JP2024024443A - Carrying device and control method for carrying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carrying device that can be freely attached to/detached from a traveling instrument and can perform an operation of avoiding a collision with an obstacle, suitable for a situation, and to provide a control method for the carrying device.

SOLUTION: A carrying device 1 includes: drive wheels supported by a device body 10; a connection portion 30 connectable to a traveling instrument 100 including a plurality of driven wheels 120; a connection state detection unit capable of detecting a state of connection with the traveling instrument 100; an obstacle detection unit 50 capable of detecting a direction and a distance of an obstacle; a control unit 60; and a remote operation unit capable of outputting operation signals for operating a traveling direction and a traveling speed through radio communication. The control unit 60 stops traveling in preference to control based on the operation signals if the obstacle approaching an entire circumference of the device main body 10 is detected during detection of the connection; and if an obstacle is detected in a range between two neighboring non-detection areas 53 when a maximum movable range 121 of each driven wheel 120 viewed from the obstacle detection unit 50 is set as a non-detection area 53 during non-detection of the connection, the control unit reduces the travel speed to a predetermined speed.

SELECTED DRAWING: Figure 6

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a transport device and a method of controlling the transport device.

Auto Guided Vehicles (AGVs) and autonomous vehicles that are connected to moving devices such as trolleys, transport carts, mobile beds, stretchers, etc. that carry objects and run on the floor to assist the moving devices. Conveyance devices such as an autonomous mobile robot (AMR) are known.

In such a transport device, it is required to avoid collisions with obstacles while traveling. For example, Patent Document 1 discloses a self-driving robot for transporting cargo that is equipped with a mechanism such as an infrared camera or an ultrasonic detector on both sides of the vehicle body to detect obstacles and stop driving the vehicle body. ing.

Special Publication No. 2020-504679

By the way, moving equipment such as movable beds and stretchers needs to be moved even in narrow spaces such as elevators and hospital rooms. That is, when traveling in a narrow space, it is necessary to continue traveling even if a wall or the like is detected as an obstacle. Furthermore, in a conveyance device that is attached to and detached from a traveling implement, it is necessary to detect surrounding obstacles while excluding the traveling implement.

The present invention has been made in view of the above, and provides a transport device and a method for controlling the transport device that can be freely attached to and detached from a traveling implement and capable of performing collision avoidance operations against obstacles depending on the situation. The purpose is to

A conveying device according to one aspect of the present invention is connectable to a traveling device including a driving wheel supported by a device main body and causing the device main body to travel, and a main body portion and a plurality of driven wheels supported by the main body portion. a connection state detection unit capable of detecting a connection state between a connection portion provided on the device main body and the traveling implement at the connection portion; an obstacle detection section and a control section provided in the apparatus main body, capable of detecting the distance of the apparatus main body, and a control section capable of communicating with the control section via wireless communication, a remote control unit capable of outputting an operation signal for controlling a running speed, the control unit controls running based on the operation signal, and the connection state detection unit detects connection with the running implement. If the obstacle detection unit detects an obstacle in the first detection range in the non-detection state, the connection state detection unit stops the running with priority over the control based on the operation signal, and the connection state detection unit detects an obstacle in the first detection range. If the obstacle detection unit detects an obstacle in the second detection range while detecting the connection, the traveling speed is reduced to a predetermined speed, and the first detection range The second detection range is a range within a predetermined distance from the obstacle detection unit and is a range for detecting obstacles that are close to the entire circumference of the device body, and the second detection range is a range within a predetermined distance from the obstacle detection unit. A range within a predetermined distance greater than the distance to a driving wheel, and a range between two adjacent non-sensing regions when the maximum movable range of the driven wheel as viewed from the obstacle detection unit is defined as a non-sensing region. It is.

As a result, when the conveyance device is running alone, it avoids collisions by stopping near obstacles regardless of the operation from the remote control unit, whereas when the conveyance device is connected to a traveling device and runs When transporting instruments, the vehicle decelerates when it approaches an obstacle, and travels at low speed near obstacles to avoid collisions. That is, when a traveling device is being transported in a narrow space such as an elevator or a hospital room, collision with obstacles can be avoided by traveling at low speed without stopping unnecessarily. Additionally, when the transport device is traveling alone, the detection range for obstacles is the area close to the entire circumference of the transport device, but when it is connected to a traveling device, only the main direction of movement is detected. range, so that the driven wheels of traveling equipment are not detected as obstacles. Therefore, it can also be applied to a conveyance device that is detachably connected to a traveling implement.

In the conveying device according to one aspect of the present invention, the control unit may detect an obstacle in the second detection range when the connection state detection unit detects the connection with the traveling implement. If this is detected, the upper limit of the torque command value for the drive wheels is lowered by torque control to decelerate the drive wheels to a predetermined speed.

If an obstacle is detected while the transport device is connected to a traveling implement and transporting the traveling implement, the vehicle is slowed down to a predetermined speed, but is allowed to run at a low speed. That is, although the torque is limited, the traveling speed can be changed based on the operation from the remote control unit. When a heavy object such as a traveling implement carrying an object to be transported is being transported at a low speed, traveling can be stabilized by suppressing the rotational speed of the motor using torque control.

In the conveyance device according to one aspect of the present invention, the control unit detects an obstacle in the second detection range and lowers the upper limit value of the torque command value for the drive wheels, and then the obstacle detection unit When an obstacle is no longer detected in the second detection range, the upper limit value of the torque command value is returned to the initial value.

Thereby, after exiting from a narrow space to a wide space, the traveling speed can be increased to transport the traveling implement.

In the conveyance device according to one aspect of the present invention, the control unit may detect an obstacle in the first detection range when the connection state detection unit does not detect the connection with the traveling implement. When this is detected, the speed command value for the drive wheels is lowered to reduce the speed to a predetermined speed using speed control, and when the distance to the detected obstacle is less than a predetermined distance, the vehicle stops traveling.

When the transport device is traveling alone, the weight of the entire traveling object is lighter than when it is connected to a traveling device. Furthermore, since the vehicle decelerates and stops on its own, giving priority to operations from the remote control unit, there is no external force applied to the vehicle. Therefore, speed control allows smooth deceleration and stable stopping.

In the transport device according to one aspect of the present invention, the control unit changes the scanning range by the obstacle detection unit based on the connection state with the traveling implement by the connection state detection unit.

Thereby, the number of data to be acquired can be reduced and the data capacity handled by the control unit can be saved.

In the conveying device according to one aspect of the present invention, the control unit determines the presence or absence of an obstacle in the scanning range detected by the obstacle detection unit based on the connection state with the traveling implement by the connection state detection unit. Change the scope of judgment.

Thereby, the range for detecting the presence or absence of an obstacle can be set only by the control unit, regardless of the type and performance of the obstacle detection unit.

In the conveyance device according to one aspect of the present invention, the connection portion includes a load receiving member including a connection pin portion that is movable up and down with respect to the device main body and is provided to protrude upward from an upper surface side, and a load receiving member that is attached to the traveling implement. and a mounting member having a fitting hole into which the connecting pin portion can be inserted from below.

As a result, the load receiving member and the mounting member attached to the traveling implement are connected by inserting the connecting pin portion into the fitting hole and fitting, so that connection and separation from the traveling implement is easily possible. .

In the conveyance device according to one aspect of the present invention, the connection state detection section includes a pressing pin that is formed to protrude downward from the lower surface side of the attachment member and extend in a direction parallel to the axial direction of the fitting hole; When the connection pin portion and the fitting hole are in a fitted state, the press pin is provided at a position where the pressure sensitive surface is pressed, and includes a pressure sensitive sensor that detects the pressure applied to the pressure sensitive surface.

Thereby, when the connecting pin portion is inserted into and fitted into the fitting hole, the pressing pin approaches the pressure sensitive surface along the axial direction and presses it, so that the connection state can be accurately detected. In addition, since the pressure-sensitive surface can be pressed with the tip of the pressure pin, the base and wiring of the pressure-sensitive sensor can be embedded and arranged inside the member to suppress the load and damage caused by external factors. is also possible.

In the conveyance device according to one aspect of the present invention, the connection state detection section further includes a buffer material that covers the pressure-sensitive surface of the pressure-sensitive sensor, and the connection state detection section further includes a cushioning material that covers the pressure-sensitive surface of the pressure-sensitive sensor, and the connection state detection section is configured to detect a state in which the connection pin section and the fitting hole are fitted together. In some cases, the pressing pin presses the pressure sensitive surface through the cushioning material.

This allows the buffer material to absorb low frequency vibrations and ensure robustness. Further, in conjunction with this, it is possible to suppress erroneous detection of connection release due to minute vibrations caused by small steps, slopes, etc. Furthermore, since the pressure-sensitive surface of the pressure-sensitive sensor can be protected by covering it with a cushioning material, it is possible to suppress the load and damage to the pressure-sensitive sensor due to external factors.

A method for controlling a conveying device according to one aspect of the present invention provides a traveling device that includes a drive wheel that is supported by a device main body and causes the device main body to travel, and a main body portion and a plurality of driven wheels that are supported by the main body portion. a connection state detecting section capable of detecting a connection state between a connection part that is connectable and provided on the device main body and the traveling implement at the connection part; An obstacle detection unit that is capable of detecting a distance to an obstacle and is provided in the device main body, and outputs an operation signal for controlling the running direction and running speed of the device main body by the drive wheels via wireless communication. A method for controlling a conveyance device, comprising: a connection state detection step of detecting connection with the traveling implement by the connection state detection section; and detecting obstacles existing around the device main body. an obstacle detection step of detecting an obstacle; a stopping step of stopping the running with priority over processing based on the operation signal when an obstacle is detected in the first detection range without detecting the connection with the running implement; a deceleration step of decelerating the traveling speed to a predetermined speed when the connection with the traveling implement is detected and an obstacle is detected in the second detection range, and the first detection range includes the step of decelerating the traveling speed to a predetermined speed. The second detection range is a range within a predetermined distance from the obstacle detection unit and is a range for detecting obstacles that are close to the entire circumference of the device main body, and the second detection range is a range that is within a predetermined distance from the driven wheel. A range within a predetermined distance greater than the distance to be.

