JP7198614B2 - Conveyor, Control Method and Program for Conveyor - Google Patents

Description

TECHNICAL FIELD The present invention relates to a conveying apparatus, a conveying apparatus control method, and a program.

As a background art of this technical field, the abstract of Patent Document 1 below states, "Autonomously move to a safe position with high estimation accuracy according to the past movement history even if it is in a position with poor self-position estimation accuracy. We provide an autonomous mobile robot that can In addition, in paragraph 0013 of the specification of the same document, "The autonomous mobile robot 1 according to the embodiment of the present invention is a quad-rotor type small unmanned helicopter, as shown in the schematic diagram of FIG. The scope of application is not limited to quad-rotor type small unmanned helicopters, but can also be applied to single-rotor type small unmanned helicopters and autonomous mobile robots." ing.

JP 2016-173709 A

By the way, in Patent Document 1, there is no particular mention of applying the autonomous mobile robot as a transport device for a warehouse or the like. In a warehouse, etc., objects to be transported, transport devices, and structures such as walls and columns are arranged at a relatively high density. .
SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a conveying apparatus that can be properly operated, a method of controlling the conveying apparatus, and a program.

In order to solve the above-mentioned problems, the transport apparatus of the present invention includes a traveling unit attached to a housing for traveling on a floor surface, and dividing the floor surface into a plurality of grids to define the positions of obstacles on the floor surface. A storage unit that stores environment map data; and a control unit that controls the traveling unit. The control unit has a grid identification function that identifies the grid to which the aircraft currently belongs. and a position correction function that drives the traveling unit so that a predetermined reference point of the housing approaches a predetermined reference point of the grid to which the apparatus belongs, when a predetermined start command is received; to another grid, after driving the traveling unit so that the reference point of the housing approaches the reference point of the grid to which it belongs, the traveling unit moves the self-propelled aircraft to the other grid and a function of driving the

ADVANTAGE OF THE INVENTION According to this invention, a conveying apparatus can be used appropriately.

1 is a perspective view showing a transport robot applied to one embodiment of the present invention and a shelf to be transported; FIG. 1 is a perspective view of a transfer robot; FIG. It is a top view of a warehouse. It is a schematic diagram of environment map data. 4 is a block diagram of a control unit arranged in the housing of the transfer robot; FIG. 3 is a block diagram of a general control device; FIG. FIG. 11 is an operation explanatory diagram showing the operation when the transport robot is brought into the storage space from the outside; FIG. 10 is an operation explanatory diagram of position detection using a bar code; FIG. 10 is an explanatory diagram of a position correcting operation of the transport robot; It is a schematic diagram of position correction. 4 is a flow chart of a processing program executed by a transport robot; 4 is a flowchart of a processing program executed by a central control device;

<Configuration of Embodiment>
(Conveyor robot 102)
Hereinafter, the configuration of the warehouse system according to one embodiment of the present invention will be described in detail. The warehouse system according to the present embodiment is applied to applications such as when a warehouse company stores goods in a mail-order warehouse and ships goods therefrom. However, the present invention can also be applied, for example, when a manufacturer or the like stores and manages parts in-house. It should be noted that the "goods" in the present embodiment is a concept that includes commodities to be traded, other products, parts, and the like.
FIG. 1 is a perspective view showing a transport robot 102 (transport device) applied to this embodiment and a shelf 111 to be transported. The shelf 111 includes an article storage section 112 in the shape of a substantially rectangular parallelepiped frame, and four support legs 114 protruding downward from four corners of the article storage section 112 .

As shown in FIG. 1, the transport robot 102 can crawl into the space below the article storage section 112 . The transport robot 102 can lift and move the shelf 111 by pushing up the article storage unit 112 from below. In this embodiment, when the transport robot 102 slips under the article storage section 112, the transport robot 102 slips in from one of the illustrated "front and back" or "left and right" directions. If an attempt is made to slip in from a direction oblique to the “front-rear” or “left-right” direction, the transport robot 102 and the support legs 114 may collide.

FIG. 2 is a perspective view of the transport robot 102. As shown in FIG. In FIG. 2, the transport robot 102 has a substantially rectangular parallelepiped housing 102a, and a pair of wheels 120 (running section) are attached to the bottom of the housing 102a. By rotating the pair of wheels 120 in the same direction, the transfer robot 102 can be moved on the floor surface. Further, by rotating the pair of wheels 120 in different directions, the transport robot 102 can be turned on the floor while maintaining the orientation of the shelf 111 (see FIG. 1) being transported. The height of the transport robot 102 is, for example, about 20 cm.

