JP7228800B2 - Conveying method, conveying system, program and pallet - Google Patents

Description

TECHNICAL FIELD The present disclosure relates generally to a transport method, transport system, program and pallet, and more particularly to a transport method, transport system, program and pallet for transporting objects on a transport device.

Patent Literature 1 discloses a pallet truck (conveying device) that conveys pallets (objects). In this pallet truck, a fork is attached to the rear side (fork side) of the truck body so that it can be raised and lowered by a lifting mechanism. Also, in this pallet truck, a small wheel is attached to the tip of the fork.

JP-A-10-81240

For example, in a method for transporting an object using a transport device (pallet truck) as described in Patent Document 1, by smoothly inserting a fork into an insertion opening of a pallet as the object, the object can be It is desirable to proceed smoothly with a series of processes related to transportation.

The present disclosure has been made in view of the above reasons, and aims to provide a transport method, a transport system, a program, and a pallet that facilitate smooth progress of a series of processes related to transporting an object.

A transport method according to an aspect of the present disclosure is a transport method for transporting an object using a transport device having a detection unit, and includes an acquisition process, a specification process, and a selection process . The acquisition process is a process of acquiring the detection result of the detection unit. The detection result of the detection unit includes distance information related to the distance between the conveying device and the object. The specifying process is a process of specifying both the relative position of the object with respect to the conveying device and the relative orientation of the reference surface of the object with respect to the conveying device, based on the detection result. . In the selection process, one object to be the target object is selected from among a plurality of objects based on the detection result. The detection unit detects a distance to a marker attached to the reference plane of the object as the distance information. In the selection process, one or more reflection points located within a predetermined distance from one reflection point among the plurality of reflection points are assigned to the same cluster based on the detection result including the plurality of reflection points. By performing clustering and calculating the center-of-gravity position of the cluster, at least the relative positions of the plurality of objects with respect to the transport device are specified, and one object to be the target object is selected from among the plurality of objects. do. The predetermined distance is a distance based on the shape and size of the object.

A transport system according to an aspect of the present disclosure includes a transport device having a detector, and a control system that controls the transport device. The control system has an acquisition unit, an identification unit, and a selection unit . The acquisition unit acquires a detection result of the detection unit. The detection result of the detection unit includes distance information related to the distance between the conveying device and the object. The specifying unit specifies both a relative position of the object with respect to the transport device and a relative orientation of a reference plane of the object with respect to the transport device, based on the detection result. The selection unit selects one object as the target object from among a plurality of objects based on the detection result. The detection unit detects a distance to a marker attached to the reference plane of the object as the distance information. The selecting unit clusters, based on the detection result including a plurality of reflection points, allocating one or more reflection points located within a predetermined distance from one of the plurality of reflection points to the same cluster. and calculating the position of the center of gravity of the cluster, thereby identifying at least the relative positions of the plurality of objects with respect to the conveying device, and selecting one object as the target object from among the plurality of objects. . The predetermined distance is a distance based on the shape and size of the object.

A program according to an aspect of the present disclosure is a program for causing one or more processors to execute the transport method.

A pallet according to an aspect of the present disclosure is a pallet used as the object in the transport method.

According to the present disclosure, there is an advantage that a series of processes related to transportation of an object can be easily proceeded smoothly.

FIG. 1 is a perspective view showing the appearance of a transport device and an object in a transport system according to Embodiment 1. FIG. FIG. 2 is a block diagram of the same transport system. FIG. 3 is a perspective view showing the appearance of a transport device used in the transport system of the same. FIG. 4A is a perspective view showing an example of an object used in the transport system; FIG. 4B is a perspective view showing another configuration example of an object used in the transport system; FIG. 4C is a perspective view showing still another configuration example of an object used in the transportation system; FIG. 5A is a plan view showing an example of an object used in the transport system; FIG. FIG. 5B is a plan view showing another configuration example of an object used in the transport system; 6A to 6C are schematic plan views showing a transport device and objects in the same transport system. 7A to 7C are schematic plan views showing a transport device and objects in the same transport system. 8A to 8D are schematic plan views showing a transport device and objects in the same transport system. 9A to 9D are schematic plan views showing a transport device and objects in the same transport system. FIG. 10 is a flow chart showing an example of the operation of the transport system; FIG. 11 is a block diagram of a transport system according to the second embodiment.

(Embodiment 1)
(1) Overview The transport method according to the present embodiment is a method for transporting an object X1 using a transport device 1, as shown in FIG. This transport method is realized by, for example, the transport system 100 . As shown in FIG. 2 , the transport system 100 includes a transport device 1 and a control system 4 . The control system 4 is a system that controls the transport device 1 .

The transport device 1 is a device that moves on a moving surface 200 with one or more drive wheels, and is a device for transporting the object X1. The transport device 1 is installed in facilities such as distribution centers (including distribution centers), factories, offices, stores, schools, and hospitals. The moving surface 200 is a surface on which the transport device 1 moves. The ground or the like becomes the moving surface 200 . In the following, a case of introducing the conveying device 1 to a distribution center will be described.

A conveying device 1 according to the present embodiment includes a body portion 2 and a support portion 3, as shown in FIG. The body portion 2 has driving wheels and moves on the moving surface 200 by the driving wheels. In this embodiment, the body part 2 is autonomously movable.

The support portion 3 extends from the body portion 2 and supports the object X1 while being inserted into the object X1. In the present disclosure, "inserted into an object" refers to being inserted into an insertion opening X11 of an object X1. In this embodiment, the transport device 1 includes a pair of support parts 3 that are inserted into the object X1. Then, the transport device 1 lifts the object X1 with the pair of support parts 3 by raising the pair of support parts 3 inserted into the object X1. Therefore, the target object X1 is supported by the pair of support portions 3 in a state in which the pair of support portions 3 are inserted. In the following description, the pair of support portions 3 will simply be referred to as "support portions 3" unless otherwise specified.

By the way, in the method of transporting the object X1 using this type of transport device 1, in order to smoothly proceed with a series of processes related to the transport of the object X1, it is necessary to smoothly insert the support portion 3 into the object X1. is necessary.

Therefore, the transport method according to the present embodiment is a transport method for transporting the target object X1 with the transport device 1 having the detection unit 11, and includes an acquisition process and a specific process. Acquisition processing is processing for acquiring the detection result of the detection unit 11 . The detection result of the detection unit 11 includes distance information related to the distance between the conveying device 1 and the object X1. The specifying process is a process of specifying both the relative position of the target object X1 with respect to the transport device 1 and the relative orientation of the reference plane X12 of the target object X1 with respect to the transport device 1 based on the detection result. The detection unit 11 detects the distance to the marker M1 attached to the reference plane X12 of the object X1 as distance information.

According to the above transport method, not only the relative position of the object X1 with respect to the transport device 1 but also the relative orientation of the reference plane X12 of the object X1 with respect to the transport device 1 can be determined based on the detection result of the detection unit 11. is also specified by the specifying process. That is, since the orientation of the reference plane X12 of the object X1 with respect to the conveying device 1 is specified, for example, even when the support portion 3 is inserted into the insertion opening X11 formed on the reference plane X12, it is supported by the insertion opening X11. It is possible to insert the part 3 smoothly. Therefore, according to the transport method, there is an advantage that a series of processes related to the transport of the object X1 can be easily proceeded smoothly.

(2) Configuration Hereinafter, configurations of the transport system 100, the transport device 1, and the target object X1 according to the present embodiment will be described in detail with reference to FIGS. 1 and 2. FIG. Hereinafter, unless otherwise specified, the direction perpendicular to the moving surface 200 is defined as the up-down direction, and the conveying device 1 side viewed from the moving surface 200 is defined as "upper", and the reverse is defined as "downward". Further, hereinafter, the direction in which the transport device 1 moves when inserting the pair of support portions 3 into the insertion opening X11 of the object X1 is described as "rearward", and the reverse is described as "forward". Moreover, below, the direction orthogonal to both the up-down direction and the front-back direction is described as the left-right direction. However, these directions are not intended to limit the mode of use of the conveying apparatus 1 . In addition, the arrows indicating each direction in the drawings are only shown for explanation and are not substantial. Furthermore, the white arrows in the drawings merely indicate the direction in which an object (for example, the main body 2, etc.) moves, and are not actual.

(2.1) Transport System First, the overall configuration of a transport system 100 according to this embodiment will be described.

A transport system 100 according to this embodiment includes a control system 4 and at least one transport device 1 . In this embodiment, the transport system 100 includes a plurality of transport devices 1 .

In this embodiment, the control system 4 and the conveying device 1 are integrated. Here, the control system 4 is integrated with the transport device 1 by being mounted on the transport device 1 . That is, one housing of the transport device 1 accommodates components for realizing the functions of the transport device 1 and components of the control system 4 .

