JP7018745B2 - Transport vehicle, control method and program to control this transport vehicle - Google Patents

Description

The present invention relates to a transport vehicle, a control method and a program for controlling the transport vehicle.

Conventionally, an automatic guided vehicle has been known that enables work to be delivered between a loading platform provided on an automatic guided vehicle and a delivery platform of equipment. For example, Patent Document 1 describes an automatic guided vehicle that is guided by a guidance line to stop at a stop position in front of the equipment and performs work transfer work between the delivery table and the loading platform of the equipment by a robot arm. There is. This automatic guided vehicle can adjust the position of the loading platform with respect to the main body of the automatic guided vehicle in the XY direction (front / rear / left / right direction), Z direction (height direction), and θ direction (rotation direction) via the position adjustment mechanism. Provided in. By doing so, the appropriate position of the loading platform corresponding to the delivery platform of each facility is taught in advance, and the position of the loading platform is adjusted by the robot arm based on the teaching data at the time of delivery work.

Japanese Unexamined Patent Publication No. 2000-263382

However, in the automatic guided vehicle described in Patent Document 1, it is necessary to adjust the position of the loading platform when the delivery operation is performed between the delivery table and the loading platform of the equipment, and the control process at the time of the delivery operation is complicated. There is a problem.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a transport vehicle that can be easily delivered when carrying out a load delivery work. It is also an object of the present invention to provide a control method for such a transport vehicle.

The present invention has taken the following steps to achieve at least one of the above objectives.

The transport vehicle of the present invention
A transport vehicle that loads and transports objects loaded on the loading surface on a loading platform that can move up and down.
A loading platform position adjusting means for adjusting the height of the loading platform within an appropriate range of the loading platform position based on the loading surface, and a loading platform position adjusting means.
After supporting the loading platform side of the object from below and tilting the loading platform side of the object from the loading surface on which the object is loaded to an appropriate range for moving the object, the object is tilted toward the loading platform. The means of transportation to tow and
Equipped with
When adjusting the height of the loading platform to the appropriate range of the loading platform position, the appropriate range of the loading platform position makes the height of the object loading surface of the loading platform higher than the height of the object loading surface of the loading section, and the object is said to be the object . The object loading of the loading portion is such that the bottom surface of the object is in contact with the ridge portion of the side surface of the loading platform existing on the lower surface side of the object and the object is moved from the loading portion toward the loading platform. It is characterized in that a height difference is set between the surface and the object loading surface of the loading platform.
It is a thing.

When the object loaded on the loading surface is loaded and transported, this transport vehicle adjusts the height of the loading platform within the appropriate range of the loading platform position by the loading platform position adjusting means based on the loading surface on which the object is loaded. The moving means supports the loading platform side of the object from below, tilts the loading platform side of the object from the surface of the loading surface of the loading platform to an appropriate range for moving the object, and then pulls the object toward the loading platform. By doing so, the friction between the bottom surface of the object and the loading surface is reduced as compared with the case where the bottom surface of the object is in contact with the loading surface and the object is towed. Can be moved to the loading platform. Further, the object can be moved to the loading platform with a small force as compared with the case where the object is lifted and moved. In other words, when the load-weight capacity of the moving means is the same, the heavier object is compared with the case of towing with the bottom surface of the object in contact with the loading surface or the case of lifting and moving the object. You can move. Here, the "appropriate range of the loading platform position" means the surface of the loading surface and the loading platform at a position where the bottom surface of the object can come into contact with both the loading surface and the surface of the loading platform when the object is moved to the loading platform by means of transportation. Means that the heights of the loading surface and the surface of the loading platform are the same or substantially the same. By doing so, when the object is moved from the loading surface to the loading platform, it can be smoothly moved. Further, the "appropriate range for moving the object" means a state in which the bottom surface on one side surface of the object is separated from the loading surface. For example, the angle formed by the bottom surface of the object and the loading surface is larger than 0 °. Means. By doing so, the friction between the bottom surface of the object and the loading surface can be reduced as compared with the case of 0 °, so that the labor for moving the object can be reduced.

