JP7365257B2 - 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 portion provided on the second surface of the first plate, a first terminal provided on the second surface side of the first plate, and electrically connected to the first terminal, and in a power supply state to the first terminal. and a locking mechanism portion that limits movement of the caster portion accordingly.

In the above-mentioned truck, a plurality of the caster sections may be provided, and the locking mechanism section may be disposed in one of the plurality of caster sections that is disposed in a direction intersecting a moving direction of the truck.

In the above-mentioned truck, the locking mechanism section may stop rotation of the wheels of the caster section when power is not supplied to the first terminal.

In the above-mentioned truck, the locking mechanism includes an actuator and a stopper attached to the actuator, and when the first terminal is not supplied with power, the actuator may operate such that the stopper contacts the wheel.

The truck may further include a second plate provided on the second surface side of the first plate, and the first terminal may be provided on the second plate.

In the above-mentioned truck, the second plate may have a recess, and a plurality of the first terminals may be provided in the recess.

An automatic transport system according to an embodiment of the present invention includes a cart, a robot main body, a traveling part that makes the robot main body travel, an elevating part that is provided on the upper surface of the robot main body and can be raised and lowered, and the robot main body. The vehicle is provided with a control unit that controls movement of the traveling unit and the lifting unit, and the lifting unit includes a traction robot that can be connected to the trolley.

In the automatic transport system, the elevating part has a protrusion having a second terminal at the tip, the towing robot enters a lower part of the cart, and the elevating part of the towing robot is displaced upward; The first terminal may be supplied with power when the first terminal and the second terminal are electrically connected.

In the automatic conveyance system, there may be a plurality of protrusions, a plurality of recesses, and the plurality of protrusions may fit into the plurality of recesses.

In the automatic conveyance system, the plurality of recesses may be arranged at vertices of a virtual square, and the direction in which the plurality of protrusions are arranged may be equal to the direction of a diagonal line of the virtual square.

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. It is a perspective view of the caster part concerning one embodiment of the present invention. FIG. 2 is a top view and a sectional view taken along A1-A2 of a caster part according to an embodiment of the present invention. It is a bottom view of the truck concerning one embodiment of the present invention. FIG. 2 is a sectional view taken along B1-B2 of a truck according to an embodiment of the present invention. 1 is a perspective view and a sectional view of a towing robot according to an embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view and a sectional view showing a configuration in which a trolley and a towing robot are connected according to an embodiment of the present invention. FIG. 1 is an enlarged sectional view and a circuit diagram showing a configuration in which a trolley and a traction robot are connected according to an embodiment of the present invention. FIG. 1 is a cross-sectional view showing a configuration in which a trolley and a towing robot are connected according to an embodiment of the present invention. FIG. 1 is an enlarged sectional view and a circuit diagram showing a configuration in which a trolley and a traction robot are connected according to an embodiment of the present invention. FIG. 2 is a sectional view of a caster portion when a trolley and a towing robot are connected according to an embodiment of the present invention. 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.

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. 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 trolley main body 110 may be appropriately subjected to water repellent treatment.

FIG. 3 is a perspective view of the caster section 120. FIG. 4(A) is a schematic plan view of the caster portion 120. FIG. 4(B) is a schematic cross-sectional view along A1-A2 of the caster portion 120 in FIG. 4(A). FIG. 5 is a bottom view of the truck 100.

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 123 includes a bearing 127 having a rotation axis perpendicular to the cart main body 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 lock mechanism section 130 is provided in a part of the caster section 120. Specifically, the locking mechanism section 130 is built into the caster section 120. The locking mechanism section 130 has a function of restricting (locking) movement.

It is desirable that a plurality of lock mechanisms 130 be arranged on the truck 100. 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 disposed within caster sections 120a and 120b that are 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.

As shown in FIG. 4, the lock mechanism section 130 includes a wire 131, an actuator 133, and a stopper 135.

The wire 131 is connected to a wiring 111 arranged on the truck main body 110 and a wiring 145 arranged on the connection plate 140.

