JP7352485B2 - Trolley and automatic transport system - Google Patents

Description

The present invention relates to a trolley and an automatic transport system related to transporting materials at a construction site.

In recent years, technological development of automatic guided vehicles (AGVs) has progressed, and AGVs have begun to be used in a variety of situations. For example, if an AGV is used in a warehouse where products are stored, it becomes possible to automatically transport a wide variety of products. Therefore, work efficiency can be improved and costs can be reduced. As such an AGV, Patent Document 1 discloses a technique in which the AGV sneaks under a truck, and the AGV lifts and pulls the truck.

JP2019-59460A

Dollys used at construction sites have stoppers to keep them stationary. The stopper maintains the cart in a stationary state by being operated by an operator. For this reason, even if the cart is moved to a predetermined location using the technology shown in Patent Document 1, an operator's operation is required to make the stopper function.

In view of the above problems, one of the objects of the present invention is to provide a trolley that can be stopped at a predetermined position without the need for an operator to operate a stopper, and an automatic transport system using the trolley.

A trolley according to an embodiment of the present invention has a first surface and a second surface opposite to the first surface, and includes a first plate on which a material can be placed on the first surface, and a first plate that can place a material on the first surface. a caster section provided on the second surface of the first plate; a second plate disposed on the second surface side of the first plate and movable up and down at a position higher than the ground plane of the caster section; and the caster section. a locking mechanism part capable of restraining the movement of the caster part, and the locking mechanism part changes the activation or release state of the locking mechanism with respect to the caster part in conjunction with the vertical displacement of the second plate.

In the above-mentioned truck, a plurality of the caster sections are provided, and the lock mechanism section is arranged close to one of the plurality of caster sections that is arranged in a direction intersecting the moving direction of the cart. Good too.

In the above-mentioned truck, the locking mechanism section has a stopper that stops the rotation of the wheels of the caster section, and the second plate and the stopper are connected by a connecting body, and the second plate is connected with the stopper in the vertical direction. The tensile state of the connecting body may change depending on the displacement.

In the above-mentioned truck, the locking mechanism section may release the restraint of the caster section when the second plate is displaced upward.

In the above-mentioned truck, the locking mechanism section may include a holder that maintains the tensile state of the connecting body regardless of vertical displacement of the second plate.

In the above-mentioned truck, the connecting body is a wire cable having a first end portion provided with the stopper, and the second plate has a second end portion opposite to the first end portion of the wire cable. The holding tool may include a flat plate portion having a through hole inserted therethrough, and the holder may be inserted between the second tip and the flat plate portion.

An automatic transport system according to an embodiment of the present invention includes the above-mentioned cart, a robot main body, a running part provided on the side of the robot main body and running on the ground, and a running part provided on the upper surface of the robot main body and capable of being raised and lowered. The robot includes an elevating section, and a traction robot that is connected to the trolley and includes a control section that is provided on the robot main body and controls movements of the traveling section and the elevating section, and that is capable of handling materials loaded on the trolley. transport.

In the above automatic transport system, the towing robot may enter a lower part of the trolley, and the second plate of the trolley may be displaced upward in accordance with the upward movement of the elevating section of the towing robot.

By using one embodiment of the present invention, it is possible to provide a trolley that can stand still at a predetermined position without the need for an operator to operate a stopper, and an automatic conveyance system that utilizes the trolley.

1 is a schematic diagram of an automatic conveyance system according to an embodiment of the present invention. FIG. 1 is a perspective view of a truck according to an embodiment of the present invention. FIG. 2 is a side view of a truck according to an embodiment of the present invention when viewed from a first direction. FIG. 3 is a side view of a truck according to an embodiment of the present invention when viewed from a second direction. FIG. 2 is an enlarged side view of a truck according to an embodiment of the present invention when viewed from a first direction. It is a bottom view of the truck concerning one embodiment of the present invention. FIG. 1 is a perspective view of a towing robot according to an embodiment of the present invention. FIG. 1 is a schematic diagram showing a configuration in which a trolley and a towing robot are connected according to an embodiment of the present invention. FIG. 3 is an enlarged side view of a truck according to an embodiment of the present invention when viewed from a second direction. It is a schematic diagram of a construction site using an automatic transport system. FIG. 2 is a schematic diagram illustrating generation of a floor map for automatic conveyance at a construction site. FIG. 2 is an enlarged side view of a truck according to an embodiment of the present invention when viewed from a first direction. FIG. 2 is a perspective view and a side view of a holder according to an embodiment of the present invention when viewed from a first direction. FIG. 2 is an enlarged side view of a truck according to an embodiment of the present invention when viewed from a first direction. FIG. 2 is an enlarged side view of a truck according to an embodiment of the present invention when viewed from a first direction.