As a result, when the conveyance device is running alone, it avoids collisions by stopping near obstacles regardless of the operation from the remote control unit, whereas when the conveyance device is connected to a traveling device and runs When transporting instruments, the vehicle decelerates when it approaches an obstacle, and travels at low speed near obstacles to avoid collisions. That is, when a traveling device is being transported in a narrow space such as an elevator or a hospital room, collision with obstacles can be avoided by traveling at low speed without stopping unnecessarily. Additionally, when the transport device is traveling alone, the detection range for obstacles is the area close to the entire circumference of the transport device, but when it is connected to a traveling device, only the main direction of movement is detected. range, so that the driven wheels of traveling equipment are not detected as obstacles. Therefore, it can also be applied to a conveyance device that is detachably connected to a traveling implement.

In the method for controlling a conveyance device according to one aspect of the present invention, in the deceleration step, an upper limit value of a torque command value for the drive wheels is lowered by torque control to decelerate the drive wheels to a predetermined speed.

If an obstacle is detected while the transport device is connected to a traveling implement and transporting the traveling implement, the vehicle is slowed down to a predetermined speed, but is allowed to run at a low speed. That is, although the torque is limited, the traveling speed can be changed based on the operation from the remote control unit. When a heavy object such as a traveling implement carrying an object to be transported is being transported at a low speed, traveling can be stabilized by suppressing the rotational speed of the motor using torque control.

In the method for controlling a conveying device according to one aspect of the present invention, if an obstacle is no longer detected in the second detection range after the deceleration step, a return step of returning the upper limit value of the torque command value to the initial value. further including.

Thereby, after exiting from a narrow space to a wide space, the traveling speed can be increased to transport the traveling implement.

In the method for controlling a conveyance device according to one aspect of the present invention, in the stopping step, a speed command value for the drive wheels is reduced to a predetermined speed by speed control, and the distance to the detected obstacle is set to a predetermined distance. If the value falls below the limit, the vehicle will stop running.

As a result, when the transport device is traveling alone, the weight of the entire traveling object is lighter than when it is connected to a traveling implement. Furthermore, since the vehicle decelerates and stops on its own, giving priority to operations from the remote control unit, there is no external force applied to the vehicle. Therefore, speed control allows smooth deceleration and stable stopping.

According to the present invention, it is possible to provide a transport device that is detachable from a traveling implement and capable of performing collision avoidance operations against obstacles depending on the situation, and a method of controlling the transport device.

FIG. 1 is a plan view schematically showing a configuration example of a conveying device according to an embodiment. FIG. 2 is a plan view showing a part of the internal configuration of the transport device shown in FIG. FIG. 3 is a side view, partially in cross section, showing the state of the conveyance device shown in FIG. 1 before it is connected to the traveling implement. FIG. 4 is a cross-sectional view showing the hollow portion of the conveying device shown in FIG. 1 after it is connected to the traveling implement. FIG. 5 is a plan view illustrating an example of a first detection range of an obstacle by the conveyance device traveling alone. FIG. 6 is a plan view showing an example of a second detection range of an obstacle by the conveyance device that is connected to the traveling implement. FIG. 7 is a flowchart illustrating an example of detection range switching processing by the control unit of the transport device. FIG. 8 is a flowchart illustrating an example of obstacle avoidance processing by the control unit of the conveying device that is traveling alone. FIG. 9 is a flowchart illustrating an example of obstacle avoidance processing by the control unit of the transport device that is connected to the traveling implement.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Modes (embodiments) for carrying out the present invention will be described in detail with reference to the drawings. The present invention is not limited to the contents described in the following embodiments. Further, the constituent elements described below include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the components described below can be combined as appropriate.

(Embodiment)
[Device configuration]
First, the configuration of the transport device 1 according to the embodiment will be described with reference to the drawings. FIG. 1 is a plan view schematically showing a configuration example of a transport device 1 according to an embodiment. FIG. 2 is a plan view showing a part of the internal configuration of the transport device 1 shown in FIG. FIG. 3 is a side view, partially in cross section, showing the state of the conveyance device 1 shown in FIG. 1 before it is connected to the traveling implement 100. FIG. 4 is a sectional view showing the cavity 34a of the conveying device 1 shown in FIG. 1 after it is connected to the traveling implement 100.

In the drawings showing the embodiments, components other than those related to the invention are omitted as appropriate. In addition, in the following explanation, one horizontal direction of the conveyance device 1 (the left-right direction in FIG. 1) is referred to as the "back-and-forth direction," and the cross direction (vertical direction in FIG. 1) that is horizontal and orthogonal to the one direction is referred to as the "width direction." ” he says.

The conveying device 1 of the embodiment is a device that crawls under the traveling implement 100 (see FIGS. 3 and 6), connects to the traveling implement 100 from below, and conveys the traveling implement 100 by traveling. The traveling device 100 includes at least a main body 110 on which the object to be transported is placed, and a plurality of driven wheels 120 that can move the main body 110 in a horizontal direction while maintaining the main body 110 in a horizontal position. This is a conveyance vehicle that has a gap that allows it to sneak under 110. The driven wheel 120 is a free wheel in the embodiment. The traveling device 100 is, for example, a trolley, a transport cart, a moving bed, a stretcher, or the like.

As shown in FIGS. 1 and 2, the conveyance device 1 includes a device main body 10, a drive wheel 20, a motor 21, a connection section 30, an obstacle detection section 50, a control section 60, and a remote control 70 (remote controller). (operation unit). The device main body 10 of the embodiment is a rectangular parallelepiped with a substantially square shape in plan view. Each component of the conveyance device 1 except for a portion of the drive wheels 20 is arranged inside the device main body 10.

In addition to the above-described components, the device main body 10 is equipped with, for example, an elevating mechanism for elevating and lowering the connecting portion 30, a speed measuring portion for measuring the traveling speed, and the like. The speed measurement unit may include an acceleration sensor separately provided in the device main body 10 or the like, or may include a position detector such as a rotary encoder or a Hall sensor for estimating speed by odometry.

As shown in FIG. 2, the device main body 10 includes a plate-shaped main body base 11 that forms the bottom surface of the device main body 10. As shown in FIG. The main body base 11 has an opening for exposing a portion of a drive wheel 20, which will be described later, below the main body base 11. The openings of the main body base 11 are provided corresponding to the arrangement and number of the drive wheels 20, and in the embodiment, a total of four openings are formed near the center of each of the four sides of the main body base 11.

The main body base 11 supports the wheel base 12 via the suspension 13 on the upper surface side. The wheel base 12 is a plate-shaped frame located above the main body base 11 and whose lower surface faces the upper surface of the main body base 11. The wheel base 12 is provided with a drive wheel 20, which will be described later.

The wheel bases 12 are provided corresponding to the arrangement and number of the drive wheels 20, and in the embodiment, a total of four wheel bases 12 are arranged near the center of each of the four sides of the main body base 11. For example, a pair of shaft holders that respectively support both ends of the axle 20a of the drive wheel 20 are provided on the upper surface side of the wheel base 12. The pair of shaft holders support the axle 20a in a horizontal position with respect to the wheel base 12 at a position above the wheel base 12.

The wheel base 12 is formed with an opening for exposing a portion of the drive wheel 20 (described later) below the wheel base 12, and a plurality of through holes. The opening of the wheel base 12 is provided at the same position as the opening of the main body base 11 in plan view. The through holes are formed at positions corresponding to shaft members 14 (see FIG. 3), which will be described later, and allow the corresponding shaft members 14 to pass through.

As shown in FIG. 3, the suspension 13 is configured to absorb vibrations between the main body base 11 and the wheel base 12, and absorbs vertical movement of the drive wheels 20 due to unevenness of the road surface during driving. This suppresses the vibration of the device main body 10 and maintains the horizontal posture. The suspension 13 includes a shaft member 14, a linear guide mechanism 15, an elastic body 16, and a spring retainer 17.

The shaft member 14 is a cylindrical shaft member that stands upright from the main body base 11 and has a lower end fixed to the upper surface of the main body base 11 . The shaft member 14 is, for example, a stud bolt. At least two shaft members 14 are provided for one opening of the main body base 11 so as to sandwich the opening. As shown in FIG. 2, in the embodiment, the shaft member 14 is positioned to sandwich one opening of the main body base 11 horizontally and in a direction orthogonal to an axle 20a of a drive wheel 20, which will be described later. There are 4 in total, 2 in each, and a total of 16 in the entire main body base 11. It is preferable that the plurality of shaft members 14 be provided equally with respect to the positions of the drive wheels 20, which will be described later.

The shaft member 14 is inserted into a through hole formed in the wheel base 12, the linear guide mechanism 15, the elastic body 16, and the pair of spring retainers 17. The shaft member 14 guides the movement of the wheel base 12, the linear guide mechanism 15, the elastic body 16, and the pair of spring retainers 17 in the axial direction (vertical direction in FIG. 3), and in a direction intersecting the axial direction. to regulate the movement of people. The shaft member 14 has a flange at its upper end whose outer diameter is larger than the inner diameter of the spring holder 17, and prevents the spring holder 17 from coming off upward.

The linear guide mechanism 15 is a cylindrical rolling bearing (linear bush) that moves linearly along the shaft member 14 in the axial direction of the shaft member 14 . The linear motion guide mechanism 15 is fixedly provided on the upper surface side of the wheel base 12 so that the axis of the cylinder coincides with the axis of the through hole of the wheel base 12. The wheel base 12 is configured such that the through hole formed in the wheel base 12 and the linear motion guide mechanism 15 are guided by the shaft member 14 provided on the main body base 11, so that the wheel base 12 is linearly moved in the axial direction of the shaft member 14. By doing so, it is possible to move vertically toward or away from the main body base 11.

