JP6964273B2 - Bogie control system - Google Patents

Description

The present disclosure relates to a trolley control system, and more particularly to a trolley control system used for loading a vehicle into a ship.

In order to transport commercial vehicles such as automobiles by sea, there is a series of operations to move the commercial vehicles parked in the stockyard into the transport ship and fix them. Among the series of work, the intermediate work of arranging and parking each product vehicle neatly on the floor inside the transport ship requires skillful special skills. This is to store the planned number of vehicles that are set to be transported by one transport vessel as many as possible.

However, if an unskilled person performs the intermediate work, the number of units stored in the transport ship may vary, and the planned number of units may not be stored, resulting in a loss of replacement. It is desirable to suppress variations in the number of units stored and to reliably store the planned number of units on the transport ship.

Therefore, for example, Patent Document 1 proposes a vehicle transporting device capable of floating and supporting a vehicle and transporting the vehicle to a predetermined position. By using Patent Document 1, the vehicle can be transported to a predetermined position without variation.

Japanese Unexamined Patent Publication No. 2004-169451

However, since the vehicle carrier disclosed in Patent Document 1 floats and supports the vehicle from the outside, a passage through which the vehicle carrier passes is required even when the vehicles are parked in parallel. That is, in Patent Document 1, a passage for the vehicle carrier to pass through remains as a space between the vehicles. Therefore, in a limited space such as a floor inside a transport ship, the space of the aisle remaining between the vehicles becomes a dead space, which limits the number of stored vehicles. As a result, the number of stored units is smaller than that of the intermediate work performed by people with variations.

The present disclosure has been made in view of the above circumstances, and an object of the present disclosure is to provide a trolley control system capable of loading a vehicle into a ship such as a transport ship without requiring skilled special skills. do.

In order to achieve the above object, the trolley control system according to one embodiment of the present disclosure is a trolley control system used for loading a vehicle into a ship, and includes a server that transmits information about the target vehicle to be loaded. A trolley robot that autonomously moves based on the received information about the target vehicle, and one or more trolley robots that move the target vehicle to a predetermined position while supporting the target vehicle from below. Be prepared.

As a result, the vehicle can be loaded into the ship without the need for skilled special skills.

According to the present disclosure, it is possible to realize a trolley control system capable of loading a vehicle on a ship without requiring skilled special skills.

It is a figure for demonstrating the outline of the loading work of a vehicle in a ship. It is a figure which shows an example of the structure of the carriage control system in embodiment. It is a figure which shows an example of the top view of the detailed structure of the trolley robot in embodiment. It is a figure which shows an example of the side view of the detailed structure of the trolley robot in embodiment. It is a figure which shows an example of the connection method of the 1st main body part and the 2nd main body part shown in FIG. It is a figure which shows an example of the connection method of the 1st main body part and the 2nd main body part shown in FIG. It is explanatory drawing of the 1st vertical direction roller and 2nd vertical direction roller shown in FIG. It is an example of the X1X2 cross-sectional view of the 1st wheel base shown in FIG. It is explanatory drawing of the function of the 1st wheel base shown in FIG. It is explanatory drawing of the function of the 1st wheel base shown in FIG. It is a flowchart which shows the operation of the trolley robot in embodiment. It is a conceptual diagram of an example of the state of the trolley robot in front of S1 shown in FIG. It is a conceptual diagram of an example of the operating state of the trolley robot in S1 shown in FIG. It is a conceptual diagram of an example of the operating state of the trolley robot in S3 shown in FIG. It is a conceptual diagram of an example of the operating state of the trolley robot in S5 shown in FIG. It is a conceptual diagram of an example of the operating state of the trolley robot in S4 to S6 shown in FIG. It is a conceptual diagram of an example of the operating state of the trolley robot in S7 shown in FIG. It is a conceptual diagram of an example of the positioning operation of the trolley robot in S3 of FIG. It is a conceptual diagram of an example of the positioning operation of the trolley robot in S3 of FIG. It is a conceptual diagram of an example of a state in which the position of the target vehicle mounted on the trolley robot in the embodiment is deviated. It is a conceptual diagram of an example of the state in which the position of the target vehicle mounted on the trolley robot in the embodiment is corrected. It is a figure which shows an example of the structure of the vehicle loading system in the modified example.

Hereinafter, an embodiment of the bogie control system will be described with reference to the drawings. It should be noted that all of the embodiments described below show a preferred specific example in the present disclosure. Therefore, the numerical values, shapes, materials, components, the arrangement positions and connection forms of the components, the processes, the order of the processes, and the like shown in the following embodiments are examples, and the purpose of limiting the present disclosure is to be used. No. Therefore, among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept in the present disclosure will be described as arbitrary components.

It should be noted that each figure is a schematic view and is not necessarily exactly illustrated. Further, in each figure, the same reference numerals are given to substantially the same configurations, and duplicate description will be omitted or simplified.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

(Embodiment)
First, the work of loading a vehicle into a ship will be described.

[Vehicle loading work]
FIG. 1 is a diagram for explaining an outline of a vehicle loading operation in a ship. FIG. 1 shows a diagram in which a large number of commercial vehicles 3 are parked in a ship 1 such as a transport ship and a stockyard 2.

There are three stages in the work of loading the product vehicle 3 into the ship. The first stage work is the work of moving to the floor of the ship 1 to be stored by getting into the commercial vehicle 3 parked in the stockyard 2 as shown in FIG. 1 and driving the vehicle. The second stage work is an intermediate work in which the product vehicles 3 are neatly arranged and parked on each floor of the ship 1. The third stage work is a lashing work of fixing the middle-mounted product vehicle 3 by using the lashing hole on the floor. The lashing hole is a hole that penetrates the deck, which is the floor of the ship 1, and is a hole for hooking a belt that fixes the commercial vehicle 3 to be loaded.

In the present embodiment, the intermediate work, which is the second stage work, is performed by using the bogie control system 10. Hereinafter, the carriage control system 10 will be described.