Each embodiment of the present invention will be described below with reference to the drawings. It should be noted that the embodiments are merely examples, and those that can be easily conceived by those skilled in the art by making appropriate changes while maintaining the gist of the invention are naturally included within the scope of the present invention. Further, in order to make the explanation clearer, the drawings may schematically represent the width, thickness, shape, etc. of each part compared to the actual aspect. However, the illustrated shape is just an example and does not limit the interpretation of the present invention.

In this specification, for convenience of explanation, the words "upper", "upper", "upper", "lower", "lower", or "lower" will be used, but the vertical relationship of each structure will be explained. It's just that. For example, when explaining the positional relationship between the configurations of a structure (e.g., a trolley or a towing robot), the side on which the structure is installed (e.g., the floor side) is based on the aspect in which the structure is normally used. is sometimes referred to as "below", "below", or "lower".

In this specification, characters such as "first" and "second" appended to each configuration are convenient signs used to distinguish each configuration, and unless otherwise specified, the characters "first", "second", etc. has no meaning.

In this specification and drawings, the same reference numerals are used to collectively represent multiple structures that are the same or similar, and uppercase or lowercase letters are used to distinguish between these multiple structures. It may be written. Further, when distinguishing and notating multiple parts of one configuration, a hyphen and a natural number may be used.

Moreover, the following embodiments can be combined with each other unless technical contradiction occurs.

<First embodiment>
(1-1. Configuration of automatic conveyance system)
FIG. 1 shows the configuration of an automatic conveyance system 10. As shown in FIG. 1, the automatic transport system 10 includes a trolley 100, a towing robot 200, and an automatic transport management device 300.

The trolley 100 is a structure that can be loaded with materials and moved using casters.

The towing robot 200 is a robot that is connected to the trolley 100 and can automatically travel while towing the trolley 100 to a designated predetermined location. Note that the robot in this case may be, for example, a vehicle. Therefore, the towing robot 200 can be called an automatic guided vehicle.

The automatic transport management device 300 controls the automatic transport vehicle, controls the construction elevator in which the automatic transport vehicle runs, and manages the automatic transport vehicle and the construction elevator by communicating with the automatic transport vehicle and the construction elevator. Functions as a server. Each configuration will be explained in detail below. Note that the automatic transport system 10 may include a terminal for a worker.

(1-2. Composition of trolley)
A truck 100 according to an embodiment of the present invention will be described using the drawings. FIG. 2 is a perspective view of a truck 100 according to an embodiment of the present invention. The truck 100 includes a truck main body section 110, caster sections 120, a locking mechanism section 130, and a connection plate 140.

FIG. 3 is a side view of the truck 100 when viewed from the first direction D1. FIG. 4 is a side view of the truck 100 when viewed from the second direction D2. FIG. 5 is an enlarged side view of a portion 100a of the truck 100 in the side view shown in FIG. FIG. 6 is a bottom view of the truck 100. In addition, in this embodiment, the first direction D1 refers to the direction in which the short side of the truck main body 110 extends. The second direction D2 refers to the direction in which the long sides of the truck main body 110 extend. Further, the third direction D3 refers to the normal direction to the truck main body 110.

The truck main body 110 (also referred to as a first plate) has an upper surface (first surface 110a) and a lower surface (second surface 110b). The first surface 110a of the trolley body 110 can be loaded with materials and the like. In this example, the first surface 110a of the truck body 110 is flat so that materials and the like can be loaded thereon. Further, the truck main body portion 110 has a rectangular shape. Note that although an example is shown in which the first surface 110a is flat, the present invention is not limited to this. The trolley main body 110 is not limited to being flat, and may include a flat portion in part. In this case, the truck main body 110 may be partially provided with a depression or an opening. The trolley body 110 is not limited to a rectangular shape, but may be circular, elliptical, or diamond-shaped.

The trolley main body 110 may be made of a material with high strength in view of loading materials thereon. In this example, steel is used for the truck body 110. Note that the material is not limited to this, and metal materials such as stainless steel, resin materials such as acrylic, polypropylene, and polyurethane, or wood may be used.

Furthermore, the surface of the truck body 110 may be coated with anti-rust coating. For example, the surface of the truck main body 110 can be galvanized as an anti-rust coating. Further, although not shown, a stopper such as a pipe may be provided on the first surface 110a of the truck body 110 to prevent the loaded materials from collapsing. Further, the main body of the truck may be appropriately treated with water repellent treatment.