The elastic body 16 is formed in a cylindrical shape, and the shaft member 14 is inserted through the inner peripheral side. The elastic body 16 allows the shaft member 14 to move in the axial direction. The elastic body 16 is interposed between the upper surface side of the wheel base 12 and the upper end of the shaft member 14 . The elastic body 16 includes, for example, a compression coil spring or a cylindrical body made of a viscoelastic material such as rubber.

In the embodiment, the elastic body 16 has a pair of spring retainers 17 on the upper end side and the lower end side. The spring retainer 17 is formed in an annular shape, and the shaft member 14 is inserted through the inner peripheral side. One spring retainer 17 is arranged between the upper end of the elastic body 16 and the flange at the upper end of the shaft member 14 . The other spring retainer 17 is arranged between the lower end of the elastic body 16 and the upper end of the linear guide mechanism 15.

The upper end side of the elastic body 16 is connected to the main body base 11 via one of the spring retainers 17 and the shaft member 14 . The lower end side of the elastic body 16 is connected to the wheel base 12 via the other spring holder 17 and the linear guide mechanism 15 . Thereby, the elastic body 16 absorbs the impact caused by the vertical proximity and separation between the main body base 11 and the wheel base 12.

The drive wheel 20 is supported so as to be rotatable about the axle 20a with respect to the wheel base 12. The drive wheel 20 is supported, for example, by a pair of shaft holders provided at both ends of the axle 20a. The drive wheels 20 may be, for example, omni-wheels or mecanum wheels that are movable in all directions. A rotational driving force around an axle 20 a is transmitted to the drive wheel 20 from a motor 21 .

In the embodiment, the drive wheels 20 are provided in a one-to-one relationship with the wheel base 12. That is, a total of four driving wheels 20 are formed near the center of each of the four sides of the main body base 11 in plan view. The two driving wheels 20, each disposed near two opposing parallel sides, are disposed such that their axles 20a are horizontal axes passing through the center of the main body base 11, and are coaxial with each other.

In normal times, the elastic body 16 receives a load from above via the shaft member 14 due to the load applied from the main body base 11 side, that is, the own weight of the apparatus main body 10 and the load applied to the connecting portion 30, which will be described later. Further, the elastic body 16 receives a load from below via the wheel base 12 and the linear guide mechanism 15 due to the reaction force that the drive wheel 20 receives from the road surface. As a result, the elastic body 16 is compressed from above and below.

When the drive wheel 20 runs on a convex portion of the road surface, the wheel base 12 is displaced upward together with the axle 20a of the drive wheel 20, and upward acceleration is generated, which causes the elastic body to move through the linear guide mechanism 15. An upward compressive load is applied to the lower end of 16. The elastic body 16 absorbs the impact that the drive wheel 20 receives from the road surface by compressing against the load applied from below. As a result, the upward acceleration at the upper end of the elastic body 16 is reduced relative to the upward acceleration at the lower end of the elastic body 16, so that the acceleration applied to the shaft member 14 and the main body base 11 is reduced by the drive wheel 20. decreases with respect to the acceleration applied to

When the drive wheel 20 runs on a concave part of the road surface, the wheel base 12 is displaced downward together with the axle 20a of the drive wheel 20, and downward acceleration is generated. A downward tensile load is applied to the lower end of the The elastic body 16 absorbs the impact that the drive wheel 20 receives from the road surface by expanding due to the load pulled downward. As a result, the downward acceleration at the upper end of the elastic body 16 is reduced relative to the downward acceleration at the lower end of the elastic body 16, so that the acceleration applied to the shaft member 14 and the main body base 11 is reduced by the drive wheel 20. decreases with respect to the acceleration applied to

It is preferable that the suspension 13 has a gap between the upper surface of the main body base 11 and the lower surface of the wheel base 12 during normal times. As a result, vibrations generated when the transport device 1 travels are absorbed by compression and expansion of the elastic body 16, and when the main body base 11 and the wheel base 12 approach or separate from each other, the main body base 11 and the wheel base 12 is suppressed from colliding with each other.

Note that in the embodiment, four sets of the shaft member 14, the through-hole of the wheel base 12, and the elastic body 16 are provided, two sets each at the front and rear of one driving wheel 20, but in this embodiment, at least two sets are provided. The number of sets may be 3 or 5 or more. Further, the positions where the through holes of the shaft member 14 and the wheel base 12 are arranged in a plan view can be set at any position as long as they do not interfere with other members.

As shown in FIG. 2 , the rotational driving force of a motor 21 is transmitted to the driving wheels 20 . The motor 21 is controlled by, for example, a motor driver provided in the device main body 10, and generates rotational driving force by being supplied with electric power from a battery 61, etc., which will be described later. The motor 21 includes, for example, a BLDC (Brush-Less Direct-Current) motor. The housing of the motor 21 is fixed to the upper surface of the wheel base 12 via a well-known support member or the like so that the output shaft 21a is parallel to the axle 20a of the drive wheel 20.

A transmission mechanism that transmits the rotation of the output shaft 21a of the motor 21 to the axle shaft 20a of the drive wheel 20 includes pulleys 22 and 23 and a belt 24 in the embodiment. The pulley 22 is fixed such that its axis coincides with the axle 20a of the drive wheel 20. The pulley 23 is fixed so that its axis coincides with the output shaft 21a of the motor 21. The belt 24 is an endless belt that is passed between the pulleys 22 and 23.

The belt 24 moves between the pulleys 22 and 23 as the pulley 23 rotates around the axis together with the output shaft 21 a of the motor 21 , causing the pulley 22 to rotate together with the axle 20 a of the drive wheel 20 . The pulleys 22 and 23 are, for example, timing pulleys, and the belt 24 is, for example, a timing belt. The transmission mechanism may include a chain instead of the belt 24. The transmission mechanism is not limited to a configuration in which transmission is performed via the belt 24 or a chain, but may include a gear mechanism in which transmission is performed via a plurality of gears such as spur gears.

The connection section 30 includes a connection mechanism that connects the device main body 10 and the traveling implement 100. The conveyance device 1 of the embodiment can measure the load applied from the traveling implement 100 to the connection portion 30. The connecting portion 30 is arranged at the center of the device main body 10 in plan view. In the embodiment, the connecting portion 30 includes a load sensor base 31, a load sensor (not shown), a load receiving member 33, a cover member 34, a pressure sensor 35, a buffer material 36, and an attachment member 40. have In the connecting portion 30 , the load sensor base 31 , the load sensor, the load receiving member 33 , the cover member 34 , the pressure sensor 35 , and the buffer material 36 can be separated from the attachment member 40 . The load sensor base 31, the load sensor, the load receiving member 33, and the cover member 34 are moved up and down with respect to the main body base 11 by a lifting device (not shown).

The load sensor base 31 is formed into a substantially rectangular prism shape with rounded corners in a plan view, and is supported by the main body base 11 via a lifting mechanism (not shown). The load sensor base 31 supports a load receiving member 33 via a load sensor (not shown). The load sensor base 31 supports a plurality of load sensors.

The load sensor (not shown) includes, for example, a strain gauge type load cell that detects a load. One load sensor (load cell) has two strain gauges. Each load sensor has an outer frame, which is an annular plate fixed to the load sensor base 31, and a tongue piece, which is a plate provided on the inner peripheral side of the outer frame. The tongue piece has a protrusion that contacts the load receiving member 33, and when the protrusion is pressed by the load receiving member 33, it swings about the connection portion with the outer frame. Based on the strain at this time, the load sensor detects the load applied in the direction perpendicular to the surface. The load sensor may include a plurality of load sensors capable of detecting loads in one horizontal direction, in a cross direction perpendicular to the horizontal direction, and in a vertical direction.

The load receiving member 33 is provided so as not to be in direct contact with the load sensor base 31, and is supported by the load sensor base 31 via a plurality of load sensors. The load receiving member 33 receives a load from the traveling implement 100 connected to the transport device 1, and displaces the tongue of each load sensor with respect to the load sensor base 31 according to the magnitude and direction of this load. In the embodiment, the load receiving member 33 has a connecting pin portion 33a that is provided to protrude upward from the center portion on the upper surface side. The connecting pin portion 33a can be inserted into a fitting hole 41 of a mounting member 40, which will be described later, from below.

The cover member 34 is a ring-shaped protection member that covers the upper part of the load sensor supported by the load sensor base 31. The cover member 34 has a lower surface fixed to the upper surface of the load sensor base 31 with screws or the like, and is provided so as not to come into direct contact with the load receiving member 33.

As shown in FIG. 4, the cover member 34 has a cavity 34a. The hollow portion 34a includes a housing portion 34b and a pin insertion hole 34c. The housing portion 34b is provided inside the cover member 34 in a hollow shape. The accommodating portion 34b has a columnar hollow shape whose bottom surface follows a pressure-sensitive sensor 35, which will be described later, and accommodates the pressure-sensitive sensor 35 in the bottom surface. The pin insertion hole 34c is a hole that extends in the vertical direction, with one end opening on the top surface of the cover member 34 and the other end communicating with the top surface side of the accommodating portion 34b. The pin insertion hole 34c is formed near one end in the longitudinal direction of the accommodating portion 34b. A press pin 42 of a mounting member 40, which will be described later, can be inserted into the pin insertion hole 34c from an opening on the upper surface side.

As shown in FIGS. 1 and 2, the cover member 34 has two cavities 34a in the embodiment. The two cavities 34a are arranged such that the position of each pin insertion hole 34c corresponds to the position of each pressing pin 42 of a mounting member 40, which will be described later, in plan view. That is, the pin insertion holes 34c of the cavity 34a are provided in the number and position corresponding to the number and position of the pressing pins 42. The cavity portion 34a of the embodiment is arranged point-symmetrically in a plan view.