In the transport vehicle of the present invention, the appropriate range of the loading platform position may be characterized in that the height of the surface of the loading platform is higher than the height of the loading surface. By doing so, when the object is moved from the loading surface to the loading platform by using the moving means, the bottom surface of the object moves along the ridge between the surface and the side surface of the loading surface, so that the object is moved. When moving to the bed, the underside of the object is along the ridge between the surface and sides of the load, even if there is a height difference between the surface of the load and the surface of the bed. By moving, the object can be moved to the loading platform. In addition, when moving the object, it is not necessary for the moving means to lift the object, so that the object having a heavier weight can be moved as compared with the case where the object is lifted and moved.

The transport vehicle of the present invention includes an image pickup means capable of capturing an image of the load surface, and the carrier position adjusting means determines the height of the load surface based on the image pickup information obtained by the image pickup means. The height of the surface of the loading platform may be adjusted within an appropriate range of the loading platform position. By doing so, the height of the surface of the loading platform can be adjusted within the appropriate range of the loading platform position based on the imaging information obtained by the imaging means.

The transport vehicle of the present invention includes a plurality of storage units capable of loading the object, and the loading platform position adjusting means adjusts the height of the loading platform based on the height of the surface of the storage unit. The moving means is characterized in that the object is supported from below, the lower surface of the object is pulled to a position higher than the surface of the storage portion, and then the object is pressed toward the storage portion. May be good. By doing so, when the object is moved from the loading platform to the storage section, the bottom surface of the object moves along the surface of the loading platform and the surface of the storage section, so that the object can be moved from the loading platform to the storage section. can. In this way, by moving the object to each of the plurality of storage units, it is possible to transport the plurality of objects at the same time.

The method for controlling a transport vehicle according to the present invention is as follows.
The control method for controlling a transport vehicle according to any one of claims 1 to 3, wherein an object loaded on a loading surface is loaded on a vertically movable loading platform and transported.
When adjusting the height of the loading platform to the appropriate range of the loading platform position based on the loading surface, the appropriate range of the loading platform position is the height of the object loading surface of the loading platform rather than the height of the object loading surface of the loading section. The object is moved from the loading portion toward the loading platform while the bottom surface of the object is in contact with the ridge portion of the side surface of the loading platform existing on the lower surface side of the object. A loading platform position adjustment step for adjusting the height difference between the object loading surface of the loading section and the object loading surface of the loading platform, and
A movement step in which the object is supported from below, the loading platform side of the object is tilted from the loading surface on which the object is loaded to an appropriate range for moving the object, and then the object is towed toward the loading platform. When,
Characterized by including
It is a thing.

In this transport vehicle control method, when the object loaded on the loading surface is loaded and transported, the height of the loading platform is adjusted within the appropriate range of the loading platform position based on the loading surface on which the object is loaded. The moving means supports the loading platform side of the object from below, tilts the loading platform side of the object from the surface of the loading surface to the appropriate range for moving the object, and then pulls the object toward the loading platform. .. By doing so, when moving the object to the loading platform, the lower surface of the object is with the surface of the loading platform even if there is a height difference between the surface of the loading surface and the surface of the loading platform. By moving along the ridge with the side surface, the object can be moved to the loading platform. In addition, when moving the object, it is not necessary for the moving means to lift the object, so that the object having a heavier weight can be moved as compared with the case where the object is lifted and moved.

The program of the present invention is a program for causing one or more computers to execute each step of the control method of the carrier. This program may be recorded on a computer-readable storage medium (eg, hard disk, ROM, CD, DVD, flash memory, etc.) or a transmission medium (communication network such as the Internet or wired / wireless LAN). It may be sent from one computer to another computer via the computer, or may be sent or received in any other form. Further, even if the device is executed by the device that executes each step of the control method, the device in which the program is executed and the device in which the processing is performed may be different. In any case, if this program is executed by one computer or by a plurality of computers in charge of each step, the same effect as the above-mentioned control method can be obtained.

FIG. 1 is a perspective view showing an outline of the configuration of the transport vehicle 20. FIG. 2 is a block diagram for explaining the electrical connection of the transport vehicle 20. FIG. 3 is a flowchart showing an example of a cargo loading processing routine. FIG. 4 is a flowchart showing an example of the storage unit storage processing routine.