In this embodiment, since the transport system 100 includes a plurality of transport devices 1 , a plurality of control systems 4 are also provided to correspond to the transport devices 1 . That is, the transport system 100 includes a plurality of control systems 4 in one-to-one correspondence with the transport devices 1 . In the following description, unless otherwise specified, attention will be paid to an arbitrary conveying device 1 and the control system 4 mounted on the conveying device 1 . The following description is equally applicable to each of the remaining transport devices 1 and control systems 4 .

In this embodiment, as shown in FIG. 2, the transport system 100 further includes a host system 5 that remotely controls the transport device 1 in addition to the transport device 1 and the control system 4. there is

The host system 5 and the control system 4 are configured to be able to communicate with each other. In the present disclosure, “communicable” means that information can be exchanged directly or indirectly via a network, a repeater, or the like, by an appropriate communication method such as wired communication or wireless communication. That is, the host system 5 and the control system 4 can exchange information with each other. In this embodiment, the host system 5 and the control system 4 are bi-directionally communicable with each other. Both transmissions are possible.

The host system 5 remotely controls at least one transport device 1 (a plurality of transport devices 1 in this embodiment). Specifically, the host system 5 indirectly controls the conveying apparatus 1 via the control system 4 by communicating with the control system 4 . That is, the host system 5 controls the transport device 1 according to a command (transport command) sent from the outside of the transport device 1 to the control system 4 mounted on the transport device 1 . The host system 5 transmits, for example, a command (transportation command) and data such as an electronic map to the control system 4 .

In this embodiment, the host system 5 is, for example, a server, and is mainly composed of a computer system having one or more processors and memories. The functions of the host system 5 are realized by the processor of the computer system executing the program recorded in the memory of the computer system. The program may be recorded in a memory, provided through an electric communication line such as the Internet, or recorded in a non-temporary recording medium such as a memory card and provided.

The host system 5 estimates at least the current position of the transport device 1 from the detection result of the detection unit 11 of the transport device 1, which will be described later, and determines the moving route of the transport device 1 to the target point (target node) (route plan). The host system 5 controls the transport device 1 via the control system 4 so that the transport device 1 moves along this movement route. Thereby, remote control of the conveying device 1 is realized.

The control system 4 has an acquisition unit 41 , an identification unit 42 , a selection unit 43 , an identification unit 44 , a communication unit 45 and a first interface 46 . Of these, the acquisition unit 41, the identification unit 42, the selection unit 43, and the identification unit 44 are realized as one function of the control processing unit 40, which is mainly composed of a computer system including a memory and one or more processors.

The communication unit 45 communicates with the host system 5 directly or indirectly via a network, a repeater, or the like. As a communication method between the communication unit 45 and the host system 5, an appropriate communication method such as wireless communication or wired communication is adopted. In this embodiment, as an example, the communication unit 45 complies with standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio that does not require a license (specified low-power radio). Adopt wireless communication that uses radio waves as a communication medium.

The first interface 46 communicates with the conveying apparatus 1 directly or indirectly via a network, relay, or the like. As a communication method between the first interface 46 and the conveying apparatus 1 (second interface 15), an appropriate communication method such as wireless communication or wired communication is adopted.

The functions of the acquisition unit 41, the identification unit 42, the selection unit 43, and the identification unit 44 are realized by the processor of the computer system executing a program recorded in the memory of the computer system that constitutes the control processing unit 40. be. The program may be prerecorded in a memory, may be provided through an electric communication line such as the Internet, or may be provided by being recorded in a non-temporary recording medium such as a memory card.

The acquisition unit 41 executes acquisition processing. Acquisition processing is processing for acquiring the detection result of the detection unit 11 in the transport device 1 . Although the detection unit 11 will be described in detail later, the detection result of the detection unit 11 includes distance information related to the distance between the conveying device 1 and the object X1. The acquisition unit 41 acquires the detection result of the detection unit 11 from the conveying device 1 via the first interface 46 at any time.

The specifying unit 42 executes specifying processing. The identification process identifies both the relative position of the object X1 with respect to the transport device 1 and the relative orientation of the reference plane X12 of the object X1 with respect to the transport device 1 based on the detection result of the detection unit 11. processing. Here, the specifying unit 42 determines the relative position of the target object X1 with respect to the transport device 1 and the reference plane X12 with respect to the transport device 1 based on the detection result of the detection unit 11 acquired by the acquisition unit 41 from the transport device 1. Identify relative orientation. Specific processing of the identification unit 42 will be described in the section "(3.1) Transport preparation".

The selection unit 43 executes selection processing. The selection process is a process of selecting one object to be the target object X1 from among a plurality of objects based on the detection result of the detection unit 11 . Here, the selection unit 43 selects one object as the target object X1 based on the detection result of the detection unit 11 acquired by the acquisition unit 41 from the conveying device 1 . That is, when there are a plurality of objects (pallets in this case) that look like the object X1, the selection unit 43 determines which object is to be the object X1. Specific processing of the selection unit 43 will be described in the section "(3.1) Transportation preparation".

The identification unit 44 executes identification processing. The identification process is a process of identifying attribute information related to the attributes of the target object X1 based on the detection result of the detection unit 11. FIG. Here, the identification unit 44 identifies attribute information based on the detection result of the detection unit 11 acquired by the acquisition unit 41 from the conveying device 1 . The “attribute information” referred to in the present disclosure may be, for example, unique identification information (ID) for identifying each target object X1, or the size, weight, or It may be the maximum loading weight of Specific processing of the identifying unit 44 will be described in the section "(3.1) Transportation preparation".

The conveying device 1 has a detection unit 11, a driving unit 12, a processing unit 13, a user interface 14, and a second interface 15, as shown in FIG. The detection unit 11, the driving unit 12, the processing unit 13, the user interface 14 and the second interface 15 are mounted on the main unit 2 (see FIG. 1).

The detection unit 11 detects the position of the main body 2, the behavior of the main body 2, the surrounding conditions of the main body 2, and the like. The term "behavior" as used in the present disclosure means actions, appearances, and the like. That is, the behavior of the main body 2 includes the operating state of the main body 2 indicating that the main body 2 is moving/stopping, the speed (and speed change) of the main body 2, the acceleration acting on the main body 2, and the including the posture of The "peripheral situation" referred to in the present disclosure may include the situation of the object X1 around the main body part 2 (or the support part 3).

Specifically, the detection unit 11 includes sensors such as LiDAR (Light Detection and Ranging), sonar sensors, radar (RADAR: Radio Detection and Ranging), etc., and detects the surrounding situation of the main unit 2 with these sensors. do. LiDAR is a sensor that uses light (laser light) to measure the distance to an object X1 based on light reflected by the object X1. A sonar sensor is a sensor that uses sound waves such as ultrasonic waves to measure the distance to an object X1 based on reflected waves from the object X1. A radar is a sensor that uses electromagnetic waves (radio waves) such as microwaves to measure the distance to an object X1 based on reflected waves from the object X1. That is, the detection result of the detection unit 11 (output of the detection unit 11) includes at least distance information related to the distance between the conveying device 1 (body unit 2) and the object X1. The “distance information” referred to in the present disclosure may be information that reflects the distance between the transport device 1 and the object X1, that is, information that changes according to the distance. The information is not limited to the information representing the distance itself. Also, the detection unit 11 includes sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and detects the behavior of the main body 2 with these sensors.

The detection unit 11 also measures the number of revolutions of the drive wheels and estimates the position of the main body 2 based on information such as the measured number of revolutions of the drive wheels. That is, in the present embodiment, the position of the main body 2 is mainly determined by an electronic map obtained in advance, the detection results of the first sensor 111 and the second sensor 112, which will be described later, and the so-called Dead-Reckoning (DR). and is estimated by

The driving portion 12 directly or indirectly applies a driving force to the driving wheels of the main body portion 2 . When the drive unit 12 applies a driving force to the drive wheels, the main body 2 moves (runs) on the moving surface 200 as the drive wheels rotate. The driving section 12 is built in the main body section 2 . The driving unit 12 includes, for example, an electric motor (motor), and indirectly applies a driving force generated by the electric motor to the drive wheels via a gearbox, a belt, or the like. Further, the drive unit 12 may be configured to directly apply a driving force to the drive wheels, such as an in-wheel motor. Based on the control signal input from the processing unit 13, the driving unit 12 drives the driving wheels at a rotation direction and a rotation speed according to the control signal.