[Bogie control system 10]
FIG. 2 is a diagram showing an example of the configuration of the carriage control system 10 according to the present embodiment. The bogie control system 10 is used for loading a vehicle into the ship 1. The vehicle here is, for example, a commercial vehicle 3. The trolley control system 10 is installed in the ship 1 and includes a server 11 and one or more trolley robots 12 as shown in FIG. The server 11 and the trolley robot 12 of 1 or more are connected by a wireless network 13 such as a wireless LAN.

<Server 11>
The server 11 group-controls one or more bogie robots 12 and plans the moving trajectory of one or more bogie robots 12 based on the planned number of vehicles that can be carried by the ship 1. , Communicate the planned trajectory. As information for group control, the server 11 targets what kind of vehicle the trolley robot 12 moves to where, what kind of vehicle the trolley robot 12 supports, what kind of vehicle is adjacent to the destination, and so on. Generate and send information about the vehicle.

In the present embodiment, the server 11 transmits, for example, information about the target vehicle to be loaded. Here, the information regarding the target vehicle includes vehicle type information regarding the vehicle type of the target vehicle. In addition, the information regarding the target vehicle may further include vehicle type information of the target vehicle to be loaded on the floor of the ship 1 on which the target vehicle is loaded or for each predetermined area partitioned within the floor. In addition, the information about the target vehicle may further include a predetermined position where the target vehicle should be moved and a waiting place after the movement of the target vehicle.

The vehicle type information is shape information of the vehicle type including at least the outermost shape based on the tire position of the vehicle type of the target vehicle. The vehicle type information may further include the tread width and wheelbase (distance between axles) of the target vehicle, or may include weight information indicating the weight of the target vehicle vehicle type, the weight distribution of the front and rear wheels, and the like. In addition, the vehicle type information may include shape information and weight information of an adjacent vehicle adjacent to the target vehicle at the destination.

The server 11 transmits the vehicle type information of the target vehicle to the trolley robot 12 and also transmits an instruction to adjust the position of the wheel clasp provided on the trolley robot 12 to a position corresponding to the target vehicle. May be good.

Further, the server 11 may transmit a storage start instruction indicating that the target vehicle should be moved after the target vehicle has landed on the trolley robot 12. Further, the server 11 may transmit the waiting place information indicating the waiting place after the storage of the target vehicle to the trolley robot 12.

Further, when the server 11 receives the abnormality information from the trolley robot 12, the server 11 transmits the standby support at the position where the abnormality information is communicated to the trolley robot 12, or a worker or a person in charge who waits in the ship 1 to that effect. May be notified to.

<Bogie robot 12>
The dolly robot 12 is used for loading a vehicle into the ship 1. The dolly robot 12 moves autonomously based on the information about the target vehicle received from the server 11. The dolly robot 12 moves the target vehicle to a predetermined position while supporting the target vehicle from below. Then, the target vehicle is stored by lowering it at the position. More specifically, the bogie robot 12 includes a main body portion for supporting the target vehicle from below, and a traveling drive device capable of moving the main body portion. The traveling drive device moves the main body portion that supports the target vehicle from below in one of the left and right directions of the target vehicle, lowers the target vehicle to the floor of the ship 1 at a predetermined position, and then lowers the main body portion. Is moved from between the front wheels or the rear wheels of the target vehicle to the front or rear of the target vehicle to pull out the main body from the lower region of the target vehicle. The width and length of the main body are smaller than the width and length of the target vehicle, for example, about 1.2 m in width and about 4 m in length. The thickness (height) of the main body is smaller than the height of the bottom of the target vehicle, for example, less than 10 cm. The main body has two long plate-like bodies, which will be described later, and can take a combined state in which the distance between them is shortened. The width of the main body in the combined state is smaller than the distance between the front wheels or the distance between the rear wheels of the target vehicle, for example, less than 1 m. The length and thickness (height) of the main body in the combined state are the same as those described above, and are, for example, about 4 m in length and less than 10 cm in thickness (height). The height of the bottom of the target vehicle varies depending on the model of the target vehicle, but since the height of the bottom of a general vehicle is 10 cm or more, if the thickness (height) of the main body is less than 10 cm. , Can be used for most vehicle models.

Here, the predetermined position is a position where the target vehicle should be moved, and is a position where the target vehicle is aligned with the adjacent vehicle which is a vehicle moved in front of the target vehicle in time. Further, the predetermined position is a position where the distance between one side surface of the target vehicle and the other side surface facing the one side surface of the adjacent vehicle is within a predetermined distance and the one side surface and the other side surface do not come into contact with each other. The predetermined position is a position where the tires of the adjacent vehicle and the target vehicle do not come into contact with each other. The predetermined position is, for example, a position where the mirrors of the adjacent vehicle and the target vehicle do not come into contact with each other when the folded mirrors are projected on the sides of the adjacent vehicle and the target vehicle, for example, the adjacent vehicle and the target. The distance between the mirrors of the vehicle is 5 to 10 cm.

Further, the dolly robot 12 indicates to the server 11 that the target vehicle cannot be moved to the predetermined position when the target vehicle cannot be moved to the predetermined position due to the convex portion including the door mirror of the adjacent vehicle. Send abnormal information.

The dolly robot 12 may further include a sensing unit 129 such as a range finder, a touch sensor, an optical sensor, and / or a weight sensor.

Hereinafter, the specific configuration and operation of the bogie robot 12 will be described with reference to the drawings.

[Structure of trolley robot 12]
FIG. 3 is a diagram showing an example of a top view of the detailed configuration of the dolly robot 12 according to the present embodiment. FIG. 4 is a diagram showing an example of a side view of the detailed configuration of the dolly robot 12 according to the present embodiment. 5 and 6 are views showing an example of a method of connecting the first main body 12A and the second main body 12B shown in FIG. FIG. 7 is an explanatory view of the first vertical roller 122A and the second vertical roller 122B shown in FIG. The ground 60 shown in FIG. 7 corresponds to the floor of the ship 1.

