelled transport device, the lifting mechanism is controlled to lift the carriage in a state where the center of gravity of the transport device and the center of gravity of the carriage are in a predetermined positional relationship.

The control unit controls the lifting mechanism to lift the carriage in a state where the center of gravity of the self-propelled carrier and the center of gravity of the carriage are in a predetermined positional relationship. Since the self-propelled carrier device can suppress the occurrence of vibration and overturning of the carrier when the carrier is carried, the self-propelled carrier device can carry the carrier stably. As a result, the self-propelled carrier can travel stably when the self-propelled carrier lifts the carriage and travels.

The predetermined positional relationship may include that a predetermined region including the center-of-gravity position of the self-propelled transport device and the center-of-gravity position of the carriage overlap in the vertical direction. The predetermined positional relationship may include that a predetermined region including the center-of-gravity position of the self-propelled transport device and the center-of-gravity position of the cart overlap in the vertical direction. The predetermined positional relationship may include that a center-of-gravity position of the self-propelled transport device and a center-of-gravity position of the cart overlap in the vertical direction.

The control unit may adjust at least one of a traveling speed and a turning radius of the self-propelled carrier device when the position of the center of gravity of the carriage changes during travel of the self-propelled carrier device. The control unit may move the self-propelled transport device such that the center of gravity of the self-propelled transport device and the center of gravity of the carriage are in the predetermined positional relationship. The self-propelled transport device may include a request unit that requests an operator to move the trolley so that the center of gravity of the self-propelled transport device and the center of gravity of the trolley have the predetermined positional relationship. .

The self-propelled transport device includes an imaging device that images the cart and the at least one package, the imaging device generates image data of the cart and the at least one package, and the control unit captures the image. A loading state of the cargo on the cart may be obtained from the data, and a position where the self-propelled transport device slips under the bottom surface of the cart may be determined based on the loading state of the cargo. The plurality of pins may be three or more.

A control system according to one aspect of the present invention includes a plurality of self-propelled carrier devices capable of traveling and a host device capable of communicating with the plurality of self-propelled carrier devices, wherein the plurality of self-propelled carrier devices controls a plurality of pins provided with sensors for measuring loads, an elevating mechanism capable of elevating the plurality of pins, and the elevating mechanism, and the plurality of pins ascends to lift at least one load. a control unit that acquires load data measured by the sensor when the trolley is lifted while in contact with the bottom surface of the loaded trolley; A storage unit for storing the dimensions and the dimensions of the carriage, the control unit sends the load data to a host device, and the host device sends the load data and the dimensions of the plurality of self-propelled transport devices. , and the size of the carriage, the control system instructs one of the plurality of self-propelled transport devices to transport the carriage.

ADVANTAGE OF THE INVENTION According to this invention, when a self-propelled conveying apparatus lifts a trolley and travels, the technique by which a self-propelled conveying apparatus can drive stably can be provided.

FIG. 1 is a block diagram showing the configuration of a mobile robot according to the first embodiment. FIG. 2 is a perspective view of a mobile robot. FIG. 3 is an explanatory diagram of how the mobile robot lifts the cart. FIGS. 4(A) and 4(B) are explanatory diagrams of lifting of the cart by the mobile robot. FIG. 5 is a top view of the mobile robot. FIG. 6 is a perspective view of the mobile robot and cart. FIG. 7 is a perspective view of the mobile robot and cart. FIG. 8 is a perspective view of the mobile robot and cart. FIG. 9 is a perspective view of a truck. FIG. 10 is a schematic diagram showing an example of a control system according to the first embodiment. FIG. 11 is a flow chart showing the flow of processing in the mobile robot according to the first embodiment. FIG. 12 is a flowchart showing the flow of confirmation processing for the weight of the truck. FIG. 13 is a flow chart showing the flow of confirmation processing of the weight position of the truck. FIG. 14 is a flow chart showing the flow of determination processing for determining whether or not movement is possible. FIG. 15 is a flow chart showing the flow of processing in the host device according to the first embodiment. FIG. 16 is a schematic diagram showing an example of a control system according to the second embodiment. FIG. 17 is a block diagram showing the configuration of the load measuring mobile robot according to the second embodiment. FIG. 18 is a perspective view of a mobile robot for load measurement. FIG. 19 is a flow chart showing the flow of processing in the load measuring mobile robot according to the second embodiment. FIG. 20 is a flow chart showing the flow of processing in a host device according to the second embodiment. FIG. 21 is a flow chart showing the flow of processing in the mobile robot and host device according to the third embodiment.

Embodiments will be described below with reference to the drawings. The embodiments shown below are aspects of the present application and do not limit the scope of rights of the present application.
<Application example>
An example of a scene to which the present invention is applied will be described.

<First embodiment>
<Overall Configuration of Mobile Robot>
FIG. 1 is a block diagram showing the configuration of a mobile robot 1 according to the first embodiment. The mobile robot 1 is a device (self-propelled transport device) having a function as a self-propelled unmanned transport vehicle. The mobile robot 1 includes an integrated control unit (control device) 11, a communication unit 12, a travel control unit 13, an elevation control unit 14, a travel unit 15, a storage unit 16, an elevation mechanism 17, and a plurality of pins. 18 , an imaging device 19 and a plurality of load sensors 20 . The host device 2 can communicate with the mobile robot 1, and issues a specific transport instruction to a predetermined mobile robot 1 in the transport system it manages. The host device 2 includes a storage device 201, an input device 202, and the like. The storage device 201 stores various information and data. The input device 202 receives input of various information and data. The host device 2 may be configured by a server, workstation, personal computer, or the like.

The integrated control unit 11 performs integrated control of the mobile robot 1 , such as cooperation with the traveling unit 15 and the lifting mechanism 17 and management of communication with the host device 2 . The communication unit 12 is a communication interface that executes communication with the host device 2 . The integrated control unit 11 receives an instruction from the host device 2 via the communication unit 12 and controls the traveling unit 15 according to the content of the instruction to move (run) the mobile robot 1 . The travel control unit 13 controls the travel unit 15 based on instructions from the integrated control unit 11 . The travel control unit 13 may be omitted and the integrated control unit 11 may control the travel unit 15 . Also, the integrated control unit 11 and the travel control unit 13 may be integrated. The elevation control unit 14 controls the elevation mechanism 17 based on instructions from the integrated control unit 11 . The elevation control section 14 may be omitted and the integrated control section 11 may control the elevation mechanism 17 . The integrated control unit 11 and the elevation control unit 14 may be integrated. Also, the integrated control unit 11, the travel control unit 13, and the elevation control unit 14 may be integrated.

The running unit 15 makes the mobile robot 1 run. The traveling unit 15 has a plurality of rotating bodies 21 and can travel by controlling forward and reverse rotation of the plurality of rotating bodies 21 . The rotating body 21 has wheels and tires. Moreover, the traveling part 15 may have a plurality of casters 22 . The casters 22 assist the mobile robot 1 in traveling. The traveling section 15 has a right motor driving section 23 , a left motor driving section 24 , a right motor 25 and a left motor 26 .

The travel control unit 13 controls the right motor drive unit 23 and the left motor drive unit 24 based on the travel instruction signal from the integrated control unit 11 . The right motor driving section 23 controls the driving of the right motor 25 to rotate the rotating body 21 arranged on the right side of the mobile robot 1 . The left motor driving unit 24 controls the driving of the left motor 26, so that the rotating body 21 arranged on the left side of the mobile robot 1 rotates. The traveling unit 15 is provided with an encoder that acquires data regarding the number of revolutions of the rotor 21 . Data about the rotation speed of the rotating body 21 is sent to the integrated control unit 11 or the travel control unit 13 . The integrated control unit 11 or the traveling control unit 13 calculates the traveling distance of the mobile robot 1 based on the data regarding the number of revolutions of the rotor 21 .