Further, the driving section 12 also applies a driving force directly or indirectly to the supporting section 3 . When a driving force is applied to the support portion 3 by the driving portion 12, the support portion 3 moves up and down, and the height of the support portion 3 changes. The “height” referred to in the present disclosure is the length from the moving surface 200 to the upper surface of the support section 3 in the vertical direction. The drive unit 12 includes, for example, an electric motor (motor), and indirectly applies a driving force generated by the electric motor to the support unit 3 via a gearbox, a belt, or the like. The driving section 12 raises and lowers the support section 3 based on the control signal input from the processing section 13 . Here, the drive section 12 drives the main body section 2 (driving wheel) and the support section 3 individually.

The processing unit 13 controls the detection unit 11 , the driving unit 12 , the user interface 14 and the second interface 15 . In this embodiment, the processing unit 13 is mainly composed of a computer system having one or more processors and memories. The functions of the processing unit 13 are realized by the processor of the computer system executing a program recorded in the memory of the computer system. The program may be recorded in a memory, provided through an electric communication line such as the Internet, or recorded in a non-temporary recording medium such as a memory card and provided.

The user interface 14 is a device that receives user (worker) operations and presents information to the user. In this embodiment, user interface 14 includes a touch panel display. Therefore, the touch panel display realizes both a function of accepting a user's operation and a function of displaying (presenting) information to the user. The touch panel display includes, for example, a liquid crystal display or an organic EL (Electro Luminescence) display. In this embodiment, the user can directly give a transport command to the transport device 1 by operating the user interface 14 .

The second interface 15 communicates with the control system 4 either directly or indirectly via a network, relay or the like. As a communication method between the control system 4 (first interface 46) and the conveying apparatus 1 (second interface 15), an appropriate communication method such as wireless communication or wired communication is adopted. In this embodiment, as an example, the second interface 15 employs wired communication for communication with the control system 4 (first interface 46).

(2.2) Conveying Device Next, the configuration of the conveying device 1 will be described in more detail with reference to FIGS. 1 to 3. FIG.

The conveying device 1 includes the body portion 2 and the support portion 3 as described above. The body portion 2 has driving wheels and moves on the moving surface 200 by the driving wheels. The support part 3 supports the target object X1. The conveying device 1 is a hand-lift type conveying robot that supports an object X1 with a fork (claw) serving as a support portion 3 inserted into the object X1.

The main body 2 autonomously moves on a flat moving surface 200 such as a floor surface of a facility, for example. Here, as an example, the main body 2 is provided with a storage battery, and operates using electrical energy stored in the storage battery. In the present embodiment, the main body 2 moves on the moving surface 200 while the supporting part 3 supports the object X1. Thereby, the transport device 1 can transport, for example, the target object X1 placed at a certain place in the facility to another place in the facility.

The body portion 2 is made of metal, for example. However, the body portion 2 is not limited to being made of metal, and may be made of resin, for example. As shown in FIGS. 1 and 3, the main body 2 has a rectangular parallelepiped shape that is longer in the left-right direction than in the front-rear direction and larger in the up-down direction than in the left-right direction and the front-rear direction. The body portion 2 has one or more drive wheels and one or more auxiliary wheels. The driving wheels are rotatable by receiving the driving force from the driving section 12 . In this embodiment, the drive wheels are drive wheels having a steering shaft along the vertical direction, for example. Therefore, in this embodiment, the main body 2 can move forward, backward, left, and right on the moving surface 200 by rotation of the driving wheels and the steering shaft. Further, in the present embodiment, the auxiliary wheels of the main body 2 are non-driving wheels (driven wheels).

The support portion 3 is made of metal, for example. However, the supporting portion 3 is not limited to being made of metal, and may be made of resin, for example. In this embodiment, the support part 3 is a pair. As shown in FIG. 3 , the pair of support portions 3 are rectangular plates elongated in the front-rear direction, and protrude rearward from the rear surface of the main body portion 2 . Also, the pair of support portions 3 are arranged with a space therebetween in the left-right direction.

The pair of support portions 3 are configured to be insertable into a pair of insertion openings X11 formed in an object X1, which will be described later. In this embodiment, the length (the length in the front-rear direction) of each of the pair of support portions 3 is shorter than the length in the front-rear direction of the object X1. Therefore, when the pair of support portions 3 are inserted into the object X1, the tip (rear end) of each of the pair of support portions 3 is positioned inside the object X1. A wheel 31 is attached to the rear end of each of the pair of support portions 3 . Moreover, in this embodiment, the wheel 31 of the support part 3 is a non-driving wheel (driven wheel).

In this embodiment, a rotation center P1 (see FIG. 6A), which will be described later, is provided near the intermediate position of the pair of wheels 31 . The center of rotation is a virtual point that serves as the center of rotation of the conveying device 1 when the main body 2 turns. In other words, the main body 2 rotates around the center of rotation P1 set near the front ends (rear ends) of the pair of support parts 3, so that the conveying device 1 rotates about the center of rotation P1. When the body portion 2 turns around the rotation center P1, the position of the rotation center P1 hardly changes.

The support portion 3 can be moved up and down with respect to the main body portion 2 by the drive portion 12 . In the present embodiment, the support part 3 can be positioned at at least two heights, ie, a first height and a second height. That is, the height of the support portion 3 can be changed in at least two steps by moving the support portion 3 up and down. FIG. 3 shows a state in which the support portion 3 is at the first height, and the second height is higher than the first height. The first height is the height when the support portion 3 is inserted into the object X1. The second height is the height at which the support section 3 supports the target object X1. In other words, the support part 3 at the first height can be inserted into the object X1 in contact with the moving surface 200 . Further, the support portion 3 at the second height can support the target object X1 in a state of being lifted from the moving surface 200. As shown in FIG.

Therefore, by driving the supporting portion 3 inserted into the object X1 at the first height to the second height by the driving portion 12, the supporting portion 3 can lift the object X1. Therefore, the conveying device 1 moves the object X1 on the movement surface 200 with the body portion 2 while supporting the object X1 in a floating state from the movement surface 200 by the support portion 3 inserted into the object X1. It is possible to carry X1.

In this embodiment, the detection unit 11 has a first sensor 111 and a second sensor 112, as shown in FIGS. Both the first sensor 111 and the second sensor 112 are LiDARs. The first sensor 111 is provided at the rear portion of the body portion 2 and is used mainly to detect the situation behind the body portion 2 . The second sensor 112 is provided in the front portion of the body portion 2 and is mainly used to detect the situation in front of the body portion 2 .

Here, the first sensor 111 and the second sensor 112 are both 2D-LiDARs that detect objects positioned at the same height. That is, the first sensor 111 detects objects positioned in the same horizontal plane as the first sensor 111 , and the second sensor 112 detects objects positioned in the same horizontal plane as the second sensor 112 . Since the first sensor 111 and the second sensor 112 are used to detect the reference plane X12 of the object X1, they are arranged at least at the same height as the reference plane X12. In other words, the detection unit 11 is arranged at the same height as the reference plane X12 in the vertical direction.

In addition, the conveying apparatus 1 is appropriately equipped with a configuration other than the above, such as a charging circuit for a storage battery.

(2.3) Object Next, the configuration of the object X1 will be described in more detail with reference to FIGS. 1 and 4A to 5B. Here, a case in which a pallet is used as the object X1 in the transport method according to the present embodiment will be exemplified.

In this embodiment, the object X1 is, for example, a resin flat pallet, as shown in FIG. The object X1 has a rectangular parallelepiped pallet main body X10. In the example of FIG. 1, the upper and lower surfaces of the pallet body X10 are square. That is, the pallet main body X10 has a square shape in plan view. The upper and lower surfaces of the pallet body X10 may be rectangular. The dimension in the thickness direction (vertical direction) of the pallet body X10 is smaller than the dimension in the width direction (horizontal direction). A load can be loaded on the upper surface of the pallet body X10. In other words, the conveying device 1 moves on the moving surface 200 in a state in which the support section 3 supports the target object X1 on which no cargo is loaded or the target object X1 on which the cargo is loaded. become. As a result, the transport device 1 can transport the object X1 alone or together with the package.

The object X1 has four outer surfaces X101, X102, X103, X104. These four outer side surfaces X101, X102, X103, and X104 are surfaces extending in the vertical direction and facing in different directions. In this embodiment, the four side surfaces (the front surface, the rear surface, the left surface and the right surface) of the pallet main body X10 are the four outer surface surfaces X101, X102, X103 and X104.

A pair of rectangular insertion openings X11 are provided on each of the four outer side surfaces X101, X102, X103, and X104. Each insertion opening X11 penetrates the side wall in the thickness direction (the front-rear direction or the left-right direction), and the support portion 3 of the conveying device 1 can be inserted therein. In the example shown in FIG. 1, the pair of support portions 3 of the transport device 1 are inserted into the pair of insertion openings X11 on the outer surface X101 (front surface) of the pallet body X10 by moving the body portion 2 backward.