Next, the transport vehicle 20 will be described in detail as an example of the embodiment of the present invention. The embodiments and drawings described below exemplify a part of the embodiments of the present invention, are not used for the purpose of limiting to these configurations, and do not deviate from the gist of the present invention. It can be changed as appropriate. The corresponding components in each figure are designated by the same or similar reference numerals. Further, by showing an example of the control method of the transport vehicle 20, an example of the control method of the transport vehicle of the present invention will be clarified.

As shown in FIG. 1, the automatic guided vehicle 20 which is an example of the embodiment of the present invention is an automatic guided vehicle which unmannedly conveys an object 10 such as a storage box by electric power drive, and is wirelessly communicated or predetermined. Load the object according to the transport rules and transport it to the specified location. The transport vehicle 20 controls the movement of the arm portion 30 for moving the object 10, the loading platform 40 for loading the object 10, the storage section 50 for accommodating the object 10, and the arm portion 30 and the loading platform 40. A control unit 60 (see FIG. 2) is provided, and the arm unit 30, the loading platform 40, and the control unit 60 are electrically connected as shown in FIG. In the transport vehicle 20, the control unit 60 controls the movement of the arm unit 30 based on the image pickup information captured by the image pickup means 32, thereby moving the object 10 loaded on the loading unit to the loading platform 40. , The object 10 loaded on the loading unit can be transported.

As shown in FIG. 1, the arm portion 30 is a known 6-axis movable robot arm, and corresponds to the moving means of the present invention. An imaging means 32 is provided on the upper portion of the arm portion 30, and a flat plate-shaped claw portion 34 is provided on the tip portion thereof. The image pickup means 32 is, for example, a known image pickup means such as a digital video camera, and is provided on the upper part of the arm portion 30, so that the direction of the claw portion 34 can be imaged as the arm portion 30 moves. can. Further, since the claw portion 34 is provided at the tip, the object 10 can be pulled up, pressed, or pulled by bringing the claw portion 34 into contact with the bottom surface, the side surface, or the like of the object 10. Can be done.

As shown in FIG. 1, the loading platform 40 is a known jack that can be raised and lowered by a drive mechanism not shown, and the control unit 60 and the drive mechanism not shown are electrically connected to each other, and the control unit 40 is connected to the control unit 40. The height of the loading platform 40 is controlled by 60. When the object 10 is moved from the loading unit to the loading platform 40, the loading platform 40 is adjusted within an appropriate range of the loading platform position according to the height of the loading unit. By doing so, the object 10 can be moved to the loading platform 40 by the arm portion 30. Further, when the object 10 is moved from the loading platform 40 to the storage section 50, the height of the loading platform 40 is adjusted to a position corresponding to the height of the storage section 50, and the object 10 is moved to the loading platform 40 by the arm portion 30. Moving.

As shown in FIG. 1, the storage portions 50 are shelves with open sides on the arm portion 30 side, and four storage portions 50 are provided at substantially equal intervals. Since the side surface of the storage section 50 on the arm portion 30 side is open, the surface of the loading platform 40 is positioned at a position slightly higher than the surface of the storage section 50 when the object 10 is moved from the loading platform 40 to the storage section 50. In this state, the arm portion 30 can easily move from the loading platform 40 to the storage portion 50 by pressing the side surface of the object 10.

As shown in FIG. 2, the control unit 60 is configured as a microprocessor centered on the CPU 61, and has a ROM 62 in which various control programs for controlling the movements of the arm unit 30 and the transport vehicle 20 are stored, and an image pickup means. An interface 64 (hereinafter referred to as "I / F64") for transmitting and receiving various signals between the RAM 63 that temporarily stores the imaging information and the like captured by the 32 and the imaging means 32, the loading platform 40, and the like, respectively. It is electrically connected via the bus 65. The control unit 60 controls the movement of the arm unit 30 and controls the movement of the transport vehicle 20 based on the image pickup information captured by the image pickup means 32.