The actuator 133 has a linear motor capable of linear movement. In this example, a linear actuator (specifically a shaft motor) is used. Note that the bearing 127 described above has a hollow structure in order to allow the shaft (shaft 133a) of the linear actuator to pass therethrough.

In the actuator 133, the shaft 133a is displaced in the vertical direction. Moreover, the actuator 133 may include an elastic body (specifically, a spring) inside. At this time, the position of the shaft 133a can be fixed by the spring even if no power is supplied.

The stopper 135 is provided at the tip of the actuator 133. Specifically, the stopper 135 is provided at the tip of the shaft 133a of the actuator 133.

The stopper 135 has a function of stopping rotation of the wheel 125. For the stopper 135, a material with high frictional force against the wheel 125 is used. In this example, a rubber material is used as the stopper. Note that the stopper 135 is not limited to a rubber material, and may be made of a resin material or a metal material.

Further, the stopper 135 is arranged so as to overlap the rotating surface of the wheel 125 when viewed from above. In this case, when the stopper 135 is displaced downward and is in contact with the wheel 125, rotation of the wheel 125 is suppressed. On the other hand, when the stopper 135 is displaced upward, the stopper 135 separates from the wheel 125. This allows the wheels 125 to rotate.

Stopper 135 is connected to actuator 133. In the locking mechanism section 130, when a current flows through the wire 131, the actuator 133 is activated and the stopper 135 can be displaced.

The actuator 133 may be driven by a drive element 115 attached to the truck body 110. Drive element 115 includes a motor driver.

FIG. 6 is a sectional view of the truck 100 along B1-B2. The connection plate 140 is attached to the truck body 110 by a connection tool. As shown in FIGS. 5 and 6, the connection plate 140 has four terminals 141 (also referred to as first terminals). The terminal 141 is placed at the apex of the virtual square.

The connection plate 140 has a recess 143. Terminal 141 is arranged in recess 143. More specifically, the terminal 141 is provided in a recess 143 located at the apex of a virtual square. This prevents the terminals 141 from getting wet even if the cart 100 gets wet.

The terminal 141 is connected to a wiring 145 provided in the connection plate 140 and a wiring 111 arranged in the truck body 110. As described above, the wiring 145 provided in the connection plate 140 and the wiring 111 arranged in the trolley body 110 are connected to the wire 131, so it can be said that the terminal 141 is connected to the wire 131. . In other words, it can be said that the terminal 141 and the lock mechanism section 130 are electrically connected.

Of the terminals 141, a terminal 141a and a terminal 141b provided between B1 and B2 have opposite polarities. Further, the terminal 141c and the terminal 141d have opposite polarities. For example, terminal 141a may function as a working electrode, and terminal 141b may function as a common electrode. The terminal 141c may function as a working electrode, and the terminal 141d may function as a common electrode. When the terminal 141 is connected to the terminal 233 of the towing robot 200, power is supplied from the towing robot 200 to the cart 100. For example, when the towing robot 200 moves in a direction parallel to the short side of the cart 100, when the terminals 141a and 141b are respectively connected to the terminals 233a and 233b of the towing robot 200, the towing robot 200 moves to the cart 100. Power is applied. Further, when the towing robot 200 moves in a direction parallel to the long side of the cart 100, when the terminals 141c and 141d are connected to the terminals 233a and 233b of the towing robot 200, respectively, the towing robot 200 moves to the cart 100. Power is applied. As a result, the actuator 133 operates and the stopper 135 can be displaced.

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.

Further, since 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, the lower part of the dolly 100 has a gap for the tow robot 200 to enter. It has S. The gap S from the ground Grd to the lower surface of the connection plate 140 is larger than the height H of the traction robot 200 (see FIG. 7(B)). The gap S can also be adjusted by the length of the attachment part 121 of the caster part 120 or the diameter of the wheel 125.

In this embodiment, when power is supplied to the terminal 141, the actuator 133 moves via the wiring 145 of the connection plate 140 and the wiring 111 and wire 131 of the truck body 110. Then, a stopper 135 connected to the actuator 133 is displaced in conjunction with the movement of the actuator 133. In other words, the locking mechanism for the caster portion 120 is activated or released depending on whether or not the terminal 141 is supplied with power.