Each of the four outer side surfaces X101, X102, X103, and X104 includes a central crosspiece X13 and a pair of side crosspieces X14. The central crosspiece X13 is positioned in the horizontal center of each of the outer side surfaces X101, X102, X103, and X104. A pair of side crosspieces X14 are positioned on both sides of the central crosspiece X13 in the horizontal direction on each of the outer side surfaces X101, X102, X103, and X104. For example, in the case of the outer surface X101 (front surface), a pair of side crosspieces X14 are positioned on both sides in the left-right direction of the center crosspiece X13. The central crosspiece X13 and the pair of side crosspieces X14 are arranged horizontally at regular intervals. A gap between the central crosspiece X13 and the pair of side crosspieces X14 functions as a pair of insertion openings X11. In other words, in each of the outer side surfaces X101, X102, X103, and X104, one opening formed between the pair of side crosspieces X14 is partitioned by the central crosspiece X13, so that the opening on both sides of the central crosspiece X13 A pair of insertion openings X11 are formed. Therefore, the pair of support portions 3 of the conveying device 1 are inserted into the object X1 through the space between the central crosspiece X13 and the pair of side crosspieces X14 on the outer surfaces X101, X102, X103, and X104. .

Here, the object X1 has a reference plane X12. The reference plane X<b>12 is a plane used as a reference when the detection unit 11 of the conveying device 1 detects the object X<b>1 . In this embodiment, since the object X1 is a flat pallet, at least one of the four outer surfaces X101, X102, X103, and X104 provided with the insertion port X11 serves as the reference surface X12. That is, in the present embodiment, at least one of the outer surfaces X101, X102, X103, and X104, which serves as the entrance surface of the support section 3 of the transport device 1, functions as the reference surface X12.

In the following description, as shown in FIGS. 1 and 4A, unless otherwise specified, of the four outer side surfaces X101, X102, X103, and X104, which are the entrance surfaces of the support section 3 of the conveying device 1, Assume an object X1 whose only outer surface X101 (front surface) is the reference surface X12. In other words, the four outer surfaces X101, X102, X103, X104 include a surface that is the reference surface X12 (outer surface X101) and surfaces that are not the reference surface X12 (outer surfaces X102, X103, X104). .

Here, as shown in FIG. 4A, a marker M1 is attached to the reference plane X12 (outer side surface X101) of the object X1. The marker M<b>1 is a part particularly used as a mark on the reference plane X<b>12 when the detection unit 11 of the conveying device 1 detects the object X<b>1 . "Adding the marker M1" as used in the present disclosure includes various modes for arranging the marker M1 on the reference plane X12. For example, a mode in which the marker M1 is attached to the reference plane X12, a mode in which the marker M1 is directly attached to the reference plane X12 by printing or painting, or a mode in which the marker M1 is integrally formed with the reference plane X12 of the object X1. is included in "attach marker M1". Details will be described in the section "(3.1) Transportation preparation", but the detection unit 11 of the transportation device 1 detects at least the distance to the marker M1 attached to the reference plane X12 of the object X1 as distance information. .

The marker M1 has a high reflectance of at least one of light, sound waves, and electromagnetic waves compared to portions other than the marker M1 on the reference plane X12 of the object X1. In this embodiment, the detection unit 11 (the first sensor 111 and the second sensor 112) is a LiDAR that measures the distance to the target object X1 using light (laser light), as described above. Therefore, the marker M1 is a light reflecting member having at least a higher light reflectance than the portion other than the marker M1 on the reference plane X12 of the object X1. In other words, the light reflectance of the marker M1 is higher than the light reflectance of the pallet main body X10. In particular, the marker M1 preferably has a property of retroreflection that reflects externally incident light over a relatively wide angle of incidence in a direction along the optical path of the incident light. The retroreflection of the marker M1 makes it easier for the detector 11 to catch the light reflected by the marker M1 even if the detector 11 is not in the normal direction of the reference plane X12.

However, the marker M1 is not limited to a configuration having light reflectivity. If the detection unit 11 is a sonar sensor, the marker M1 preferably has at least a high sound reflectance. It is preferable that the reflectance of at least electromagnetic waves (radio waves) is high. The marker M1 may have high reflectance with respect to two or more of light, sound waves and electromagnetic waves.

In the following description, unless otherwise specified, the marker M1 is attached to the reference plane X12 of the object X1 as shown in FIGS. 1 and 4A. “Affixed” in the present disclosure means that the marker M1, which is separate from the object X1, is affixed to the reference surface X12 by an appropriate method such as adhesion, adhesion, screwing, crimping, or welding. Including the aspect that is That is, in the example of FIG. 4A, a marker M1 made of a rectangular reflector (light reflector) is attached to the reference plane X12 of the object X1.

Furthermore, since the reference plane X12 of the object X1 is the outer side surface X101, as described above, the center crosspiece X13, the pair of side crosspieces X14 positioned on both sides of the center crosspiece X13 in the horizontal direction, contains. Here, the marker M1 is preferably attached to at least the central crosspiece X13 out of the central crosspiece X13 and the pair of side crosspieces X14. That is, the marker M1 is preferably arranged at least near the center in the horizontal direction of the reference plane X12. In the following description, of the central crosspiece X13 and the pair of side crosspieces X14, only the central crosspiece X13 is marked with a marker M1, as shown in FIGS. 1 and 4A, unless otherwise specified. and

4B and 4C are perspective views showing other configuration examples of the object X1.

In the example of FIG. 4B, markers M1 and M2 are attached to each of the central crosspiece X13 and the pair of side crosspieces X14. That is, a marker M1 is attached to the central crosspiece X13, and a marker M2 is attached to each of the pair of side crosspieces X14. Here, in the detection result of the detection unit 11, the marker M1 attached to the central crosspiece X13 and the marker M2 attached to each side crosspiece X14 can be distinguished from each other. Preferably, at least one of size (width, length, etc.), shape or reflectivity is different. In the example of FIG. 4B, the marker M1 and the marker M2 have different widths, and the width of the marker M1 is wider than the width of the marker M2. As still another example, only the central crosspiece X13 and one side crosspiece X14 may be marked.

In the example of FIG. 4C, marker M1 includes a three-dimensional shape. That is, the marker M1 attached to the target object X1 in FIG. 4C includes not only a two-dimensional shape (planar shape) but also a three-dimensional shape at least in part. More specifically, the marker M1 attached to the reference plane X12 has at least one of a convex shape and a concave shape with respect to the reference plane X12. In the example of FIG. 4C, the marker M1 includes a three-dimensional shape in which a plurality of ribs (convex shape) having a length along the vertical direction (vertical direction) are arranged at regular intervals in the horizontal direction (left-right direction). there is Not limited to this example, for example, a plurality of ribs may be arranged in the vertical direction, or a groove (concave shape) may be formed instead of the rib. For example, the marker M1 including the three-dimensional shape is molded integrally with the part including the reference plane X12 of the object X1 when molding (resin molding) the object X1 (pallet main body X10). It is possible to attach to X12.

5A and 5B are plan views showing still another configuration example of the object X1.

In the example of FIG. 5A, in the target object X1, each of the four outer side surfaces X101, X102, X103, and X104, which are the entrance surfaces of the support section 3 of the transport device 1, is the reference surface X12. In other words, the object X1 has a reference plane X12 over the entire peripheral surface (front surface, rear surface, left surface and right surface). In the example of FIG. 5A, the target object X1 has a quadrangular shape with four lateral sides X101, X102, X103, and X104 in plan view. This quadrangle is a square with four sides having the same length. Here, a marker M1 is attached to all of the four outer side surfaces X101, X102, X103, and X104 that serve as the reference surface X12.

In this way, according to the object X1 whose four sides are all the reference planes X12, it is possible to insert the support parts 3 of the transport device 1 from all sides of the object X1. Therefore, when the support portion 3 of the transport device 1 is inserted into the object X1, the transport device 1 can be made to approach the object X1 from any of the four directions of the object X1, and the movement path of the transport device 1 can be simplified.

In the example of FIG. 5B, in the object X1, of the four outer surfaces X101, X102, X103, and X104, which are the entrance surfaces of the support section 3 of the transport device 1, the outer surface X101 (front surface) facing forward and the rear surface are Only the facing outer surface X102 (rear surface) is the reference surface X12. In other words, the four outer surfaces X101, X102, X103, and X104 include surfaces that are the reference surface X12 (outer surfaces X101 and X102) and surfaces that are not the reference surface X12 (outer surfaces X103 and X104). . In the example of FIG. 5B, the target object X1 has a quadrangular shape with four lateral sides X101, X102, X103, and X104 in plan view. This quadrangle has a rectangular shape that is longer in the front-rear direction than in the left-right direction. Therefore, in the example of FIG. 5B, two of the four outer surfaces X101, X102, X103, and X104, which are the short sides of the quadrangle (rectangle), are the reference surface X12. Here, the marker M1 is attached only to the four outer side surfaces X101 and X102 that serve as the reference surface X12.

