JP7365573B2 - Connecting devices, connecting moving devices, and autonomous moving devices - Google Patents

Description

The present invention relates to a coupling device, a coupling moving device, and an autonomous moving device.

2. Description of the Related Art Connecting devices that include a connecting member that connects to an object to be connected are conventionally known.
Patent Document 1 describes an auxiliary car truck auxiliary vehicle that transports a car truck by hooking and connecting a claw member that is a connecting member to a car truck to be connected, as a connecting moving device including such a connecting device. There is.

In the connecting device described in Patent Document 1, there is room for improvement in dealing with obstacles while the connecting moving device including the connecting device is moving to connect with a connecting target.

In order to solve the above-mentioned problems, the present invention provides a connecting device including a connecting means for connecting to a connecting target, an object detecting member for detecting an object present on the side of the connecting target, and an object detecting member for detecting an object present on the side of the connecting target. a sensing member position changing means for changing the position between an actuated position for detecting the object and a retracted position retracted from the actuated position; The object detection member is slid in a distance direction to change its position .

According to the present invention, the presence of an obstacle while moving to connect with a connection target can be detected using the object detection member in the activated position, so damage caused by collision with the obstacle can be avoided. This has an excellent effect.

An explanatory diagram of a self-propelled robot and a cage cart according to an embodiment. FIG. 1 is an explanatory diagram schematically showing a conveyance system of this embodiment. A flowchart showing the flow of operations of the self-propelled robot 1. FIG. 3 is a perspective view of the coupling device. FIG. 7 is a perspective view of the connecting device in another state. FIG. 3 is a perspective view of the connecting device in a connected state with the trolley. An explanatory diagram of the connecting device in a non-connected state. An explanatory diagram of another state of the connecting device. FIG. 6 is an explanatory diagram of still another state of the connecting device. FIG. 7 is an explanatory diagram of still another state of the connecting device. FIG. 11 is an explanatory diagram of the internal structure in the state shown in FIG. 10; FIG. 7 is an explanatory diagram of a coupling device according to a modification. FIG. 7 is an explanatory diagram of another state of the coupling device according to the modification. FIG. 2 is a perspective view showing a specific structural example of an autonomous mobile device and a coupled state of a coupling device. A partially enlarged view of FIG. 14. FIG. 2 is a perspective view of an example in which the height of connecting claws is relatively low.

Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is an explanatory diagram of a self-propelled robot 1, which is an autonomous mobile device according to an embodiment, and a cage cart 2, which is an object to be connected. The present embodiment is an autonomous mobile device (connected mobile device) such as a self-propelled robot 1 that automatically connects to a towed cart such as a basket cart 2 and tows it to automatically transport the towed cart to a desired destination. This is an embodiment relating to a transport system using the self-propelled robot 1 (device, connecting moving means) and the self-propelled robot 1.

The self-propelled robot 1 is an autonomous mobile device that has a function of automatically connecting to a cart 2 on which objects are loaded. As a result, the self-propelled robot 1 can be pulled by a simple moving device without having a configuration capable of carrying loads, and a large number of objects loaded on the cage cart 2 can be transported. can.

The self-propelled robot 1 includes a robot main body 100 as a self-propelled device main body, a magnetic sensor 3, a controller 4, a camera 5, a battery 6 as a power source, a power motor 7, a motor driver 8, a range sensor 9, and a coupling device 10. , a driving wheel 71, a driven wheel 72, and the like. The magnetic sensor 3 and the range sensor 9 are environment recognition means for recognizing the surrounding environment of the self-propelled robot 1.

In the conveyance system of the present embodiment, a magnetic tape is installed on the floor surface of the path on which the self-propelled robot 1 can travel, and the magnetic tape is detected using the magnetic sensor 3. It can be recognized that it is located in The guiding method for installing the tape on the floor is not limited to a configuration using a magnetic tape, but may also be a configuration using an optical tape. When using an optical tape, a reflective sensor, an image sensor, or the like can be used instead of the magnetic sensor 3.