As shown in FIGS. 3 and 4, the main body of the dolly robot 12 includes a first main body 12A and a second main body 12B. Although the first main body 12A and the second main body 12B are connected as shown in FIG. 5 or 6, for example, the distance between the first main body 12A and the second main body 12B can be shortened. It is connected. In addition, FIG. 6 shows a case where they are connected by a telescopic structure 127 having a stretchable rod structure. FIG. 7 shows a case where the first main body 12A and the second main body 12B are connected by a scissors structure 128 whose distance can be changed by a cylinder and a slide mechanism.

Further, each of the first main body portion 12A and the second main body portion 12B has a traveling drive device. The traveling drive device moves the first main body portion 12A and the second main body portion 12B in one of the left-right directions when supporting the target vehicle. When the target vehicle is moved to a predetermined position, the traveling drive device is the one of the first main body 12A and the second main body 12B that is farther from the adjacent vehicle that has been moved in front of the target vehicle in time. First, the one closer to the neighboring vehicle is moved later so as to reduce the distance between the first main body 12A and the second main body 12B, so that the front and rear wheels of the target vehicle farther from the neighboring vehicle are moved first. take down. Further, the traveling drive device moves the distance between the first main body 12A and the second main body 12B so as to be shorter than the distance between the front wheels or the rear wheels of the target vehicle, and then the first main body. The portion 12A and the second main body portion 12B are moved from between the front wheels or the rear wheels of the target vehicle to the front direction or the rear direction of the target vehicle.

When the dolly robot 12 further includes a sensing unit 129 that acquires information indicating the other side surface of the adjacent vehicle, the traveling drive device sets the dolly robot 12 in advance based on the information acquired by the sensing unit 129. It suffices to stop at a fixed position.

Hereinafter, specific configurations of the first main body portion 12A and the second main body portion 12B will be described.

<1st main body 12A>
As shown in FIG. 3, for example, the first main body portion 12A has a long plate shape and supports the front and rear wheels on the left side of the target vehicle. The height of the first main body portion 12A is lower than the height of the bottom surface of the vehicle body of the target vehicle from the ground contact surface (ground), for example, less than 10 cm.

The first main body portion 12A includes a first lateral roller 121A, a first vertical roller 122A, a first wheel stand 123A, a ring fastening 124A, a position adjusting lever 125A, and a slope 126A. The traveling drive device included in the first main body 12A corresponds to the first lateral roller 121A and the first vertical roller 122A. Further, the first main body unit 12A does not have to include a sensing unit 129 such as a range finder or a camera.

≪Running drive device≫
The first lateral roller 121A is composed of a plurality of rollers and a motor that independently operates the plurality of rollers, and moves the first main body 12A in the lateral direction of the first main body 12A. The first lateral roller 121A is provided on the lower surface side of the first main body 12A so that a plurality of rollers come into contact with the ground.

As shown in FIG. 7, for example, the first vertical roller 122A includes a plurality of rollers 1221A, a motor (not shown) that independently operates the plurality of rollers 1221A, and an elevating cylinder 1222A that raises and lowers the plurality of rollers 1221A. The first main body 12A is moved in the longitudinal direction of the first main body 12A. The first vertical roller 122A moves the first main body 12A in the longitudinal direction after the plurality of rollers 1221A are lowered to the ground by the elevating cylinder 1222A. At this time, the plurality of rollers of the first lateral roller 121A float from the ground. On the other hand, the first vertical roller 122A raises and separates a plurality of rollers 1221A from the ground by the elevating cylinder 1222A except when the first main body portion 12A moves in the longitudinal direction. At this time, the plurality of rollers of the first lateral roller 121A are in contact with the ground.

≪First wheel stand 123A≫
FIG. 8 is an example of an X1X2 cross-sectional view of the first wheel base 123A shown in FIG. 9A and 9B are explanatory views of the function of the first wheel base 123A shown in FIG. FIG. 9A shows a diagram when the dolly robot 12 is moving on the ground 60 to the right while supporting the target vehicle 50. FIG. 9B shows a diagram when the first main body 12A of the trolley robot 12 lowers the left wheel 50A of the target vehicle 50 to the ground 60. The ground 60 shown in FIGS. 9A and 9B corresponds to the floor of the ship 1.

The first wheel base 123A is provided on the first main body portion 12A to support the front and rear wheels on the left side of the target vehicle 50. For example, as shown in FIG. 4, the first wheel base 123A is provided in a recessed state in a partial region of the first main body portion 12A. In the present embodiment, the first wheel base 123A is composed of a plurality of rollers 1231A and a buffer mechanism 1232A as shown in FIG.

The plurality of rollers 1231A are provided side by side in the lateral direction of the first main body portion 12A in order to support the front and rear wheels on the left side of the target vehicle. When the first main body portion 12A is moved by the first lateral roller 121A to move the target vehicle, the first lateral roller 121A is rotated and the plurality of rollers 1231A are stationary. By doing so, the first wheel stand 123A can stably move the bogie robot and the vehicle loaded with the bogie robot laterally. On the other hand, when the first main body portion 12A is moved to the inside of the target vehicle by the first lateral roller 121A to lower the target vehicle, the plurality of rollers 1231A may be the first lateral roller 121A as shown in FIG. 9B, for example. Reverse rotation, which is the rotation in the opposite direction to the rotation of multiple rollers. By doing so, the first wheel base 123A can lower the front and rear wheels supported by the carriage robot 12. A weight sensor may be provided on the plurality of rollers 1231A to measure the weight of the target vehicle. In this case, the dolly robot 12 can detect that the front and rear wheels on the left side of the target vehicle supported by the first wheel pedestal 123A are displaced. Further, the plurality of rollers 1231A can be used even when the front and rear wheels on the left side of the target vehicle supported by the first wheel stand 123A are displaced, but the details will be described later.