At the center of the upper surface of the transfer robot 102, a substantially disk-shaped shelf support portion 122 is provided. When the shelf support portion 122 is lifted upward, the shelf support portion 122 contacts the bottom plate of the article storage portion 112 (see FIG. 1) and pushes up the bottom plate, thereby pushing the shelf 111 upward. The transport robot 102 has collision detection units 124 on four sides. The collision detection unit 124 emits electromagnetic waves such as an infrared laser or radio waves to the surroundings. Then, when the radiated electromagnetic waves are reflected by surrounding obstacles, the collision detection unit 124 detects the position of the obstacles based on the reflection state. Thereby, collision between the transport robot 102 and the obstacle can be prevented.

In addition, the transport robot 102 is equipped with a laser scanner 130 (obstacle detection unit) such as LIDAR (Laser Imaging Detection and Ranging) at one corner of the housing in order to detect situations in a wider range. Since the laser scanner 130 is provided at one corner of the housing, the laser scanner 130 can detect the surrounding conditions within an angular range of about 270°.

The transport robot 102 also includes a wireless communication device 123, an infrared communication device 125, a camera 127 (identification mark reader), an operation/display unit 128, and a control unit 720 (computer). The wireless communication device 123 performs wireless communication with a general control device (not shown). Here, the integrated control device is a device that performs integrated control of the operations of the plurality of transport robots 102 .

The infrared communication device 125 also performs infrared communication with surrounding equipment such as a charging station (not shown). A camera 127 is installed at the bottom of the transfer robot 102 . The camera 127 has a function of reading a bar code (not shown) displayed on the floor, and the transport robot 102 can thereby recognize its own position. The operation/display unit 128 includes various push buttons, lamps, and the like operated by the operator.

(Warehouse 100)
FIG. 3 is a plan view of the warehouse 100 applied to this embodiment.
In the illustrated example, the warehouse 100 is a one-story building comprising a storage space 202 (floor surface), a work space 203, and a partition wall 204 separating them. A plurality of shelves 111 and a plurality of transport robots 102 that transport the shelves 111 are arranged in the storage space 202 . A work space 203 is a space where workers work.

The partition wall 204 is, for example, a wire mesh, and includes an entry gate 205 for entering articles into the storage space 202 and an exit gate 206 for exiting the article from the storage space 202 . Here, "warehousing" means, for example, storing an article purchased from a supplier in the storage space 202 . Also, "delivery" means, for example, taking out an article from the storage space 202 according to a customer's order.

The storage space 202 has a substantially rectangular shape, and walls 142, 144, and 146 (obstacles) indicated by dashed lines are erected at locations corresponding to the upper, right, and left sides in the figure, respectively. Walls 142, 144, and 146 are walls extending from the floor to the ceiling. A wall 148 indicated by a dashed line is erected at a location corresponding to the lower side of the storage space 202 in the drawing. The wall 148 is a low wall, and has a height (for example, about 20 cm) that can be detected by the transport robot 102 with the collision detector 124 and the laser scanner 130 (see FIG. 1).

In addition, five pillars 132, 134, 136, 138, 140 (obstacles) are erected inside the storage space 202 to support the building. In addition, the storage space 202 is virtually partitioned into grids 107 that are a plurality of square areas. In the illustrated example, a grid 107 of "12" columns in the X direction and "7" rows in the Y direction is formed. Each grid 107 can be identified by grid coordinates of the form "(X,Y)". In other words, in the illustrated example, the grid 107 is formed in the range of grid coordinates (1,1) to (12,7).

The positions of the racks 111 and the transport robots 102 in the storage space 202 are managed in units of grids. Here, since the grid demarcates the storage space 202 virtually, lines or the like demarcating the grid are not drawn on the floor surface of the storage space 202 . However, in order to enable the transport robot 102 to accurately grasp its own position, a bar code 208 (identification mark) indicating its position is attached to some of the grids. Note that in the example shown in FIG. 3, the barcode 208 is shown only in one grid, and illustration of the other barcodes 208 is omitted.