In addition, the transport system of this embodiment can perform autonomous travel that recognizes its own position by comparing a two-dimensional or three-dimensional map with the detection results of the range sensor 9. The range sensor 9 is a laser range sensor that irradiates an object with laser light and measures the distance to the object from the reflected light. A stereo camera, a depth camera, etc. can also be used as a sensor used to recognize the self-position by comparing the detection results with a two-dimensional or three-dimensional map.

In the self-propelled robot 1, the controller (control means) 4 controls the drive of the power motor 7 via the motor driver 8 based on the detection results of the magnetic sensor 3 and the range sensor 9, and the power motor 7 drives the drive wheels 71. By rotationally driving, the self-propelled robot 1 autonomously travels. The basket truck 2 includes a lower frame 22 having a bottom plate for loading objects to be transported, a basket portion 20 surrounding the objects loaded on the bottom plate, and a lower frame 22 disposed below the four corners of the rectangular lower frame 22. It includes casters 23 and an ID display panel 21 arranged on the side surface of the basket part 20.

The self-propelled robot 1 is equipped with a marker reading device. The marker reading device consists of a camera 5, which is an ID recognition means, and a decoding section. In this embodiment, the controller 4 has a function as a decoding section. The code of the marker is recognized by image recognition of the characteristics of the marker from the image taken by the camera 5. The decoding unit decodes the code information of the recognized marker to obtain identification number information, transport destination information, and priority information of the car trolley 2.

A color code is used as a marker (sign) installed on the car cart 2 and is read by a camera 5. If the marker for displaying the ID is a barcode or QR code (registered trademark), a barcode reader can be used as the ID recognition means. If the marker is a grayscale barcode, the reflection intensity information of the laser range sensor can be used as the ID code.

The self-propelled robot 1 is equipped with a range sensor 9 such as a laser range finder (LRF) that obtains the distance to the surrounding environment as an environment recognition means. The controller 4 calculates the position coordinates of the ID display panel 21 from distance information between the ID display panel 21 whose position has been recognized by the range sensor 9 and the range sensor 9 . Using the calculated positional coordinates of the ID display panel 21, the controller 4 controls the drive of the power motor 7, thereby positioning the self-propelled robot 1 at a predetermined position in front of the ID display panel 21 on the cart 2.

As an ID display panel position recognition means for recognizing the position of the ID display panel 21 installed on the car cart 2 in order to control the connection operation with the car cart 2, the ID recognition means can also read the position of the ID display panel 21. It can be used for both purposes. For example, when reading a light/dark barcode as the ID of the marker on the ID display panel 21 using a laser range sensor as ID recognition means, the ID on the ID display panel 21 is read while the position of the ID display panel 21 is detected by the laser range sensor. Can be read. Furthermore, even when a color code is used as the marker ID, the camera 5 can read the ID on the ID display panel 21 while detecting the position of the ID display panel 21.

The transport system of this embodiment using the self-propelled robot 1 automates the work of transporting objects with casters such as carts in a distribution warehouse or the like.
The transport operation by the self-propelled robot 1 is divided into the following three tasks (1) to (3).
(1) Search and link objects to be transported in the temporary storage area.
(2) Driving in the driving area.
(3) Search for storage location and unload cargo in storage area.

FIG. 2 is an explanatory diagram schematically showing the conveyance system of this embodiment. This conveyance system includes a travel area 50, a temporary storage area A, a first storage area B, and a second storage area C. A magnetic tape or optical tape for guiding the self-propelled robot 1 is provided in a line in the travel area 50, and a main line 51 on which the self-propelled robot 1 travels is provided. On the main line 51 is a starting position S of the self-propelled robot 1. Further, address marks 52 are arranged near the main line 51 at the entrances of the temporary storage area A, the first storage area B, and the second storage area C in the driving area 50.