Further, the running unit 15 is provided with a monitoring sensor for monitoring the forward running direction of the mobile robot 1, an acceleration sensor for detecting the running state and position of the mobile robot 1, and various other sensors. The monitoring sensor is a distance sensor such as LiDAR, and can acquire data (distance image) indicating the distance to an object existing within the monitoring range of the monitoring sensor. The storage unit 16 stores calculation data as a result of calculation by the integrated control unit 11, various information and data, and the like.

The elevating mechanism 17 is a device for elevating or lowering the plurality of pins 18 and is capable of elevating the plurality of pins 18 . The lifting mechanism 17 has a motor drive section 31 and a motor 32 . The elevation control section 14 controls the motor drive section 31 based on the elevation instruction signal from the integrated control section 11 . The motor driving unit 31 controls driving of the motor 32 to move the plurality of pins 18 vertically upward or vertically downward. A plurality of pins 18 arranged on the upper surface of the mobile robot 1 may be raised or lowered. The lifting mechanism 17 may move each of the plurality of pins 18 independently. The plurality of pins 18 may be raised or lowered at different timings, or the plurality of pins 18 may be raised or lowered at the same timing.

A plurality of pins 18 may be fixed to one plate arranged on the upper surface of the mobile robot 1 . The motor drive unit 31 may control the driving of the motor 32 to vertically move the plate to which the pins 18 are fixed, thereby simultaneously raising or lowering all of the plurality of pins 18 .

FIG. 2 is a perspective view of the mobile robot 1. FIG. In an example of the mobile robot 1 shown in FIG. 2, pins 18A-18D and load sensors 20A-20D are arranged on the upper surface of the mobile robot 1. As shown in FIG. The number of pins 18 and load sensors 20 is not limited to the example shown in FIG. Five or more pins 18 and five or more load sensors 20 may be arranged. A load sensor 20A is provided at the tip of the pin 18A, and a load sensor 20B is provided at the tip of the pin 18B. A load sensor 20C is provided at the tip of the pin 18C, and a load sensor 20D is provided at the tip of the pin 18D.

The mobile robot 1 can lift the cart by crawling under the bottom surface of the cart. 3, 4(A) and 4(B) are explanatory diagrams of lifting of the cart 3 by the mobile robot 1. FIG. FIG. 3 is a perspective view of the mobile robot 1 and the cart 3 when the mobile robot 1 crawls under the bottom surface of the cart 3. FIG. A plurality of packages 4 are loaded on the carriage 3, but one package 4 may be loaded on the carriage 3. - 特許庁Casters 5 are provided on the bottom surface of the carriage 3 . When the truck 3 is placed on the floor, the bottom surface of the truck 3 faces the floor. The mobile robot 1 crawls under the bottom surface of the carriage 3, raises the pins 18A to 18D, and presses the pins 18A to 18D against the bottom surface of the carriage 3. When the mobile robot 1 crawls under the bottom surface of the carriage 3, the top surface of the mobile robot 1 and the bottom surface of the carriage 3 face each other. The mobile robot 1 lifts the carriage 3 by raising the pins 18A to 18D while the pins 18A to 18D are in contact with the bottom surface of the carriage 3 . FIGS. 4A and 4B are side views of the mobile robot 1 with the cart 3 lifted.

The load sensor 20A measures the load (F1) applied to the load sensor 20A. The load sensor 20B measures the load (F2) applied to the load sensor 20B. The load sensor 20C measures the load (F3) applied to the load sensor 20C. The load sensor 20D is the load sensor 20
Measure the load (F4) applied to D. Load data measured by the load sensors 20A to 20D are sent to the integrated control section 11. FIG. In this manner, the integrated control unit 11 acquires load data measured by the load sensors 20A to 20D when the carriage 3 is lifted by the pins 18A to 18D.

The integrated control unit 11 measures the load weight based on the load data of the load sensors 20A-20D. When the cargo 4 is not loaded on the truck 3 , the loaded weight is the weight of the truck 3 . That is, when the cargo 4 is not loaded on the truck 3 , the loaded weight includes only the weight of the truck 3 . When the load 4 is loaded on the truck 3 , the load weight is the total weight of the weight of the truck 3 and the weight of the load 4 . That is, the loaded weight includes the weight of the trolley 3 and the weight of the cargo 4 . The integrated control unit 11 calculates (measures) the center-of-gravity position (load center-of-gravity position) of the truck 3 based on the load data of the load sensors 20A to 20D.

The installation positions of the load sensors 20A to 20D on the upper surface of the mobile robot 1 are arbitrary. FIG. 5 is a top view of the mobile robot 1. FIG. FIG. 5 shows a front-rear center line CL1 of the mobile robot 1, a left-right center line CL2 of the mobile robot 1, and an intersection point P1 between the center line CL1 and the center line CL2 in plan view (top view). It is Load sensors 20A and 20D are installed on a straight line L1 passing through the intersection point P1. Load sensors 20B and 20C are installed on a straight line L2 passing through the intersection point P1. The installation positions of the load sensors 20A to 20D on the upper surface of the mobile robot 1 are not limited to the positions shown in FIG. Coordinates [X1, Y1] of the installation position of load sensor 20A, coordinates [X2, Y2] of the installation position of load sensor 20B, coordinates [X3, Y3] of the installation position of load sensor 20C, and coordinates of the installation position of load sensor 20D. The origin of [X4, Y4] may be the intersection point P1.

FIG. 5 shows a distance D1 from the intersection P1 to the installation position of the load sensor 20A, a distance D2 from the intersection P1 to the installation position of the load sensor 20B, a distance D3 from the intersection P1 to the installation position of the load sensor 20C, A distance D4 from the intersection point P1 to the installation position of the load sensor 20D is shown. The distances D1 to D4 may be the same, or the distances D1 to D4 may be different. Two of the distances D1-D4 (for example, the distances D1 and D2) may be the same, and the other two of the distances D1-D4 (for example, the distances D3 and D4) may be the same (this case, distance D1 ≠ distance D3). Three of the distances D1 to D4 (for example, distances D1, D2, and D3) may be the same (in this case, distance D1≠distance D4).

The load sensors 20A to 20D may be installed in the vicinity of the peripheral portion of the upper surface of the mobile robot 1. FIG. When the load sensors 20A to 20D are installed near the outer peripheral portion of the upper surface of the mobile robot 1, the pins 18A to 18D are installed near the outer peripheral portion of the upper surface of the mobile robot 1, so that the mobile robot 1 stabilizes the carriage 3. can be lifted by

The operation of the mobile robot 1 when the mobile robot 1 transports the carriage 3 will be described. For example, when transporting the cart 3 from the first predetermined location to the second predetermined location, the host device 2 sends a transport instruction for the cart 3 to the mobile robot 1 . The transport instruction for the carriage 3 includes an instruction to transport the carriage 3 from the first predetermined location to the second predetermined location. When the mobile robot 1 receives an instruction to transport the cart 3 from the host device 2, it moves to a first predetermined location and crawls under the bottom surface of the cart 3 placed at the first predetermined location.

The position where the mobile robot 1 crawls under the bottom surface of the carriage 3 is arbitrary. The mobile robot 1 may move so that the predetermined position on the bottom surface of the carriage 3 and the predetermined position on the top surface of the mobile robot 1 overlap in the vertical direction. The mobile robot 1 may move such that a predetermined range on the bottom surface of the carriage 3 and a predetermined position on the top surface of the mobile robot 1 overlap in the vertical direction. A predetermined position on the bottom surface of the carriage 3 and the mobile robot 1
The mobile robot 1 may move such that the predetermined range on the upper surface of the mobile robot 1 overlaps in the vertical direction.