Storage space 202 and working space 203 may have any size. The shape and area of the grid 107 are also arbitrary, but one grid preferably has a shape and area that allow one shelf 111 to fit without gaps. In the storage space 202, the plurality of shelves 111 are arranged so that 2 columns×3 rows=6 pieces form one “island”. However, the shape of the island and the number of shelves 111 belonging to one island are arbitrary.

In FIG. 3, the shelf 111 is represented by a “bold square with crosshairs”. In addition, the transport robot 102 is represented by a “slightly small chamfered square with a circle drawn in the center”. Further, as shown in FIG. 1, the transport robot 102 crawls under the shelf 111 to transport the shelf 111. As shown in FIG. The transport robot 102 and shelf 111 in that state are called a "collection". In FIG. 3, the aggregate 211 is expressed as a figure in which "a thick square with a cross line" and "a slightly smaller chamfered square with a circle drawn in the center" are superimposed.

(environmental map data)
FIG. 4 is a schematic diagram of the environment map data 180 applied to this embodiment.
The environment map data 180 is map data used by the transport robot 102 to estimate its own position. Environment map data 180 includes position information corresponding to walls 142, 144, 146, 148, columns 132, 134, 136, 138, 140, and grid 107 shown in FIG. The environment map data 180 may be generated by measuring the internal structure of the storage space 202, or may be generated based on CAD data when the warehouse 100 was constructed.

In FIG. 4, columns 132-140 and walls 142-148 are shown in solid lines. These pillars and walls indicated by solid lines are elements that can be detected by the laser scanner 130 (see FIG. 2) of the transfer robot 102 . The transport robot 102 can estimate the current position of the robot by collating the surrounding state of the robot detected by the laser scanner 130 with the environment map data 180 .

In addition to the pillars 132 to 140 and the walls 142 to 148, markers for the transfer robot 102 to detect its own position may be placed anywhere in the storage space 202. FIG. This marker can be composed of, for example, a signboard temporarily installed in the storage space 202 and a reflective material attached to the signboard. Unlike the pillars 132-140 and the walls 142-148, etc., this type of marker is not fixed to the building, so the installation arrangement can be changed according to the situation.

(goods receipt and goods issue)
The chronological movements of the transport robot 102 and the like at the time of warehousing of articles are outlined below.
- As shown in FIG. 1, the transfer robot 102 moves to the space below the target shelf 111 .
- The transport robot 102 lifts the shelf 111, moves in the storage space 202 shown in FIG.
- The worker stores the article on the shelf 111 through the entrance gate 205 .
• The transport robot 102 transports the shelf 111 containing the item to its original position or to another position within the storage space 202 .
- After lowering the shelf 111 to the floor, the transport robot 102 goes out to the aisle or the like and waits for the next transport.

In addition, the chronological movements of the transport robot 102 and the like at the time of unloading of articles are outlined below.
- The transport robot 102 moves to the space below the shelf 111 where the target article is stored.
- The transport robot 102 lifts the shelf 111 , moves in the storage space 202 , and transports it to the exit gate 206 .
- The worker takes out the article from the shelf 111 through the delivery gate 206 .
- The transport robot 102 transports the shelf 111 from which the item has been taken to its original position or another position within the storage space 202 .
- After lowering the shelf to the floor, the transport robot 102 goes out to the aisle or the like and waits for the next transport.

(Control device for transport robot)
FIG. 5 is a block diagram of the controller 720 arranged in the housing of the transfer robot 102. As shown in FIG.
The control unit 720 includes a central processing unit 732, a storage unit 733, a communication unit 735, an antenna 736, a collision detection control unit 740, a laser scanner control unit 742, a camera control unit 744, and a wheel control device 746. , a shelf support controller 748 and an input/output controller 750 .

The storage unit 733 stores control programs and various data. The central processing unit 732 controls each unit in the transport robot 102 based on the control program or the like stored in the storage unit 733 . Therefore, the control unit 720 has a function as a computer. The communication unit 735 controls the wireless communication device 123 and the infrared communication device 125 (see FIG. 2) to perform various communications with external devices. The collision detection control section 740 controls the collision detection section 124 (see FIG. 2).

The laser scanner control section 742 controls the laser scanner 130 (see FIG. 2), and the camera control section 744 controls the camera 127 (see FIG. 2) provided on the bottom of the transport robot 102. FIG. The wheel control device 746 controls the rotation state of the wheels 120 (see FIG. 2) of the transfer robot 102 . The shelf support controller 748 vertically moves the shelf support 122 (see FIG. 2) at the center of the upper surface. The input/output control unit 750 uses the operation/display unit 128 (see FIG. 2) to input/output various data to/from the outside.