In this way, according to the object X1 whose only short side is the reference plane X12, the support part 3 of the transport device 1 can be inserted from the short side of the object X1. Therefore, when the support portion 3 of the conveying device 1 is inserted into the object X1, the amount of protrusion of the object X1 from the body portion 2 in the left-right direction can be kept small. , the object X1 can be transported by the transport device 1. Of the four outer surfaces X101, X102, X103, and X104, only one outer surface X101 (or X102), which is the short side of the quadrangle (rectangle), may be the reference surface X12.

(3) Operation Hereinafter, the operation of the transport system 100 according to this embodiment, that is, the transport method according to this embodiment will be described. The transporting method according to the present embodiment comprises a "transportation preparation" stage until the object X1 is supported by the transporting device 1, a "transportation" stage of transporting the object X1 supported by the transporting device 1, can be roughly divided into In the following, the operation (transport method) of the transport system 100 related to "transport preparation" and the overall operation (transport method) of the transport system 100 including "transport" will be described separately.

(3.1) Transportation preparation First, the operation (transportation method) of the transportation system 100 related to “transportation preparation” will be described with reference to FIGS. 6A to 7C. 6A to 7C are schematic plan views showing the transport device 1 and the object X1. 6A to 7C show the X-axis extending rearward and the Y-axis extending rightward with the rotation center P1 (virtual point) as the origin, but the X-axis and the Y-axis are virtual axes, without substance. Furthermore, in FIGS. 6A to 7C, the “reflection points” at which the reflection of the laser beam is detected by the detection unit 11 are superimposed on the object X1, but these reflection points are imaginary points. , disembodied.

In preparation for transportation, the relative position of the object X1 with respect to the transport device 1 and the relative orientation of the reference plane X12 of the object X1 with respect to the transport device 1 are determined in order to smoothly insert the support portion 3 into the object X1. Identify, specific processing is performed. 6A to 6C are explanatory diagrams of specific processing.

Here, as shown in FIG. 6A, the object X1 with the reference plane X12 facing the conveying device 1 exists behind the conveying device 1, and the reference plane X12 of the object X1 is inclined with respect to the Y axis. Assume that it is tilted by an angle θ1 (see FIG. 6C). In this case, the detection unit 11 detects multiple reflection points on the reference plane X12 of the object X1. These multiple reflection points are basically concentrated on the central crosspiece X13 and the pair of side crosspieces X14.

In the identification process, the identification unit 42 clusters the detection results of the detection unit 11 including such a plurality of reflection points. That is, the specifying unit 42 randomly selects one reflection point from among a plurality of reflection points, and determines one or more reflection points located within a predetermined distance from the selected one reflection point as shown in FIG. 6B. to the same cluster. The predetermined distance used for clustering is determined based on the width dimension of each of the central crosspiece X13 and the side crosspiece X14, the resolution of the detection unit 11, and the like. As a result, the plurality of reflection points on the central crosspiece X13 are assigned to the first cluster C1, and the plurality of reflection points on the pair of side crosspieces X14 are assigned to the second cluster C2 and the third cluster C3, respectively. be done.

Here, since the marker M1 is attached to the central crosspiece X13, the intensity of the reflected light from the central crosspiece X13 is higher than the intensity of the reflected light from the pair of side crosspieces X14. Therefore, by binarizing the intensity of the reflected light at each reflection point by comparing it with a predetermined threshold value, it is possible to distinguish between the reflection point on the central crosspiece X13 and the reflection point on the side crosspiece X14. be. Therefore, the specifying unit 42 can distinguish between the first cluster C1, the second cluster C2, and the third cluster C3. By calculating the center-of-gravity position of the first cluster C1, the specifying unit 42 can specify the center position of the central crosspiece X13 in the XY coordinate system, that is, the center position of the reference plane X12. Thereby, the specifying unit 42 can specify the relative position of the object X1 with respect to the transport device 1 .

Furthermore, as shown in FIG. 6C, the identifying unit 42 applies, for example, the least squares method to the plurality of reflection points included in the second cluster C2 and the third cluster C3, thereby determining the plurality of reflection points An approximate straight line L1 along is calculated. Since the approximate straight line L1 calculated in this way corresponds to the reference plane X12 of the object X1, the inclination angle θ1 of the approximate straight line L1 with respect to the Y axis corresponds to the inclination angle θ1 of the reference plane X12 with respect to the Y axis. Thereby, the specifying unit 42 can specify the relative orientation (inclination angle θ1) of the reference plane X12 of the object X1 with respect to the transport device 1 . Here, the reflection points of the first cluster C1 may be used in addition to or instead of the second cluster C2 and the third cluster C3 to calculate the approximate straight line L1. However, since the central crosspiece X13 to which the marker M1 is attached and the pair of side crosspieces X14 have different reflectances in the first place, only the reflection points of the second cluster C2 and the third cluster C3 having the same reflectance are Therefore, it is preferable to calculate the approximate straight line L1.

According to the identification processing described above, based on the detection result of the detection unit 11, the relative position of the object X1 with respect to the transport device 1 and the relative position of the reference plane X12 of the object X1 with respect to the transport device 1 are detected. Both the orientation and the direction can be specified.

That is, in the identification process, the identification unit 42 performs clustering based on detection results including a plurality of reflection points. In the clustering, the specifying unit 42 assigns one or more reflection points located within a predetermined distance from one of the plurality of reflection points to the same clusters C1, C2, C3. The identifying unit 42 identifies at least the relative position of the target object X1 with respect to the transport device 1 for each cluster C1, C2, C3.

Next, a selection process is executed to select one object to be the target object X1 from among a plurality of objects. 7A to 7C are explanatory diagrams of the selection process.

Here, as shown in FIG. 7A, a plurality of objects X1a, X1b, and X1c with their reference planes X12 directed toward the conveying device 1 exist behind the conveying device 1, and each of the reference planes X12 is aligned with the Y-axis. Assume a case where it is tilted against. In this case, the detection unit 11 detects multiple reflection points on the reference plane X12 of the multiple objects X1a, X1b, and X1c. These multiple reflection points are basically concentrated on the central crosspiece X13 and the pair of side crosspieces X14.

In the selection process, the selection unit 43 compares the intensity of the reflected light at each reflection point with a predetermined threshold and binarizes the detection result of the detection unit 11 including such a plurality of reflection points. , the reflection point on the central crosspiece X13 and the reflection point on the side crosspiece X14 are distinguished. Thereby, as shown in FIG. 7B, only a plurality of reflection points on the central crosspiece X13 are extracted.

In the state of FIG. 7B, the selection unit 43 performs clustering processing. That is, the selection unit 43 randomly selects one reflection point from among a plurality of reflection points, and selects one or more reflection points located within a predetermined distance from the selected one reflection point as shown in FIG. 7C. to the same cluster. The predetermined distance used for clustering is determined based on the width dimension of the center crosspiece X13, the resolution of the detection unit 11, and the like. Thereby, the plurality of reflection points on the plurality of objects X1a, X1b, and X1c are assigned to clusters C11, C12, and C13, respectively.

By calculating the center of gravity of each cluster C11, C12, and C13, the selection unit 43 can specify the center position of the central crosspiece X13 in the XY coordinate system, that is, the center position of the reference plane X12. Thereby, the selection unit 43 can identify the relative positions of the plurality of objects X1a, X1b, and X1c with respect to the transport device 1 . As a result, the selection unit 43 can recognize that a plurality of objects X1a, X1b, and X1c exist behind the conveying device 1, and select one of the plurality of objects X1a, X1b, and X1c as the target object X1. Any object can be selected.

That is, in the selection process, the selection unit 43 performs clustering based on detection results including a plurality of reflection points. In the clustering, the selector 43 assigns one or more reflection points located within a predetermined distance from one of the plurality of reflection points to the same clusters C11, C12 and C13. The selection unit 43 specifies relative positions of at least the plurality of objects X1a, X1b, and X1c with respect to the transport device 1 by calculating the positions of the centers of gravity of the clusters C11, C12, and C13, and identifies the plurality of objects X1a, X1b, and X1c. One object to be the target object X1 is selected from among.

In addition, in the present embodiment, it is also possible to perform identification processing for identifying attribute information regarding the attributes of the target object X1 based on the detection result of the detection unit 11 during transportation preparation. Specifically, the identification unit 44 recognizes an identifier represented by letters, numbers, symbols, patterns, or the like included in the marker M1 from the detection result of the detection unit 11, for example. Further, the identification unit 44 identifies attribute information such as the size and weight of the object X1 or the maximum load weight of the object X1 based on the recognized identifier. At this time, the identification unit 44 identifies attribute information corresponding to the identifier, for example, by referring to information stored in a memory (memory of the control processing unit 40).