The host device 2 may notify the mobile robot 1 of a predetermined position or predetermined range on the bottom surface of the carriage 3 . A predetermined position or predetermined range on the bottom surface of the carriage 3 may be stored in the mobile robot 1 in advance. The predetermined position on the bottom surface of the truck 3 may be the center position of the bottom surface of the truck 3 or a position near the center position of the bottom surface of the truck 3 . The predetermined range on the bottom surface of the truck 3 may include the center position of the bottom surface of the truck 3 and positions near the center position of the bottom surface of the truck 3 .

The predetermined position on the upper surface of the mobile robot 1 may be the intersection point P1 between the centerline CL1 and the centerline CL2 of the mobile robot 1 . The predetermined position on the upper surface of the mobile robot 1 may be a position near the intersection point P1. The predetermined range on the upper surface of the mobile robot 1 may include the intersection point P1 and positions near the intersection point P1.

The mobile robot 1 lifts the carriage 3 in a state of crawling under the bottom surface of the carriage 3 and measures the load weight. Specifically, the integrated control unit 11 measures the load weight based on the load data from the load sensors 20A to 20D. The integrated control unit 11 determines whether or not the measured load weight exceeds the loadable weight (transportable weight) of the mobile robot 1 . If the measured load weight exceeds the loadable weight of the mobile robot 1, the integrated control unit 11 notifies the host device 2 that the carriage 3 cannot be transported. If the measured load weight does not exceed the loadable weight of the mobile robot 1 , the integrated control unit 11 calculates the position of the center of gravity of the cart 3 . Specifically, the integrated control unit 11 calculates the position of the center of gravity of the truck 3 based on the load data from the load sensors 20A to 20D.

The integrated control unit 11 may calculate the center-of-gravity position (coordinates of the center of gravity) of the carriage 3 using the XY coordinates with the intersection point P1 of the centerline CL1 and the centerline CL2 of the mobile robot 1 as the origin. The integrated control unit 11 calculates the center of gravity (Xg) of the truck 3 in the X-axis direction based on the following (Equation 1), and calculates the center of gravity (Xg) of the truck 3 in the Y-axis direction based on the following (Equation 2). Yg), the center-of-gravity position (Xg, Yg) of the truck 3 is calculated.
The position of the center of gravity of the cart 3 (Xg)=(F1×X1+F2×X2+F3×X3+F4×X4)/(F1+F2+F3+F4) (Formula 1)
The position of the center of gravity of the truck 3 (Yg)=(F1×Y1+F2×Y2+F3×Y3+F4×Y4)/(F1+F2+F3+F4) (Formula 2)
F1 to F4: Load applied to load sensors 20A to 20D X1, Y1: Coordinates of installation position of load sensor 20A X2, Y2: Coordinates of installation position of load sensor 20B X3, Y3: Coordinates of installation position of load sensor 20C X4, Y4: coordinates of the installation position of the load sensor 20B

The integrated control unit 11 acquires the center-of-gravity position of the mobile robot 1 . The center-of-gravity position (X, Y) of the mobile robot 1 may be, for example, the intersection point P1 between the centerline CL1 and the centerline CL2 of the mobile robot 1 .
The center-of-gravity position (X, Y) of the mobile robot 1 can be obtained from the following (Equation 3) and (Equation 4).
The center of gravity position (X) of the mobile robot 1=(X1+X2+X3+X4)/4 (Formula 3)
The position of the center of gravity of the mobile robot 1 (Y)=(Y1+Y2+Y3+Y4)/4 (Formula 4)

When the distances D1 to D4 are the same, the position of the center of gravity (X, Y) of the mobile robot 1 can be obtained from the following (Equation 5) and (Equation 6).
The position of the center of gravity of the mobile robot 1 (X)=(X1+X2)/2 (Formula 5)
The position of the center of gravity of the mobile robot 1 (Y)=(Y1+Y3)/2 (Formula 6)

The storage unit 16 stores the center-of-gravity position of the mobile robot 1 . The position of the center of gravity of the mobile robot 1 may be determined in advance by an operator such as a user, or may be determined during design. The integrated control unit 11 may read the center-of-gravity position of the mobile robot 1 from the storage unit 16 . The storage unit 16 may store the installation positions of the load sensors 20A to 20D. The installation positions of the load sensors 20A to 20D may be determined in advance by the operator, or may be determined during design. The integrated control unit 11 may read the installation positions of the load sensors 20A to 20D from the storage unit 16 and calculate the center-of-gravity position of the mobile robot 1 based on the installation positions of the load sensors 20A to 20D.

The integrated control unit 11 determines whether or not the mobile robot 1 can physically move to a position corresponding to the center of gravity of the cart 3 based on layout information regarding the dimensions of the mobile robot 1 and the dimensions of the cart 3 . That is, the integrated control unit 11 determines whether or not the mobile robot 1 can lift the cart 3 at a position corresponding to the position of the center of gravity of the cart 3 without coming into contact with the cart 3 . When the mobile robot 1 contacts the cart 3 when the mobile robot 1 moves to the position corresponding to the center of gravity of the cart 3, even if the mobile robot 1 cannot physically move to the position corresponding to the center of gravity of the cart 3. good. Layout information may be stored in the storage unit 16 . The integrated control unit 11 may receive layout information from the host device 2 .

The integrated control unit 11 may determine the position corresponding to the center-of-gravity position of the cart 3 based on the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the cart 3 . The position corresponding to the center-of-gravity position of the cart 3 may be the position where the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the cart 3 overlap in the vertical direction. The position corresponding to the center-of-gravity position of the cart 3 may be a position where the predetermined region including the center-of-gravity position of the cart 3 and the center-of-gravity position of the mobile robot 1 overlap in the vertical direction. The position corresponding to the center-of-gravity position of the cart 3 may be a position where the center-of-gravity position of the cart 3 and the predetermined area including the center-of-gravity position of the mobile robot 1 overlap in the vertical direction.

When the mobile robot 1 cannot physically move to a position corresponding to the center of gravity of the cart 3, the mobile robot 1 notifies the host device 2 that the cart 3 cannot be transported. If the mobile robot 1 can physically move to a position corresponding to the center-of-gravity position of the cart 3 , the mobile robot 1 moves to a position corresponding to the center-of-gravity position of the cart 3 . FIG. 6 is a perspective view of the mobile robot 1 and the cart 3 when the mobile robot 1 has moved to a position corresponding to the position of the center of gravity of the cart 3. FIG. In FIG. 6, the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the cart 3 are positioned on a vertical line passing through the point P2.

After the mobile robot 1 moves to the position corresponding to the center of gravity of the cart 3, the integrated control unit 11 determines whether the center of gravity of the mobile robot 1 and the center of gravity of the cart 3 have a predetermined positional relationship. When the center of gravity of the mobile robot 1 and the center of gravity of the carriage 3 are in a predetermined positional relationship, the integrated control unit 11 controls the lifting mechanism 17 to lift the carriage 3 . The predetermined positional relationship may include that a predetermined area including the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the cart 3 overlap in the vertical direction. The predetermined positional relationship may include that the center-of-gravity position of the mobile robot 1 and the predetermined area including the center-of-gravity position of the carriage 3 overlap in the vertical direction. The predetermined positional relationship may include that the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the carriage 3 overlap in the vertical direction. The mobile robot 1 lifts the carriage 3 and transports the carriage 3 to a designated location (for example, a second predetermined location) in accordance with a transport instruction for the carriage 3 from the host device 2 .