Next, an object loading processing routine executed by the control unit 60 will be described as an example of an operation executed when the object 10 is moved from the loading unit to the loading platform 40. In this object loading processing routine, when the transport vehicle 20 reaches a predetermined position at a predetermined timing (for example, when an execution command transmitted by remote control is received, or when the transport vehicle 20 reaches a predetermined position, the image pickup means 32 sets a specific target. It is repeatedly executed (in the case of taking a picture, etc.), and controls the movement of the arm portion 30 and the loading platform 40 when the object 10 is moved from the loading section to the loading platform 40. Here, FIG. 3 is a flowchart showing an example of an object loading processing routine.

When the object loading processing routine stored in the ROM 62 is executed by the CPU 61, the CPU 61 adjusts the height of the loading platform 40 within the appropriate range of the loading platform position based on the imaging information received from the imaging means 32 (step S110). ). Specifically, the height of the loading platform 40 is adjusted to an appropriate range of the loading platform position stored in the ROM 62 in advance by operating a drive mechanism (not shown) provided on the loading platform 40. The appropriate range for the position of the loading platform means that the height of the loading platform 40 is substantially the same as the surface of the loading section (the difference between the height of the surface of the loading platform 40 and the surface of the loading section is, for example, 5 cm or less). Sa) means. By doing so, the object 10 can be moved from the loading unit to the loading platform 40.

Subsequently, the CPU 61 transmits a pull-up signal for pulling up the object 10 to the arm portion 30, and tilts the loading platform 40 side of the object 10 within the appropriate range for moving the object (step S120). Specifically, after the claw portion 34 provided at the center portion of the arm portion 30 is brought into contact with the lower surface side of the object 10, the claw portion 34 is raised to within the appropriate range for moving the object. The object movement appropriate range is a predetermined range stored in advance in the ROM 62, and means a range in which the angle formed by the bottom surface of the object 10 and the surface of the loading portion is, for example, 0 ° or more and 10 ° or less. ..

Subsequently, the object 10 is pulled in the direction of the loading platform 40 by the arm portion 30 (step S130). By doing so, the object 10 loaded on the loading unit can be moved to the loading platform 40. At this time, since the object 10 is tilted in advance within the appropriate range for moving the object in step S120, the bottom surface of the object 10 is even if the height of the surface of the loading platform 40 is higher than the height of the surface of the loading portion. Can move the object 10 to the loading platform 40 by moving along the ridge between the surface and the side surface of the loading platform 40. In addition, the force required for the arm portion 30 to move the object 10 can be reduced as compared with the case where the object 10 is lifted and moved.

Subsequently, when the CPU 61 determines that the object 10 is loaded on the loading platform 40, the CPU 61 sends a release signal to release the object 10 to the arm unit 30, moves the arm unit 30 to the initial position (step S140), and then moves the arm unit 30 to the initial position. Exit this routine. By doing so, the object 10 can be loaded on the loading platform 40. The method of determining whether or not the object 10 is loaded on the loading platform 40 may be determined by, for example, equipping the loading platform 40 or the object 10 with a sensor or the like, or determining from the position information of the claw portion 34. You may check it visually.

Next, the movement of storing the object 10 loaded on the loading platform 40 in the storage unit 50 will be described in detail with reference to FIG. When the CPU 61 determines that the object 10 is loaded on the loading platform 40, the object storage processing routine stored in advance in the ROM 62 is executed, so that the object 10 loaded on the loading platform 40 is stored in the storage unit 50. It is stored. Here, FIG. 4 is a flowchart showing an example of the object storage processing routine.

When the object storage processing routine is executed by the CPU 61, the CPU 61 reads out the position information of the storage box stored in advance in the ROM 62, and based on this position information, the loading platform is operated by an unillustrated drive mechanism provided on the loading platform 40. The height of 40 is adjusted within the appropriate range of the loading platform position (step S210). By doing so, the object 10 can be moved from the loading platform 40 to the storage unit 50.