The shock absorbing mechanism 1232A is one end in the lateral direction of the first main body 12A of the first wheel stand 123A and is the second main body 12B in order to cushion the impact when lowering the front and rear wheels on the left side of the target vehicle. It is provided at one end on the far side. In the example shown in FIG. 3, the buffer mechanism 1232A is provided at one end on the left side of the first wheel base 123A. That is, the shock absorber 1232A is provided at one end on the side opposite to the direction in which the first main body 12A moves when lowering the front and rear wheels on the left side of the target vehicle.

The buffer mechanism 1232A is composed of a plurality of buffer rollers having different sizes. The size of the plurality of buffer rollers may be the same. In the example shown in FIG. 8, the buffer mechanism 1232A is composed of one buffer roller having a diameter smaller than that of the roller 1231A and two buffer rollers having a diameter smaller than the buffer roller, and these are arranged in a triangular shape. ing. With this configuration, the first wheel base 123A can cushion the impact when lowering the front and rear wheels on the left side of the target vehicle.

The wheel clasp 124A is provided on one of the first wheel base 123A and fastens the positions of the front and rear wheels on the left side of the target vehicle. In the example shown in FIG. 3, the wheel clasp 124A is provided on the first wheel base 123A on the front wheel side in order to fasten the position of the front wheel on the left side of the target vehicle. The position of the ring fastener 124A can be adjusted by the position adjustment lever 125A.

The position adjusting lever 125A adjusts the position of the wheel clasp 124A on the first wheel base 123A. The position adjusting lever 125A adjusts the position of the wheel clasp 124A according to the total length of the vehicle type of the target vehicle or the distance between the axes. The position adjusting lever 125A may adjust the position of the wheel fastening 124A according to the vehicle type information including the total length of the vehicle type of the target vehicle or the distance between the axes, which is transmitted from the server 11.

The ring clasp 124A may not be provided when the ring clasp 124B, which will be described later, is provided. When the wheel clamp 124A is not provided on the first wheel base 123A, the position adjusting lever 125A may not be provided either.

≪Slope 126A≫
The slope 126A is provided at the end of the first main body portion 12A and assists the entry of the target vehicle. The material of the slope 126A may be an elastic material such as rubber or a non-slip metal material such as punching. The material does not matter as long as the height of the first main body 12A is inclined to connect the ground and the target vehicle can easily ride on the first main body 12A.

<2nd main body 12B>
As shown in FIG. 3, for example, the second main body portion 12B has a long plate shape and supports the front and rear wheels on the right side of the target vehicle. The height of the second main body portion 12B is lower than the height of the bottom surface of the vehicle body of the target vehicle from the ground contact surface, for example, less than 10 cm.

The second main body portion 12B includes a second horizontal roller 121B, a second vertical roller 122B, a second wheel base 123B, a ring fastener 124B, a position adjusting lever 125B, a slope 126B, and a sensing portion 129. Be prepared. The traveling drive device included in the second main body 12B corresponds to the second horizontal roller 121B and the second vertical roller 122B. Further, the second main body unit 12B does not have to include a sensing unit 129 such as a range finder, a camera, a touch sensor, or an optical sensor.

≪Running drive device≫
The second lateral roller 121B is composed of a plurality of rollers and a motor that independently operates the plurality of rollers, and moves the second main body 12B in the lateral direction of the second main body 12B. The second lateral roller 121B is provided on the lower surface side of the second main body 12B so that a plurality of rollers come into contact with the ground.

As shown in FIG. 7, for example, the second vertical roller 122B includes a plurality of rollers 1221B, a motor (not shown) that independently operates the plurality of rollers 1221B, and an elevating cylinder 1222B that raises and lowers the plurality of rollers 1221B. The second main body 12B is moved in the longitudinal direction of the second main body 12B. The second vertical roller 122B moves the second main body 12B in the longitudinal direction after the plurality of rollers 1221B are lowered to the ground by the elevating cylinder 1222B. At this time, the plurality of rollers of the second lateral roller 121B float from the ground. On the other hand, the second vertical roller 122B raises and separates a plurality of rollers 1221B from the ground by the elevating cylinder 1222B except when the second main body portion 12B moves in the longitudinal direction. At this time, the plurality of rollers of the second lateral roller 121B are in contact with the ground.

≪2nd wheel stand 123B≫
The second wheel base 123B is provided on the second main body portion 12B to support the front and rear wheels on the right side of the target vehicle. For example, as shown in FIG. 4, the second wheel base 123B is provided in a recessed state in a part of the second main body portion 12B. In the present embodiment, the second wheel base 123B is composed of a plurality of rollers 1231B (not shown) and a buffer mechanism 1232B (not shown), similarly to the first wheel base 123A shown in FIG.

The plurality of rollers 1231B are provided side by side in the lateral direction of the second main body portion 12B in order to support the front and rear wheels on the right side of the target vehicle. When the second main body 12B is moved by the second lateral roller 121B to move the target vehicle, the plurality of rollers 1231B may be a plurality of the second lateral rollers 121B, similarly to the plurality of rollers 1231A shown in FIG. 9A, for example. Reverse rotation, which is the rotation in the opposite direction to the rotation of the roller. By doing so, the second wheel base 123B can stably support the front and rear wheels on the right side of the target vehicle while the carriage robot 12 is moving. On the other hand, when the second main body 12B is moved by the second lateral roller 121B to lower the target vehicle, the plurality of rollers 1231B may be the second lateral roller 121B, similarly to the plurality of rollers 1231A shown in FIG. 9B, for example. Forward rotation, which is rotation in the same direction as the rotation of a plurality of rollers. By doing so, the second wheel base 123B can lower the front and rear wheels supported by the carriage robot 12. A weight sensor may be provided on the plurality of rollers 1231B to measure the weight of the target vehicle. In this case, the dolly robot 12 can detect that the front and rear wheels on the right side of the target vehicle supported by the second wheel pedestal 123B are displaced. Further, the plurality of rollers 1231B can be used even when the front and rear wheels on the right side of the target vehicle supported by the second wheel base 123B are displaced, but the details will be described later.