Before the mobile robot 1 conveys the carriage 3, the mobile robot 1 moves to a position corresponding to the position of the center of gravity of the carriage 3, and lifts the carriage 3 at the post-movement position. That is, the integrated control unit 11 controls the traveling unit 15 to move the mobile robot 1 so that the center of gravity of the mobile robot 1 and the center of gravity of the carriage 3 have a predetermined positional relationship. Then, in a state where the center of gravity of the mobile robot 1 and the center of gravity of the carriage 3 are in a predetermined positional relationship, the integrated control unit 11 controls the lifting mechanism 17 to lift the carriage 3 . Since the generation of vibrations and overturning of the cart 3 when the mobile robot 1 conveys the cart 3 are suppressed, the mobile robot 1 can stably convey the cart 3 . As a result, the mobile robot 1 can stably run when the mobile robot 1 lifts the carriage 3 and runs. The mobile robot 1 moves to a position corresponding to the center-of-gravity position of the cart 3 so that the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the cart 3 overlap in the vertical direction. 3 can be lifted. That is, in a state in which the center of gravity of the mobile robot 1 and the center of gravity of the carriage 3 overlap in the vertical direction, the integrated control unit 11 controls the lifting mechanism 17 to lift the carriage 3 . As a result, while the mobile robot 1 is traveling, it is possible to suppress the load on only one tire, so that the mobile robot 1 can stably transport the carriage 3 and the tire of the mobile robot 1 can be can be suppressed.

Although four pins 18 and four load sensors 20 are arranged on the upper surface of the mobile robot 1 in the above description, three or more pins 18 and three or more load sensors 20 may be arranged on the upper surface of the mobile robot 1. , it is possible to calculate the position of the center of gravity of the truck 3 .

The integrated control unit 11 may acquire load data from the load sensors 20A to 20D while the mobile robot 1 is running. The integrated control unit 11 may calculate the center-of-gravity position of the cart 3 while the mobile robot 1 is running, based on the load data from the load sensors 20A to 20D. The integrated control unit 11 may compare the center-of-gravity position of the cart 3 calculated before the mobile robot 1 runs with the center-of-gravity position of the cart 3 calculated while the mobile robot 1 is running. When the center-of-gravity position of the cart 3 changes, the mobile robot 1 may notify the host device 2 of the change in the center-of-gravity position of the cart 3 . If the position of the center of gravity of the carriage 3 changes while the mobile robot 1 is running, the integrated control unit 11 may control the running unit 15 to adjust at least one of the running speed and turning radius of the mobile robot 1. . By adjusting the running speed and turning radius of the mobile robot 1, it is possible to suppress the occurrence of vibrations and overturning of the cart 3 during transportation.

The imaging device 19 is a camera that images the cart 3 and at least one package 4 to generate a captured image. The imaging device 19 images the trolley 3 and the load 4 at a predetermined frame rate, and sequentially generates image data. The image data generated by the imaging device 9 is sent to the integrated control section 11 . The imaging device 19 has an optical system such as a lens, and an imaging device such as a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge Coupled Device).

The mobile robot 1 may crawl under the bottom surface of the trolley 3 after confirming the loading state of the cargo 4 on the trolley 3 . As shown in FIG. 7 , the mobile robot 1 may check the loading state of the load 4 on the trolley 3 before crawling under the bottom surface of the trolley 3 . The mobile robot 1 may run around the carriage 3 to capture images of the carriage 3 and the cargo 4 from a plurality of directions. The integrated control unit 11 acquires the loading state of the cargo 4 on the cart 3 from the image data of the cart 3 and the cargo 4, and determines the position to crawl under the bottom surface of the cart 3 based on the loading state of the cargo 4 on the cart 3. . When a plurality of packages 4 are arranged together, the integrated control unit 11 may determine a position to crawl under the bottom surface of the carriage 3 according to the arrangement of the packages 4 .

In FIG. 8, the position to crawl under the bottom surface of the cart 3 is determined according to the arrangement of the plurality of packages 4, and the mobile robot 1 crawls under the bottom surface of the cart 3 based on the determined position. . As shown in FIG. 8, when the mobile robot 1 crawls under the bottom surface of the carriage 3, the mobile robot 1 and one or more packages 4 overlap vertically. Integrated control unit 11. The mobile robot 1 can stably lift the carriage 3 by determining the position to get under the bottom surface of the carriage 3 according to the arrangement of the plurality of articles 4 .

The integrated control unit 11 may check the loading state of the trolley 3 based on the image data of the trolley 3 and the cargo 4 and transmit information about the loading state of the trolley 3 to the host device 2 . For example, as shown in FIG. 9, if the load 4 protrudes from the carriage 3, the load 4 may drop from the carriage 3 while the mobile robot 1 is running. The integrated control unit 11 may determine whether or not there is a possibility that the packages 4 will fall from the carriage 3 while the mobile robot 1 is traveling, based on the arrangement of one or more packages 4 .

The integrated control unit 11 may transmit to the host device 2 that there is a possibility that the package 4 will fall from the cart 3 while the mobile robot 1 is running. Alternatively, the mobile robot 1 may be provided with an alarm mechanism, and the integrated control unit 11 may control the alarm mechanism. The alarm mechanism may warn the surroundings of the mobile robot 1 to inform the operator that the cargo 4 may fall from the carriage 3 while the mobile robot 1 is traveling.

<Overall configuration of control system>
FIG. 10 is a schematic diagram showing an example of a control system according to the first embodiment. In FIG. 10, host device 2 manages a plurality of mobile robots 1 (1A to 1D). The host device 2 can communicate with the mobile robots 1A-1D. The host device 2 selects one of the plurality of mobile robots 1 and sends the selected mobile robot 1 an instruction to transport the carriage 3 . The host device 2 may select one of the plurality of mobile robots 1 according to predetermined criteria. For example, the host device 2 may select the mobile robot 1 closest to the carriage 3 to be transported.

In one example of the control system shown in FIG. 10, the mobile robot 1A and the mobile robot 1B are the same size, the mobile robot 1C is larger than the mobile robots 1A and 1B, and the mobile robot 1D is the mobile robot 1A, 1B, and the mobile robot 1B. The size is larger than 1C. The area of the upper surface of the mobile robot 1A and the area of the upper surface of the mobile robot 1B are the same. The area of the upper surface of mobile robot 1C is larger than the area of the upper surface of mobile robot 1A. The area of the upper surface of mobile robot 1D is larger than the area of the upper surface of mobile robot 1C.

FIG. 11 is a flow chart showing the flow of processing in the mobile robot 1 according to the first embodiment. When an instruction to transport the cart 3 is sent from the host device 2 to the mobile robot 1, the processing of the flowchart shown in FIG. 11 is started. The mobile robot 1 moves to a position near the carriage 3 (S1) and crawls under the bottom surface of the carriage 3 (S2).

The mobile robot 1 may run around the carriage 3 to take images of the carriage 3 and the cargo 4 to check the loading state of the carriage 3 before crawling under the bottom surface of the carriage 3 . If there is a possibility that the load 4 will fall from the cart 3 while the mobile robot 1 is running, the integrated control unit 11 notifies the host device 2 that the cart 3 cannot be transported. The mobile robot 1 shifts to a standby state and waits for instructions from the host device 2 .

The mobile robot 1 lifts the cart 3 (S3). The integrated control unit 11 measures the load distribution of the truck 3 and calculates the position of the center of gravity of the truck 3 (S4). Also, the integrated control unit 11 measures the load weight. The mobile robot 1 lowers the lifted cart 3 (S5). The mobile robot 1 confirms the weight of the cart 3 (S6).

The flow of confirmation processing (confirmation flow A) of the weight of the truck 3 will be described with reference to the flowchart of FIG. 12 . The integrated control unit 11 acquires package information from the host device 2 (S21). The parcel information includes information about the weight of the parcel 4 . The integrated control unit 11 determines whether or not the measured load weight is equal to or less than the loadable weight (permissible weight) (S22). If the measured load weight is equal to or less than the loadable weight (S22; YES), the process proceeds to S23.