FIG. 3 is a flowchart showing the flow of operations in which the self-propelled robot 1 transports the basket cart 2 from the temporary storage area A to the storage area (B or C).
First, the self-propelled robot 1, which is a moving body, is placed on the main line 51 and started in a state where the line can be recognized, so that the self-propelled robot 1 starts traveling along the main line 51 (S1). While traveling on the main line 51, the vehicle observes the position of the line and travels at a designated speed. The vehicle travels while searching for the address mark 52 of the temporary storage area A, and stops when the address mark 52 of the temporary storage area A is detected ("Yes" in S2).

When the address mark 52 of temporary storage area A is detected and stopped ("Yes" in S2), the operation of entering temporary storage area A is started (S3).
When the self-propelled robot 1 enters the temporary storage area A from the travel area 50 where the main line 51 is provided, the self-propelled robot 1 reads the marker on the ID display panel 21 of the temporarily placed car cart 2 while traveling, and reads the marker on the ID display panel 21 of the car cart 2 temporarily placed. Generate a list. At this time, the ID, X, Y coordinates, destination, and priority order, if any, are recorded together. Then, it stops traveling at the address mark at the end of the temporary storage area A, selects a conveyance target from the generated list of basket trolleys 2 (S4), and starts a connection operation with the selected basket trolley 2 to be transported (S5). ).

In the connection operation, the car is moved to the specified column of the car cart 2 based on the X and Y coordinates on the list. Using the relative position information with the ID display panel 21, the cart is moved to the front of the cart 2. Thereafter, when approaching the car cart 2, it is connected to the car cart 2 by the coupling device 10. When the connection with the cart trolley 2 to be transported is detected (“Yes” in S6), the vehicle returns to the main line 51 (S7), runs on the main line 51 (S8), and returns to the storage area (B) where the cart cart 2 being transported is stored. Or, if the address mark 52 of C) is detected ("Yes" in S9), the process stops.

When the address mark 52 of the storage area (B or C) is detected and stopped ("Yes" in S9), the operation of entering the storage area (B or C) is started (S10).
When the self-propelled robot 1 enters the storage area (B or C) from the travel area 50 where the main line 51 is provided, the self-propelled robot 1 reads the marker on the ID display panel 21 of the cage trolley 2 stored while traveling, and Generate a list of 2. At this time, the ID, X, Y coordinates, destination, and priority order, if any, are recorded together. Next, the car stops running at the address mark at the end of the storage area (B or C), and searches for an empty address from the generated list of carts 2 (S11). Then, the address at which the cart 2 being transported is to be put into the garage is selected from among the vacant addresses (S12), and the operation to put the cart 2 into the garage at the selected vacant address is started (S13).

In the garage entry operation, the vehicle is moved to the designated vacant address garage column based on the X and Y coordinates on the list. Thereafter, when the car arrives at the designated vacant address, the car is disconnected from the cart 2 that is being transported.
After the connection is released, the vehicle returns to the main line 51 from the storage area (B or C) and starts searching for the temporary storage area A again (S14).

A coupling device 10 (hook unit) for holding a cart 2 to be transported is attached to the self-propelled robot 1. The details of the coupling device 10 included in the self-propelled robot 1 will be described below.

FIG. 4 is a perspective view of the coupling device 10. The connecting claw 12 is shown in an open state. FIG. 5 is a perspective view of the connecting device 10 with the connecting claw 12 closed. The connecting device 10 includes a fixed member (main body of the connecting device) 30, a swinging member 11, a connecting claw 12 that is a connecting member (hanging member), a magnet 13 that is an adsorption member, a bumper (shock absorber) 40, and the like.

The fixing member 30 is a member that fixes the coupling device 10 to the robot body 100 of the self-propelled robot 1, and is fixed by screwing to the frame of the robot body 100 with a fixing screw 30a. The fixing member 30 is made of a sheet metal, and a central portion in the width direction protrudes toward the connection target side to form a shaft holding portion 30b that holds the rotation shaft 111.