(Integrated control device)
FIG. 6 is a block diagram of the general control device 230 (control device) applied to this embodiment.
The overall control device 230 is arranged in, for example, an office space (not shown) of a warehouse company, and performs overall control of the operations of a plurality of transport robots 102 operated in the storage space 202 . The integrated control device 230 includes a central processing unit 232 , a storage unit 233 , an input/output unit 234 , a communication unit 235 and an antenna 236 . The storage unit 233 stores control programs, various data, and the like. In particular, the storage unit 233 stores environment map data 180 (see FIG. 4). The central processing unit 232 controls the multiple transport robots 102 based on control programs and the like stored in the storage unit 233 . Therefore, the general control device 230 also has a function as a computer.

<Operation of Embodiment>
(Initial operation of transfer robot 102)
FIG. 7 is an operation explanatory diagram showing the operation when the transport robot 102 is brought into the storage space 202 from the outside.
The operator carries the transport robot 102 into the storage space 202 through the entrance gate 205 and operates the operation/display unit 128 (see FIG. 2) to turn on the power. When the power is turned on, the transport robot 102 establishes communication with the general controller 230 (see FIG. 6) and downloads the environment map data 180 (see FIG. 4) from the general controller 230. FIG.

After communication with the general control device 230 is established, when the operator issues a predetermined “start command” on the operation/display unit 128, the transport robot 102 uses the laser scanner 130 (see FIG. 2) to scan the surroundings. Detect the position of existing objects. However, instead of the operator issuing the "start instruction", the integrated control device 230 may transmit the "start instruction" to the transport robot 102. FIG. A range in which the position of an object can be detected by the laser scanner 130 is called a "laser measurement range 150".

In the example shown in FIG. 7, the transport robot 102 irradiates a pillar 134 with a laser beam and acquires the position of the pillar 134 . After completing the position detection of the surrounding objects, the transport robot 102 detects the position of itself by comparing the position information of the surrounding objects with the environment map data 180 (see FIG. 4).

(Position detection using barcode)
The transport robot 102 can also detect its own position using a barcode. FIG. 8 is an operation explanatory diagram of position detection using a bar code.
In the example shown in FIG. 8, a bar code 208 is attached to the floor grid adjacent to the entrance gate 205 . After placing the transport robot 102 at the entrance gate 205, the operator performs a predetermined bar code reading command operation on the operation/display unit 128 (see FIG. 2).

However, reading of the barcode 208 may be executed according to a barcode reading command supplied from the central control device 230 (see FIG. 6). When a barcode reading command is supplied from the operation/display unit 128 or the integrated control device 230, the transport robot 102 advances by a distance corresponding to one grid. As a result, the transport robot 102 moves above the barcode 208 . Next, the transport robot 102 reads the bar code 208 using the camera 127 (see FIG. 2), recognizes its own position information, and transmits the content to the general control device 230 .

In the example described above, the transport robot 102 detects its own position using the bar code 208 on the floor, but the detection result from the laser scanner 130 may also be used to detect its own position. In this way, by detecting the position of one's own device using a plurality of methods, the accuracy and reliability of position detection can be improved. Also, in the above example, the operation at the initial stage when the transport robot 102 is carried into the storage space 202 has been described, but the same operation may be performed at stages other than the initial stage.

For example, when the transport robot 102 breaks down and is recovered and repaired, the same operation may be performed when the repaired transport robot 102 is carried into the storage space 202 again. Also, in the above example, the transport robot 102 starts its operation from the position of the grid adjacent to the storage gate 205, but the grid on which it starts its operation is not limited to this. That is, the transport robot 102 can initiate operations at any grid within the storage space 202 .

(Position Correction of Transfer Robot 102)
FIG. 9 is an explanatory diagram of the position correcting operation of the transport robot 102. FIG. Here, "positional correction" means that the reference point of the transfer robot 102 is brought closer to (ideally coincident with) the reference point of the current grid 107, and the wheel 120 (see FIG. 2) of the transfer robot 102 is adjusted. ). In this embodiment, the reference point of the transport robot 102 is the center point of the transport robot 102 , and the reference point of the grid 107 is the center point of the grid 107 .
In the illustrated example, it is assumed that the transport robot 102 is carried into the storage space 202 from the entrance gate 205 and the surrounding conditions are scanned using the laser scanner 130 . Then, the transport robot 102 can acquire relative position information (position information with the transport robot 102 as a reference) of the object existing within the laser measurement range 150 .