(3.2) Overall Operation Next, the overall operation (transfer method) of the transfer system 100 including "transfer" will be described with reference to FIGS. 8A to 10. FIG. 8A to 9D are schematic plan views showing the conveying device 1 and the object X1. 8A to 9D show the rotation center P1, the target node P2 (target point), the approximate straight line L1, the movement path L10, the normal lines L11 and L12, etc. These points and lines are virtual points or virtual points. A line, without substance. The processing of "S1" to "S11" in the flowchart of FIG.

Here, as shown in FIG. 8A, the case where the object X1 placed on the pallet place Sp1 is transported by the transport device 1 is exemplified. Here, the reference plane X12 of the object X1 is inclined by the inclination angle θ1 with respect to the outer peripheral edge of the pallet place Sp1. Further, the pallet place Sp1 is located on the side of the movement path L10 of the transport device 1 (on the right hand side when viewed from the transport device 1 moving forward on the movement path L10). Furthermore, the side of the movement path L10 side of the outer periphery of the pallet place Sp1 is parallel to the movement path L10. A target node P2 is set at the intersection of the normal line L11 extending from the center of the pallet place Sp1 toward the movement path L10 in plan view and the movement path L10. That is, the target node P2 is set at a position in front of the pallet place Sp1 and separated from the pallet place Sp1 by the distance D1 between the pallet place Sp1 and the movement path L10.

First, the control system 4 moves the transport device 1 toward the target node P2 according to the command (transport command) from the host system 5 and the electronic map (S1 in FIG. 10). At this time, as shown in FIG. 8A, the transport device 1 advances toward the target node P2 on the movement path L10.

The conveying device 1 detects the presence or absence of the target object X1 with the detection unit 11 while moving on the movement path L10 (S2). When the detection unit 11 determines that the object X1 is not present (S2: No), the transport device 1 continues the movement (S1) toward the target node P2. Then, as shown in FIG. 8B, when the detection unit 11 (second sensor 112) detects the presence of the object X1, the control system 4 determines that the object X1 exists (S2: Yes), and the target node It is determined whether or not the vehicle has arrived at P2 (S3). However, if the conveying device 1 is moving (running), even if it is determined that the object X1 exists, the relative position of the object X1 with respect to the conveying device 1 and the reference of the object X1 with respect to the conveying device 1 No identification process is initiated to identify both the relative orientation of plane X12. If the target node P2 has not been reached (S3: No), the process returns to step S2.

As shown in FIG. 8C, when the center of rotation P1 reaches the target node P2, it is determined that the transport device 1 has arrived at the target node P2 (S3: Yes), and the control system 4 stops the transport device 1. FIG. At this time, the operation mode of the control system 4 shifts to the transport mode (S4). The transport mode is an operation mode in which the control system 4 can independently control the transport device 1 without receiving commands from the host system 5 . The control system 4 that has shifted to the transport mode executes the acquisition process (S5) and the identification process (S6) while keeping the transport device 1 stopped on the target node P2. In the example of FIG. 8C, the detection unit 11 (first sensor 111) captures the object X1, so in the acquisition process, the acquisition unit 41 acquires the detection result of the detection unit 11 regarding the object X1. In the identification process, as described in the section “(3.1) Transportation preparation”, the identification unit 42, based on the detection result of the detection unit 11, determines the relative position of the object X1 with respect to the transportation device 1, Both the relative orientation (inclination angle θ1) of the reference plane X12 of the object X1 with respect to the transport device 1 are specified.

After that, the control system 4 determines whether or not the reference plane X12 is inclined with respect to the conveying device 1 (S7). If the inclination angle θ1 (see FIG. 8A) of the approximate straight line L1 calculated by the specific process is not 0 (zero) (θ1≠0), the control system 4 determines that the reference plane X12 is inclined (S7 : Yes), the transport device 1 is moved onto the normal line L12 of the reference plane X12 (S8). That is, as shown in FIG. 8D, the control system 4 moves (backwards) the transport device 1 to the intersection of the normal L12 of the reference plane X12 and the movement path L10, which is specified from the inclination angle θ1. As shown in FIG. 8D, when the rotation center P1 reaches the normal line L12 of the reference plane X12, the control system 4 stops the transport device 1. As shown in FIG.

With the rotation center P1 positioned on the normal line L12 of the reference plane X12, the control system 4 turns the transport device 1 (S9), as shown in FIG. 9A. At this time, the conveying device 1 rotates the main body 2 about the rotation center P1 while continuing to detect the object X1 with the detection unit 11 (first sensor 111). Here, the conveying device 1 turns counterclockwise by an angle (θ1+90 degrees) obtained by adding the inclination angle θ1 to 90 degrees. As a result, as shown in FIG. 9B, the transport device 1 moves to a position where the pair of support portions 3 are parallel to the normal line L12 of the reference plane X12.

On the other hand, if the inclination angle θ1 (see FIG. 8A) of the approximate straight line L1 calculated by the specific process is 0 (zero) (θ1=0), the control system 4 determines that the reference plane X12 is not inclined. (S7: No). In this case, the control system 4 skips the process (S8) of moving the transport device 1 onto the normal line L12 of the reference plane X12, and rotates the transport device 1 (S9). At this time, the transport device 1 turns counterclockwise by 90 degrees.

That is, the control system 4 moves the transport device 1 so that the rotation center P1 of the transport device 1 is positioned on the normal line of the reference plane X12 based on the information specified by the specifying process. Then, the control system 4, in a state where the center of rotation P1 of the transport device 1 is positioned on the normal line of the reference plane X12, adjusts to turn the conveying device 1 around the center of rotation P1.

When the turning of the conveying device 1 is finished, the control system 4 causes the conveying device 1 to retreat toward the object X1, and inserts the support part 3 into the object X1, as shown in FIG. 9C (S10). As shown in FIG. 9D, when the support 3 is inserted into the object X1, the control system 4 stops the transport device 1. As shown in FIG. In this state, the control system 4 controls the transport device 1 so that the object X1 is lifted up by the support section 3 by raising the support section 3 from the first height to the second height (S11 ).

As a result, the transport device 1 is in a state where the object X1 is lifted by the support portion 3 . The conveying device 1 moves the object X1 on the movement surface 200 with the body portion 2 while supporting the object X1 in a floating state from the movement surface 200 with the support portion 3 inserted into the object X1. X1 is transported (S12).

According to the series of operations described above, the transport system 100 can smoothly insert the support portion 3 into the insertion opening X11 of the target object X1 with only one turn. That is, since both the relative position of the target object X1 with respect to the transport device 1 and the relative orientation of the reference plane X12 of the target object X1 with respect to the transport device 1 are specified in the transport preparation specifying process, the target It is possible to smoothly insert the support part 3 into the insertion opening X11 of the object X1. As a result, according to the above transport method, there is an advantage that a series of processes related to transport of the object X1 can be easily proceeded smoothly.

(4) Modifications Embodiment 1 is merely one of various embodiments of the present disclosure. Embodiment 1 can be modified in various ways according to design and the like, as long as the object of the present disclosure can be achieved. Also, functions similar to those of the transport method and transport system 100 according to the first embodiment may be embodied by a computer program, a non-temporary recording medium recording the computer program, or the like. A program according to one aspect is a program for causing one or more processors to execute the transport method.

Modifications of the first embodiment are listed below. Modifications described below can be applied in combination as appropriate.

In the transport system 100 according to the present disclosure, the control system 4, the host system 5, and the like include computer systems. A computer system is mainly composed of a processor and a memory as hardware. Functions of the control system 4 and the host system 5 in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be recorded in advance in the memory of the computer system, may be provided through an electric communication line, or may be recorded in a non-temporary recording medium such as a computer system-readable memory card, optical disk, or hard disk drive. may be provided. A processor in a computer system consists of one or more electronic circuits, including semiconductor integrated circuits (ICs) or large scale integrated circuits (LSIs). The integrated circuit such as IC or LSI referred to here is called differently depending on the degree of integration, and includes integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). In addition, an FPGA (Field-Programmable Gate Array), which is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the bonding relationship inside the LSI or reconfiguring the circuit partitions inside the LSI, shall also be adopted as the processor. can be done. A plurality of electronic circuits may be integrated into one chip, or may be distributed over a plurality of chips. A plurality of chips may be integrated in one device, or may be distributed in a plurality of devices. A computer system, as used herein, includes a microcontroller having one or more processors and one or more memories. Accordingly, the microcontroller also consists of one or more electronic circuits including semiconductor integrated circuits or large scale integrated circuits.