Subsequently, the CPU 61 transmits a pull-up signal for pulling up the object 10 to the arm portion 30, and tilts the arm portion 30 side of the object 10 within an appropriate range for moving the object (step S220). Specifically, after the claw portion 34 provided at the tip portion of the arm portion 30 is brought into contact with the lower surface side of the object 10, the claw portion 34 is raised and the arm portion 30 side of the object 10 is pulled. The object 10 is towed until the angle between the bottom surface of the object 10 and the surface of the loading platform 40 is, for example, greater than 0 ° and 10 ° or less. Subsequently, the arm portion 30 presses the object 10 in the direction of the storage portion 50 (step S230). By doing so, the object 10 loaded on the loading unit can be moved to the storage unit 50. At this time, since the object 10 is tilted in advance within the appropriate range for moving the object in step S220, even if the height of the surface of the loading platform 40 is higher than the height of the surface of the storage portion 50, the object 10 By moving the bottom surface along the surface of the loading platform 40, the object 10 can be moved to the loading platform 40. In addition, the force required for the arm portion 30 to move the object 10 can be reduced as compared with the case where the object 10 is lifted and moved.

Subsequently, when the CPU 61 determines that the object 10 is loaded on the storage unit 50, the CPU 61 transmits a release signal to release the object 10 to the arm unit 30 and moves the arm unit 30 to the initial position (step S240). , End this routine. By doing so, the object 10 can be loaded on the storage unit 50. The method of determining whether or not the object 10 is loaded on the storage unit 50 may be determined, for example, by equipping the storage unit 50 with a sensor or the like, or by determining from the position information of the claw unit 34. good.

According to the transport vehicle 20 of the embodiment described in detail above, when the object 10 loaded on the loading portion is transported, the height of the loading platform 40 is adjusted within the appropriate range of the loading platform position based on the loading portion, and the target is targeted. The lower surface of the object 10 on the loading platform 40 side is towed by the claw portion 34 to an appropriate range for moving the object, and then the object 10 is towed and moved to the loading platform 40 so that the bottom surface of the object 10 is loaded. As compared with the case where the object 10 is towed in contact with the portion, the friction between the bottom surface of the object 10 and the loading portion is reduced, so that the object 10 can be moved to the loading platform with a small force. Further, the object 10 can be moved to the loading platform 40 with a small force as compared with the case where the object 10 is lifted and moved.

Further, when the height of the loading platform 40 is adjusted to the appropriate range of the loading platform position, the height of the surface of the loading platform 40 is adjusted to a position higher than that of the loading portion. Therefore, the arm portion 30 is used to load the object 10 into the loading portion. When moving from the object 0 to the loading platform 40, the bottom surface of the object 10 moves along the ridge between the surface and the side surface of the loading portion. Therefore, when the object 0 is moved to the loading platform 40, the surface of the loading portion Even if there is a height difference from the surface of the loading platform 40, the lower surface of the object 10 moves along the ridge of the loading platform to move the object 10 to the loading platform 40. be able to.

Further, since the image pickup means 32 for capturing the image of the loading portion is provided, the appropriate range of the loading platform position can be adjusted based on the image pickup information captured by the image pickup means 32.

Furthermore, it has a plurality of storage units 50 capable of loading the object 10, and adjusts the height of the loading platform 40 to an appropriate range of the loading platform position based on the height of the storage unit 50, on the storage unit 50 side of the object 10. After the lower surface is towed by the claw portion 34 to the appropriate range for moving the object and the object 10 is tilted, the object 10 is towed and moved to the storage portion 50 so that the bottom surface of the object 10 is in contact with the loading platform 40. Since the friction between the bottom surface of the object 10 and the surface of the loading platform 40 is reduced as compared with the case where the object 10 is towed, the object 10 can be moved to the storage portion 50 with a small force. Further, by moving the object 10 from the loading platform 40 to the storage unit 50, a plurality of objects 10 can be conveyed at the same time.

It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that the present invention can be carried out in various embodiments as long as it belongs to the technical scope of the present invention.

For example, in the above-described embodiment, in step S110, the height of the loading platform 40 is adjusted based on the imaging information received from the imaging means 32, but the height of the loading platform 40 is stored in the ROM 62 in advance. It may be a thing. By doing so, the height of the loading platform 40 can be adjusted even when the image pickup information is not available.