In the illustrated example, the laser measurement range 150 includes a portion of the pillar 134 and a portion of the wall 148, so the transfer robot 102 recognizes the relative positional information of these portions. . The transport robot 102 collates this relative position information with the environment map data 180 (see FIG. 4) to estimate its own position information in the environment map data 180 .

In the illustrated example, it is assumed that the transport robot 102 is carried into the storage space 202 from the grid 107 a of grid coordinates (2, 1) adjacent to the storage gate 205 . However, the transport robot 102 partially protrudes into the grid 107b of grid coordinates (3, 1) and other grids. Further, the transport robot 102 is arranged obliquely with respect to each grid.

The "own position information" estimated by the transport robot 102 includes "belonging grid coordinates" and "positional deviation". Here, the "belonging grid coordinates" are the coordinates of the grid 107 (hereinafter referred to as "belonging grid") to which the center point of the aircraft belongs. In the example of FIG. 9, the center point 102P (reference point) of the transfer robot 102 belongs to the grid 107a, so its grid coordinates (2, 1) are the grid coordinates to which the transfer robot 102 belongs. The "positional deviation" is the deviation between the center point of the assigned grid and the center point 102P of the own aircraft. That is, the position deviation is a vector quantity with length and direction.

In the state shown in FIG. 9, it is assumed that the transport robot 102 is moved to the grid 107c having grid coordinates (2, 3). It is not impossible to employ a linear movement path as indicated by arrow 162 to accomplish this movement. However, if another transport robot 102b arranged at grid coordinates (3, 3) is to be moved to grid coordinates (3, 2) at the timing when the transport robot 102 is to be moved, the transport robots 102 and 102b may collide.

In order to reduce the possibility of such collisions, the transfer robot 102 performs position correction in this embodiment.
FIG. 10 is a schematic diagram of position correction. In the position correction, based on the above-described positional deviation, the wheels 120 (see FIG. 2) of the transfer robot 102 are rotated, and the wheels 120 are reversely rotated left and right. The center point 102P of the transfer robot 102 is brought closer to (ideally coincident with) the center point 117a of the grid 107a.

After completing one position correction, the transfer robot 102 reconfirms the positional relationship with the pillar 134 and the wall 148 again using the laser scanner 130 (see FIG. 2), and integrates the reconfirmation results. Send to control device 230 .
As a result, the transfer robot 102 moves from the vicinity of the center of the grid 107a to which it belongs to the grid 107c at the grid coordinates (2, 3) via the adjacent grid coordinates (2, 2). . Therefore, even if another transport robot 102b (see FIG. 9) is arranged at another adjacent grid coordinate (3, 2), the transport robots 102 and 102b will never come into contact with each other. This allows the transfer robot 102 to start near the center of the grid and move to another grid.

(Transfer robot processing procedure)
FIG. 11 is a flowchart of a processing program executed by the transport robot 102 when the transport robot 102 starts operating. Note that this program is started, for example, when the transfer robot 102 is powered on or when the operator performs a predetermined reset operation on the operation/display unit 128 . The processing program shown in FIG. 11 is for one transport robot 102. When a plurality of transport robots 102 start operating, processes corresponding to the number of transport robots 102 are activated, and each process is executed. , the processing program is started.

When the process proceeds to step S102 in FIG. 11 , the communication section 735 (see FIG. 5) of the transport robot 102 establishes communication with the communication section 235 of the general control device 230 . Next, when the process proceeds to step S<b>104 , the communication unit 735 downloads and acquires the environment map data 180 (see FIG. 4 ) from the central control device 230 .

Next, when the process proceeds to step S106, the process waits until a predetermined "start command" is supplied. The start command may be supplied by the operator operating the operation/display unit 128 (see FIG. 2), or may be supplied from the central control device 230 to the transport robot 102 by communication. However, if the position of the transport robot 102 is out of the predetermined start position (for example, the position of the transport robot 102 shown in FIG. 7) at this point, the operator pushes the transport robot 102 by hand, for example, to the start position. Can be moved to position.