The shock absorbing mechanism 1232B is one end in the lateral direction of the second main body 12B of the second wheel base 123B in order to cushion the impact when lowering the front and rear wheels on the right side of the target vehicle, and is the first main body 12A. It is provided at one end on the far side. In the example shown in FIG. 3, the shock absorber 1232B is provided at one end on the right side of the second wheel base 123B. That is, the shock absorber 1232B is provided at one end on the side opposite to the direction in which the second main body 12B moves when lowering the front and rear wheels on the right side of the target vehicle.

The buffer mechanism 1232B is composed of a plurality of buffer rollers having different sizes. Similar to the buffer mechanism 1232A shown in FIG. 8, the buffer mechanism 1232B is composed of one buffer roller having a diameter smaller than that of the roller 1231B and two buffer rollers having a diameter smaller than the buffer roller, which are triangular. They are arranged in a shape. With this configuration, the second wheel base 123B can cushion the impact when lowering the front and rear wheels on the right side of the target vehicle.

The wheel clasp 124B is provided on one of the second wheel base 123B and fastens the positions of the front and rear wheels on the right side of the target vehicle. In the example shown in FIG. 3, the wheel clasp 124B is provided on the second wheel base 123B on the front wheel side in order to fasten the position of the front wheel on the right side of the target vehicle. The position of the ring clasp 124B can be adjusted by the position adjustment lever 125B.

The position adjusting lever 125B adjusts the position of the wheel clasp 124B on the second wheel base 123B. The position adjusting lever 125B adjusts the position of the wheel clasp 124B according to the total length of the vehicle type of the target vehicle or the distance between the axes. The position adjusting lever 125B may adjust the position of the wheel clamp 124B according to the vehicle type information including the total length of the vehicle type of the target vehicle or the distance between the axes, which is transmitted from the server 11.

The ring clasp 124B may not be provided when the ring clasp 124A is provided. When the wheel clamp 124B is not provided on the second wheel base 123B, the position adjusting lever 125B may not be provided either.

≪Slope 126B≫
The slope 126B is provided at the end of the second main body portion 12B and assists the entry of the target vehicle. Since the material of the slope 126B is the same as that of the slope 126A, the description thereof will be omitted.

≪Sensing unit 129≫
The sensing unit 129 acquires, for example, information indicating another side surface of the adjacent vehicle. Here, the other side surface of the adjacent vehicle corresponds to the side surface of the adjacent vehicle facing one side surface in the left-right direction in which the target vehicle is moved. The sensing unit 129 may be, for example, a touch sensor or an optical sensor.

When the sensing unit 129 is an optical sensor, the sensing unit 129 is, for example, the side surface in the direction in which the dolly robot 12 in a state of supporting the target vehicle moves, that is, the side surface in the right direction of the second main body unit 12B in the example shown in FIG. It may be provided so as to protrude from the surface. FIG. 6 shows an example in which the sensing unit 129 is an optical sensor. One of the two sensing units 129 shown in FIG. 6 is a light source, and the other is a light receiver that receives the light emitted by the light source. As a result, the second main body portion 12B moves, and the protruding sensing portion 129 provided on the side surface of the second main body portion 12B dives into the lower region of the adjacent vehicle, and one of the sensing portions 129 is provided by the tire of the adjacent vehicle or the like. When the light received by the light receiver is interrupted, it can be determined that the target vehicle has sufficiently approached the adjacent vehicle and the target vehicle has been able to move to a predetermined position.

When the sensing unit 129 is a touch sensor, the sensing unit 129 may be provided, for example, on the entire side surface of the trolley robot 12 in a state of supporting the target vehicle on the moving direction side. As a result, when at least a part of the side surface of the second main body 12B comes into contact with the tire or the like of the adjacent vehicle, it is determined that the target vehicle is sufficiently close to the adjacent vehicle and the target vehicle can be moved to a predetermined position. Can be made to.

When the moving direction of the bogie robot 12 in the state of supporting the target vehicle is opposite to the example shown in FIG. 6, the sensing unit 129 may be provided on the moving direction side of the first main body unit 12A. ..

When the sensing unit 129 is a camera or a range finder, it may be provided at four corners of the main body, that is, at both ends of the first main body 12A and both ends of the second main body 12B. As a result, the distance between the other side of the adjacent vehicle and one side of the target vehicle can be obtained, so that when the tire of the target vehicle comes into contact with the tire of the adjacent vehicle, the target vehicle is sufficiently approached and moved to a predetermined position. It can be judged that it was done.

[Operation of trolley robot 12]
The operation of the bogie robot 12 configured as described above will be described below.

FIG. 10 is a flowchart showing the operation of the dolly robot 12 in the present embodiment. FIG. 11 is a conceptual diagram of an example of the state of the trolley robot 12 in front of S1 shown in FIG. FIG. 12 is a conceptual diagram of an example of the operating state of the trolley robot 12 in S1 shown in FIG. FIG. 13 is a conceptual diagram of an example of the operating state of the dolly robot 12 in S3 shown in FIG. FIG. 14 is a conceptual diagram of an example of the operating state of the dolly robot 12 in S5 shown in FIG. FIG. 15 is a conceptual diagram of an example of the operating state of the trolley robot 12 in S4 to S6 shown in FIG. FIG. 16 is a conceptual diagram of an example of the operating state of the dolly robot 12 in S7 shown in FIG.

First, the dolly robot 12 stands by at a predetermined distance beside the adjacent vehicle 51 (to the left in the figure) before the start of the operation shown in FIG. 10, that is, before step S1, for example, as shown in FIG. ing.