The swinging member 11 is a member that can swing (rotate) relative to the fixed member 30 around a rotating shaft 111 that extends in the vertical direction, and rotates relative to the robot main body 100 to which the fixed member 30 is fixed. It can be swung. For example, it can be swung within a range of 8 degrees in total, including 4 degrees forward and backward.

On the upper surface of the swinging member 11, a pawl lifting shaft 37 having connecting pawls 12 attached to both ends thereof is held at both ends by bearing holders 31a and 31b so as to extend in the width direction. A hook motor 15 and a speed reducer 16 are attached to the bearing holder 31b on the back side in the figure. The drive from this speed reducer 16 is transmitted to the pawl lifting shaft 37 via the timing belt 17 and pulley. The hook motor 15, the speed reducer 16, the pawl lifting shaft 37, and the like constitute a connecting member position changing means.

The connecting claw 12 rotates around a claw lifting shaft 37, and the bent tip moves up and down. When the bent tip of the connecting claw 12 descends from the upwardly retracted state, the flip-up bottom plate 32, which is a common shape of the basket truck 2, and the lower frame 22 (front lower frame 22a) are connected. A connecting claw 12 can be inserted between them (see FIG. 6). This makes it possible to connect a wide variety of car carts 2 without modification.

The hook member is not limited to a claw member such as the connecting claw 12. A configuration for connecting to a connection target can be realized with a simple configuration of a claw member whose tip is bent at a right angle.

Further, the swinging member 11 includes a connecting side drooping plate portion 11a whose side to be connected is bent downward over the entire width direction. A magnet 13 and a microswitch 14 are provided on the surface of the connecting side hanging plate portion 11a on the side to be connected.

The magnet 13 is for attracting the front lower frame 22a of the car cart 2. Generally, the frame of the basket truck 2 is made of steel, and is made of a material to which a magnet 13 can be attached. It is preferable that a plurality of magnets 13 be arranged on the swinging member 11 . The front lower frame 22a (see FIG. 6) to which the car truck 2 is connected is generally short in the height direction and long in the width direction. Most general-purpose magnets are cylindrical or rectangular, so for example, by using two small magnets side by side (horizontally), you can increase the surface on which magnetic force acts on a horizontally long frame. It is cheaper than using a single magnet, and it can be attracted more reliably. As the magnet 13, a permanent magnet or an electromagnet may be used.

The microswitch 14 is a contact type (mechanical contact type) capable of detecting that an object has contacted the same plane as the surface of the magnet 13 that contacts the front lower frame 22a when the magnet 13 is attracted to the front lower frame 22a. ) is a switch. With this microswitch 14, it is possible to confirm whether the magnet 13 is attracted to the front lower frame 22a of the car cart 2.

The swinging member 11 also includes downwardly bent side hanging plate portions 11b on both sides in the width direction. A slide guide 41 is attached to the outer surface of this side hanging plate portion 11b. A slider 42 is held by this slide guide 41 so as to be able to move forward and backward in the distance direction from the object to be connected. Both ends of the bumper 40 are attached to the slider 42, so that the bumper 40 is held on the swinging member 11.

This bumper 40 incorporates a structure called a tape switch, which serves as an object detection member, through which current flows upon contact. The principle of a tape switch is that the electrode plates are arranged with a small gap left between them, and when a contact is made, this gap disappears, allowing current to flow and detect contact. When this tape switch detects an object, it is assumed that the vehicle has come into contact with an obstacle and the vehicle is controlled to stop traveling.