Then, when a start command is supplied to the transport robot 102, the process proceeds to step S108. Here, the central processing unit 732 causes the laser scanner 130 to scan the surroundings, and stores the resulting scan data in the storage unit 733 . Next, when the process proceeds to step S110, the central processing unit 732 compares the environment map data 180 stored in the storage unit 733 with the scan data to estimate the grid to which the transport robot 102 belongs.

Next, when the process proceeds to step S<b>112 , the central processing unit 732 of the transport robot 102 transmits the belonging grid coordinates to the overall control device 230 . Next, when the process proceeds to step S114, the central processing unit 732 calculates the positional deviation. As described above, the "positional deviation" is a vector quantity representing the deviation between the center point of the assigned grid and the center point of the own aircraft.

Next, when the process proceeds to step S116, the central processing unit 732 determines whether or not position correction of the own machine is necessary. For example, if the absolute value of the above-described positional deviation is equal to or greater than a predetermined threshold, it is determined as "Yes" (position correction is required), otherwise, it is determined as "No" (position correction is not required). . If it is determined "Yes" (position correction is required) in step S116, the process proceeds to step S124.

In step S<b>124 , central processing unit 732 determines whether “position correction instruction” has already been received from central control device 230 . Here, the "position correction instruction" is an instruction from the central control device 230 to the transport robot 102 to execute position correction. If it is determined to be "No" (the position correction instruction has not been received) in step S124, the process proceeds to step S126.

In step S<b>126 , the central processing unit 732 transmits a “position correction required report” to the overall control device 230 via the communication unit 735 . Here, the "position correction required report" is a report to the effect that position correction is required. Next, when the process proceeds to step S<b>128 , the process waits until a position correction instruction is received from the central control device 230 . Then, when the communication unit 735 receives the position correction instruction from the central control device 230, the process proceeds to step S130. In step S130, the central processing unit 732 performs position correction. That is, the wheels 120 (see FIG. 2) of the transport robot 102 are driven so that the reference point (eg, center point) of the transport robot 102 approaches the current reference point (eg, center point) of the grid 107 .

Next, the processes of steps S108 to S114 described above are executed. That is, the central processing unit 732 acquires the scan data again (S108), estimates the grid to which it belongs (S110), transmits the coordinates of the grid to which it belongs to the central control device 230 (S112), and calculates the positional deviation (S114). ). Next, when the process proceeds to step S116, the central processing unit 732 determines again whether or not the position of the own machine needs to be corrected. "Position correction" was previously performed in step S130, but there are cases where the absolute value of the position deviation does not become less than the threshold value described above. In such a case, it is determined as "Yes" (position correction is required) in step S116, and the process proceeds to step S124.

As described above, in step S<b>124 , the central processing unit 732 determines whether or not the “position correction instruction” has already been received from the overall control device 230 . Here, the "position correction instruction" should have already been received when the execution of step S128 (standby until receiving the position correction instruction) was completed last time. Therefore, in this case, the determination in step S124 is "Yes" (the position correction instruction has been received), and the position correction is executed again in step S130.

After that, the loop of steps S108 to S116, S124, and S130 is repeated until it is determined "No" (position correction is unnecessary) in step S116. Then, if determined as "No" in step S116, the process proceeds to step S118. Here, the central processing unit 732 transmits the “not required to correct position/end report” to the overall control device 230 via the communication unit 735 . Here, the "position correction unnecessary/completion report" is information indicating that "position correction is completed" or "position correction was not necessary in the first place".

Next, when the process proceeds to step S<b>120 , the process waits until a “movement instruction” is received from the central control device 230 . Here, the "movement instruction" is an instruction to move the transport robot 102 to another grid 107 different from the current grid 107, and also designates a movement route to follow when moving. Then, the specified movement route is specified so as to sequentially trace grids adjacent in the X direction or the Y direction (see FIG. 3).

Upon receiving the movement instruction from the general control device 230, the process proceeds to step S122, and the central processing unit 732 moves the transport robot 102 to the target grid 107 via the designated movement route. With the above, the processing of this program ends. As described above, in this embodiment, the "movement instruction" is designated to sequentially trace adjacent grids in the X direction or Y direction (see FIG. 3). Therefore, even if another transport robot, shelf 111, or the like exists in a direction oblique to the X-axis or the Y-axis, the transport robot 102 does not come into contact with the other transport robot, shelf 111, or the like. can be moved to the grid 107 where the

(Processing procedure of the central control device 230)
FIG. 12 is a flowchart of a processing program executed by the general control device 230 when the transport robot 102 is started.
When the process proceeds to step S202 in FIG. 12, the communication unit 235 (see FIG. 5) receives a position correction required report (see FIG. 11, S126) or a position correction unnecessary/end report (see FIG. 11, S118) from the transport robot 102. The process waits until one of them is received. When the communication unit 235 receives any report, the process proceeds to step S204, and the central processing unit 232 determines whether or not position correction is necessary according to the content of the received report.