(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(A) is a perspective view of the towing robot 200 viewed from the top side of the towing robot 200. FIG. 7(B) is a cross-sectional view of the towing robot 200 along C1-C2.

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.

The towing robot 200 includes a battery as a power supply section 217. Specifically, the power supply section 217 uses a lithium ion battery. Further, the robot main body 210 may be provided with a motor, a brake, etc. for driving the traveling section 220 as appropriate.

The traveling section 220 is provided on the side of the robot main body section 210. The traveling section 220 can cause the robot main body section 210 to travel. 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 elevating part 230 has a plurality of protrusions 232. In this example, the lifting section 230 has two protrusions. Specifically, the protrusion 232 is arranged linearly in a direction perpendicular to the direction in which the towing robot 200 moves. At this time, the protrusions 232 are arranged at both ends.

The protrusion 232 can fit into the recess 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.

Further, a terminal 233 (also referred to as a second terminal) is provided at the tip of the protrusion 232. At this time, the terminal 233a provided on one protrusion of the terminals 233 and the terminal 233b provided on the other protrusion have opposite polarities. When the terminal 233 contacts the terminal 141 of the connection plate 140, the towing robot 200 can supply power to the locking mechanism section 130 via the terminal 141 of the connection plate 140.

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. Furthermore, the towing robot 200 may include an encoder in the traveling section 220 in order to measure its own position.

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.

(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 stopper 135 is in contact with the wheel 125, as shown in FIG. 4(B).

FIG. 8(A) shows a perspective view when the towing robot 200 enters the lower part of the trolley 100. FIG. 8(B) is a schematic cross-sectional view when the towing robot 200 enters the lower part of the trolley 100. As shown in FIGS. 8(A) and 8(B), 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.

At this time, the direction in which the protrusion 232 is arranged is the same as the direction in which the recess 143 is arranged. Specifically, as described above, when the recess 143 is arranged at the apex of the virtual square, the diagonal direction of the virtual square is the same as the direction in which the protrusion 232 is arranged. This facilitates positioning when connecting the towing robot 200 and the trolley 100.

FIG. 9(A) is an enlarged cross-sectional view of FIG. 8(B). FIG. 9(B) is a circuit diagram composed of the trolley 100 and the towing robot 200. As shown in FIG. 9A, when the alignment of the cart 100 and the towing robot 200 is completed, the terminals 141 and 233 face each other. Specifically, the terminal 141a and the terminal 233a face each other, and the terminal 141b and the terminal 233b face each other. At this time, the circuit diagram includes at least the locking mechanism section 130 of the trolley 100, the terminal 141, the terminal 233 of the towing robot 200, and the power supply section 217. In the circuit diagram, since the terminal 141a and the terminal 233a and the terminal 141b and the terminal 233b are not in contact with each other, the electric circuit is in an open circuit state (the switch is in an OFF state).

As described above, after the direction of the towing robot 200 is specified, the elevating section 230 moves upward. FIG. 10 is a schematic cross-sectional view when the towing robot 200 performs an upward movement. When the elevating part 230 moves up, the protrusion 232 fits into the recess 143 of the connection plate 140. At this time, by providing the plurality of protrusions 232 and the plurality of recesses 143, it is possible to prevent the connection from coming off when the towing robot 200 moves and turns.

Further, when the protrusion 232 fits into the recess 143 of the connection plate 140, the terminal 233 of the towing robot 200 is electrically connected to the terminal 141 provided in the recess of the connection plate. At this time, power is supplied to the terminal 141 from the power supply section 217 via the terminal 233. As described above, by providing the terminal 141 in the recess 143, the connection between the cart 100 and the towing robot 200 is maintained, so that the electrical connection between the terminal on the cart 100 side and the terminal on the towing robot 200 side is maintained. will also be maintained.