The integrated control unit 11 calculates the weight of the package 4 (S23). Specifically, the integrated control unit 11 calculates the weight of the load 4 by subtracting the weight of the truck 3 from the measured load weight. The weight of the truck 3 is stored in the storage unit 16 . Information about the weight of the trolley 3 may be included in the parcel information acquired from the host device 2 . When information about the weight of the cart 3 is sent from the host device 2 to the mobile robot 1 , the integrated control unit 11 may store the weight of the cart 3 in the storage unit 16 . The integrated control unit 11 determines whether the calculated weight of the package 4 and the weight of the package 4 included in the package information are the same (S24). If the calculated weight of the package 4 and the weight of the package 4 included in the package information are the same (S24; YES), the process proceeds to S7 in FIG. If the processing of S24 is disabled, the process proceeds to S7 of FIG. That is, the process of S24 may be omitted and the process of S7 of FIG. 11 may be performed. For example, when the mobile robot 1 does not receive package information from the host device 2, the process of S24 may be skipped and the process of S7 in FIG. 11 may be performed.

If the measured load weight exceeds the loadable weight (S22; NO), the process proceeds to S13 in FIG. If the calculated weight of the package 4 and the weight of the package 4 included in the package information are different (S24; NO), the process proceeds to S13 of FIG. If the calculated weight of the package 4 is different from the weight of the package 4 included in the package information, and the process of S24 is enabled, the process of S13 of FIG. 11 may be performed.

Returning to the description of the flowchart in FIG. The mobile robot 1 confirms the position of the center of gravity of the cart 3 (S7). The flow of confirmation processing (confirmation flow B) of the weight position of the truck 3 will be described with reference to the flowchart of FIG. 13 . The integrated control unit 11 calculates the position of the center of gravity of the mobile robot 1 (S31). The integrated control unit 11 determines whether it is necessary to move the mobile robot 1 based on the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the cart 3 (S32).

The integrated control unit 11 may determine that the mobile robot 1 needs to be moved when the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the carriage 3 do not overlap in the vertical direction. The integrated control unit 11 may determine that the mobile robot 1 needs to be moved when the difference between the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the cart 3 is equal to or greater than a predetermined value. The integrated control unit 11 may determine that the mobile robot 1 needs to be moved when the predetermined area including the center of gravity of the mobile robot 1 and the center of gravity of the carriage 3 do not overlap in the vertical direction. The integrated control unit 11 may determine that the mobile robot 1 needs to be moved when the center-of-gravity position of the mobile robot 1 and the predetermined area including the center-of-gravity position of the carriage 3 do not overlap in the vertical direction.

The predetermined area including the center-of-gravity position of the mobile robot 1 may be, for example, a range of a predetermined value from the center-of-gravity position of the mobile robot 1 in the plane direction. The predetermined area including the center-of-gravity position of the truck 3 may be within a predetermined range from the center-of-gravity position of the truck 3 in the plane direction. A predetermined value is stored in the storage unit 16 . The predetermined value is, for example, 5 cm, but the operator can set any value as the predetermined value. Also, the worker can rewrite the predetermined value stored in the storage unit 16 to an arbitrary value by giving an instruction to the mobile robot 1 using an external device. By giving an instruction from the host device 2 to the mobile robot 1, the predetermined value stored in the storage unit 16 may be rewritten to an arbitrary value. Further, the predetermined value stored in the storage unit 16 may be rewritten to an arbitrary value in accordance with the transfer command of the carriage 3 from the host device 2 to the mobile robot 1 .

If it is necessary to move the mobile robot 1 (S32; YES), the process proceeds to S8 in FIG. If the mobile robot 1 does not need to be moved (S32; NO), the process proceeds to S10 in FIG.

Returning to the description of the flowchart in FIG. The mobile robot 1 determines whether or not it can move (S8). The flow of determination processing (determination flow) for determining whether or not movement is possible will be described with reference to the flowchart of FIG. 14 . Based on the layout information, the integrated control unit 11 determines whether the mobile robot 1 can be physically moved to the position corresponding to the center of gravity of the carriage 3 (S41). The layout information includes information about the dimensions of the mobile robot 1, the dimensions of the carriage 3, and the like. The layout information may include information about the dimensions of the mobile robots 1, the dimensions of the carriages 3, and the like.

If the mobile robot 1 can be physically moved to the position corresponding to the center of gravity of the cart 3 (S41; YES), the process proceeds to S9 in FIG. If the mobile robot 1 cannot be physically moved to the position corresponding to the center of gravity of the carriage 3 (S41; NO), the process proceeds to S13 in FIG.

Returning to the description of the flowchart in FIG. The mobile robot 1 moves to a position corresponding to the position of the center of gravity of the cart 3 (S9). After the mobile robot 1 moves to the position corresponding to the position of the center of gravity of the carriage 3, the process proceeds to S3 in FIG.

The mobile robot 1 lifts the cart 3 (S10). The mobile robot 1 starts transporting the cart 3 (S11). That is, the mobile robot 1 starts traveling with the carriage 3 lifted, and starts transporting the carriage 3 in accordance with a transport instruction for the carriage 3 from the host device 2 .

While the mobile robot 1 is running, the integrated control unit 11 measures the load distribution of the truck 3 and calculates the position of the center of gravity of the truck 3 (S12). That is, while the mobile robot 1 is running, the integrated control unit 11 acquires load data from the load sensors 20A to 20D, and calculates the position of the center of gravity of the carriage 3 based on the load data from the load sensors 20A to 20D.

The integrated control unit 11 compares the center-of-gravity position of the mobile robot 1 calculated before the mobile robot 1 runs with the center-of-gravity position of the mobile robot 1 calculated while the mobile robot 1 is running. When the center-of-gravity position of the mobile robot 1 changes, the mobile robot 1 may notify the host device 2 of the change in the center-of-gravity position of the mobile robot 1 . If the position of the center of gravity of the carriage 3 changes while the mobile robot 1 is running, the integrated control unit 11 may control the running unit 15 to adjust at least one of the running speed and turning radius of the mobile robot 1. . By adjusting the running speed and turning radius of the mobile robot 1, it is possible to suppress the occurrence of vibrations and overturning of the cart 3 during transportation. When the mobile robot 1 transports the carriage 3 to the specified location, it sends a transport completion notification to the host device 2 .

The integrated control unit 11 notifies the host device 2 that the carriage 3 cannot be transported (S13), and waits for an instruction from the host device 2 (S14). In addition, the integrated control unit 11 notifies the higher-level device 2 of information on the factors that make it impossible to transport the trolley 3 . When the measured load weight exceeds the loadable weight, the integrated control unit 11 notifies the host device 2 that the measured load weight exceeds the loadable weight. When the calculated weight of the package 4 and the weight of the package 4 included in the package information are different, the integrated control unit 11 notifies the host device that the calculated weight of the package 4 is different from the weight of the package 4 included in the package information. 2. If the mobile robot 1 cannot physically move to the position corresponding to the center of gravity of the cart 3, the integrated control unit 11 notifies the higher-level device that the mobile robot 1 cannot physically move to the position corresponding to the center of gravity of the cart 3. 2.

The mobile robot 1 moves to a position away from the carriage 3 when receiving a retraction instruction (retreat request) from the host device 2 . The evacuation instruction is an instruction to evacuate from the truck 3 . The mobile robot 1 may move to a predetermined position when receiving an evacuation instruction from the host device 2 . Also, each process described above may be regarded as a control method for the mobile robot 1 .

FIG. 15 is a flow chart showing the flow of processing in the host device 2 according to the first embodiment. The host device 2 sends a transport instruction for the cart 3 to the mobile robot 1 (S51). The host device 2 receives from the mobile robot 1 a notification of completion of transportation of the carriage 3 or a notification that transportation of the carriage 3 is impossible (S52). When the host device 2 receives the notification of completion of transportation of the carriage 3 from the mobile robot 1, the processing of the flowchart shown in FIG. 15 ends. When the host device 2 receives the notification that the cart 3 cannot be transported, it sends an evacuation instruction to the mobile robot 1 that cannot transport the cart 3 (S53). That is, the host device 2 sends an evacuation instruction to the mobile robot 1 that has sent the transport instruction for the carriage 3 . The mobile robot 1 that has received the evacuation instruction retreats. For example, the mobile robot 1 moves to a position away from the carriage 3 or to a predetermined position.