The caster portions 120 are provided at the four corners of the second surface 110b of the truck body portion 110. Caster section 120 includes a mounting section 121, a main body section 123, and wheels 125. The attachment portion 121 includes metal fittings and the like, and connects the main body portion 123 and the truck main body portion 110. The main body part 123 has a rotation axis provided perpendicularly to the trolley main body part 110. Thereby, the main body portion 123 can change the direction of the wheels 125. The wheels 125 are attached to the main body 123 and rotate around the axle. The material of the wheels 125 is not particularly limited. In this example, wheels 125 include a rubber material. In addition to rubber, the material of the wheel 125 may include a resin member such as nylon or urethane, or a metal member such as steel or stainless steel.

The caster section 120 having the above configuration allows the cart 100 to move in all directions.

The locking mechanism section 130 has a function of restraining (locking) the movement of the caster section 120. The locking mechanism section 130 is connected to the truck main body section 110 using a fitting.

It is desirable that a plurality of lock mechanisms 130 be arranged. In this case, it is desirable that the locking mechanism section 130 be arranged in a direction intersecting the direction in which the trolley 100 moves. In this example, the locking mechanism section 130 is arranged close to the caster section 120 arranged diagonally. By arranging it in this way, the locking mechanism section 130 can move along the short side direction (first direction D1) or along the long side direction (second direction D2), and the locking mechanism section 130 can movement can be locked.

In the present embodiment, an example has been shown in which the locking mechanism section 130 is disposed close to the caster section 120 disposed diagonally, but the present invention is not limited thereto. For example, three lock mechanism parts 130 may be provided, or they may be arranged at each of the four corner caster parts 120.

As shown in FIG. 5, the locking mechanism section 130 includes a connecting body 133 and a restraining body 135.

The connecting body 133 is connected to a restraining body 135. The connecting body 133 may be provided with a wire cable. The connecting body 133 transmits the displacement of the tip 133a to the stopper 135 provided at the other tip.

The connecting body 133 may further include an elastic body. This example includes a coil spring as the elastic body. Note that the elastic body is not limited to a coil spring, and may be other springs such as a plate spring or a disc spring, or may be made of a material such as rubber. The connecting body 133 may have a restoring force in which the tensile state of the wire cable changes depending on the displacement of the tip portion 133a.

The restraint body 135 has a function of restraining the rotation of the wheel 125. A material with high frictional force against the wheels 125 is used for the restraint body 135 . For example, rubber material is used. Note that the restraining body 135 is not limited to a rubber material, and a metal material may also be used. Furthermore, the arrangement of the restraining body 135 is not particularly limited. In this example, the restraining bodies 135 are arranged on both sides of the wheel 125 so as to sandwich the wheel 125 therebetween. When the stopper 135 is in contact with the wheel 125, rotation of the wheel 125 is suppressed. When the stopper 135 is separated from the wheel 125, the wheel 125 is allowed to rotate. In this embodiment, the stopper 135 moves in accordance with the displacement of the tip 133a. This controls the rotation of the wheels 125. In other words, the movement of the cart 100 (or the caster portion 120) is controlled by the movement of the tip portion 133a.

As shown in FIG. 5, the connecting plate 140 (also referred to as a second plate) includes a mounting portion 111 provided on the second surface 110b side of the bogie main body 110, and a mounting portion provided on the long side of the bogie main body 110. 113, and is attached to the truck main body 110 via an attachment portion 115 that connects the attachment portion 111 and the attachment portion 113. As shown in FIG. 5, the connection plate 140 is disposed on the second surface 110b side of the bogie body 110 in the third direction D3 with a gap S1 between the coupling plate 140 and the bogie body 110. If a shaft is used as the attachment part 115, the attachment part 111 can be moved up and down smoothly.

As shown in FIG. 6, the connection plate 140 has a plate portion 141 provided in a plate shape and a hole portion 143 arranged in the plate portion 141. The hole portion 143 can be used to connect with the towing robot 200. The connection plate 140 can move up and down when connected to a towing robot 200, which will be described later. Note that the hole portion 143 may have any structure as long as it can be connected to the towing robot 200, and may be a recessed portion.

A material having enough strength to maintain its shape is used for the connection plate 140. In this example, a steel plate is used. The connection plate 140 is not limited to steel, and may be made of a metal material such as SUS, or a resin material such as acrylic, vinyl chloride, or polycarbonate.

The connecting body 145 of the connecting plate 140 has a flat plate portion 145a having a through hole. Therefore, the connecting body 133 and the connecting plate 140 can be connected by inserting the distal end portion 133a of the wire cable, which is the connecting body 133, through the through hole of the flat plate portion.