The pressure sensor 35 (connection state detection section) shown in FIG. 4 detects the connection state between the conveyance device 1 and the traveling implement 100 at the connection section 30. The pressure sensor 35 is a sensor that can detect the position and magnitude of applied external pressure. The pressure sensor 35 includes, for example, a capacitance type sensor, a resistive type sensor, or the like, and is a resistive type sensor in the embodiment. The pressure sensor 35 includes a base portion 35a and a functional portion 35b.

The base 35a holds the functional section 35b and the wiring extending from the functional section 35b. The base portion 35a is formed into a thin plate shape. The base portion 35a may include, for example, a pair of protective films that sandwich the functional portion 35b from both sides.

The functional section 35b is arranged such that, for example, a substrate, a plurality of sensor electrodes, and a pressure-sensitive conductive layer are stacked. The substrate is disposed on the upper surface of the base 35a and supports a plurality of sensor electrodes. A sensor electrode is placed on the top surface of the substrate. The pressure-sensitive conductive layer is a pressure-sensitive conductive layer in which conductive particles are blended into a flexible resin material that deforms when pressed. In the pressure-sensitive conductive layer, conductive particles are exposed in the form of fine irregularities on the surface. The pressure-sensitive conductive layer brings the plurality of sensor electrodes into conduction by contacting the plurality of sensor electrodes.

The electrical resistance value of the functional part 35b changes when the contact area between the sensor electrode and the conductive particles on the surface of the pressure-sensitive conductive layer changes. Specifically, when the pressure-sensitive conductive layer is pressed against the pressure-sensitive surface 35c located on the opposite side from the sensor electrode, the inside of the layer is compressed. This increases the contact area between the pressure-sensitive conductive layer and the sensor electrode, thereby increasing the current flowing between the plurality of sensor electrodes via the pressure-sensitive conductive layer, and reducing the electrical resistance value. The functional unit 35b outputs the detected electrical resistance value to an external control device or the like via the wiring of the base 35a. That is, the pressure sensor 35 detects the pressure applied to the pressure sensitive surface 35c by detecting a change in the electrical resistance value.

In the pressure-sensitive sensor 35, the base 35a is housed on the bottom surface of the housing portion 34b of the cover member 34, the pressure-sensitive surface 35c of the functional portion 35b is located at the bottom of the pin insertion hole 34c, and the pressure-sensitive surface 35c is located on the bottom surface of the housing portion 34b of the cover member 34. It is arranged in the cavity 34a so as to be parallel to the upper surface of the pin insertion hole 34c and to face the opening side of the pin insertion hole 34c.

The cushioning material 36 includes, for example, a soft and highly elastic resin material such as urethane or rubber. The buffer material 36 is provided to cover the pressure sensitive surface 35c. The cushioning material 36 of the embodiment has the same shape as the pin insertion hole 34c in plan view. When the cushioning material 36 is pressed by a tip 42a of a pressing pin 42 (described later) inserted into the pin insertion hole 34c, the cushioning material 36 absorbs low frequency vibrations and transmits the pressure to the pressure sensitive surface 35c.

The attachment member 40 shown in FIG. 3 is a member that is attached to the traveling implement 100 to be transported. The attachment member 40 is fixed in advance to the lower surface side of the traveling implement 100 with screws or the like. The attachment member 40 is connectable to and separable from the load receiving member 33. When a plurality of traveling implements 100 are to be transported by the transporting device 1, attachment members 40 are attached to all the traveling implements 100 in advance. By connecting the attachment member 40 to the load receiving member 33, the conveying device 1 is connected to the traveling implement 100. The attachment member 40 has a fitting hole 41 and a pressing pin 42.

The fitting hole 41 is a hole that vertically passes through the attachment member 40, into which the connecting pin portion 33a of the load receiving member 33 can be inserted from below. The fitting hole 41 is formed at the center of the attachment member 40 in plan view. The fitting hole 41 may include, for example, a portion having a tapered inner wall that gradually becomes smaller from the bottom toward the top, and a portion into which the connection pin portion 33a is fitted. The connecting pin portion 33a is guided by the tapered inner wall and fits into the fitting hole 41 at the upper part of the fitting hole 41.

The pressing pin 42 is formed to protrude downward from the lower surface side of the attachment member 40 and extend in a direction parallel to the axial direction of the fitting hole 41 (vertical direction). The pressing pin 42 has a dome shape that gradually becomes smaller toward an axial tip 42a (lower end in FIG. 4). The pressing pin 42 has an axial length longer than the depth of the pin insertion hole 34c of the cover member 34. The pressing pin 42 is a protrusion that presses the pressure sensor 35 when the load receiving member 33 and the attachment member 40 are in a connected state. In the embodiment, the pressing pin 42 presses the pressure sensor 35 via the cushioning material 36.

The attachment member 40 has two pressing pins 42 in the embodiment. When the two pressing pins 42 are connected to the load receiving member 33, they are arranged so as to match the position of each pin insertion hole 34c of the cover member 34 when viewed in the axial direction. That is, the pressing pins 42 are provided in the number and position corresponding to the number and position of the pin insertion holes 34c of the cavity 34a. The pressing pins 42 of the embodiment are arranged point-symmetrically in plan view.

In order to put the connection part 30 in the connected state, first, the conveying device 1 is run so that it goes under the traveling device 100 to which the attachment member 40 is attached, and a load receiving device is placed directly under the fitting hole 41 of the attachment member 40. The connecting pin portions 33a of the member 33 are positioned so as to face each other. Next, the load receiving member 33 is raised together with the load sensor base 31, the load sensor, and the cover member 34 using a lifting mechanism (not shown) or the like. The elevated load receiving member 33 approaches from below from the attachment member 40, and the connecting pin portion 33a is inserted into and fitted into the fitting hole 41 from below.

When the load receiving member 33 and the attachment member 40 are correctly connected, the press pin 42 is inserted into the cavity 34a, and the pressure sensitive surface 35c of the pressure sensor 35 disposed in the housing part 34b below the cavity 34a is pressed through the cushioning material 36. The pressure sensor 35 detects the pressure applied to the pressure sensor 35 by the tip 42a of the press pin 42 via the cushioning material 36. That is, the pressure sensor 35 detects the connection state between the load receiving member 33 and the attachment member 40.

The pressing pins 42 may include two pressing pins 42 arranged diagonally in plan view, as in the embodiment. As a result, when the pressure sensor 35 detects that both of the two pressing pins 42 press the pressure sensor 35 through the cushioning material 36, the connection state between the load receiving member 33 and the attachment member 40 is changed. It is possible to judge that it is normal. The pressing pins 42 are not limited to the configuration in which two press pins are arranged diagonally as in the embodiment, but three or more may be arranged, and it is preferable that they are arranged line-symmetrically or point-symmetrically in a plan view.

When the transport device 1 travels while the transport device 1 is connected to the traveling implement 100 via the connection portion 30, the connection portion 30 moves in the direction of travel. The conveying device 1 pulls the traveling implement 100 in the traveling direction via the connecting part 30. As a result, the traveling implement 100 is transported in the direction in which the transport device 1 has moved. Further, the conveying device 1 pulls the traveling implement 100 in the right/left direction or in the turning direction via the connecting portion 30 . As a result, the traveling implement 100 turns right and left or turns according to the left and right turning operation or turning operation of the conveyance device 1 .

When the conveyance device 1 is detached from the traveling implement 100, the load receiving member 33 is lowered together with the load sensor base 31, the load sensor, and the cover member 34 by a lifting mechanism (not shown). In the lowered load receiving member 33, the connecting pin portion 33a passes downward from the fitting hole 41, and is separated below the attachment member 40. As a result, the conveyance device 1 is separated from the traveling implement 100. When the load receiving member 33 is detached from the attachment member 40, the tip 42a of the press pin 42 separates from the pressure sensitive surface 35c of the pressure sensitive sensor 35 and comes out of the cavity 34a. That is, the pressure sensor 35 no longer detects the connection state between the load receiving member 33 and the attachment member 40. Further, while the transporting device 1 is transporting the traveling implement 100, it may collide with a large step or obstacle, and the fitting hole 41 of the attachment member 40 and the connecting pin portion 33a of the load receiving member 33 may not fit together as intended. If it comes off, it can be detected by the pressure sensor 35.

In this embodiment, the configuration of the connecting part 30 is the same as that of the above embodiment, as long as the device main body 10 of the conveyance device 1 and the traveling implement 100 can be connected detachably and the connection state can be detected. but not limited to. For example, instead of the load receiving member 33 and the attachment member 40, the connecting portion 30 may include a magnet or a suction cup that attracts the lower surface of the traveling implement 100 by being raised from below the traveling implement 100.

The obstacle detection unit 50 detects obstacles around the transport device 1 . The obstacle detection unit 50 includes, for example, a range sensor that outputs physical shape data of a space, and is 2D LiDAR (Light Detection and Ranging) in the embodiment. A total of two obstacle detection units 50 (2D LiDAR) according to the embodiment are arranged at front and rear positions on the upper surface side of the device main body 10. The heightwise position of the obstacle detection section 50 is located below the lower surface of the main body section 110 of the traveling implement 100 to be transported. The detection result by the obstacle detection section 50 is output to a control section 60, which will be described later.

The obstacle detection unit 50 of the embodiment is capable of obtaining at least the direction of an obstacle existing within a predetermined distance in all horizontal directions of the transport device 1 and the distance to the obstacle based on the detection result. Bye. The obstacle detection unit 50 may be, for example, a laser scanner, an LRF (Laser Range Finder), a 1D LiDAR, or a 3D LiDAR. Further, the obstacle detection unit 50 may be a 3D camera that photographs the surroundings of the transport device 1. Note that the maximum detectable distance of LiDAR is approximately 40 m.