First, when the position correction unnecessary/end report is received, it is determined as "No" (position correction unnecessary) in step S204, and the process proceeds to step S212. The processing contents of this step S212 will be described later. On the other hand, when the communication unit 235 receives the position correction necessity report, it is determined as "Yes" (position correction is necessary) in step S204, and the process proceeds to step S206. In step S206, the central processing unit 232 causes the processing to wait until the timing at which the position correction should be executed.

For example, when another transport robot is about to pass near the transport robot 102 to be controlled, the position correction execution timing is delayed until the other transport robot passes in order to avoid interference with the other transport robot. can be delayed. Next, when the timing for performing position correction arrives, the process proceeds to step S208. Here, the central processing unit 232 transmits a position correction instruction to the transport robot 102 via the communication unit 235 . Next, when the process proceeds to step S<b>210 , the process waits until the communication unit 235 receives the position correction unnecessary/end report from the transport robot 102 .

Then, when the position correction unnecessary/end report is received from the transfer robot 102, the process proceeds to step S212 in FIG. In step S212, the overall control device 230 determines the destination grid 107 of the transport robot 102 and the movement route to reach the grid 107, and transmits the details to the transport robot 102 as a movement instruction. With the above, the processing of this program ends.

<Effect of the embodiment>
As described above, according to the present embodiment, the control unit (720) has a belonging grid specifying function (S110) for specifying a belonging grid, which is one grid (107) to which the aircraft currently belongs, and a predetermined start grid specifying function (S110). A position correction function (S130) that drives the traveling unit (120) so that the predetermined reference point (102P) of the housing (102a) approaches the predetermined reference point (102P) of the grid to which it belongs when the command is received; , have
As a result, the transport device (102) can be driven from the vicinity of the central part of the grid to which it belongs, and the collision between the transport devices (102) and the collision between the transport device (102) and an obstacle can be suppressed. 102) can be properly operated.

In addition, the conveying device (102) of the present embodiment further includes an obstacle detector (130) that detects obstacles (132-140, 142-148) existing in the vicinity, and the controller (720) detects obstacles Based on the detection result of the object detection unit (130) and the environment map data (180), the grid to which it belongs is specified.
As a result, the grid to which the player belongs can be specified based on the obstacles (132 to 140, 142 to 148) present in the vicinity.

In addition, the transport device (102) of the present embodiment further includes an identification mark reader (127) that reads the identification mark (208) attached to the floor surface (202), and the control unit (720) reads the identification mark. It further has the function of identifying the grid to which it belongs based on the reading result of the device (127).
This allows more accurate identification of the grid to which it belongs based on the identification mark (208).

When the control unit (720) receives the start command, the control unit (720) has a function (S116) for determining whether or not the position correction is necessary by the position correction function (S130), and if it is determined that the position correction is necessary, the A function of transmitting a position correction necessity report (S126) indicating that position correction is necessary to a control device (230) provided outside the body (102a), and a control device ( 230), and a function of receiving a position correction instruction (S128) to the effect that position correction should be executed from the control device (230), and on condition that the position correction instruction is received from the control device (230), the position correction function (S130 ).
Thereby, the control device (230) provided outside can determine the timing to execute the position correction and cause the transport device (102) to execute the position correction.

<Modification>
The present invention is not limited to the embodiments described above, and various modifications are possible. The above-described embodiments are illustrated for easy understanding of the present invention, and are not necessarily limited to those having all the described configurations. Further, other configurations may be added to the configurations of the above embodiments, and part of the configurations may be replaced with other configurations. Also, the control lines and information lines shown in the drawings are those considered to be necessary for explanation, and do not necessarily show all the control lines and information lines necessary on the product. In practice, it may be considered that almost all configurations are interconnected. Possible modifications to the above embodiment are, for example, the following.