Holding plates 43 (a pair in the illustrated example) are provided on the slider 42, and the two shafts 44 are held by the holding plates 43. An operating piece 38 is fixed to each end of the pawl lifting shaft 37 extending above the two shafts 44 . The tip of this working piece 38 enters between the two shafts 44. As the pawl lifting shaft 37 moves the pawl up and down by forward and reverse rotation, the tip of the action piece 38 is moved in the distance direction from the object to be connected, and the slider 42 is moved in the same distance direction via the two shafts 44. It is designed to move forward and backward. The hook motor 15, the decelerator 16, the pawl lifting shaft 37, the action piece 38, the holding plate 43, the shaft 44, the slider 42, the slide guide 41, etc. constitute detection member position changing means.

FIG. 6 is a perspective view of the connected state. The self-propelled robot 1 equipped with the above-described coupling device 10 temporarily holds the robot 1 using the magnetic force of the magnet 13 that constitutes the temporary holding mechanism, and then performs the connection using the connecting claws 12 . Moreover, the connecting claws 12, magnets 13, etc. are held by a swinging member 11 that can rotate within a range of several degrees, and the swinging member 11 makes minute swings within a hook unit fixed to the main body of the self-propelled robot 1. can be done. Therefore, even if the car cart 2 to be connected is tilted with respect to the autonomous running body, the swinging member 11 rotates to make the two connecting claws 12 parallel to the front lower frame 22a of the car cart 2. be able to. Thereby, it becomes easy to set the positional relationship between the connecting claw 12 and the front lower frame 22a of the car trolley 2 to a positional relationship that allows connection.

The self-propelled robot 1 performs the following three steps to position the cart cart 2 at a predetermined position in front of the marker and to connect the cart 2 to a predetermined position. A first step in which the self-propelled robot 1 is driven so as to be at a certain distance and in an attitude substantially directly facing the car cart 2, and a second step in which the self-propelled robot 1 is driven toward the cart cart 2 while remaining in an attitude in which it is substantially directly facing the car cart 2. This step is a third step in which the self-propelled robot 1 is stopped after the adhesion between the magnet 13 and the frame of the car cart 2 is confirmed, and the connecting claw 12 is operated and fixed.

To confirm that the magnet 13 is attracted to the frame of the car cart 2, a microswitch 14 capable of detecting contact with the same surface as the magnet surface is used. A microswitch 14 is arranged at a position where the switch is turned on when the car cart 2 and the magnet 13 are in contact with each other.

When moving toward the car cart 2 for connection, the bumper 40 is located at the most protruding position on the side of the car cart 2 to be connected. The reason why the bumper 40 is provided at this position is as follows.

In general, in distribution warehouses and factories, carts with four wheels equipped with swivel casters, such as cage carts, plate carts, and dollies, are often used as carts for loading goods. Autonomous mobile devices for transporting these carts are required to make an emergency stop to ensure safety when an obstacle is detected in the direction of movement. As this detection means, there is an obstacle detection means in front in the direction of travel, but from the viewpoint of detection reliability and cost advantage, it is conceivable to provide a bumper that can detect contact with an obstacle. With this configuration, when the autonomous mobile device comes into contact with an obstacle while traveling, it can be determined that there is an abnormality and an emergency stop can be performed.

In the case of the towed autonomous mobile device of this embodiment, since a trolley is connected to the rear, it is necessary to move backward when connecting the trolley. At this time, since the vehicle is moving backwards in the opposite direction to normal, the front bumper cannot detect obstacles, so it is necessary to provide a similar obstacle detection member such as a bumper at the rear. That is, in order for a towed autonomous mobile device to connect a trolley, a hook configuration for connecting the trolley at the rear (on the opposite side to the traveling side during towing) is required. On the other hand, in order to detect an obstacle while proceeding in the opposite direction during normal towing in order to connect the trolley, the bumper should also be located on the same side as the hook configuration. In order to detect objects, it is necessary to arrange the bumper so that it comes into contact with the obstacle at an earlier timing than the hook configuration.