The target vehicle 50 shown in FIG. 11 is a vehicle supported and moved by the dolly robot 12 in the operation shown in FIG. FIG. 11 shows a state in which the target vehicle 50 is being driven by the driver and is about to ride on the trolley robot 12. The adjacent vehicle 51 is a vehicle that has already been aligned, that is, has been stored. The adjacent vehicle 51 may be moved and stored by the trolley robot 12 before moving the target vehicle 50, or may be moved and stored by another trolley robot 12. The target vehicle 50 will be parked next to the adjacent vehicle 51 (to the left in the figure) at predetermined intervals.

Next, as shown in FIG. 10, the dolly robot 12 confirms whether the target vehicle 50 is mounted on itself (S1). If it cannot be confirmed (No in S1), the process of S1 is repeated, and if it can be confirmed (Yes in S1), the process proceeds to S2. In the present embodiment, the server 11 indicates that the target vehicle has completed riding and should move in response to an input such as a report that the target vehicle 50 has landed on the trolley robot 12 and then the driver or the like has boarded the robot 12. A start instruction may be sent. In this case, the trolley robot 12 proceeds to the process of S2 if the storage start instruction can be confirmed. It should be noted that the present invention is not limited to the case where the server 11 transmits the storage start instruction. As long as the trolley robot 12 can acquire the storage start instruction, the mode does not matter. For example, the trolley robot 12 may be provided with a button or the like indicating a storage start instruction, and the trolley robot 12 may acquire the storage start instruction when the operator presses the button.

Next, the dolly robot 12 moves by width (S2). More specifically, as shown in FIG. 12, the trolley robot 12 moves in the right direction (lateral direction) of the target vehicle while supporting the target vehicle 50, and closes the distance to the adjacent vehicle 51. Move the width.

Next, the dolly robot 12 confirms whether or not it has reached a predetermined position (S3). If it cannot be confirmed (No in S3), the process of S2, that is, the width shift movement is continued, and if it can be confirmed (Yes in S3), the process proceeds to S4. In the present embodiment, as shown in FIG. 13, the trolley robot 12 is at a position where the target vehicle 50 is aligned with the adjacent vehicle 51, and the distance between the right side surface of the target vehicle 50 and the left side surface of the adjacent vehicle 51 is predetermined. When the vehicle reaches a position within a distance and where the right side surface of the target vehicle 50 and the left side surface of the adjacent vehicle 51 do not come into contact with each other, the vehicle stops and proceeds to the process of S4. In the example shown in FIG. 13, the trolley robot 12 stops when it reaches a position where it does not come into contact with the mirrors of the target vehicle 50 and the adjacent vehicle 51.

Here, in the case where the sensing unit 129 including the light source and the light receiver as shown in FIG. 6 is provided on the right side surface of the second main body unit 12B of the trolley robot 12, the predetermined position has been reached. This will be described as an example of a method for confirming that.

17A and 17B are conceptual diagrams of an example of the positioning operation of the trolley robot 12 in S3 of FIG. As shown in FIG. 17A, the dolly robot 12 continues to move by width. Further, in FIG. 17A, in the trolley robot 12, the light receiver receives the light emitted by the light source at the protruding sensing unit 129 provided on the right side surface of the second main body portion 12B. On the other hand, as shown in FIG. 17B, the dolly robot 12 approaches the adjacent vehicle 51, and the light received by the light receiver of the protruding sensing portion 129 provided on the right side surface of the second main body portion 12B is on the left front and rear of the adjacent vehicle 51. If it is interrupted by the tires of the wheels, the dolly robot 12 determines that it has reached a predetermined position.

Next, the dolly robot 12 stores the target vehicle 50 at the position (S4). The dolly robot 12 moves the distance between the first main body 12A and the second main body 12B at the predetermined position so as to be shorter than the distance between the front wheels or the rear wheels of the target vehicle 50. Then, the target vehicle 50 is stowed by being taken down from itself. More specifically, the trolley robot 12 is located closer to the adjacent vehicle 51 with the first main body 12A located farther from the adjacent vehicle 51 among the first main body 12A and the second main body 12B. By moving the second main body 12B to reduce the distance between the first main body 12A and the second main body 12B, the front and rear wheels on the left side of the target vehicle 50 farther from the adjacent vehicle 51 are placed first. take down. In the example shown in FIG. 14, the front and rear wheels on the left side of the target vehicle 50 are lowered first. By lowering the target vehicle 50 in this way, even if the target vehicle 50 sways (left-right sway in the figure) due to the impact when the target vehicle 50 is lowered from the trolley robot 12, the target vehicle 50 sways on the opposite side to the adjacent vehicle 51. Can be regulated. That is, it is possible to prevent the target vehicle 50 from coming into contact with the adjacent vehicle 51 even if the target vehicle 50 is lowered from the trolley robot 12 and laterally shakes, so that damage to the adjacent vehicle 51 and the target vehicle 50 can be prevented.

Next, the dolly robot 12 moves inward (S5). More specifically, first, the trolley robot 12 sets the distance between the first main body 12A and the second main body 12B from the distance between the front wheels or the rear wheels of the target vehicle 50, as shown in FIG. It is in a united state that has been moved so that it becomes shorter. After that, as shown in FIG. 15, the dolly robot 12 performs an inward pull-out movement of moving the target vehicle 50 from between the rear wheels toward the rear of the target vehicle 50.

Next, the dolly robot 12 moves to the next standby place (S6). More specifically, as shown in FIG. 15, the trolley robot 12 moves to the next standby place while the trolley robot 12 remains in the united state. Although FIG. 15 shows a case where another bogie robot 12'different from the bogie robot 12 is on standby, the number of other bogie robots 12'is not limited to one, and may be plural. However, it may be assumed that there is no other dolly robot 12'(0).

Finally, the dolly robot 12 moves to the next standby place, then returns to the form and stands by (S7). More specifically, as shown in FIG. 16, the bogie robot 12 returns to the original state in which the next target vehicle can ride after canceling the form return, that is, the united state, and stands by. Note that FIG. 16 shows a case where the vehicle 52 next to the target vehicle 50 is mounted on the other trolley robot 12'. The other trolley robot 12'performs the operation shown in FIG. 10 on the vehicle 52 in the same manner as the trolley robot 12.