In the above-described embodiment, in step S110, the height of the loading platform 40 is set to be substantially the same as the height of the surface of the loading portion, but the height of the surface of the loading platform 40 is higher than the height of the surface of the loading portion. You may. By doing so, when the object 10 is towed by the arm portion 30 in step S130, the bottom surface of the object 10 moves along the ridge between the surface and the side surface of the loading platform 40, so that the object 10 Can be reliably moved to the loading platform 40.

In the above-described embodiment, in step S210, the height of the loading platform 40 is set within the appropriate range of the loading platform position, but the height of the surface of the loading platform 40 is set to a position higher than the height of the surface of the storage portion 50. May be good. By doing so, when the object 10 is pressed and moved by the arm portion 30, the side surface of the object 10 does not come into contact with the side surface of the storage portion 50, and the object 10 can be smoothly moved to the storage portion 50. can.

When this aspect is adopted, step S220 may be omitted. Since the height of the surface of the loading platform 40 is higher than the height of the surface of the storage unit 50, the object 10 can be moved to the storage unit 50 without tilting.

As shown in the above-described embodiment, it can be used in the field of imaging, particularly as a surface inspection device.

10 ... Object, 20 ... Transport vehicle, 30 ... Arm part, 32 ... Imaging means, 34 ... Claw part, 40 ... Loading platform, 50 ... Storage part, 60 ... Control unit, 61 ... CPU, 62 ... ROM, 63 ... RAM , 64 ... Interface (I / F), 65 ... Bus

Claims (5)

A transport vehicle that loads and transports objects loaded on the loading surface on a loading platform that can move up and down.
A loading platform position adjusting means for adjusting the height of the loading platform within an appropriate range of the loading platform position based on the loading surface, and a loading platform position adjusting means.
After supporting the loading platform side of the object from below and tilting the loading platform side of the object from the loading surface on which the object is loaded to an appropriate range for moving the object, the object is tilted toward the loading platform. The means of transportation to tow and
Equipped with
When adjusting the height of the loading platform to the appropriate range of the loading platform position, the appropriate range of the loading platform position makes the height of the object loading surface of the loading platform higher than the height of the object loading surface of the loading section, and the object is said to be the object . The object loading of the loading portion is such that the bottom surface of the object is in contact with the ridge portion of the side surface of the loading platform existing on the lower surface side of the object and the object is moved from the loading portion toward the loading platform. It is characterized in that a height difference is set between the surface and the object loading surface of the loading platform.
Transport vehicle. The transport vehicle according to claim 1.
An imaging means capable of imaging the loading surface and
Equipped with
The loading platform position adjusting means determines the height of the loading surface based on the imaging information obtained by the imaging means, and adjusts the height of the object loading surface of the loading platform within the appropriate range of the loading platform position. Features,
Transport vehicle. The transport vehicle according to claim 1 or 2.
A plurality of storage units capable of loading the object, and
Equipped with
The loading platform position adjusting means adjusts the height of the loading platform based on the height of the object loading surface of the storage portion.
The moving means is characterized in that the object is supported from below, the lower surface of the object is pulled to a position higher than the surface of the storage portion, and then the object is pressed toward the storage portion. do,
Transport vehicle. The control method for controlling a transport vehicle according to any one of claims 1 to 3, wherein an object loaded on a loading surface is loaded on a vertically movable loading platform and transported.
When adjusting the height of the loading platform to the appropriate range of the loading platform position based on the loading surface, the appropriate range of the loading platform position is the height of the object loading surface of the loading platform rather than the height of the object loading surface of the loading section. The object is moved from the loading portion toward the loading platform while the bottom surface of the object is in contact with the ridge portion of the side surface of the loading platform existing on the lower surface side of the object. A loading platform position adjustment step for adjusting the height difference between the object loading surface of the loading section and the object loading surface of the loading platform, and
A movement step in which the object is supported from below, the loading platform side of the object is tilted from the loading surface on which the object is loaded to an appropriate range for moving the object, and then the object is towed toward the loading platform. When,
Characterized by including
How to control the carrier. A program for executing the transport vehicle control method according to claim 4 on one or more computers.

Images