However, if the bumper 40 that detects obstacles is placed at the tip when moving toward the car trolley 2 for connection (if the direction of towing can be called forward or backward movement), then the bumper 40 will first move toward the car trolley 2. 2, and the magnet 13 and microswitch 14 cannot be brought into contact with the frame of the car trolley 2. As a result, if the bumper protrudes to the rear when reversing, a problem arises in that the trolley cannot be automatically connected.

Therefore, in the present embodiment, when moving the bumper 40 and moving toward the car cart 2 which is the second step, the bumper 40 is present at the tip until just before the car cart 2; The bumper 40 is pulled inward and brought into contact with the truck with the magnet 13 and microswitch 14 at the tip. As a result, obstacles can be detected by positioning the bumper at the tip of the truck until just before it is connected to the truck, and after that, by positioning the magnet 13 and microswitch 14 at the tip of the truck, the bumper can be positioned at the tip of the truck. Connection can now be made automatically.

Specifically, as shown in FIG. 7, when approaching the car cart 2 to be connected, the connecting claw 12 is set to the highest position, and the magnet 13 (position P1) and the microswitch 14 (14a is the actuator part of the microswitch) ( The driver approaches the trolley to be connected with the bumper 40 pushed forward in the direction of travel than position P0). As a result, during this time, obstacles can be detected by the bumper 40, and the distance to the car trolley 2 is measured by the distance measuring sensor described above. 7 to 9, the state in which the holding plate 43 on the near side in the drawings is removed is shown.

The position of the bumper 40 in FIG. 7 is the operating position for detecting an object. This operating position is a position where the adsorption function of the magnet 13 (position P1) and the detection function of the microswitch 14 are inhibited. This is because the tip of the bumper 40 is located closer to the connection target than the magnet 13.

After approaching directly to the cart until a predetermined distance is reached, the shaft is rotated by the rotation of the motor as shown by the arrow in FIG. By pressing, as shown in FIG. 8, the bumper 40 is pulled inward (position P2) beyond the magnet 13 and microswitch 14 (position P0). In this state, the autonomous moving device performs its final movement to bring the magnet 13 and microswitch 14 into contact with the lower frame 22 of the trolley. Since the distance of this last movement is small, there is no problem even if the bumper 40 does not detect the obstacle.

After this contact is recognized by the microswitch 14, the hook motor 15 is operated again to bring the connecting claw 12 into contact with the lower frame 22 of the car cart 2, resulting in the state shown in FIG. 9 (the bumper 40 is in the most retracted position). position P3). FIG. 10 is an explanatory diagram showing a state of contact, including the car cart 2. The position of the bumper 40 in the state shown in FIGS. 8 and 9 is the retracted position.

FIG. 11 is a diagram showing the internal structure in the state shown in FIG. 10 with some parts removed. 37a is a pin fixed to the pawl lifting shaft 37, 60 is an elastic part for preventing rotation that the pin 37a comes into contact with, 61 is an upper surface restraining bearing of the swinging member 11, 62 is a lower surface support member of the swinging member 11, 63 is a pin for regulating the swinging of the swinging member 11. 64 is a spring provided between a stop at the rear end of the shaft extending from the magnet 13 and the connecting side hanging plate part 11a of the swinging member 11; An elastic washer is also provided.

12 and 13 show a modification of the mechanism for moving the bumper 40 forward and backward. In this modification, the bumper 40 is directly held by a holder 70 attached to the pawl lifting shaft 37, and the bumper 40 is pulled in by rotation of the pawl lifting shaft. Although this configuration requires space below the hook unit, it is also possible to reduce the number of parts, resulting in a cost advantage.

As yet another modification of the mechanism for moving the bumper 40 forward and backward, drive transmission using gears may be used. If this is done, it is possible to adopt a configuration in which the bumper 40 is retracted to the upper space, contrary to the above modification. However, in this case, it is required not to obstruct the optical path of the environment recognition means such as LRF, so the design restrictions are reduced. As another modification, a configuration may be adopted in which the bumper is moved by using a motor other than the motor for raising and lowering the pawl or by providing a linear motion mechanism, although this will lead to an increase in cost.