In addition, it is not an essential configuration of the transport system 100 that a plurality of functions of the control system 4 and the host system 5 are integrated in one housing. In other words, the components of the control system 4 and the host system 5 may be distributed over a plurality of housings. Furthermore, at least part of the functions of the control system 4 and the host system 5, for example, part of the functions of the host system 5 may be realized by the cloud (cloud computing) or the like.

Further, the conveying device 1 is not limited to a hand lift type conveying robot that supports the object X1 with the fork (claw) serving as the support portion 3 inserted into the object X1. The transport device 1 may be, for example, a low-floor transport robot that supports the object X1 by crawling under the object X1 and lifting the object X1.

Also, the object X1 is not limited to a flat pallet, and may be, for example, a trolley, a box pallet, a roll box pallet, a container, a piece of wood, or a box (case). Even for these objects X1, in order for the conveying device 1 to smoothly support the object X1 during conveyance, the direction in which the conveying device 1 should approach the reference plane X12 of the object X1 is determined. ing. Therefore, specifying the orientation of the reference plane X12 of the object X1 relative to the transport device 1 using the transport method according to the first embodiment facilitates a series of processes related to the transport of the object X1. is useful for

In addition, the marker M1 is not limited to a configuration in which the reflectance of at least one of light, sound wave, or electromagnetic wave is higher than that of the portion other than the marker M1 on the reference plane X12 of the object X1. A configuration having a low reflectance of at least one of light, sound waves, and electromagnetic waves may also be used. In addition, the marker M1 may be letters, numbers, symbols, patterns, figures, or textures regardless of the reflectance. Alternatively, the marker M1 itself may emit light by including an LED, a phosphor, or the like.

Further, the reference surface X12 is not limited to the outer surfaces X101, X102, X103, and X104 that serve as the entrance surface of the support portion 3 of the conveying device 1 . That is, the reference surface X12 may be the outer surface of the object X1 on which the insertion port X11 is not formed.

Further, the reference plane X12 is not limited to the outer side surfaces X101, X102, X103, and X104 of the object X1, and may be, for example, the inner side surface or the upper surface of the object X1. When the inner surface of the object X1 is the reference plane X12, the detection section 11 arranged at the tip of the support section 3 can detect the reference plane X12, for example.

Further, the number of central crosspieces X13 to which the marker M1 is attached is not limited to one. A marker M1 may be attached to each of the central crosspieces X13. Furthermore, the pair of side rails X14 need only be on both sides of the central rail X13 in the horizontal direction, and it is not essential that the pair of side rails X14 be positioned at the horizontal ends of the reference plane X12. .

Moreover, the detection unit 11 is not limited to LiDAR, sonar sensors, and radar, and may include sensors such as a stereo camera or a motion stereo camera.

Also, the host system 5 is not an essential component of the transport system 100 and can be omitted as appropriate. In this embodiment, the control system 4 alone controls the transport device 1 .

(Embodiment 2)
A transport system 100A according to the present embodiment differs from the transport system 100 according to the first embodiment in that, as shown in FIG. 11, a control system 4A and a transport device 1A are separate bodies. In the following, configurations similar to those of the first embodiment are denoted by common reference numerals, and descriptions thereof are omitted as appropriate.

In this embodiment, the control system 4A has a first communication section 47 instead of the first interface 46 (see FIG. 2). The transport device 1A has a second communication section 16 instead of the second interface 15 (see FIG. 2). The first communication unit 47 and the second communication unit 16 communicate directly or indirectly via a network, repeater, or the like. As a communication method between the first communication unit 47 and the second communication unit 16, an appropriate communication method such as wireless communication or wired communication is adopted. As an example in the present embodiment, the first communication unit 47 and the second communication unit 16 may be Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power wireless (specified Adopt wireless communication using radio waves as a communication medium in compliance with standards such as low-power wireless).

The control system 4A is installed at a fixed position rather than being mounted on the transport device 1A. That is, the housing of the transport device 1A accommodates only the components for realizing the functions of the transport device 1A. The control system 4A can remotely control the transport device 1A.

Also, the control system 4A may remotely control a plurality of transport devices 1A. In this case, the control system 4A uses the first communication section 47 to communicate with the second communication sections 16 of the multiple conveying apparatuses 1A.

As a modification of the second embodiment, the control system 4A may be integrated with the host system 5. FIG. That is, the components of the control system 4A and the components of the host system 5 may be housed in one housing.

Various configurations (including modifications) described in the second embodiment can be employed in appropriate combination with various configurations (including modifications) described in the first embodiment.

(summary)
As described above, the conveying method according to the first aspect is a conveying method for conveying the object (X1) by the conveying device (1, 1A) having the detection unit (11). a specific process; Acquisition processing is processing for acquiring the detection result of the detection unit (11). The detection result of the detection unit (11) includes distance information related to the distance between the transport device (1, 1A) and the object (X1). The specific process is based on the detection result to determine the relative position of the object (X1) with respect to the transport device (1, 1A) and the reference plane (X12) of the object (X1) with respect to the transport device (1, 1A). It is a process of specifying both relative orientation and orientation.

According to this aspect, based on the detection result of the detector (11), not only the relative position of the object (X1) with respect to the transport device (1, 1A), but also the position of the object with respect to the transport device (1, 1A). The relative orientation of the reference plane (X12) of (X1) is also specified. Therefore, according to the above transport method, there is an advantage that a series of processes related to transport of the object (X1) can be easily proceeded smoothly.

In the transport method according to the second aspect, in the first aspect, the detection unit (11) measures the distance to the markers (M1, M2) attached to the reference plane (X12) of the object (X1) as distance information. detected as

According to this aspect, the presence of the markers (M1, M2) facilitates the detection of the reference plane (X12) by the detection section (11).

In the conveying method according to the third aspect, in the second aspect, the markers (M1, M2) are light and At least one of sound waves or electromagnetic waves is highly reflective.

According to this aspect, at least one of light, sound waves, or electromagnetic waves is easily reflected by the markers (M1, M2), and the detector (11) using at least one of light, sound waves, or electromagnetic waves detects the reference plane (X12 ) is easier to detect.

In the transportation method according to the fourth aspect, in the second or third aspect, the reference plane (X12) of the object (X1) is the central crosspiece (X13) and both horizontal sides of the central crosspiece (X13). and a pair of side crosspieces (X14) located at . The markers (M1, M2) are attached at least to the central crosspiece (X13).

According to this aspect, the position of the central crosspiece (X13) can be easily detected by the detector (11).

In the transport method according to the fifth aspect, in any one of the second to fourth aspects, the markers (M1, M2) include a three-dimensional shape.

According to this aspect, for example, when the object (X1) is made of resin, the markers (M1, M2) can be molded simultaneously with the reference surface (X12).

In the transport method according to the sixth aspect, in any one of the second to fifth aspects, the markers (M1, M2) are attached to the reference surface (X12) of the object (X1).

According to this aspect, for example, the markers (M1, M2) can be attached relatively easily even to the existing object (X1).

In the transport method according to the seventh aspect, in any one of the first to sixth aspects, the object (X1) is a surface along the vertical direction, and has four outer surfaces (X101 , X102, X103, X104). Each of the four outer surfaces (X101, X102, X103, X104) is a reference surface (X12).

According to this aspect, the reference plane (X12) of the object (X1) can be detected from all sides of the object (X1).

In the transport method according to the eighth aspect, in any one of the first to sixth aspects, the object (X1) is a surface along the vertical direction, and has four outer surfaces (X101 , X102, X103, X104). The four outer surfaces (X101, X102, X103, X104) include a surface that is the reference surface (X12) and a surface that is not the reference surface (X12).

According to this aspect, it becomes easier to identify the orientation of the object (X1) from the orientation of the reference plane (X12).

In the conveying method according to the ninth aspect, in the eighth aspect, the object (X1) has a quadrangular shape with four lateral sides (X101, X102, X103, X104) in plan view. Of the four outer surfaces (X101, X102, X103, X104), one or two of the short sides of the square are reference surfaces (X12).

According to this aspect, for example, the conveying device (1, 1A) supports the object (X1) from the short side of the object (X1), so that the moving direction of the conveying device (1, 1A) is perpendicular to the traveling direction of the object (X1). The amount of projection of the object (X1) in the direction of the direction can be kept small.

In the transportation method according to the tenth aspect, in any one of the first to ninth aspects, the detector (11) is arranged at the same height as the reference plane (X12) in the vertical direction.

According to this aspect, the height of the entire conveying device (1, 1A) including the detection section (11) can be reduced compared to the case where the detection section (11) is arranged at a position higher than the reference plane (X12). It is possible to keep it low.

A transporting method according to an eleventh aspect is, in any one of the first to tenth aspects, one object (X1) selected from among the plurality of objects (X1a, X1b, X1c) based on the detection result. It further has a selection process for selecting an object.