Further, as shown in FIG. 5, the towing robot 200 that pulls the dolly 100 enters the lower part of the dolly 100, that is, the second surface 110b side of the dolly main body 110. It has a gap S2 for the robot 200 to enter. The gap S2 from the ground Grd to the lower surface of the connection plate 140 is larger than the height of the traction robot 200. The gap S2 can also be adjusted by the length of the attachment part 121 of the caster part 120 or the diameter of the wheel 125. With the above configuration, it can be said that the connection plate 140 can be vertically displaced at a position higher than the ground plane (ground Grd) of the caster part 120.

(1-3. Configuration of towing robot)
A towing robot 200 according to an embodiment of the present invention will be described using FIGS. 1 and 7.

FIG. 7 is a schematic diagram of a towing robot 200 according to an embodiment of the present invention. Specifically, FIG. 7 is a perspective view of the towing robot 200 viewed from the top side of the towing robot 200.

As shown in FIGS. 1 and 7, the towing robot 200 includes a robot main body section 210, a traveling section 220, and an elevating section 230. The robot main body section 210 is located between the two traveling sections 220.

The robot body section 210 includes a control section 211, a storage section 213, and a communication section 215. The robot main body section 210 receives instructions from the automatic transport management device 300 through the communication section 215 . For the communication unit 215, a communication device such as a wireless module is used. The received instruction information can be stored in the storage unit 213.

The storage unit 213 includes a semiconductor memory such as an SSD (Solid State Drive), a magnetic recording medium (magnetic tape, magnetic disk, etc.), an optical recording medium, a magneto-optical recording medium, and a memorizable element that is a storage medium. It will be done.

The control unit 211 is one of the computers, and includes a CPU (Central Processing Unit), an ASIC (Application Specific Integrated Circuit), and an FPGA (Field Programmable Gate Array). ) etc. are used. The control section 211 can control the traveling section 220 and the elevating section 230 based on the instruction information. Further, the towing robot 200 may be appropriately provided with a battery as a power source, a motor for driving the traveling section 220, a brake, etc. as other components.

The traveling section 220 is provided on the side of the robot main body section 210. The running section 220 can run on the ground. In this example, a crawler is used for the running section 220. In this embodiment, the towing robot 200 can move forward or backward by rotating the two traveling parts 220 in the same direction. Moreover, by rotating the two traveling parts 220 in different directions, the towing robot 200 can rotate (turn) at that position.

In addition, in this embodiment, although the example where the crawler was used for the running part 220 was shown, it is not limited to this. For example, the running portion 220 may use wheels, and specifically may use casters.

The elevating section 230 has a function of rising or falling. Control of raising and lowering the lifting section 230 is performed by the control section 211. The tip of the elevating part 230 has two protrusions. The two protrusions can be fitted into the holes 143 of the connection plate 140 when the elevating part 230 is raised. Thereby, the trolley 100 and the towing robot 200 can move as one without being separated.

Furthermore, the towing robot 200 includes a measuring section 240. A laser sensor can be used as the measurement section 240. In this example, the measurement unit 240 is arranged in front of the towing robot 200 (at the leading end in the traveling direction). Note that the measurement unit 240 is not limited to the front of the towing robot 200, but may be arranged at the rear, side, or four sides. The laser sensor emits a laser beam while scanning it in front of the towing robot 200, and can detect structures around the towing robot 200 based on the emitted light and reflected light. Specifically, the laser sensor detects the structure by calculating the distance between the towing robot 200 and the structure. The distance between the towing robot 200 and the structure is calculated using the control unit 211. Note that the arithmetic device may be provided in the laser sensor or may be provided in the robot main body 210 of the towing robot 200. Note that the distance between the towing robot 200 and the structure may be calculated using a TOF (Time of Flight) method or an AM (Amplitude Modulation) method.

Further, the robot main body section 210 may further include an IMU (Inertial Measurement Unit) including a gyro sensor and a GPS (Global Positioning System) signal receiver. The structure may be detected using a gyro sensor or GPS, and the distance between the structure and the towing robot 200 may be calculated based on the data obtained by the gyro sensor or GPS. Furthermore, the towing robot 200 may include an encoder in the traveling section 220 in order to measure its own position.

(1-4. Configuration of automatic transport management device)
The explanation will be returned to FIG. 1. The automatic conveyance management device 300 includes a control section 310, a storage section 320, a communication section 330, an operation section 340, a display section 350, and the like.

The control unit 310 is one type of computer, and uses a CPU, ASIC, FPGA, or other arithmetic processing circuit to control processing based on instructions prescribed in automatic conveyance management control software (program). Further, a user interface for executing the automatic conveyance management control program may be provided on the display unit 350 according to a command from the control unit 310.

In addition to a semiconductor memory such as an SSD, the storage unit 320 uses a storable element that is a magnetic recording medium (magnetic tape, magnetic disk, etc.), an optical recording medium, a magneto-optical recording medium, or a storage medium. The storage unit 320 has a function as a database that stores position information, map information, a route for the towing robot 200 to automatically travel, etc. used in the automatic transport management control program.