FIG. 14 is a perspective view showing a specific structural example of the self-propelled robot 1 and a coupled state of the coupling device 10 (hook unit). FIG. 15 is a partially enlarged view. The carts to be connected (coupled) may have various heights at which the connecting claws 12 are applied. FIG. 16 is a perspective view of an example in which the connecting claw 12 is placed at a relatively high height. Therefore, the coupling device 10 having the above-described configuration needs to be moved in the vertical direction with respect to the autonomous mobile device main body.

The design aim is to connect the connecting device 10 to the car truck 2 with the top surface of the connecting claw 12 of the connecting device 10 being horizontal, as shown in FIG. 11, for example. Therefore, it is necessary to move the coupling device 10 up and down depending on the height of the lower frame 22 of the car truck 2 to be connected. Therefore, a scale tape 66 with a scale (scale for distance or position measurement) engraved on it is attached to the autonomous mobile device, so that the height can be adjusted based on the scale tape 66. Adjustment is particularly easy if the scale is attached so that the value indicated by the scale corresponds to the height of the trolley to be connected. Furthermore, since the connecting device 10 has a width and it is undesirable for it to tilt in the left-right direction, it is desirable to attach scale tapes 66 at two places on the left and right. This configuration allows the height of the hook unit to be easily adjusted depending on the type of truck.

As described above, the self-propelled robot 1 of this embodiment is an autonomous mobile device that includes a moving means and a connecting means for connecting a trolley to the rear, and when automatically connected, it moves backward (in the opposite direction to the direction of movement when towing). If the direction of movement during towing is the first direction, the direction of movement during connection is the second direction, which is the opposite of the first direction. A bumper member is provided as a detection means for detecting obstacles during this backward movement. When moving backward to connect the truck, the bumper is placed at the tip in the direction of travel, and has a means for moving the bumper inward just before connecting the truck, and after the bumper is moved, the magnet and micro switch are at the tip. It has a hook configuration, and by fixing the trolley by magnet attraction, it is possible to connect the trolley using the hook. In short, when the autonomous mobile device moves backwards when the trolley is automatically connected, the bumper is placed at the tip, moves to just in front of the trolley, and then pulls the bumper inward, causing the tip to become a magnet, which is then brought into contact with the trolley. It is characterized by a structure in which the hook can be hooked in the suspended state.

Note that, unlike this embodiment, in the case of a device that does not include the magnet 13 or a device that does include the magnet 13 and moves the connecting member (connecting claw) between the connecting position and the retracted position, the object detecting member (bumper 40 ) is a position where movement of the connecting member to the connecting position is inhibited, the connection can be made possible by moving from this inhibiting position to the retracted position.

In the embodiment described above, the coupled moving device including the moving means such as the power motor 7 and the drive wheels 71 and the coupling device 10 that couples with the car trolley 2 to be coupled is an autonomous moving device in which the moving means is controlled by the controller 4. The case where the self-propelled robot 1 is the self-propelled robot 1 has been described. The coupled moving device including the coupling device 10 is not limited to one that travels automatically such as an autonomous traveling device, but may be a traveling device such as a car driven by a human.

Although the coupling moving device of this embodiment is a self-propelled robot 1 that runs on a road surface, the coupling moving device including the coupling device 10 according to this embodiment is not limited to one that runs on a road surface. The connecting device 10 may be arranged on a device that moves on water, underwater, or in the air.
Furthermore, the connection moving device is not limited to a configuration in which the connected objects are towed, but may be configured to push and move the connected objects, or may be configured to lift and move the connected objects.

In the coupling device 10 of the embodiment described above, as shown in FIGS. 11 and 12, the drive transmission mechanism 400 includes a plurality of belts and pulleys. The configuration is such that one motor (hook motor 15) moves the connecting claw 12 up and down, and the bumper 40 moves out and away. However, a drive source for raising and lowering the connecting claw 12 and a drive source for protruding and retracting the bumper 40 may be provided separately.