The host device 2 determines whether or not a plurality of mobile robots 1 are operating (S54). When a plurality of mobile robots 1 are operating (S54; YES), the load data of the load sensors 20A to 20D are acquired from the mobile robot 1 that cannot be transported by the cart 3 (S55). The integrated control unit 11 may send the load data of the load sensors 20A to 20D to the host device 2. The host device 2 measures the load weight and calculates the position of the center of gravity of the truck 3 based on the load data from the load sensors 20A to 20D. The host device 2 may acquire the load weight and the position of the center of gravity of the cart 3 from the mobile robot 1 that cannot be transported by the cart 3 .

The host device 2 searches for a compatible mobile robot 1 based on the load weight, the position of the center of gravity of the cart 3, and the layout information (S56). That is, the higher-level device 2 selects the mobile robot 1 that can handle from among the plurality of mobile robots 1 based on the load data of the load sensors 20A to 120 and the layout information. Layout information is stored in the storage device 201 of the host device 2 . The operator may use a terminal device capable of communicating with the host device 2 to send the layout information to the host device 2 . The operator may use the input device 202 of the host device 2 to input the layout information to the host device 2 . Also, the host device 2 may select a compatible mobile robot 1 from a plurality of mobile robots 1 based on the load data of the load sensors 120A to 120D and the layout information.

The host device 2 may determine the position corresponding to the center-of-gravity position of the cart 3 based on the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the cart 3 . The host device 2 searches for a compatible mobile robot 1 on condition that the following (1) and (2) are satisfied.
(1) The load weight is equal to or less than the loadable weight of the mobile robot 1 .
(2) The mobile robot 1 can physically move to a position corresponding to the position of the center of gravity of the cart 3 .

The host device 2 determines whether or not the mobile robot 1 capable of handling is operating (S57). If the mobile robot 1 capable of handling is operating (S57; YES), the host device 2 sends a transfer instruction for the cart 3 to the mobile robot 1 capable of handling (S58). After the process of S58 is performed, the process proceeds to S52. When the mobile robot 1 capable of handling receives an instruction to transport the carriage 3, the processing of the flowchart shown in FIG. 11 is started.

If only one mobile robot 1 is operating (S54; NO), the process proceeds to S59. If the compatible mobile robot 1 is not operating (S57; NO), the process proceeds to S59. The host device 2 instructs the worker to reload the cargo 4 onto the truck 3 (S59). The display device of the host device 2 may display information (for example, a message) regarding an instruction to reload the cargo 4 onto the trolley 3 . The voice output device of the host device 2 may output voice regarding instructions to reload the cargo 4 onto the trolley 3 . The host device 2 transmits information (e.g., a message) regarding an instruction to reload the cargo 4 onto the truck 3 to a terminal device capable of communicating with the host device 2, and the terminal device instructs the terminal device to reload the cargo 4 onto the truck 3. Information regarding reloading instructions may be displayed.

The worker reloads the cargo 4 onto the trolley 3 . When the reloading of the cargo 4 onto the cart 3 is completed, the operator uses a terminal device capable of communicating with the host device 2 to send a notification of the completion of reloading of the cargo 4 onto the cart 3 to the host device 2. . The operator may use the input device 202 of the host device 2 to input to the host device 2 a notification of the completion of reloading the cargo 4 onto the trolley 3 . The host device 2 receives notification of the completion of reloading of the cargo 4 onto the truck 3 (S60). After the process of S60 is performed, the process proceeds to S51.

<Second embodiment>
A second embodiment will be described. In the second embodiment, the same reference numerals as in the first embodiment are given to the same constituent elements as in the first embodiment, and the description thereof will be omitted. The control systems according to the first and second embodiments may be appropriately combined.

<Overall configuration of control system>
FIG. 16 is a schematic diagram showing an example of a control system according to the second embodiment. In FIG. 16, host device 2 manages one mobile robot 101 and a plurality of mobile robots 1 (1E to 1G). The mobile robot 101 is a mobile robot for load measurement.

In an example of the control system shown in FIG. 16, the mobile robot 101 and the mobile robot 1E are the same size, the mobile robot 1F is larger than the mobile robots 101 and 1E, and the mobile robot G is the mobile robots 101, 1E and 1E. The size is larger than 1F. The area of the upper surface of the mobile robot 101 and the area of the upper surface of the mobile robot 1E are the same. The area of the top surface of the mobile robot 1F is larger than the area of the top surface of the mobile robot 101 . The area of the top surface of the mobile robot 1G is larger than the area of the top surface of the mobile robot 1F.

FIG. 17 is a block diagram showing the configuration of the mobile robot 101 according to the second embodiment. The mobile robot 101 is a device (self-propelled transport device) having a function as a self-propelled unmanned transport vehicle. The mobile robot 101 includes an integrated control unit (control device) 111, a communication unit 112, a travel control unit 113, an elevation control unit 114, a travel unit 115, a storage unit 116, an elevation mechanism 117, and a plurality of pins. 118 , an imaging device 119 and a plurality of load sensors 120 .

The traveling section 115 has a plurality of rotating bodies 121 . Also, the traveling section 115 may have a plurality of casters 122 . The traveling section 115 has a right motor driving section 123 , a left motor driving section 124 , a right motor 125 and a left motor 126 . The lifting mechanism 117 has a motor drive section 131 and a motor 132 . Since the configuration of the mobile robot 101 is the same as that of the mobile robot 1, detailed description of the configuration of the mobile robot 101 is omitted.

FIG. 18 is a perspective view of the mobile robot 101. FIG. In an example of the mobile robot 101 shown in FIG. 18, pins 118A-118D and load sensors 120A-120D are arranged on the upper surface of the mobile robot 101. FIG. The number of pins 118 and load sensors 120 is not limited to the example shown in FIG. More than five pins 118 and more than five load sensors 120 may be arranged.

A load sensor 120A is provided at the tip of the pin 118A, and a load sensor 120B is provided at the tip of the pin 118B. A load sensor 120C is provided at the tip of the pin 118C, and a load sensor 120D is provided at the tip of the pin 118D. The load sensor 120A measures the load applied to the load sensor 120A. The load sensor 120B measures the load applied to the load sensor 120B. The load sensor 120C measures the load applied to the load sensor 120C. The load sensor 120D measures the load applied to the load sensor 120D. Load data measured by the load sensors 120A to 120D are sent to the integrated control section 111. FIG. The integrated control unit 111 acquires load data measured by the load sensors 120A to 120D when the carriage 3 is lifted by the pins 118A to 118D.

The host device 2 instructs the mobile robot 101 to move to a position near the carriage 3 and instructs the mobile robot 101 to lift the carriage 3 . When the mobile robot 101 receives the movement instruction and the lift instruction, it moves to a position near the carriage 3 and crawls under the bottom surface of the carriage 3 . The mobile robot 101 crawls under the bottom surface of the carriage 3, lifts the carriage 3, and measures the load weight. Specifically, the integrated control unit 111 measures the load weight based on the load data from the load sensors 120A to 120D. When the cargo 4 is not loaded on the truck 3 , the loaded weight is the weight of the truck 3 . When the load 4 is loaded on the truck 3 , the load weight is the total weight of the weight of the truck 3 and the weight of the load 4 .

The integrated control unit 111 calculates the position of the center of gravity of the truck 3 based on the load data from the load sensors 120A-120D. The integrated control unit 111 sends the loaded weight and the position of the center of gravity of the truck 3 to the host device 2 . The host device 2 selects a compatible mobile robot 1 from a plurality of mobile robots 1 based on the load weight, the position of the center of gravity of the cart 3, and the layout information. The host device 2 sends a transport instruction for the carriage 3 to the mobile robot 1 that can respond. When the mobile robot 1 capable of handling receives an instruction to transport the carriage 3, the processing of the flowchart shown in FIG. 11 is started.