Note that the obstacle detection unit 50 is not limited to the configuration of the embodiment in which a total of two obstacle detection units 50 are arranged in the front and rear, but may be arranged in the left and right, or one One or three or more may be provided. Moreover, the obstacle detection unit 50 may be provided so as to detect only the main traveling direction and not to detect the rear direction, depending on the application form of the transport device 1 and the traveling implement 100.

The range in which the transportation device 1 detects obstacles is switched by the control unit 60, which will be described later, between when it is traveling alone, that is, when it is not connected to the traveling implement 100, and when it is connected to the traveling implement 100. . FIG. 5 is a plan view showing an example of the first detection range 51 of an obstacle by the transport device 1 traveling alone. FIG. 6 is a plan view showing an example of the second detection range 52 of an obstacle by the transport device 1 that is connected to the traveling implement 100. In FIG. 6, only the frame 111 of the main body 110 on which the object to be transported and the driven wheels 120 of the traveling implement 100 are illustrated.

As shown in FIG. 5, when the transport device 1 is not connected to the traveling implement 100 and is alone, the first detection range 51 spreads radially from each of the two obstacle detection units 50 as a base point in a plan view. , forms a fan shape whose central angle is a dominant angle and whose radius is a predetermined distance. Here, the radial distance of the first detection range 51 is set to, for example, 10 m or less. The first detection range 51 is set such that the first detection range 51 by the two obstacle detection units 50 covers the entire side surface of the device main body 10. That is, the first detection range 51 is a range within a predetermined distance from the obstacle detection unit 50 and is a range in which obstacles near the entire circumference of the device main body 10 are detected.

As shown in FIG. 6, in a state where the transport device 1 is connected to the traveling implement 100, the second detection range 52 has two obstacle detection units 50 as base points in a plan view. It spreads out radially, forming a fan shape with a central angle less than a flat angle and a radius a predetermined distance. Here, the radial distance of the second detection range 52 may be the same as or different from the radial distance of the first detection range 51, and is set to, for example, 10 m or less. The radial distance of the second detection range 52 is at least larger than the distance from the obstacle detection unit 50 to the driven wheel 120. The second detection range 52 excludes a range that may interfere with the driven wheels 120 of the traveling implement 100 and the legs of the frame 111 that supports the driven wheels 120.

More specifically, the second detection range 52 by the obstacle detection unit 50 disposed in front of the device main body 10 is the range between the two driven wheels 120 located in front of the traveling implement 100. The wheels are set so that they do not interfere no matter what rotational position they are in. In addition, the second detection range 52 by the obstacle detection unit 50 disposed at the rear of the device main body 10 is the range between the two driven wheels 120 located at the rear of the traveling implement 100. are set so that they do not interfere no matter which rotational position they are in.

That is, the second detection range 52 is a range within a predetermined distance from the obstacle detection unit 50 that is greater than the distance to the driven wheel 120, and is a range within which the maximum movement of the driven wheel 120 is possible when viewed from the obstacle detection unit 50. This is the range between two adjacent non-sensing regions 53 when the range 121 is the non-sensing region 53. The maximum movable range 121 of the driven wheel 120 is a relative range based on the rotation axis of the driven wheel 120, and is the entire area through which the entire driven wheel 120 passes when the driven wheel 120 rotates 360 degrees around the rotation axis. shows.

The control unit 60 shown in FIG. 1 includes an arithmetic processing unit having a microprocessor such as a CPU (Central Processing Unit), a memory such as a ROM (Read Only Memory) or a RAM (Random Access Memory), a storage unit, and an input/output interface device. Equipped with hardware resources such as The functions of the control section 60 are realized by the arithmetic processing section executing a predetermined program stored in the storage section. When a predetermined program is executed, the control unit 60 outputs control signals that cause each component to perform various functions according to the calculation results by the calculation processing unit, and outputs the calculation results to the outside.

The control unit 60 is driven by being supplied with power from the battery 61. The battery 61 is mounted on the device main body 10. Further, the device main body 10 is provided with an emergency stop button 62. In the transport device 1, when the emergency stop button 62 is pressed by the operator, the relay switch turns off the main power, and the power supply from the battery 61 is stopped.

For example, information about the traveling implement 100 to be transported can be stored in advance in the storage section of the control section 60. The information stored in the storage unit includes, for example, dimensional information including the length of the traveling implement 100 in the longitudinal direction, the width in the transverse direction, the arrangement of the driven wheels 120, and the like. For example, the control unit 60 causes the motor driver to drive the motor 21 by executing a predetermined program. Further, the control unit 60 calculates the load applied to the load receiving member 33 based on the measurement result by the load sensor, for example, by executing a predetermined program.

Further, the control unit 60 detects the connection state between the conveyance device 1 and the traveling implement 100 at the connection unit 30, for example, based on the detection result by the pressure sensor 35. Further, the control unit 60 can change the detection range of an obstacle by the obstacle detection unit 50 into a first detection range 51 (see FIG. 5) and a second detection range 52 (see FIG. 6) by, for example, executing a predetermined program. (see).

When the control unit 60 acquires the detection result by the pressure sensor 35 and determines that the connection unit 30 is not connected to the traveling implement 100, the control unit 60 adjusts the first detection range 51 based on the detection result by the obstacle detection unit 50. In other words, the direction of an obstacle that is close to the entire circumference including the left, right, front, and back of the device main body 10 and is within a predetermined distance from the obstacle detection unit 50 and the distance to the obstacle are acquired.

When the control unit 60 determines that an obstacle is detected in the first detection range 51, it disables the operation of the transport device 1 by a remote controller 70, which will be described later. Here, disabling the operation means giving priority to the deceleration process and stop process described below over the control based on the operation signal for manipulating the traveling direction and traveling speed output from the remote controller 70. The control unit 60 performs deceleration processing and stopping processing by controlling the motor 21 using a motor driver. Specifically, the control unit 60 reduces the traveling speed of the conveyance device 1 to a predetermined speed by speed control. The predetermined speed is, for example, 0.3 m/sec. Furthermore, when the distance to the obstacle is less than a predetermined distance, the control unit 60 causes the motor driver to stop the rotation of the motor 21 and stops the transport device 1 from traveling.

When the control unit 60 acquires the detection result by the pressure sensor 35 and determines that the connection unit 30 is connected to the traveling implement 100, the control unit 60 adjusts the second detection range 52 based on the detection result by the obstacle detection unit 50. In other words, the direction of an obstacle existing within a predetermined distance in the main traveling directions (front and rear) of the device main body 10 and the distance to the obstacle are acquired.

When the control unit 60 determines that an obstacle is detected in the second detection range 52, the control unit 60 controls the motor 21 using the motor driver. Specifically, the control unit 60 reduces the upper limit value of the torque command value to the motor 21 by torque control. At this time, the maximum traveling speed (limited speed) of the transport device 1 is, for example, 0.3 m/sec. When the obstacle is no longer detected in the second detection range 52, the control unit 60 returns the upper limit value of the torque command value to the initial value.

The detection range by the obstacle detection unit 50 may be changed by changing the scanning range of the sensor by the obstacle detection unit 50, or the scanning range of the sensor itself may remain wide and the control unit may change the scanning range of the sensor. 60 may pick up and use only the necessary data.

The remote controller 70 (remote control unit) is connected to the device main body 10 so that it can communicate with the device main body 10 via wireless communication such as infrared communication, Bluetooth (registered trademark) communication, Wi-Fi communication, or 5G communication. It is provided separately. The remote controller 70 can output operation signals for controlling the running direction and running speed of the device main body 10 by the drive wheels 20. For example, the remote control 70 may be provided in common so that it can switch and operate a plurality of device main bodies 10. The remote control 70 has a joystick 71 and a plurality of buttons 72 for operation.

The joystick 71 includes a stick that stands upright from the top side of the main body of the remote control 70 and is swingable in an inclined direction. The stick of the embodiment can be tilted in any direction by 360° in plan view. In the joystick 71, the direction of inclination of the stick corresponds to the direction of movement of the device main body 10, and the angle of inclination of the stick corresponds to the speed of movement. When the stick is tilted, the remote controller 70 outputs a control signal for causing the device main body 10 to travel in a traveling direction and traveling speed based on the tilt direction and angle of the stick.

Each of the plurality of buttons 72 is associated with a predetermined operation. The button 72 may be, for example, a pairing button for performing pairing settings with a predetermined device main body 10, a switching button for switching the device main body 10 to be operated, a power button for remotely starting the device main body 10, or a power button for remotely starting the device main body 10. It may also include a rise button, a fall button, etc. that drive an elevating mechanism (not shown) for elevating and lowering.

[Control method]
Next, a method of controlling the transport device 1 by the control unit 60 will be explained. First, the obstacle detection range switching process will be explained. FIG. 7 is a flowchart illustrating an example of a detection range switching process by the control unit 60 of the transport device 1. The process shown in FIG. 7 is executed by the control unit 60 of the transport device 1 based on a predetermined control program and data. For example, when the transport device 1 receives a predetermined activation operation, the control unit 60 moves to step S201 of the flowchart shown in FIG. 7 and starts the process.

In step S201, the control unit 60 acquires information on the traveling implement 100 to be connected. The information on the traveling implement 100 acquired in step S201 is information necessary to set the second detection range 52 set in step S202, and for example, the arrangement of the driven wheel 120 with respect to the position of the attachment member 40 of the connection part 30. Contains information. In step S201, for example, the user may be notified to perform an operation to select a traveling implement 100 to be connected from a plurality of types of traveling implements 100 stored in advance in the storage unit of the control unit 60. . If there is only one type of traveling implement 100 that can be connected to the transport device 1, step S201 may be omitted. The control unit 60 moves to step S202.

In step S202, the control unit 60 sets the second detection range 52. More specifically, the control unit 60 determines that the second detection range 52 is located at a distance from the obstacle detection unit 50 to the driven wheel 120 based on the arrangement information of the driven wheel 120 of the traveling implement 100 to be connected acquired in step S201. A range within a predetermined distance larger than the distance from Set it so that it is within the range of . The control unit 60 moves to step S203.