1: Self-propelled robot 2: Car cart 3: Magnetic sensor 4: Controller 5: Camera 6: Battery 7: Power motor 8: Motor driver 9: Range sensor 10: Connection device 11: Swing member 11a: Connection side hanging plate Part 11b: Side hanging plate part 13: Magnet 14: Micro switch 15: Hook motor 16: Decelerator 17: Timing belt 20: Basket part 21: ID display panel 22: Lower frame 22a: Front lower frame 23: Caster 30: Fixing member 30a: Fixing screw 30b: Shaft holding part 31a: Bearing holder 31b: Bearing holder 32: Bottom plate 37: Claw lifting shaft 37a: Pin 38: Working piece 40: Bumper 41: Slide guide 42: Slider 43: Holding plate 44 : Shaft 50 : Running area 51 : Main line 52 : Address mark 66 : Scale tape 70 : Holder 71 : Drive wheel 72 : Followed wheel 100 : Robot body 111 : Rotation shaft 400 : Drive transmission mechanism

Japanese Patent Application Publication No. 2005-178504

Claims (11)

A coupling device including a coupling means for coupling to a coupling target,
an object detection member for detecting an object present on the side of the connection target;
comprising a detection member position changing means for changing the position of the object detection member between an operating position for detecting the object and a retracted position retracted from the operating position,
The coupling device, wherein the detection member position changing means slides the object detection member in a distance direction from the coupling target with respect to the coupling device main body to change the position. The coupling device according to claim 1,
The connecting means includes a connecting member that mechanically connects the connecting objects, and an adsorption member that attracts the connecting objects prior to connection by the connecting member,
The connecting device is characterized in that the operating position is a position that inhibits the suction function of the suction member. The connecting device according to claim 2,
A plurality of the suction members are provided at different positions in the horizontal direction,
The connecting device is characterized in that the object detection member has a width extending across the plurality of adsorption members in the horizontal direction and detects an object by mechanical contact. The coupling device according to claim 3,
A connecting device characterized in that each of the plurality of suction members has a detection means for detecting whether the connection target is suctioned by mechanical contact. The coupling device according to any one of claims 2 to 4,
comprising a swinging member that is swingable relative to the main body of the coupling device;
A connecting device characterized in that the connecting member and the suction member are provided on the swinging member. A coupling device including a coupling means for coupling to a coupling target,
an object detection member for detecting an object present on the side of the connection target;
a contact detection unit that detects contact between the connection target and the connection device;
comprising a detection member position changing means for changing the position of the object detection member between an operating position for detecting the object and a retracted position retracted from the operating position,
The operating position is between the contact detection unit and the object in a distance direction from the connection target,
The connecting device is characterized in that the retracted position is a position farther from the object than the contact detection unit in a distance direction from the object to be connected. A connected moving device comprising a moving device main body, a moving means, and a connecting means for connecting to a connected object,
A coupling and moving device comprising the coupling device according to any one of claims 1 to 6 as the coupling means. The connecting and moving device according to claim 7 , comprising the connecting device according to any one of claims 2 to 5,
A connected moving device characterized in that the height of the connecting member in the moving device main body can be adjusted. An autonomous moving device comprising a moving device main body, a moving device, a connecting device that connects to a connection target, and a control device that controls the moving device,
An autonomous moving device comprising the coupled moving device according to claim 7 or 8 as the coupled moving means. The autonomous mobile device according to claim 9 ,
The connecting means includes a connecting member and a connecting member position changing means for changing the position of the connecting member between a connecting position and a retracted position,
An autonomous mobile device, wherein the control means controls the sensing member position changing means and the connecting member position changing means. The autonomous mobile device according to claim 9 or 10 ,
The autonomous mobile device is characterized in that the control means controls the detection member position changing means to change from the operating position to the retracted position when approaching a connection target.

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