FIG. 11(A) is an enlarged cross-sectional view of FIG. 10. FIG. 11(B) is a circuit diagram when the trolley 100 and the towing robot are connected. As shown in FIG. 11A, the terminal 141a on the cart 100 side and the terminal 233a on the towing robot 200 side are in contact with each other, and the terminal 141b on the cart 100 side and the terminal 233b on the towing robot 200 side are in contact with each other. As shown in 11(B), the electric circuit is in a closed circuit state (switch is ON).

FIG. 12 is a cross-sectional view of the caster portion 120 when the terminal 141 is powered. As described above, by entering the closed circuit state (the switch is in the ON state), power is supplied from the towing robot 200 to the terminal 141, and power is also supplied to the actuator 133. This causes the actuator 133 to operate and the stopper 135 to move upward. The upward displacement of the stopper 135 causes the stopper 135 to separate from the wheel 125. As a result of the above, the lock by the locking mechanism section 130 is released, and the wheels 125 can be rotated.

That is, in the cart 100 of this embodiment, the contact between the terminal 141 and the terminal 233 functions as a switch in the electric circuit, and in conjunction with the power supply to the terminal 141 of the connection plate 140, the caster part 120 of the locking mechanism part 130 The activation or release status of the locking mechanism changes. Thereby, the trolley 100 can be easily controlled.

Further, in this embodiment, when the terminal 141 is not supplied with power (basic state), the actuator 133 brings the stopper 135 into contact with the wheel 125 so as to stop the rotation of the wheel 125 of the caster part 120, so that the wheel 125 rotates. do not. Therefore, in the basic state, the trolley 100 is stationary. On the other hand, when power is supplied to the terminal 141, the stopper 135 moves away from the wheel 125, so that the wheel 125 becomes rotatable. Therefore, it can be said that the trolley 100 of this embodiment can always remain stationary at a predetermined position and can be moved as needed.

(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. 13 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. 13 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. Therefore, in order to enable automatic travel of the towing robot 200, a transport route on which the towing robot 200 can travel may be specified. Furthermore, before starting to use the automatic transport system, a map showing the floor situation (automatic transport floor map) may be generated.

FIG. 14 is a diagram illustrating generation of an automatic transport floor map at a construction site. Specifically, FIG. 14(A) is a schematic diagram showing the state of a floor at a construction site, and FIG. 14(B) is a schematic diagram of a generated floor map for automatic conveyance.

As shown in FIG. 14(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 materials 53-1, second materials 53-2, pillars, etc. that can become obstacles to the automatic movement of the towing robot 200 are marked as obstacles 55.

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. 14(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. The automatic transport floor map may be received by the worker's mobile terminal and displayed on the terminal's display. 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. As a result, the terminal 141 included in the cart 100 is connected to the terminal 233 of the towing robot 200, and power is supplied from the towing robot 200 to the cart 100. Due to the power supply, the actuator 133 of the trolley 100 is operated, the stopper 135 is raised, and the locking mechanism of the caster portion 120 is released. 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 cart 100, the terminals included in the cart 100 and the terminals included in the towing robot 200 become non-contact. As a result, the stopper 135 is lowered, the locking mechanism section 130 is activated, and the truck 100 is brought to a stationary state. 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.

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 this embodiment, although the example where the trolley|bogie main body part 110 and the connection plate 140 are provided separately was shown, it is not limited to this. The truck body 110 and the connection plate 140 may be integrally formed to form one truck body.

Further, in this embodiment, an example has been shown in which the actuator 133 is provided inside the caster section 120, but the actuator 133 is not limited thereto. For example, the actuator may be provided outside the caster section 120 or may be built into the truck body section 110.

Further, in this embodiment, a linear actuator is shown as the actuator 133, but the actuator 133 is not limited to this. For example, an electromagnetic solenoid, an electromagnetic cylinder, or the like may be used as the actuator 133.

Further, 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, the lock mechanism section 130 may be provided on three caster sections 120, or may be arranged on each of the four corner caster sections 120.