In step S203, the control unit 60 sets the obstacle detection range to the first detection range 51 as an initial setting. That is, the detection range of obstacles by the transport device 1 is in all horizontal directions including the left, right, front, and rear of the device body 10 in the initial state. The control unit 60 moves to step S204.

In step S204, the control unit 60 starts detecting the connection state between the transport device 1 and the traveling implement 100 at the connection unit 30. More specifically, the control unit 60 acquires the detection result by the pressure-sensitive sensor 35.

The control unit 60 repeatedly executes the processing from step S205 to step S207, or the processing from step S205 and step S208 to step S209, until the detection of the connection state is finished. Detection of the connection state ends, for example, when the transport device 1 receives a predetermined stop operation.

In step S205, the control unit 60 determines whether the transport device 1 and the traveling implement 100 are connected at the connection unit 30. More specifically, the control unit 60 controls the load receiving member 33 supported by the device main body 10 via the load sensor, the load sensor base 31, and a lifting mechanism (not shown) based on the measured value of the pressure applied to the pressure sensor 35. It is determined whether or not the mounting member 40 and the mounting member 40 fixedly attached to the traveling implement 100 are correctly connected.

When the control unit 60 determines in step S205 that there is no connection (step S205; No), the process proceeds to step S206. In step S206, the control unit 60 determines whether or not the obstacle detection range has been set to the first detection range 51.

After the obstacle detection range set in the control unit 60 is set to the first detection range 51 in step S203, if step S209, which will be described later, is not executed, or finally in step S209, the obstacle detection range is set to the second detection range 51. 52 and then changed to the first detection range 51 again in step S207, which will be described later, is the first detection range 51. The obstacle detection range set in the control unit 60 is the second detection range 52 if step S207, which will be described later, is not executed after the obstacle detection range is finally changed to the second detection range 52 in step S209, which will be described later.

When the control unit 60 determines that the first detection range 51 has been set (step S206; Yes), the process returns to step S205. When the control unit 60 determines that the first detection range 51 is not set (step S206; No), the process proceeds to step S207.

In step S207, the control unit 60 sets the obstacle detection range to the first detection range 51. Thereby, the obstacle detection range by the transport device 1 is changed from the second detection range 52 to the first detection range 51.

When the control unit 60 determines that the connection is established in step S205 (step S205; Yes), the process proceeds to step S208. In step S208, the control unit 60 determines whether the obstacle detection range has been set to the second detection range 52.

When the control unit 60 determines that the second detection range 52 has been set (step S208; Yes), the process returns to step S205. When the control unit 60 determines that the second detection range 52 is not set (step S208; No), the process proceeds to step S209.

In step S209, the control unit 60 sets the obstacle detection range to the second detection range 52. Thereby, the obstacle detection range by the transport device 1 is changed from the first detection range 51 to the second detection range 52.

After executing step S207 or step S209, the control unit 60 returns to step S205. When the control unit 60 receives a predetermined signal to end detection of the connection state, the control unit 60 exits the loop processing from step S204 to step S209, and ends the processing of the flowchart shown in FIG. 7.

Next, a description will be given of a traveling control process of the conveying device 1 while traveling alone, that is, in a state where an obstacle is detected in the first detection range 51. FIG. 8 is a flowchart illustrating an example of obstacle avoidance by the control unit 60 of the conveyance device 1 that is traveling alone. The process shown in FIG. 8 is executed by the control unit 60 of the transport device 1 based on a predetermined control program and data. The process shown in FIG. 8 is executed, for example, in parallel with the connection state detection process shown from step S204 to step S209 in FIG. 7, and as an alternative to the process shown in FIG. When step S203 or step S207 in FIG. 7 is executed, the control unit 60 moves to step S301 and starts processing.

In step S301, the control unit 60 determines whether an obstacle is detected within the first detection range 51. Specifically, the control unit 60 acquires the detection result of the obstacle detection unit 50, and based on the detection result, detects an obstacle within a predetermined distance within the first detection range 51 that covers the entire side surface of the device main body 10. Determine whether or not exists.

When the control unit 60 determines that there is no obstacle within the first detection range 51 (step S301; No), it returns to step S301 and repeatedly executes step S301 at a predetermined period until it determines Yes in step S301. . When the control unit 60 determines that there is an obstacle within the first detection range 51 (step S301; Yes), the process proceeds to step S302.

In step S302, the control unit 60 disables the operation from the remote controller 70. Here, disabling an operation means performing a process for realizing an operation to avoid an obstacle shown in steps S303 to S305 described later, and an operation based on an operation signal output in response to an operation by the remote controller 70. This means giving priority to the process to achieve the goal. In normal times, the control unit 60 controls the motor using a motor driver so that the device main body 10 travels in the direction of travel and travel speed associated with the operation of the remote controller 70 based on the control signal output and received from the remote controller 70. 21 is driven. The control unit 60 moves to step S303.

In step S303, the control unit 60 reduces the traveling speed to a predetermined speed by speed control. Specifically, in the speed control, the running speed of the device main body 10 is acquired based on the measurement result by the speed measurement section, and if the running speed exceeds a predetermined speed, the motor 21 is controlled by the motor driver to adjust the speed. By lowering the command value and reducing the rotation speed of each drive wheel 20, the speed is decelerated to a predetermined speed. The control unit 60 moves to step S304.

In step S304, the control unit 60 determines whether the distance to the obstacle detected in step S301 is greater than or equal to a predetermined distance. When the control unit 60 determines that the distance to the obstacle is greater than or equal to the predetermined distance (step S304; No), the control unit 60 returns to step S304 and repeatedly executes step S304 at a predetermined period until determining No in step S304. . That is, if the distance to the obstacle is equal to or greater than the predetermined distance, the device main body 10 travels at the predetermined speed after decelerating in step S303. When the control unit 60 determines that the distance to the obstacle is less than the predetermined distance (step S304; Yes), the process proceeds to step S305.

In step S305, the control unit 60 stops the running of the device main body 10. Specifically, the control unit 60 controls the motor 21 using the motor driver to reduce the number of rotations of each drive wheel 20 to 0, thereby stopping the vehicle from traveling. In the process of the embodiment shown in FIG. 8, when an obstacle is approached, the impact of stopping is suppressed by decelerating the vehicle to a predetermined speed before stopping travel, thereby stopping from a low speed state. After executing the process of step S305, the control unit 60 ends the process of the flowchart shown in FIG.

Note that the control unit 60 may enable the operation from the remote controller 70 again if no obstacles are detected within the first detection range 51 before stopping the travel in step S305. In this case, the control unit 60 controls the control unit 60 until the traveling is stopped in step S305, until step S209 in FIG. Until then, the process of the flowchart shown in FIG. 8 is repeatedly executed at a predetermined period.

Next, a description will be given of the traveling control process of the transport device 1 while connected to the traveling implement 100, that is, when an obstacle is being detected in the second detection range 52. FIG. 9 is a flowchart showing an example of obstacle avoidance by the control unit 60 of the transport device 1 that is connected to the traveling implement 100. The process shown in FIG. 9 is executed by the control unit 60 of the transport device 1 based on a predetermined control program and data. The process shown in FIG. 9 is executed, for example, in parallel with the connection state detection process shown from step S204 to step S209 in FIG. 7, and as an alternative to the process shown in FIG. When step S209 in FIG. 7 is executed, the control unit 60 moves to step S401 and starts processing.

In step S401, the control unit 60 determines whether an obstacle is detected within the second detection range 52. Specifically, the control unit 60 acquires the detection result of the obstacle detection unit 50, and based on the detection result, within a predetermined distance within the second detection range 52 including the main traveling direction of the device main body 10. Determine whether an obstacle exists.

When the control unit 60 determines that there is no obstacle within the second detection range 52 (step S401; No), it returns to step S401 and repeatedly executes step S401 at a predetermined period until it determines Yes in step S401. . When the control unit 60 determines that there is an obstacle within the second detection range 52 (step S401; Yes), the process proceeds to step S402.

In step S402, the control unit 60 reduces the upper limit of the torque command value by torque control until the traveling speed reaches a predetermined speed. Specifically, in the torque control, the running speed of the device main body 10 is acquired based on the measurement result by the speed measurement unit, and if the running speed exceeds a predetermined speed, a torque command is issued to control the motor 21 by the motor driver. By lowering the value and reducing the rotational speed of each drive wheel 20, the speed is decelerated to a predetermined speed. Further, by operating the remote controller 70 thereafter, the upper limit value of the torque command value is maintained in a reduced state so that the traveling speed does not exceed a predetermined speed. The control unit 60 moves to step S403.

In step S403, the control unit 60 again determines whether an obstacle has been detected within the second detection range 52. Specifically, the control unit 60 acquires the detection result of the obstacle detection unit 50, and based on the detection result, within a predetermined distance within the second detection range 52 including the main traveling direction of the device main body 10. Determine whether an obstacle exists.

When the control unit 60 determines that there is an obstacle within the second detection range 52 (step S403; Yes), it returns to step S403 and repeatedly executes step S403 at a predetermined period until it determines No in step S403. . That is, if the state in which there is an obstacle in the second detection range 52 continues, the upper limit value of the torque command is limited so that the device main body 10 runs with the predetermined speed after deceleration in step S402 as the upper limit. Ru. When the control unit 60 determines that there is no obstacle within the second detection range 52 (step S403; No), the process proceeds to step S404.

In step S404, the control unit 60 returns the upper limit value of the torque command value for controlling the motor 21 by the motor driver to the initial value. As a result, the running speed of the device main body 10 is not limited, and the running speed is based on the inclination angle of the joystick 71 of the remote controller 70 . After executing the process in step S404, the control unit 60 restarts step S401 until step S207 in FIG. The process of the flowchart shown in FIG. 9 is repeatedly executed at a predetermined period until the connection is disconnected.