The communication unit 330 has a transmitter/receiver and communicates information regarding automatic transportation with the towing robot 200 via a communication network. Communication between the communication unit 330 and the towing robot 200 is performed using wireless communication such as wireless LAN, Wi-Fi (registered trademark), Bluetooth (registered trademark), the Internet, or the like. Note that the communication unit 330 may communicate with a construction elevator in addition to the traction robot 200.

The operation unit 340 includes a controller, a button, or a switch. When the operation unit 340 is operated by moving it up and down, left and right, pressing, or rotating, information based on the operation is transmitted to the control unit 310. Note that in the case of a display device (touch panel) having a touch sensor, the display section 350 and the operation section 340 may be arranged at the same location.

The display section 350 is a display device such as a liquid crystal display or an organic EL display, and display contents are controlled by signals input from the control section 310.

(1-5. Cart lock control method)
Next, a lock control method for the trolley 100 according to the present embodiment will be explained together with the connection with the towing robot 200.

First, when the truck 100 is at rest, the tip end 133a of the coupling body 133 is located at the first position P1, as shown in FIG. At this time, the restraint body 135 is in contact with the wheel 125 on both sides. Further, the connection plate 140 has a gap S1 between it and the truck main body 110.

FIG. 8 shows a schematic diagram when the towing robot 200 enters the lower part of the trolley 100. As shown in FIG. 8, the towing robot 200 enters the lower part of the truck 100 from the long side of the truck 100. Since the distance between two adjacent caster parts 120 is larger on the long side of the truck 100 than on the short side of the truck 100, the gap at the bottom of the truck 100 is larger than on the short side of the truck 100. Therefore, the towing robot 200 can enter the lower part of the truck 100 more easily from the long side of the truck 100 than from the short side of the truck 100. The towing robot 200 that has entered the lower part of the trolley 100 can rotate (turn) as appropriate at the lower part of the trolley 100. Thereby, the direction in which the trolley 100 is desired to be moved can be adjusted. When the towing robot 200 enters the lower part of the cart 100, the elevating section 230 moves upward.

When the elevating portion 230 moves upward, the two protrusions fit into the holes 143 of the connecting plate 140, and the connecting plate 140 moves upward (in the direction of the arrow) as shown in FIG. At this time, the connecting body 133 of the lock mechanism section 130 and the connecting plate 140 are connected via the connecting body 145. Further, the restraining body 135 is connected to a connecting body 133 including a wire cable and an elastic body. Therefore, it can be said that the connection plate 140 and the restraining body 135 are connected via the wire cable. In this case, the tension state of the wire cable and the elastic body of the connecting body 133 will change according to the vertical displacement of the connecting plate 140. Therefore, in accordance with the upward movement of the connection plate 140, the tip portion 133a also moves upward (to the second position P2) via the connection body 145. When the tip portion 133a moves upward (second position P2), the stopper 135 separates from the wheel 125 via the connector 133. As a result, the lock by the locking mechanism section 130 is released, and the wheels 125 can be rotated.

That is, in the truck 100 of this embodiment, the connection plate 140, the connection body 133 of the locking mechanism section 130, and the stop body 135 are connected. In conjunction with the vertical displacement of the connection plate 140, the locking mechanism section 130 changes the state of activation or release of the locking mechanism for the caster section 120. Thereby, the stationary state and movable state of the trolley 100 can be easily controlled.

Furthermore, in the present embodiment, in the basic state, the distal end portion 133a of the connecting body 133 is located below (first position), and the stopper body 135 stops the rotation of the wheel 125 with the wheel 125 interposed therebetween. That is, in the basic state, the trolley 100 is stationary. When the tip 133a of the connecting body 133 moves upward, the connecting body 133 is pulled, the stopper 135 is separated from the wheel 125, and the wheel 125 becomes movable. Therefore, the trolley 100 is in a stationary state in its basic state, and the trolley 100 can be moved as necessary.

(1-6. Automatic transport)
Next, an example of automatically transporting materials using the trolley 100 and the towing robot 200 according to an embodiment of the present invention will be described. Note that automatic transport in this embodiment refers to transport based on instructions from the automatic transport management device 300 in which an automatic transport vehicle is communicatively connected to the automatic transport management device 300, and autonomous transport by the automatic transport management device included in the automatic transport vehicle. including transportation. Autonomous transportation includes not only transportation in which an automatic guided vehicle heads toward a destination along a predetermined route, but also transportation in which an automatic guided vehicle follows a target object.