According to this aspect, even if the plurality of objects (X1a, X1b, X1c) are relatively close to each other, the object (X1) can be selected from among the plurality of objects (X1a, X1b, X1c). It is possible to select one and carry it.

A transport method according to a twelfth aspect is the eleventh aspect, wherein clustering is performed in the selection processing based on detection results including a plurality of reflection points. In clustering, one or more reflection points located within a predetermined distance from one of the plurality of reflection points are assigned to the same cluster (C11, C12, C13). By calculating the center-of-gravity position of the cluster (C11, C12, C13), at least the relative positions of the plurality of objects (X1a, X1b, X1c) with respect to the transport device (1, 1A) are specified, and the plurality of objects (X1a , X1b, X1c) to be the object (X1).

According to this aspect, clustering makes it possible to select and transport one object (X1) from the plurality of objects (X1a, X1b, X1c) with a relatively simple process.

A conveying method according to a thirteenth aspect is, in any one of the first to twelfth aspects, in the specifying process, clustering is performed based on detection results including a plurality of reflection points. In clustering, one or more reflection points located within a predetermined distance from one of the plurality of reflection points are assigned to the same cluster (C1, C2, C3). At least the position of the object (X1) relative to the transport device (1, 1A) is specified for each cluster (C1, C2, C3).

According to this aspect, it is possible to identify the relative position of the object (X1) with respect to the transport device (1, 1A) by clustering with a relatively simple process.

A transporting method according to a fourteenth aspect, in any one of the first to thirteenth aspects, further includes identification processing for identifying attribute information relating to attributes of the object (X1) based on the detection result.

According to this aspect, it is possible to identify the attributes of the object (X1).

A conveying method according to a fifteenth aspect is, in any one of the first to fourteenth aspects, based on the information specified by the specifying process, rotating the conveying device (1, 1A) on the normal line of the reference plane (X12). The transfer device (1, 1A) is moved so that the center (P1) is positioned. Relative to the reference plane (X12) of the object (X1) with respect to the carrier (1, 1A) in a state where the center of rotation (P1) of the carrier (1, 1A) is positioned on the normal line of the reference plane (X12) Depending on the orientation, the transfer device (1, 1A) is turned around the center of rotation (P1).

According to this aspect, even when the reference plane (X12) is inclined with respect to the carrier device (1, 1A), the carrier device can be set to face the reference plane (X12) directly in front of the carrier device (1, 1A). (1,1A) can be moved.

A transport system (100, 100A) according to a sixteenth aspect comprises a transport device (1, 1A) having a detector (11), and a control system (4) for controlling the transport device (1, 1A). . The control system (4) has an acquisition section (41) and an identification section (42). An acquisition unit (41) acquires the detection result of the detection unit (11). The detection result of the detection unit (11) includes distance information related to the distance between the transport device (1, 1A) and the object (X1). Based on the detection result, the specifying unit (42) determines the relative position of the object (X1) with respect to the transport device (1, 1A) and the reference plane ( X12) and the relative orientation.

According to this aspect, based on the detection result of the detector (11), not only the relative position of the object (X1) with respect to the transport device (1, 1A), but also the position of the object with respect to the transport device (1, 1A). The relative orientation of the reference plane (X12) of (X1) is also specified. Therefore, according to the transport system (100, 100A), there is an advantage that a series of processes relating to the transport of the object (X1) can be easily proceeded smoothly.

In the transport system (100, 100A) according to the 17th aspect, in the 16th aspect, the detection unit (11) detects the marker (M1, M2) attached to the reference surface (X12) of the object (X1). is detected as distance information.

According to this aspect, the presence of the markers (M1, M2) facilitates the detection of the reference plane (X12) by the detection section (11).

A program according to an eighteenth aspect is a program for causing one or more processors to execute the transport method according to any one of the first to twelfth aspects.

According to this aspect, based on the detection result of the detector (11), not only the relative position of the object (X1) with respect to the transport device (1, 1A), but also the position of the object with respect to the transport device (1, 1A). The relative orientation of the reference plane (X12) of (X1) is also specified. Therefore, according to the above program, there is an advantage that a series of processes relating to the transportation of the object (X1) can be easily proceeded smoothly.

A pallet according to a nineteenth aspect is a pallet used as an object (X1) in the transport method according to any one of the first to fifteenth aspects.

According to this aspect, based on the detection result of the detector (11), not only the relative position of the object (X1) with respect to the transport device (1, 1A), but also the position of the object with respect to the transport device (1, 1A). The relative orientation of the reference plane (X12) of (X1) is also specified. Therefore, according to the pallet, there is an advantage that a series of processes relating to the transportation of the object (X1) can be easily proceeded smoothly.

Various aspects (including modifications) of the transportation methods according to Embodiments 1 and 2 can be embodied in the transportation system (100, 100A), the program, or the pallet, without being limited to the above aspects.

The configurations according to the second to fifteenth aspects are not essential for the transport method, and can be omitted as appropriate.

11 Detector 1, 1A Conveying device 4 Control system 41 Acquisition unit 42 Identification unit M1, M2 Marker X1 Target object (pallet)
X1a, X1b, X1c Object X12 Reference plane X13 Center crosspiece X14 Side crosspiece X101, X102, X103, X104 Outer surface

Claims (14)

A conveying method for conveying an object with a conveying device having a detection unit,
an acquisition process of acquiring a detection result of the detection unit including distance information related to the distance between the transport device and the object;
a specifying process of specifying both the relative position of the object with respect to the transport device and the relative orientation of the reference plane of the object with respect to the transport device, based on the detection result;
a selection process of selecting one object as the target object from among a plurality of objects based on the detection result;
The detection unit detects a distance to a marker attached to the reference plane of the object as the distance information,
In the selection process, one or more reflection points located within a predetermined distance from one reflection point among the plurality of reflection points are assigned to the same cluster based on the detection result including the plurality of reflection points. By performing clustering and calculating the center-of-gravity position of the cluster, at least the relative positions of the plurality of objects with respect to the transport device are specified, and one object to be the target object is selected from among the plurality of objects. death,
The predetermined distance is a distance based on the shape and size of the object,
Conveyance method. The marker has a higher reflectance of at least one of light, sound waves, or electromagnetic waves than a part other than the marker on the reference plane of the object.
The conveying method according to claim 1. the reference plane of the object includes a central crosspiece and a pair of side crosspieces positioned on both sides of the central crosspiece in the horizontal direction;
The marker is attached to at least the central crosspiece,
The conveying method according to claim 1 or 2. the marker includes a three-dimensional shape;
The conveying method according to any one of claims 1 to 3. wherein the marker is attached to the reference surface of the object;
The conveying method according to any one of claims 1 to 4. The object has four outer surfaces facing in different directions, each of which is a surface along the vertical direction,
each of the four outer surfaces being the reference surface;
The conveying method according to any one of claims 1 to 5. The object has four outer surfaces facing in different directions, each of which is a surface along the vertical direction,
The four outer surfaces include a surface that is the reference surface and a surface that is not the reference surface,
The conveying method according to any one of claims 1 to 5. The object has a quadrangular shape with the four outer surfaces as four sides in a plan view,
One or two of the four outer surfaces, which are the short sides of the quadrangle, are the reference surfaces.
The conveying method according to claim 7. The detection unit is arranged at the same height as the reference plane in the vertical direction,
The conveying method according to any one of claims 1 to 8. In the specifying process, one or more reflection points located within a predetermined distance from one of the plurality of reflection points are grouped into the same cluster based on the detection result including the plurality of reflection points. performing clustering for allocation, and specifying the relative position of the object with respect to at least the transport device in the cluster unit;
The conveying method according to any one of claims 1 to 9. Further comprising identification processing for identifying attribute information related to the attributes of the object based on the detection result,
The conveying method according to any one of claims 1 to 10. a conveying device having a detection unit;
A control system that controls the transport device,
The control system is
an acquisition unit that acquires a detection result of the detection unit that includes distance information related to the distance between the conveying device and the object;
an identifying unit that identifies both the relative position of the object with respect to the conveying device and the relative orientation of the reference plane of the object with respect to the conveying device, based on the detection result;
a selection unit that selects one object as the target object from among a plurality of objects based on the detection result;
The detection unit detects a distance to a marker attached to the reference plane of the object as the distance information,
The selecting unit clusters, based on the detection result including a plurality of reflection points, allocating one or more reflection points located within a predetermined distance from one of the plurality of reflection points to the same cluster. and calculating the center-of-gravity position of the cluster, thereby identifying at least the relative positions of the plurality of objects with respect to the transport device, and selecting one object as the target object from among the plurality of objects. ,
The predetermined distance is a distance based on the shape and size of the object,
transport system. A program for causing one or more processors to execute the transport method according to any one of claims 1 to 11. Used as the object in the transport method according to any one of claims 1 to 11,
palette.

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