As described above, the conveyance device 1 of the embodiment includes the drive wheel 20 that is supported by the device body 10 and causes the device body 10 to travel, and the body portion 110 and the plurality of driven wheels 120 that are supported by the body portion 110. A connection state detection unit (pressure sensor 35 and pressing pin 42) that can detect the connection state between the connection part 30 and the travel implement 100 at the connection part 30 and the connection part 30 that can be connected to the traveling implement 100 provided and provided in the device main body 10. and an obstacle detection section 50 and a control section 60, which are capable of detecting the direction of obstacles existing around the device main body 10 and the distance to the obstacles, and which are provided in the device main body 10 and a control section 60 via wireless communication. A remote control unit (remote controller 70) capable of communicating with the control unit 60 and outputting operation signals for controlling the running direction and running speed of the device main body 10 by the drive wheels 20, the control unit 60 , when the obstacle detection unit 50 detects an obstacle in the first detection range 51 in a state where the running is controlled based on the operation signal and the connection state detection unit does not detect the connection with the running implement 100, the operation is performed. When the obstacle detection unit 50 detects an obstacle in the second detection range 52 in a state where the running is stopped with priority over control based on the signal and the connection state detection unit detects the connection with the running equipment 100. , the traveling speed is decelerated to a predetermined speed, and the first detection range 51 detects obstacles that are within a predetermined distance from the obstacle detection unit 50 and that are close to the entire circumference of the device main body 10. The second detection range 52 is a range within a predetermined distance from the obstacle detection unit 50 that is greater than the distance to the driven wheel 120, and the second detection range 52 is a range within a predetermined distance that is larger than the distance to the driven wheel 120 when viewed from the obstacle detection unit 50. This is the range between two adjacent non-sensing regions 53 when the maximum movable range 121 is the non-sensing region 53.

According to this, when the transport device 1 is traveling alone, it avoids a collision by stopping near an obstacle regardless of the operation from the remote control unit (remote controller 70), whereas the transport device 1 When the vehicle is connected to the traveling implement 100 and transporting the traveling implement 100, the vehicle decelerates when approaching an obstacle, and travels at a low speed near the obstacle to avoid a collision. That is, when the traveling device 100 is being transported in a narrow space such as an elevator or a hospital room, collision with an obstacle can be avoided by traveling at low speed without stopping unnecessarily. In addition, when the conveyance device 1 is traveling alone, the obstacle detection range is the area close to the entire circumference of the conveyance device 1, but when it is connected to the traveling device 100, the detection range of obstacles is This is set as the detection range, and the driven wheels 120 of the traveling implement 100 are not detected as an obstacle. Therefore, it can also be applied to a conveying device 1 that is detachably connected to the traveling implement 100.

Further, in the conveyance device 1 of the embodiment, the control unit 60 controls the obstacle detection unit 50 in a state in which the connection state detection unit (the pressure sensor 35 and the pressing pin 42) detects the connection with the traveling implement 100. When an obstacle is detected in the second detection range 52, the upper limit of the torque command value for the drive wheels 20 is lowered by torque control to reduce the speed to a predetermined speed.

When the conveyance device 1 detects an obstacle while being connected to the traveling implement 100 and conveying the traveling implement 100, the speed is reduced to a predetermined speed, but travel at a low speed is permitted. That is, although the torque is limited, the traveling speed can be changed based on the operation from the remote control section (remote controller 70). When a heavy object such as the traveling implement 100 is being transported at a low speed, traveling can be stabilized by suppressing the rotational speed of the motor 21 through torque control.

Further, in the conveyance device 1 of the embodiment, the control unit 60 detects an obstacle in the second detection range 52 and lowers the upper limit value of the torque command value for the drive wheels 20, and then the obstacle detection unit 50 detects the obstacle in the second detection range 52. 2. When an obstacle is no longer detected in the detection range 52, the upper limit value of the torque command value is returned to the initial value.

According to this, after exiting from a narrow space to a wide space, the running speed can be increased to transport the traveling implement 100.

Further, in the conveyance device 1 of the embodiment, the control unit 60 controls the obstacle detection unit 50 to When an obstacle is detected in the first detection range 51, the speed command value for the drive wheels 20 is lowered by speed control to decelerate to a predetermined speed, and when the distance to the detected obstacle is less than a predetermined distance, driving is stopped. make it stop.

When the transport device 1 is traveling alone, the weight of the entire traveling object is lighter than when it is connected to the traveling device 100. Furthermore, since the vehicle decelerates and stops on its own with priority over operations from the remote control section (remote controller 70), there is no application of varying external forces from the outside. Therefore, speed control allows smooth deceleration and stable stopping.

Furthermore, in the conveyance device 1 of the embodiment, the control unit 60 determines the scanning range by the obstacle detection unit 50 based on the connection state with the traveling implement 100 by the connection state detection unit (pressure sensor 35 and pressing pin 42). make it change

According to this, the number of data to be acquired can be reduced and the data capacity handled by the control unit 60 can be saved.

In the conveying device 1 of the embodiment, the control unit 60 also controls the scanning detected by the obstacle detection unit 50 based on the connection state with the traveling implement 100 by the connection state detection unit (pressure sensor 35 and pressing pin 42). Change the range within which the presence or absence of obstacles is determined.

According to this, regardless of the type and performance of the obstacle detection section 50, the range in which the presence or absence of an obstacle is detected can be set only by the control section 60.

Further, in the conveying device 1 of the embodiment, the connecting portion 30 includes a load receiving member 33 including a connecting pin portion 33a that is movable up and down with respect to the device main body 10 and is provided to protrude upward from the upper surface side, and a load receiving member 33 that is attached to the traveling implement 100. and a mounting member 40 having a fitting hole 41 into which the connecting pin portion 33a can be inserted from below.

According to this, the load receiving member 33 and the attachment member 40 attached to the traveling implement 100 are connected by inserting the connecting pin portion 33a into the fitting hole 41 and fitting, so that the connection with the traveling implement 100 is established. and separation is easily possible.

Furthermore, in the conveying device 1 of the embodiment, the connection state detection section (the pressure sensor 35 and the pressing pin 42) protrudes downward from the lower surface side of the attachment member 40 and extends in a direction parallel to the axial direction of the fitting hole 41. When the pressing pin 42 formed by the connecting pin portion 33a and the fitting hole 41 are fitted, the pressing pin 42 is provided at a position to press the pressure sensitive surface 35c, and the pressure applied to the pressure sensitive surface 35c is reduced. A pressure sensitive sensor 35 for detection is provided.

According to this, when the connecting pin part 33a is inserted into the fitting hole 41 and fitted, the pressing pin 42 approaches the pressure sensitive surface 35c along the axial direction and presses it, so that the connection state can be accurately controlled. can be detected. Furthermore, since the pressure-sensitive surface 35c can be pressed with the tip 42a of the pressing pin 42, the base and wiring of the pressure-sensitive sensor 35 can be buried and arranged inside the member to suppress the load and damage caused by external factors. It is also possible to configure

In the conveying device 1 of the embodiment, the connection state detection section (pressure sensor 35 and press pin 42) further includes a cushioning material 36 that covers the pressure sensitive surface 35c of the pressure sensor 35, and is fitted with the connection pin section 33a. When the hole 41 is in the fitted state, the pressing pin 42 presses the pressure sensitive surface 35c via the cushioning material 36.

According to this, the buffer material 36 can absorb low frequency vibrations and ensure robustness. Further, in conjunction with this, it is possible to suppress erroneous detection of connection release due to minute vibrations caused by small steps, slopes, etc. Further, since the pressure-sensitive surface 35c of the pressure-sensitive sensor 35 can be protected by covering it with the cushioning material 36, it is possible to suppress the load and damage to the pressure-sensitive sensor 35 due to external factors.

Furthermore, the method for controlling the conveyance device 1 according to the embodiment includes a drive wheel 20 that is supported by the device body 10 and causes the device body 10 to travel, a body portion 110 and a plurality of driven wheels 120 that are supported by the body portion 110. A connection part 30 that can be connected to the traveling implement 100 and is provided in the device main body 10; and a connection state detection part (pressure sensor 35 and pressing pin 42) that can detect the connection state of the traveling implement 100 at the connecting part 30. , an obstacle detection unit 50 that is capable of detecting the direction of obstacles existing around the device main body 10 and the distance to the obstacles and is provided in the device main body 10, and a drive wheel 20 that connects the device main body via wireless communication. A method for controlling a conveyance device 1, comprising a remote control section (remote controller 70) capable of outputting operation signals for operating 10 running directions and running speeds, the method includes: connecting to a traveling implement 100 by a connection state detection section; a connection state detection step for detecting an obstacle existing around the device main body 10; and an obstacle detection step for detecting an obstacle existing around the device main body 10; In this case, there is a stop step in which the traveling is stopped with priority over control based on the operation signal, and when the connection with the traveling implement 100 is detected and an obstacle is detected in the second detection range 52, the traveling speed is decreased until the traveling speed reaches a predetermined speed. The first detection range 51 is a range within a predetermined distance from the obstacle detection unit 50 and a range in which obstacles near the entire circumference of the device main body 10 are detected. The second detection range 52 is a range within a predetermined distance from the obstacle detection unit 50 that is greater than the distance to the driven wheel 120, and is the maximum movable range of the driven wheel 120 when viewed from the obstacle detection unit 50. 121 is the range between two adjacent non-detection areas 53.