FIG. 10 is a schematic diagram of a construction site using an automatic transport system according to an embodiment of the present invention. A building 50 at a construction site shown in FIG. 10 has multiple floors. A construction elevator 60 is installed next to the building 50 to allow materials 53 to be transported between floors, that is, in the height direction of the building 50. In the construction elevator 60, an elevator 62 is attached to a pedestal 61 extending along the height direction of the building 50. The elevator 62 is configured to move along the pillars 61 and stop at each floor of the building 50. Note that the automatic transport system may include a construction elevator 60, and the traction robot 200 and the construction elevator 60 can be controlled by the automatic transport management device 300.

On the work floor (material pick-up area or storage area), a shutter 51 is installed to close an opening in the wall of the floor. The shutter 51 is installed on the construction elevator 60 side. When using the construction elevator 60, the shutter 51 is opened and closed. Further, in front of the shutter 51, a slope 52 is installed to reduce the difference in level between the floor surface of the floor and the floor surface of the elevator 62. Note that opening and closing of the shutter 51 can also be controlled by the automatic conveyance management device 300.

In the automatic transport system, a cart 100 loaded with materials 53 is connected to a towing robot 200, and the towing robot 200 automatically travels from a loading area to a loading area while pulling the truck 100. At a construction site, materials 53 and the like are often placed on the floor surface, and the transport route of the towing robot 200 may be limited. In order to enable the towing robot 200 to travel automatically, a transport route on which the towing robot 200 can travel may be specified in advance. Furthermore, before starting to use the automatic transport system, a map showing the floor situation (an automatic transport floor map) may be generated.

FIG. 11 is a diagram illustrating generation of a floor map for automatic transport at a construction site. Specifically, FIG. 11(A) is a schematic diagram showing the state of a floor at a construction site, and FIG. 11(B) is a schematic diagram of a generated floor map for automatic conveyance.

As shown in FIG. 11(A), a first material 53-1 and a second material 53-2 are placed on the floor of a building 50 at a construction site. The first material 53-1 and the second material 53-2 may become obstacles for the towing robot 200 to travel automatically. Further, pillars for supporting the building 50 are installed on the floor of the building 50. The pillars can also become obstacles to the automatic movement of the towing robot 200. An automatic transport floor map is generated in which all the first material 53-1, second material 53-2, pillars, etc. that may become obstacles to the automatic movement of the towing robot 200 are marked as obstacles.

In order to generate an automatic transport floor map, a worker manually operates the towing robot 200 or automatically moves the towing robot 200 on the floor where the towing robot 200 automatically travels (for example, a loading area or a loading area). , let it run. When the towing robot 200 is equipped with a laser sensor as described above, the towing robot 200 uses the laser sensor to detect the first material 53-1, the second material 53-2, a pillar, etc. be able to. Based on the detected information, the towing robot 200 marks the first material 53-1, the second material 53-2, or a pillar as an obstacle 55, as shown in FIG. 11(B). A floor map for automatic transport can be generated. Note that the process for generating the automatic transport floor map does not need to be performed by the towing robot 200. The automatic transport management device 300 that is communicatively connected to the towing robot 200 and receives information from the towing robot 200 may perform processing to generate an automatic transport floor map.

Further, the automatic conveyance floor map may be processed by the automatic conveyance management device 300 in real time to generate an automatic conveyance floor map. Further, the automatic transport floor map created in real time may be transmitted to the worker's mobile terminal and displayed on the display unit. The operator can compare and confirm the actual travel of the towing robot 200 with the automatic transport floor map displayed on the display unit. This improves the accuracy of the automatic transport floor map.

Further, when the towing robot 200 is equipped with a gyro sensor, it is possible to detect a difference in level on the floor surface. In this case, it becomes possible to show not only the obstacle 55 but also the level difference on the automatic transport floor map.

Information necessary for automatic transportation, such as information on the floor map for automatic transportation and information on the positions of the trolley 100 and the pulling robot 200, is controlled and managed by the automatic transportation management device 300. For example, the initial position (start position) and conveyance position (goal position) of the trolley 100, the execution start time of the automatic conveyance system, etc. can be controlled and managed through the automatic conveyance management device 300.

When automatic transport is executed by the automatic transport management device 300, the towing robot 200 starts automatic travel, enters the lower part of the cart 100 loaded with materials 53 at the initial position on the loading area floor, and connects with the cart 100. Link. At this time, the connecting plate 140 included in the truck 100 rises, the locking mechanism 130 is released, and the truck 100 becomes movable. The towing robot 200 automatically travels while towing the trolley 100 while avoiding obstacles 55 based on the automatic transport floor map. The towing robot 200 stops in front of the shutter 51 on the loading floor, more specifically in front of the slope 52.