Further, the integrated control section 111 may send the load data of the load sensors 120A to 120D to the host device 2. The host device 2 may measure the load weight based on the load data of the load sensors 120A-120D. The host device 2 may calculate the center-of-gravity position of the truck 3 based on the load data of the load sensors 120A-120D. The high-level device 2 selects a mobile robot 1 capable of handling from a plurality of mobile robots 1 based on the load data of the load sensors 120A to 120D and the layout information.

For example, the host device 2 may randomly select one of the plurality of mobile robots 1 and send the selected mobile robot 1 an instruction to transport the carriage 3 . If the selected mobile robot 1 cannot carry the carriage 3, the time for the selected mobile robot 1 to move to a position near the carriage 3 is wasted, and the movement time of the mobile robot 1 increases. According to the second embodiment, the high-level device 2 can select the mobile robot 1 that can handle from among the plurality of mobile robots 1 using the load weight and the center-of-gravity position of the cart 3 acquired from the mobile robot 101 . Therefore, an increase in travel time of the mobile robot 1 can be suppressed.

FIG. 19 is a flow chart showing the flow of processing in the mobile robot 101 according to the second embodiment. The host device 2 sends an instruction to lift the cart 3 to the mobile robot 101, and the mobile robot 101 receives the instruction to lift the cart 3, thereby starting the processing of the flowchart shown in FIG. The mobile robot 101 moves to a position near the carriage 3 (S61) and crawls under the bottom surface of the carriage 3 (S62).

The mobile robot 101 lifts the cart 3 (S63). The integrated control unit 111 measures the load distribution of the truck 3 and calculates the position of the center of gravity of the truck 3 (S64). Also, the integrated control unit 111 measures the load weight. The integrated control unit 111 sends the loaded weight and the position of the center of gravity of the truck 3 to the host device 2 (S65). Further, the integrated control section 111 may send the load data of the load sensors 120A to 120D to the host device 2. The mobile robot 101 lowers the lifted cart 3 (S66). The mobile robot 101 saves by receiving the save instruction (retreat request) from the host device 2 (S67). The evacuation instruction is an instruction to evacuate from the truck 3 . For example, the mobile robot 101 moves to a position away from the carriage 3 or to a predetermined position. The mobile robot 101 shifts to a standby state and waits for an instruction from the host device 2 (S68). Also, each process described above may be regarded as a control method for the mobile robot 101 .

FIG. 20 is a flow chart showing the flow of processing in the host device 2 according to the second embodiment. The host device 2 sends an instruction to lift the cart 3 to the mobile robot 101 (S71). The host device 2 receives the load weight and the position of the center of gravity of the cart 3 from the mobile robot 101 (S72). The host device 2 sends an evacuation instruction to the mobile robot 101 (S73).

The host device 2 searches for a compatible mobile robot 1 based on the load weight, the position of the center of gravity of the cart 3, and the layout information (S74). In other words, the host device 2 selects a mobile robot 1 that can respond from a plurality of mobile robots 1 . Layout information may be stored in the storage device 201 of the host device 2 . The operator may use a terminal device capable of communicating with the host device 2 to send the layout information to the host device 2 . The operator may use the input device 202 of the host device 2 to input the layout information to the host device 2 .

The host device 2 may determine the position corresponding to the center-of-gravity position of the cart 3 based on the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the cart 3 . The host device 2 searches for a compatible mobile robot 1 on condition that the following (1) and (2) are satisfied.
(1) The load weight is equal to or less than the loadable weight of the mobile robot 1 .
(2) The mobile robot 1 can physically move to a position corresponding to the position of the center of gravity of the cart 3 .

The host device 2 determines whether or not the mobile robot 1 capable of handling is operating (S75). If the mobile robot 1 capable of handling is operating (S75; YES), the host device 2 sends a transfer instruction for the cart 3 to the mobile robot 1 capable of handling (S76). The host device 2 may send movement information to the mobile robot 1 that can respond. The movement information includes information on the position corresponding to the center of gravity position of the truck 3 . When the mobile robot 1 capable of handling receives an instruction to transport the carriage 3, the processing of the flowchart shown in FIG. 11 is started. The compatible mobile robot 1 may use a position corresponding to the position of the center of gravity of the carriage 3 as the position to crawl under the bottom surface of the carriage 3 .

If the mobile robot 1 capable of handling is not operating (S75; NO), the host device 2 instructs the worker to reload the cargo 4 onto the cart 3 (S77). The display device of the host device 2 may display information (for example, a message) regarding an instruction to reload the cargo 4 onto the trolley 3 . The voice output device of the host device 2 may output voice regarding instructions to reload the cargo 4 onto the trolley 3 . The host device 2 transmits information (e.g., a message) regarding an instruction to reload the cargo 4 onto the truck 3 to a terminal device capable of communicating with the host device 2, and the terminal device instructs the terminal device to reload the cargo 4 onto the truck 3. Information regarding reloading instructions may be displayed.

The worker reloads the cargo 4 onto the trolley 3 . When the reloading of the cargo 4 onto the cart 3 is completed, the operator uses a terminal device capable of communicating with the host device 2 to send a notification of the completion of reloading of the cargo 4 onto the cart 3 to the host device 2. . The operator may use the input device 202 of the host device 2 to input to the host device 2 a notification of the completion of reloading the cargo 4 onto the trolley 3 . The host device 2 receives the notification of the completion of reloading the cargo 4 onto the truck 3 (S78). After the process of S78 is performed, the process proceeds to S71. Since the load 4 is being reloaded onto the cart 3 , the host device 2 sends the mobile robot 101 an instruction to lift the cart 3 again.

<Third Embodiment>
A third embodiment will be described. In the third embodiment, the same reference numerals as in the first and second embodiments are assigned to the same components as in the first and second embodiments, and the description thereof is omitted. Also, since the configuration of the control system according to the third embodiment is the same as that of the control system according to the first embodiment, detailed description of the configuration of the control system according to the third embodiment will be omitted. A flowchart showing the flow of processing in the host device 2 shown in FIG. 15 is applied to the third embodiment. The control systems according to the first to third embodiments may be combined as appropriate.

FIG. 21 is a flow chart showing the flow of processing in the mobile robot 1 and host device 2 according to the third embodiment. The processing of S81-S84 in the flowchart shown in FIG. 21 is the same as the processing of S1-S4 in the flowchart shown in FIG. The processing of S85-S87 in the flowchart shown in FIG. 21 is the same as the processing of S6-S8 in the flowchart shown in FIG. The processing of S91 to S94 of the flowchart shown in FIG. 21 is the same as the processing of S11 to S14 of the flowchart shown in FIG.

The mobile robot 1 lowers the lifted cart 3 (S88). Also, the mobile robot 1 notifies the host device 2 that the carriage 3 has been lowered. The host device 2 requests the worker to move the truck 3 (S89). The movement request for the cart 3 is a notification, voice, or the like requesting movement of the cart 3 . The display device of the host device 2 may display information (for example, a message) regarding the request to move the cart 3 . The voice output device of the host device 2 may output voice regarding the movement request of the trolley 3 . The host device 2 may transmit information (e.g., a message) regarding the request to move the cart 3 to a terminal device capable of communicating with the host device 2, and the terminal device may display the information regarding the request to move the cart 3. .

The integrated control unit 11 may request the worker to move the cart 3 . The integrated control unit 11 is an example of a request unit. The integrated control unit 11 may display information (for example, a message) regarding the movement request of the cart 3 on the display device of the mobile robot 1 . The integrated control unit 11 may output a voice regarding the movement request of the cart 3 via the voice output device of the mobile robot 1 . The integrated control unit 11 transmits information (for example, a message) regarding a request to move the cart 3 to a terminal device capable of communicating with the mobile robot 1, and the terminal device displays the information regarding the request to move the cart 3. good.