In S1, even when the trolley robot 12 confirms whether the target vehicle 50 is mounted on itself (Yes in S1), the position of the target vehicle 50 supported by the trolley robot 12 is, for example, as shown in FIG. 18A. It may be out of alignment.

This case will be described below.

FIG. 18A is a conceptual diagram of an example of a state in which the position of the target vehicle mounted on the trolley robot according to the embodiment is deviated. FIG. 18B is a conceptual diagram of an example of a state in which the position of the target vehicle 50 mounted on the dolly robot 12 in the embodiment is corrected. 18A and 18B show an example of a trolley robot 12 in which only the second wheel stand 123B is provided with the wheel clasp 124B, and the first wheel stand 123A is not provided with the wheel clasp.

Here, if the first wheel base 123A and the second wheel base 123B are provided with weight sensors, the bogie robot 12 detects the displacement of the target vehicle 50 by the weight distribution of the front and rear wheels of the target vehicle 50. be able to. The dolly robot 12 may detect the misalignment of the target vehicle 50 by having an imaging means such as a camera.

Then, in such a case, the trolley robot 12 drives the plurality of rollers 1231A of the first wheel pedestal 123A or the plurality of rollers 1231B of the second wheel pedestal 123B to the first wheel pedestal 123A and the second wheel pedestal 123B. The positions of the front and rear wheels of the target vehicle 50 to be mounted are adjusted. As a result, as shown in FIG. 18B, the dolly robot 12 can correct the position of the target vehicle 50 so that the target vehicle 50 is positioned before the dotted line l.

[Effects, etc.]
As described above, according to the trolley control system of the present embodiment, information on one or more trolley robots that autonomously move the target vehicle to a predetermined position while supporting the target vehicle from below, and information on the target vehicle to be loaded. By providing a server for transmitting the above, it is possible to load the vehicle into the ship without the need for skilled special skills.

Here, for example, the predetermined position is a position where the target vehicle is aligned with a neighboring vehicle which is a vehicle moved in front of the target vehicle in time, and is one side surface of the target vehicle and the adjacent vehicle. The distance between the one side surface of the vehicle and the other side surface facing the vehicle may be within a predetermined distance, and the one side surface and the other side surface may not come into contact with each other.

As a result, the target vehicle can be stored in the trolley robot at intervals as long as it does not come into contact with the adjacent vehicle, so that the trolley robot can load the vehicle.

Further, for example, when the dolly robot cannot move the target vehicle to a predetermined position due to the convex portion including the door mirror of the adjacent vehicle, the target vehicle is moved to the predetermined position on the server. Abnormal information indicating that the vehicle cannot be moved may be transmitted.

As a result, in order for the dolly robot to align the target vehicle next to the adjacent vehicle at a predetermined interval, the target vehicle is moving in one of the left-right directions of the target vehicle, and the door mirror of the adjacent vehicle is not closed. When the distance to the vehicle cannot be reduced, the server can detect the abnormality. Therefore, it is possible to have the operator perform a follow-up operation such as closing the door mirror of the adjacent vehicle by notifying the server, so that the trolley robot can load the vehicle.

Further, for example, the information regarding the target vehicle may be vehicle type information regarding the vehicle type of the target vehicle.

Here, for example, the vehicle model information may include shape information of the vehicle model including the outermost shape based on the tire position of the vehicle model.

As a result, the trolley robot can acquire at least vehicle type information such as the size of the target vehicle by the server, so that the trolley robot can load the vehicle based on the vehicle type information.

Further, for example, the vehicle type information may further include weight information of the vehicle type.

As a result, since the dolly robot can acquire the weight information of the target vehicle by the server, it is possible to determine whether or not the vehicle supported by the dolly robot is the target vehicle by the weight. As a result, the dolly robot can be made to load the vehicle based on the correct vehicle type information of the supporting vehicle.

Further, for example, the information regarding the target vehicle may be further the vehicle type information of the vehicle loaded on the floor of the ship on which the target vehicle is loaded or for each predetermined area partitioned within the floor.

As a result, the dolly robot can acquire the vehicle type information on the floor of the ship or the area partitioned within the floor by the server, so that the vehicle type information including the size of the target vehicle and the adjacent vehicle supported by the dolly robot can be acquired. .. As a result, the dolly robot can be made to load the vehicle based on the acquired vehicle type information of the target vehicle and the adjacent vehicle.

According to the bogie control system of the present embodiment as described above, it is possible to properly perform the intermediate work without the need for a person with skilled special skills, so that the planned number of units cannot be stored and the loss is replaced again. Can be suppressed. That is, according to the bogie control system of the present embodiment, the intermediate work can be performed stably and with high quality, so that the energy including the labor and cost required for the intermediate work can be suppressed. can.

(Modification example)
In the above embodiment, the first step of loading the product vehicle 3 into the ship, that is, the work of moving the product vehicle 3 parked in the stockyard 2 to the floor of the ship 1 to be stored is , But it is not limited to this. If the automatic driving technique is developed, the commercial vehicle 3 parked in the stockyard 2 may be moved to the floor of the ship 1 to be stored by the automatic driving. This case will be described below as a modified example.

FIG. 19 is a diagram showing an example of the configuration of the vehicle loading system 4 in the modified example. The same elements as those in FIG. 2 are designated by the same reference numerals, and detailed description thereof will be omitted.

The vehicle loading system 4 shown in FIG. 19 includes a bogie control system 20, an automatic driving system 30, and a planning server 40. The bogie control system 20, the automatic driving system 30, and the planning server 40 are connected by a wireless or wired network.

<Plan server 40>
The planning server 40 transmits information on the loading plan generated based on the vehicle loading plan in the ship to the carriage control system 20 and the automatic driving system 30. For example, the planning server 40 uses planning software or the like to generate a loading plan from a vehicle loading plan in a ship. Further, the planning server 40 generates information for instructing the trolley control system 20 and the automatic driving system 30 from the generated loading plan, and transmits the information regarding the loading plan to the trolley control system 20 and the automatic driving system 30.