When the automatic conveyance management device 300 receives a signal indicating that the towing robot 200 is stopped in front of the shutter 51, the automatic transport management device 300 moves the elevator 62 of the construction elevator 60 to the loading area floor where the towing robot 200 is located, and moves the elevator 62 Open the door (not shown). Further, when the automatic conveyance management device 300 receives a signal that the elevator 62 has stopped on the loading area floor, it opens the shutter 51 on the loading area floor. When the traction robot 200 receives the signal that the door and shutter 51 of the elevator 62 are open, it ascends the slope 52 and gets into the elevator 62 of the construction elevator 60 . When the automatic transport management device 300 receives a signal indicating that the towing robot 200 is stopped in the elevator 62, it closes the door of the elevator 62 and the shutter 51. After confirming that the door and shutter 51 of the elevator 62 are closed, the elevator 62 is moved to the cargo storage floor. Further, when the automatic conveyance management device 300 receives a signal that the elevator 62 stops on the loading area floor and the door of the elevator 62 opens, it opens the shutter 51 on the loading area floor.

When the towing robot 200 receives the signal that the shutter 51 is open, it starts running automatically, passes through the slope 52, and descends from the elevator 62 to the cargo storage floor. When the automatic transport management device 300 receives the signal that the towing robot 200 has descended the slope 52 and confirms that there is nothing inside the elevator 62, it closes the door of the elevator 62 and the shutter 51. The towing robot 200 automatically travels while avoiding obstacles 55 based on the automatically generated floor map, and stops at the transport position.

When the automatic transport management device 300 receives a signal indicating that the towing robot 200 is stopped at the transport position, it transmits an instruction to disconnect the trolley 100 and the towing robot 200. When the towing robot 200 moves away from the trolley 100, the connection plate 140 included in the trolley 100 descends. The locking mechanism section 130 operates, and the truck 100 becomes stationary. The towing robot 200, which has been disconnected from the trolley 100, advances to the front of the shutter 51, travels in the reverse direction along the above-mentioned travel route, and returns to the loading area floor. The towing robot 200 is connected to a cart 100 loaded with another material 53, and automatically travels while towing the cart 100.

Note that in this embodiment, the automatic transport system 10 is not limited to one pulling robot 200. The automatic transport system 10 can also include a plurality of traction robots 200. That is, in the automatic transport system 10, the plurality of carts 100 and the plurality of towing robots 200 can be used simultaneously to perform automatic transport. Further, the automatic transport management device 300 can control the plurality of towing robots 200 to move back and forth between the loading area floor and the loading area floor simultaneously or continuously.

Moreover, although the automatic transport system including the towing robot 200 has been described above, the automatic transport system is not limited to the towing robot 200 and can be applied to any automatic transport vehicle.

In the automatic transport system according to the present embodiment, a towing robot 200 is connected to a cart 100 loaded with materials 53, and can automatically transport the cart 100 from a loading area to a storage area. For example, if automatic transport is performed by the automatic transport system at night, the worker can start work using the materials 53 transported by the automatic transport system from the next morning. The worker needs to start the work of transporting the material 53 in the morning of the next day, but if an automatic transport system is used, the work of transporting the material 53 can be omitted. Therefore, the use of automatic transport systems reduces the burden on workers and greatly improves work efficiency at construction sites.

<Second embodiment>
In this embodiment, a truck different from the first embodiment will be described. Specifically, the cart 100A that controls the movement of the caster portion 120 without vertical movement of the connection plate 140 will be described.

FIG. 12 is an enlarged side view of the truck 100A when viewed from the first direction. As shown in FIG. 12, the truck 100A further includes a holder 117 (also referred to as a spacer) and a connecting body 119. One end of the holder 117 is connected to the truck main body 110 via a chain-like connecting body 119.

FIG. 13(A) shows a perspective view of the holder 117, and FIG. 13(B) shows a side view of the holder 117 when viewed from the second direction D2. FIGS. 14 and 15 show enlarged side views of the truck 100A when viewed from the first direction D1. As shown in FIGS. 13(A) and 13(B), the holder 117 has a U-shaped recess 117a. The width S3 of the recessed portion 117a is approximately the same as the width W1 of the connecting body 133. Therefore, the holder 117 can be inserted between the tip portion 133a and the flat plate portion 145a of the connecting body 145.

In this embodiment, as shown in FIG. 14, the connecting body 133 can be displaced independently of the connecting plate 140. Specifically, the connecting body 133 can be displaced by manually lifting the tip portion 133a. The restraining body 135 can make the wheel 125 rotatable via the connecting body 133 according to the displacement of the tip portion 133a.