The request to move the cart 3 may include a request to move the cart 3 so that the center of gravity of the mobile robot 1 and the center of gravity of the cart 3 have a predetermined positional relationship. The predetermined positional relationship may include that a predetermined area including the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the cart 3 overlap in the vertical direction. In this case, the operator moves the cart 3 so that the predetermined area including the center of gravity of the cart 3 and the center of gravity of the mobile robot 1 overlap in the vertical direction. The predetermined positional relationship may include that the center-of-gravity position of the mobile robot 1 and the predetermined area including the center-of-gravity position of the carriage 3 overlap in the vertical direction. In this case, the worker moves the carriage 3 so that the center of gravity of the mobile robot 1 and the predetermined area including the center of gravity of the carriage 3 overlap in the vertical direction. The predetermined positional relationship may include that the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the carriage 3 overlap in the vertical direction. In this case, the worker moves the carriage 3 so that the center of gravity of the mobile robot 1 and the center of gravity of the carriage 3 overlap in the vertical direction.

The integrated control unit 11 may determine whether or not the center-of-gravity position of the mobile robot 1 and the center-of-gravity position of the cart 3 have a predetermined positional relationship. If the center of gravity of the mobile robot 1 and the center of gravity of the cart 3 do not have a predetermined positional relationship, the integrated control unit 11 may request the worker to move the cart 3 again. The host device 2 may request the worker to move the cart 3 again.

The operator notifies the host device 2 that the movement of the truck 3 has been completed (S90). The operator may use the input device 202 of the host device 2 to input to the host device 2 a notification indicating that the movement of the truck 3 has been completed. The operator may use a terminal device capable of communicating with the host device 2 to send a notification to the host device 2 indicating that the movement of the cart 3 has been completed. The host device 2 sends a notification to the mobile robot 1 indicating that the movement of the carriage 3 has been completed.

Also, the worker may inform the mobile robot 1 that the movement of the carriage 3 has been completed. The worker may use the input device of the mobile robot 1 to input to the mobile robot 1 a notification indicating that the movement of the cart 3 has been completed. The operator may use a terminal device capable of communicating with the mobile robot 1 to send a notification to the mobile robot 1 indicating that the movement of the cart 3 has been completed. After the process of S90 is performed, the process proceeds to S83. Also, each process described above may be regarded as a control method for the mobile robot 1 .

Before transporting the cart 3, the cart 3 is moved so that the center of gravity of the mobile robot 1 and the center of gravity of the cart 3 have a predetermined positional relationship. Then, in a state where the center of gravity of the mobile robot 1 and the center of gravity of the carriage 3 are in a predetermined positional relationship, the integrated control unit 11 controls the lifting mechanism 17 to lift the carriage 3 . This prevents the mobile robot 1 from generating vibrations and overturning the cart 3 when the mobile robot 1 conveys the cart 3 , so that the mobile robot 1 can stably convey the cart 3 . The cart 3 may be moved so that the center of gravity of the mobile robot 1 and the center of gravity of the cart 3 overlap in the vertical direction. Then, in a state where the center of gravity of the mobile robot 1 and the center of gravity of the carriage 3 overlap in the vertical direction, the integrated control unit 11 controls the lifting mechanism 17 to lift the carriage 3 . As a result, the mobile robot 1 can stably transport the carriage 3 and prevent wear on one side of the tire of the mobile robot 1 .

<Appendix>
A self-propelled transport device (1),
a running unit (15) for running the self-propelled transport device (1);
a plurality of pins (18) provided with sensors (20) for measuring loads;
an elevating mechanism (17) capable of elevating the plurality of pins (18);
The lifting mechanism (17) is controlled, and the plurality of pins (18) are raised to contact the bottom surface of the truck (3) on which at least one load (4) is loaded. ) is lifted, a control unit (11) for acquiring load data measured by the sensor (20);
a storage unit (16) for storing the center-of-gravity position of the self-propelled transport device (1);
with
The control unit (11) calculates the position of the center of gravity of the carriage (3) based on the load data, and the position of the center of gravity of the self-propelled transport device (1) and the position of the center of gravity of the carriage (3) are predetermined. Controlling the lifting mechanism (17) to lift the carriage (3) in the positional relationship;
A self-propelled carrier (1).

1, 101: mobile robot 2; host device 3; cart 4; cargo 11, 111; , 116; storage units 17, 117; lifting mechanisms 18, 118; pins 19, 119;

Claims (10)

A self-propelled transport device that can travel,
a plurality of pins provided with sensors for measuring loads;
an elevating mechanism capable of elevating the plurality of pins;
load data measured by the sensor when the lift mechanism is controlled and the trolley is lifted while the plurality of pins are raised to contact the bottom surface of the trolley on which at least one load is loaded; a control unit to obtain;
a storage unit that stores the position of the center of gravity of the self-propelled transport device;
with
The control unit calculates the center-of-gravity position of the cart based on the load data, and controls the lifting mechanism in a state where the center-of-gravity position of the self-propelled transport device and the center-of-gravity position of the cart are in a predetermined positional relationship. to lift said dolly,
Self-propelled transport device. The predetermined positional relationship includes that a predetermined area including the center of gravity of the self-propelled transport device and the center of gravity of the carriage overlap in the vertical direction.
The self-propelled transport apparatus according to claim 1. The predetermined positional relationship includes that the center of gravity position of the self-propelled transport device and a predetermined region including the center of gravity position of the carriage overlap in the vertical direction.
The self-propelled transport apparatus according to claim 1. The predetermined positional relationship includes that the center-of-gravity position of the self-propelled transport device and the center-of-gravity position of the carriage overlap in the vertical direction.
The self-propelled transport apparatus according to claim 1. The control unit adjusts at least one of a traveling speed and a turning radius of the self-propelled carrier device when there is a change in the position of the center of gravity of the carriage during travel of the self-propelled carrier device.
The self-propelled transport device according to any one of claims 1 to 4. The control unit moves the self-propelled transport device such that the center of gravity of the self-propelled transport device and the center of gravity of the carriage are in the predetermined positional relationship.
The self-propelled transport device according to any one of claims 1 to 5. A request unit that requests the worker to move the carriage so that the center of gravity of the self-propelled transport device and the center of gravity of the carriage are in the predetermined positional relationship,
The self-propelled transport apparatus according to any one of claims 1 to 6. An imaging device that images the trolley and the at least one package,
The imaging device generates image data of the trolley and the at least one package,
The control unit acquires the loading state of the cargo on the cart from the image data, and determines a position where the self-propelled transport device slips under the bottom surface of the cart based on the loading state of the cargo.
The self-propelled transport device according to any one of claims 1 to 7. The plurality of pins is three or more,
The self-propelled transport device according to any one of claims 1 to 8. a plurality of self-propelled transport devices capable of traveling;
a host device capable of communicating with the plurality of self-propelled transport devices;
with
The plurality of self-propelled transport devices are
a plurality of pins provided with sensors for measuring loads;
an elevating mechanism capable of elevating the plurality of pins;
load data measured by the sensor when the lift mechanism is controlled and the trolley is lifted while the plurality of pins are raised and in contact with the bottom surface of the trolley on which at least one load is loaded; and a control unit that obtains
The host device has a storage unit that stores the dimensions of the plurality of self-propelled transport devices and the dimensions of the carriage,
The control unit sends the load data to a host device,
Based on the load data, the dimensions of the plurality of self-propelled transport devices, and the dimensions of the carriage, the upper-level device is configured to transfer the carriage to one of the plurality of self-propelled transport devices. to instruct the transportation of
control system.

Images