<Automatic driving system 30>
The automatic operation system 30 is provided in, for example, the stockyard 2 shown in FIG. 1, and includes a server 31, one or more automatic operation adapters 32, and a positioning system 33, as shown in FIG. The server 31 and one or more automatic operation adapters 32 are connected by a wireless network 34 such as a wireless LAN.

The server 31 controls one or more automatic driving adapters 32 based on the information about the loading plan received from the planning server 40, and the product vehicle 3 to which the automatic driving adapter 32 is attached is to be stored from the stockyard 2 on the ship. Move to floor 1.

The positioning system 33 is a system in which one or more automatic operation adapters 32 are used to measure the current position in the stockyard 2.

The automatic driving adapter 32 is, for example, an adapter that can be connected to the ECU (Engine Control Unit) of the commercial vehicle 3, and automatically controls the operation of the attached commercial vehicle 3. The automatic driving adapter 32 automatically drives and moves the commercial vehicle 3 installed in the ship 1 to be stored, which is instructed by the server 31, while confirming its own current position by the positioning system 33. After moving into the ship 1 to be stored, the automatic operation adapter 32 uses the positioning system 14 or the like in the ship 1 to confirm its own current position in the ship 1 and the ship 1 to be stored. The product vehicle 3 to which it is attached to the inner floor is automatically driven and moved.

<Bogie control system 20>
The trolley control system 20 is used for loading a vehicle into a ship. Here, the vehicle is, for example, a commercial vehicle 3. The trolley control system 20 is installed in the ship 1 and includes a server 21, one or more trolley robots 12, and a positioning system 14, as shown in FIG. The server 21, one or more trolley robots 12, and the automatic driving adapter 32 are connected by a wireless network 13 such as a wireless LAN.

The trolley control system 20 shown in FIG. 19 has a different positioning system 14 and a different configuration of the server 21 as compared with the trolley control system 10 shown in FIG.

In addition to the functions of the server 11 shown in FIG. 2, the server 21 controls the automatic driving adapter 32 to move the commercial vehicle 3 to which the automatic driving adapter 32 is attached to the position of the trolley robot 12 to be attached. Let the trolley robot ride on it. Since other functions are the same as those of the server 11, the description thereof will be omitted.

The positioning system 14 is a system used for measuring the current position of one or more automatic driving adapters 32 in the ship 1.

The automatic driving adapter 32 automatically drives and moves the product vehicle 3 attached to the position specified by the server 21 while confirming its own current position in the ship 1 by the positioning system 14.

[Effects, etc.]
As described above, according to the present modification, the vehicle can be further moved from the stockyard to the inside of the ship by automatic operation. As a result, by simply parking the product vehicle 3 in the stockyard 2 and attaching the automatic driving adapter 32, not only can the vehicle be automatically loaded into the ship without human intervention, but also skillful special skills are required. Vehicles can be loaded without the need for.

The present disclosure can be used for a trolley control system, and in particular, can be used for a trolley control system for causing a trolley robot to perform internal work of a vehicle in a ship.

1 Ship 2 Stockyard 3 Commodity vehicle 4 Vehicle loading system 10, 20 Vehicle control system 11, 21, 31 Server 12 Vehicle robot 12A 1st main unit 12B 2nd main unit 13, 34 Wireless network 14, 33 Positioning system 30 Automatic operation System 40 Planning server 50 Target vehicle 50A Wheels 51 Neighboring vehicles 52 Vehicles 60 Ground 121A 1st horizontal roller 121B 2nd horizontal roller 122A 1st vertical roller 122B 2nd vertical roller 123A 1st wheel base 123B 2nd wheel base 124A, 124B Wheel fastening 125A, 125B Position adjustment lever 126A, 126B Slope 127 Telescopic structure 128 Scissors structure 129 Sensing part 1221A, 1221B, 1231A Roller 1222A, 1222B Lifting cylinder 1232A Buffer mechanism

Claims (7)

A server that sends information about the target vehicle to be loaded, and
Based on the received information relating to the target vehicle, autonomously moves while supported from below said target vehicle A carriage robot to have a body portion with said body portion, said by moving the main body portion Equipped with one or more trolley robots that move the target vehicle to a predetermined position,
The main body
It is composed of a first main body portion that supports the front and rear wheels on one side of the target vehicle and a second main body portion that supports the front and rear wheels on the other side of the target vehicle.
At the predetermined position, the distance between the first main body and the second main body is moved so as to be shorter than the distance between the front wheels of the target vehicle or the rear wheels of the target vehicle. Unload the target vehicle,
Bogie control system. The predetermined position is a position where the target vehicle is aligned with an adjacent vehicle which is a vehicle moved in front of the target vehicle in time, and one side surface of the target vehicle and the one side surface of the adjacent vehicle. The distance between the side surface and the other side surface is within a predetermined distance, and the one side surface and the other side surface do not come into contact with each other.
The trolley control system according to claim 1. When the dolly robot cannot move the target vehicle to a predetermined position due to the convex portion including the door mirror of the adjacent vehicle, the dolly robot tells the server that the target vehicle cannot move to the predetermined position. Send the abnormal information shown,
The trolley control system according to claim 2. The information regarding the target vehicle is vehicle type information regarding the vehicle type of the target vehicle.
The carriage control system according to any one of claims 1 to 3. The vehicle type information includes shape information of the vehicle type including the outermost shape based on the tire position of the vehicle type.
The trolley control system according to claim 4. The vehicle type information further includes weight information of the vehicle type.
The trolley control system according to claim 5. Information relating to the subject vehicle further, a vehicle type information of the vehicle loaded for each predetermined area in which the subject vehicle is defined by the floor or the floor is Ru ship that loaded,
The carriage control system according to any one of claims 4 to 6.

Images