At this time, in order to keep the distal end 133a displaced upward, a holder 117 is inserted between the distal end 133a of the connecting body 133 and the flat plate part 145a of the connecting body 145, as shown in FIG. . While the holder 117 is inserted between the distal end portion 133a and the flat plate portion 145a, the connecting body 133 is maintained in a pulled state regardless of the vertical displacement of the connecting plate 140, and the connecting body The elastic body 133 has a restoring force. As a result, the wheels 125 of the caster portion 120 are always rotatable. In other words, by using this embodiment, the cart 100A can be maintained in a movable state at all times.

Furthermore, in this embodiment, the end of the holder 117 is connected to the connecting body 119, so it can be prevented from being lost.

The embodiments described above as embodiments of the present invention can be implemented in appropriate combinations as long as they do not contradict each other. Further, those in which a person skilled in the art appropriately adds, deletes, or changes the design of components based on each embodiment, or adds, omitted, or changes in conditions based on each embodiment also have the gist of the present invention. within the scope of the present invention.

Even if there are other effects that are different from those brought about by each of the embodiments described above, those that are obvious from the description of this specification or that can be easily predicted by a person skilled in the art are naturally included in the present invention. It is understood that this is brought about by

(Modified example)
In addition, in the first embodiment of the present invention, an example was shown in which the restraining body 135 restrains the wheels by sandwiching them therebetween, but the present invention is not limited to this. For example, the rotation of the wheel 125 may be restrained by providing a metal fitting with an uneven surface on the side surface of the wheel 125 and having such an unevenness that the restraining body 135 is caught on the unevenness. Alternatively, opening of the wheel 125 may be restrained using a structure (for example, a rubber pad) having a frictional force that contacts the rotating surface.

DESCRIPTION OF SYMBOLS 10... Automatic transport system, 50... Building, 51... Shutter, 52... Slope, 53... Material, 55... Obstacle, 60... Construction elevator, 61... ... Pillar, 62... Elevator, 100... Dolly, 110... Dolly body, 111... Mounting part, 113... Mounting part, 117... Holder, 119... Connecting body, 120... Caster part, 121... Mounting part, 123... Main body part, 125... Wheel, 130... Lock mechanism part, 130b... Lock mechanism part, 133... Connecting body, 135... Stopping body, 140... Connecting plate, 141... Plate part, 143... Hole part, 145... Connecting body, 200... Towing robot, 210... Robot main body section, 211...control section, 213...storage section, 215...communication section, 220...traveling section, 230...lifting section, 240...measuring section, 300... Automatic transport management device, 310...control unit, 320...storage unit, 330...communication unit, 340...operation unit, 350...display unit

Claims (8)

a first plate having a first surface and a second surface opposite to the first surface, and on which a material can be placed;
a caster portion provided on the second surface of the first plate;
The caster includes a plate portion provided on the second surface side of the first plate, parallel to the ground and provided in a plate shape, and a hole portion connectable to a protrusion provided on the traction robot. a second plate that is vertically displaceable at a position higher than the ground plane of the part;
A locking mechanism part capable of restraining movement of the caster part,
The locking mechanism section changes the activation or release state of the locking mechanism for the caster section in conjunction with the vertical displacement of the second plate.
Dolly. A plurality of caster parts are provided,
The locking mechanism section is disposed close to a caster section that is disposed in a direction intersecting a moving direction of the cart among the plurality of caster sections.
The trolley according to claim 1. The lock mechanism section has a stopper that stops rotation of the wheel of the caster section,
The second plate and the restraining body are connected by a connecting body,
The tensile state of the connecting body changes according to the vertical displacement of the second plate.
The trolley according to claim 1 or 2. When the second plate is displaced upward, the locking mechanism releases the locking of the caster.
The trolley according to any one of claims 1 to 3. The locking mechanism includes a holder that maintains the tensioned state of the connecting body regardless of vertical displacement of the second plate.
The trolley according to claim 3. The connecting body is a wire cable with the restraining body provided at a first tip,
The second plate includes a flat plate portion having a through hole through which a second tip portion of the wire cable opposite to the first tip portion is inserted;
The holder is inserted between the second tip portion and the flat plate portion,
The trolley according to claim 5. The trolley according to any one of claims 1 to 6 ,
a robot main body part, a running part provided on the side of the robot main body part and running on the ground, an elevating part provided on the upper surface of the robot main body part and capable of being raised and lowered; a traction robot that is connectable to the trolley and includes a control unit that controls movement of the lifting unit;
transporting the materials loaded on the trolley;
Automatic conveyance system. The towing robot enters the lower part of the trolley,
The second plate of the truck is displaced upward in accordance with the upward movement of the elevating section of the towing robot.
The automatic conveyance system according to claim 7.

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