(1) Since the hardware of the control unit 720 and the general control device 230 in the above embodiment can be realized by a general computer, the programs and the like shown in FIGS. may be distributed

(2) The processing shown in FIGS. 11 and 12 has been described as software processing using a program in the above embodiment, but part or all of it is an ASIC (Application Specific Integrated Circuit). Alternatively, hardware processing using an FPGA (field-programmable gate array) or the like may be substituted.

(3) As shown in step S104 in FIG. 11, the transfer robot 102 in the above embodiment downloads the environment map data 180 from the central control unit 230, but the transfer robot 102 stores the environment map data 180 from the beginning. You can let it go.

(4) In the above embodiment, the position correction (step S130) was performed using the center point 102P of the transfer robot 102 and the center point of each grid 107 as these reference points. may be a location other than these center points.

100 warehouse 102a housing 102P center point (reference point)
102, 102b transport robot (transport device)
107 grid 120 wheel (running part)
122 shelf support unit 123 wireless communication device 124 collision detection unit 125 infrared communication device 127 camera (identification mark reader)
128 Operation/display unit 130 Laser scanner (obstacle detection unit)
132, 134, 136, 138, 140 pillars (obstacles)
142, 144, 146, 148 walls (obstacles)
180 Environmental map data 202 Storage space (floor surface)
208 bar code (identification mark)
230 integrated control device (control device)
720 control unit (computer)
733 storage unit

Claims (6)

a running part attached to the housing for running on the floor;
a storage unit that divides the floor surface into a plurality of grids and stores environment map data defining positions of obstacles on the floor surface;
a control unit that controls the traveling unit;
wherein the control unit comprises
an belonging grid specifying function for specifying an belonging grid which is one of the grids to which the aircraft currently belongs;
a position correcting function that drives the traveling unit so that, when a predetermined start command is received, a predetermined reference point of the housing approaches a predetermined reference point of the grid to which it belongs;
When moving the aircraft from the grid to which it belongs to another grid, after driving the traveling unit so that the reference point of the housing approaches the reference point of the grid to which the aircraft belongs, the aircraft is moved to the other grid. and a function of driving the traveling part so as to cause the transporting device to move. Further comprising an obstacle detection unit that detects the obstacles existing in the vicinity,
The conveying apparatus according to claim 1, wherein the control section identifies the grid to which it belongs based on the detection result of the obstacle detection section and the environment map data. further comprising an identification mark reader that reads the identification mark attached to the floor;
3. The conveying apparatus according to claim 2, wherein the control unit further has a function of specifying the grid to which it belongs based on the reading result of the identification mark reader. The control unit
a function of determining whether position correction by the position correction function is necessary when the start command is received;
A function of transmitting a position correction required report to the effect that the position correction is necessary to a control device provided outside the housing when it is determined that the position correction is necessary;
a function of receiving a position correction instruction indicating that the position correction should be executed from the control device that has received the position correction necessity report;
and operating the position correction function on condition that the position correction instruction is received from the control device. a running part attached to the housing for running on the floor;
a storage unit that divides the floor surface into a plurality of grids and stores environment map data defining positions of obstacles on the floor surface;
a control unit that controls the traveling unit;
A control method for a conveying device comprising
an belonging grid specifying process in which the control unit specifies an belonging grid, which is one of the grids to which the aircraft currently belongs;
a position correction process in which the control unit drives the traveling unit so that, when the control unit receives a predetermined start command, a predetermined reference point of the housing approaches a predetermined reference point of the grid to which it belongs;
When moving the aircraft from the grid to which it belongs to another grid, after driving the traveling unit so that the reference point of the housing approaches the reference point of the grid to which the aircraft belongs, the aircraft is moved to the other grid. driving the running portion to cause
A method of controlling a conveying device, comprising: a running part attached to the housing for running on the floor;
a storage unit that divides the floor surface into a plurality of grids and stores environment map data defining positions of obstacles on the floor surface;
a computer that controls the running unit;
Applied to a conveying device comprising
said computer,
belonging grid specifying means for specifying a belonging grid which is one of the grids to which the aircraft currently belongs;
position correcting means for driving the traveling section so that a predetermined reference point of the housing approaches a predetermined reference point of the grid to which it belongs when a predetermined start command is received;
When moving the aircraft from the grid to which it belongs to another grid, after driving the traveling unit so that the reference point of the housing approaches the reference point of the grid to which the aircraft belongs, the aircraft is moved to the other grid. means for driving the running portion to cause
program to function as a .

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