According to this, when the transport device 1 is traveling alone, it avoids a collision by stopping near an obstacle regardless of the operation from the remote control unit (remote controller 70), whereas the transport device 1 When the vehicle is connected to the traveling implement 100 and transporting the traveling implement 100, the vehicle decelerates when approaching an obstacle, and travels at a low speed near the obstacle to avoid a collision. That is, when the traveling device 100 is being transported in a narrow space such as an elevator or a hospital room, collision with an obstacle can be avoided by traveling at low speed without stopping unnecessarily. In addition, when the conveyance device 1 is traveling alone, the obstacle detection range is the area close to the entire circumference of the conveyance device 1, but when it is connected to the traveling device 100, the detection range of obstacles is This is set as the detection range, and the driven wheels 120 of the traveling implement 100 are not detected as an obstacle. Therefore, it can also be applied to a conveying device 1 that is detachably connected to the traveling implement 100.

In the method for controlling the conveying device 1 of the embodiment, in the deceleration step, the upper limit of the torque command value for the drive wheels 20 is lowered by torque control to decelerate the vehicle to a predetermined speed.

When the conveyance device 1 detects an obstacle while being connected to the traveling implement 100 and conveying the traveling implement 100, the speed is reduced to a predetermined speed, but travel at a low speed is permitted. That is, although the torque is limited, the traveling speed can be changed based on the operation from the remote control section (remote controller 70). When a heavy object such as the traveling implement 100 is being transported at a low speed, traveling can be stabilized by suppressing the rotational speed of the motor 21 through torque control.

In addition, the method for controlling the conveyance device 1 of the embodiment further includes a return step of returning the upper limit value of the torque command value to the initial value when no obstacle is detected in the second detection range 52 after the deceleration step. include.

According to this, after exiting from a narrow space to a wide space, the running speed can be increased to transport the traveling implement 100.

In the method for controlling the conveying device 1 according to the embodiment, in the stopping step, the speed command value for the drive wheels 20 is lowered to a predetermined speed by speed control, and the distance to the detected obstacle is less than the predetermined distance. Stop running if necessary.

When the transport device 1 is traveling alone, the weight of the entire traveling object is lighter than when it is connected to the traveling device 100. Furthermore, since the vehicle decelerates and stops on its own with priority over operations from the remote control section (remote controller 70), there is no application of varying external forces from the outside. Therefore, speed control allows smooth deceleration and stable stopping.

Note that this embodiment is not limited to the above aspect. That is, various modifications can be made without departing from the gist of the present embodiment. For example, when switching the obstacle detection range between the first detection range 51 and the second detection range 52, the control unit 60 changes the scanning range by the obstacle detection unit 50 based on the connection state with the traveling implement 100. Alternatively, the entire area may be scanned at all times, and then the range for determining the presence or absence of an obstacle may be changed. In the former case, the obstacle detection section 50 itself may have a function of limiting the range of distance and angle to be detected. In the latter case, the obstacle detection section 50 detects a range that includes at least the first detection range 51 and the second detection range 52, and the control section 60, based on the information acquired from the obstacle detection section 50, It is only necessary to determine whether there is an obstacle in the first detection range 51 or the second detection range 52.

Further, in the embodiment, as shown in FIG. 6, the second detection range 52 is set only to the front and rear of the device main body 10, but the obstacle detection section 50 is also arranged on the left and right sides of the device main body 10. , may also be set between the non-sensing area 53 including the maximum movable range 121 of the two driven wheels 120 on the left side, and between the non-sensing area 53 including the maximum movable range 121 of the two driven wheels 120 on the right side. . Thereby, even if the device main body 10 moves sideways and the direction of movement is in the left-right direction, it is possible to detect obstacles.

1 Transport device 10 Device main body 11 Main body base 12 Wheel base 13 Suspension 14 Shaft member 15 Linear guide mechanism 16 Elastic body 17 Spring retainer 20 Drive wheel 20a Axle 21 Motor 21a Output shaft 22, 23 Pulley 24 Belt 30 Connection portion 31 Load sensor base 33 Load receiving member 33a Connection pin portion 34 Cover member 34a Cavity portion 34b Accommodation portion 34c Pin insertion hole 35 Pressure sensor (connection state detection portion)
35a Base 35b Functional part 35c Pressure-sensitive surface 36 Cushioning material (connection state detection part)
40 Attachment member 41 Fitting hole 42 Press pin (connection state detection part)
42a Tip 50 Obstacle detection section 51 First detection range 52 Second detection range 53 Non-detection area 60 Control section 61 Battery 62 Emergency stop button 70 Remote control (remote control section)
71 Joystick 72 Button 100 Traveling device 110 Main body 111 Frame 120 Driven wheel (free wheel)
121 Maximum range of motion

Claims (13)

a drive wheel that is supported by the device main body and causes the device main body to travel;
a connection part provided on the device main body and connectable to a traveling implement including a main body part and a plurality of driven wheels supported by the main body part;
a connection state detection unit capable of detecting a connection state with the traveling implement at the connection part;
an obstacle detection unit provided in the device main body and capable of detecting a direction of an obstacle existing around the device main body and a distance to the obstacle;
a control unit;
a remote control unit capable of communicating with the control unit via wireless communication and outputting operation signals for controlling the running direction and running speed of the device main body by the drive wheels;
Equipped with
The control unit includes:
Controlling travel based on the operation signal,
If the obstacle detection unit detects an obstacle in the first detection range in a state where the connection state detection unit has not detected the connection with the traveling implement, the operation is performed with priority over control based on the operation signal. stop it,
When the obstacle detection unit detects an obstacle in a second detection range while the connection state detection unit is detecting the connection with the traveling implement, the running speed is reduced to a predetermined speed;
The first detection range is a range within a predetermined distance from the obstacle detection unit, and is a range in which obstacles near the entire circumference of the device main body are detected,
The second detection range is a range within a predetermined distance from the obstacle detection section that is greater than the distance to the driven wheel, and is a range that does not exceed the maximum movable range of the driven wheel when viewed from the obstacle detection section. The range between the two adjacent non-detection areas when used as a detection area,
Conveyance device. The control unit includes:
When the obstacle detection section detects an obstacle in the second detection range while the connection state detection section is detecting the connection with the traveling implement, the torque command value for the drive wheel is determined by torque control. lowering the upper limit of the speed to a predetermined speed,
The conveying device according to claim 1. The control unit includes:
After detecting an obstacle in the second detection range and lowering the upper limit of the torque command value for the drive wheels, if the obstacle detection unit no longer detects an obstacle in the second detection range, the torque Restoring the upper limit of the command value to the initial value,
The conveying device according to claim 2. The control unit includes:
When the obstacle detection unit detects an obstacle in the first detection range in a state where the connection state detection unit does not detect the connection with the traveling implement, the speed command value for the drive wheel is determined by speed control. to reduce speed to a predetermined speed, and stop traveling when the distance to the detected obstacle is less than a predetermined distance;
The conveying device according to claim 1. The control unit includes:
changing the scanning range by the obstacle detection unit based on the connection state with the traveling implement by the connection state detection unit;
The conveying device according to any one of claims 1 to 4. The control unit includes:
changing a range in which the presence or absence of an obstacle is determined among the scanning range detected by the obstacle detection unit, based on the connection state with the traveling implement by the connection state detection unit;
The conveying device according to any one of claims 1 to 4. The connection part is
a load receiving member including a connecting pin part that is movable up and down with respect to the device main body and that projects upward from the upper surface side;
an attachment member that is attached to the traveling implement and has a fitting hole into which the connection pin portion can be inserted from below;
Equipped with
The conveying device according to any one of claims 1 to 4. The connection state detection section includes:
a press pin that is formed to protrude downward from the lower surface side of the attachment member and extend in a direction parallel to the axial direction of the fitting hole;
a pressure-sensitive sensor that is provided at a position where the pressing pin presses the pressure-sensitive surface when the connection pin portion and the fitting hole are fitted, and detects the pressure applied to the pressure-sensitive surface;
Equipped with
The conveying device according to claim 7. The connection state detection section includes:
further comprising a cushioning material that covers the pressure-sensitive surface of the pressure-sensitive sensor,
When the connecting pin portion and the fitting hole are in a fitted state, the pressing pin presses the pressure sensitive surface via the cushioning material.
The conveying device according to claim 8. a drive wheel that is supported by the device main body and causes the device main body to travel;
a connection part provided on the device main body and connectable to a traveling implement including a main body part and a plurality of driven wheels supported by the main body part;
a connection state detection unit capable of detecting a connection state with the traveling implement at the connection part;
an obstacle detection unit provided in the device main body and capable of detecting a direction of an obstacle existing around the device main body and a distance to the obstacle;
a remote control unit capable of outputting operation signals for controlling the running direction and running speed of the device main body by the drive wheels via wireless communication;
A method of controlling a conveying device comprising:
a connection state detection step of detecting connection with the traveling implement by the connection state detection unit;
an obstacle detection step of detecting obstacles existing around the device main body;
a stopping step of stopping the running with priority over processing based on the operation signal when an obstacle is detected in the first detection range without detecting connection with the running implement;
a deceleration step of decelerating the traveling speed to a predetermined speed when the connection with the traveling implement is detected and an obstacle is detected in the second detection range;
including;
The first detection range is a range within a predetermined distance from the obstacle detection unit, and is a range in which obstacles near the entire circumference of the device main body are detected,
The second detection range is a range within a predetermined distance from the obstacle detection section that is greater than the distance to the driven wheel, and is a range that does not exceed the maximum movable range of the driven wheel when viewed from the obstacle detection section. The range between the two adjacent non-detection areas when used as a detection area,
A method of controlling a conveyance device. In the deceleration step, the upper limit of the torque command value for the drive wheels is lowered by torque control to decelerate the drive wheels to a predetermined speed.
A method for controlling a conveying device according to claim 10. After the deceleration step, if an obstacle is no longer detected in the second detection range, the method further includes a return step of returning the upper limit value of the torque command value to an initial value.
A method for controlling a conveying device according to claim 11. In the stopping step, the speed control is performed to reduce the speed command value for the driving wheels to decelerate to a predetermined speed, and the driving is stopped when the distance to the detected obstacle is less than a predetermined distance.
A method for controlling a conveying device according to any one of claims 10 to 12.

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