Further, in this embodiment, an example has been shown in which two protrusions 232 are arranged linearly in a direction perpendicular to the direction of movement of the towing robot 200, but the present invention is not limited to this. For example, the protrusions 232 may be arranged linearly at the center and at both ends. In this case, the center terminal 233 and the end terminals 233 may have opposite polarities. Furthermore, the protrusions 232 may be arranged along the traveling direction of the trolley 100.

Further, in this embodiment, an example is shown in which the terminal 141 is provided in the recess 143, but the present invention is not limited to this. For example, the terminal 141 may be provided outside the recess 143 (on the top surface of the connection plate 140). Accordingly, the terminal 233 may also be provided on the upper surface of the elevating part 230 instead of on the protrusion 232. In this case, the power supply to the actuator 133 and the connection shift function can be independently controlled.

Furthermore, the protrusion 232 may not be provided. At this time, the terminal 141 and the terminal 2323 may be connected using magnetic force.

Further, in this embodiment, an example has been shown in which the locking mechanism by the locking mechanism section 130 is released by power being supplied to the terminal 141 on the side of the cart 100, but the present invention is not limited to this. For example, if the trolley 100 has a power supply section, the terminal 141 on the trolley side and the terminal 233 on the towing robot 200 side may come into contact to form a closed circuit and release the lock mechanism.

10... Automatic transport system, 50... Building, 51... Shutter, 52... Slope, 53... Material, 54... Pillar, 55... Obstacle, 60... Construction elevator, 61... Pillar, 62... Elevator, 100... Dolly, 110... Dolly body, 115... Drive element, 120... Caster part, 121... Installation Part, 123... Main body part, 125... Wheel, 130... Lock mechanism part, 131... Wire, 133... Actuator, 135... Stopper, 140... Connection plate, 141... ... terminal, 143 ... recess, 200 ... traction robot, 210 ... robot main body, 211 ... control section, 213 ... storage section, 215 ... communication section, 217 ... - Power supply section, 220... Traveling section, 230... Lifting section, 232... Protrusion, 233... Terminal, 240... Measuring section, 300... Automatic transport management device, 310... Control unit, 320...Storage unit, 330...Communication unit, 340...Operation unit, 350...Display unit

Claims (10)

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;
at least two first terminals provided at the same height from the ground on a flat part on the second surface side of the first plate;
a locking mechanism part that is electrically connected to the at least two first terminals and restricts movement of the caster part depending on a power supply state to the at least two first terminals;
Dolly. A plurality of caster parts are provided,
The locking mechanism section is arranged at a caster section arranged in a direction intersecting a moving direction of the cart among the plurality of caster sections.
The trolley according to claim 1. The locking mechanism section is
restraining the rotation of the wheels of the caster portion when the at least two first terminals are not supplied with power;
The trolley according to claim 1 or 2. The locking mechanism includes an actuator and a stopper attached to the actuator, and when the at least two first terminals are not supplied with power, the actuator operates such that the stopper contacts the wheel.
The trolley according to claim 3. further comprising a second plate provided on the second surface side of the first plate,
the at least two first terminals are provided on the second plate;
The trolley according to any one of claims 1 to 4. the second plate has a recess;
the at least two first terminals are provided in the recess;
The trolley according to claim 5. The trolley according to claim 6,
A robot main body, a running part that causes the robot main body to travel, an elevating part that is provided on the upper surface of the robot main body and can be raised and lowered, and a lifting part that is provided on the robot main body and controls movements of the running part and the elevating part. comprising a control unit, and the elevating unit includes a towing robot that can be connected to the trolley;
Automatic conveyance system. The elevating part has a protrusion having a second terminal at its tip,
The towing robot enters the lower part of the trolley,
When the elevating part of the towing robot is displaced upward and the at least two first terminals and the second terminal are electrically connected, the at least two first terminals are supplied with power.
The automatic conveyance system according to claim 7. The protrusions are plural,
The recesses are plural,
The plurality of protrusions fit into the plurality of recesses,
The automatic conveyance system according to claim 8. The plurality of recesses are arranged at vertices of a virtual square,
the direction in which the plurality of protrusions are arranged is equal to the diagonal direction of the virtual square;
The automatic conveyance system according to claim 9.

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