WO2022264673A1

WO2022264673A1 - Travel system

Info

Publication number: WO2022264673A1
Application number: PCT/JP2022/017887
Authority: WO
Inventors: 秀樹長末; 剛志足立
Original assignee: Dmg森精機株式会社
Priority date: 2021-06-15
Filing date: 2022-04-15
Publication date: 2022-12-22
Also published as: JP2022190865A; JP6970852B1

Abstract

This travel system has an autonomous mobile object (61), an indicator (300), a towed object to be towed by the mobile object (61), and a camera (35) or laser sensor, and comprises an acquisition unit that acquires position information of the indicator (300) with respect to the mobile object (61) while the mobile object (61) is traveling, and a travel control unit that controls traveling of the mobile object (61) on the basis of a change in position information of the indicator (300) acquired by the acquisition unit.

Description

running system

The present disclosure relates to traveling systems.

Unmanned production systems such as factories are desired. Self-propelled devices are being developed in order to realize unmanned operation. Self-propelled devices are used to transport pre-machined workpieces and tools to machine tools, and to collect workpieces and used tools that have been machined by machine tools.

As a self-propelled device, for example, an automated guided vehicle (AGV) that moves according to tracks such as magnetic tape on the floor is known. In recent years, autonomous mobile robots (AMR) have also been developed that automatically avoid people and obstacles and travel autonomously. Such an autonomous mobile transport robot automatically calculates a travel route based on a map. For example, a map is generated by remotely controlling an autonomous transport robot using an information device (personal computer, tablet, smartphone, etc.) equipped with a browser.

In Japanese Patent Laid-Open No. 2019-8359 (Patent Document 1), as a self-propelled device, a light projection unit that emits projection light is rotationally driven, and the projection light is reflected by the measurement object. A mobile device is disclosed that includes a distance measuring device that outputs distance measurement data, a map creation unit that creates map information based on the distance measurement data, and an obstacle sensor that detects obstacles. Japanese Patent No. 6779398 (Patent Document 2) discloses a self-propelled device having an omni-wheel. Japanese Patent Laying-Open No. 2021-6359 (Patent Document 3) discloses a self-propelled device including a traveling carriage and a robot arm.

Japanese Unexamined Patent Application Publication No. 2021-77054 (Patent Document 4) discloses a peripheral device arranged around a machine tool and an automatic guided vehicle as a self-propelled device that engages with the peripheral device to convey. there is A material stocker, a product stocker, a measuring instrument and a chuck stocker are disclosed as peripheral devices.

JP 2019-8359 A Japanese Patent No. 6779398 Japanese Patent Application Laid-Open No. 2021-6359 JP 2021-77054 A

In a self-propelled system in which a self-propelled device pulls a towed object such as a trolley, if the towed object loses its posture while traveling, the towed object may overturn. For example, if the object to be towed leans to the left or right in the direction of travel while traveling on a curve, the object to be towed may overturn. Further, when the object to be towed is a trolley, if the object to be towed loses its posture, the load loaded on the object to be towed may fall or overturn even if the object to be towed does not overturn. Therefore, it is necessary to run the self-propelled device (tractor) so as to maintain the posture of the towed body.

In order to maintain the posture of the towed body, for example, it is conceivable to install an inertial measurement unit (IMU) on the towed body. In this case, the towed body detects the posture of the towed body by the inertial measurement device, and notifies the self-propelled device of the detection result by wireless communication or the like. The self-propelled device changes running conditions such as running speed based on the detection result.

However, devices that detect attitude, such as inertial measurement devices, are generally expensive. Also, in a workshop such as a factory, a large number of towed bodies are used. Therefore, installing an expensive device such as an inertial measurement device on the towed body is not a cost-effective measure.

The present disclosure has been made in view of the above problems, and its purpose is to provide a self-propelled system capable of maintaining the posture of the towed body at low cost.

According to one aspect of the present disclosure, a traveling system includes a traveling body capable of self-propelled, a towed body having an index section and towed by the traveling body, a camera or a laser sensor, and when the traveling body travels, An acquisition unit that acquires positional information of the index unit with respect to the traveling object, and a travel control unit that controls traveling of the traveling object based on changes in the positional information of the index unit acquired by the acquisition unit.

According to such a configuration, the posture of the towed body can be maintained by controlling the running of the running body based on the change in the position information of the indicator acquired by the acquisition section. For example, it is possible to prevent the towed body from overturning. In this case, since a camera or a laser sensor is used for the acquisition unit, it is possible to achieve lower costs than when using a device such as an inertial measurement device.

Preferably, the position information of the indicator portion includes first position information acquired when the running body travels straight and second position information acquired when the running body travels along a curve. The traveling control unit controls traveling of the traveling body when the amount of change in the second position information based on the first position information exceeds a predetermined threshold when the traveling body travels along a curve. According to such a configuration, it is possible to prevent the towed body from overturning when the traveling body travels around a curve.

Preferably, the travel control unit controls travel of the travel object to stop the travel object, decelerate the travel object, or reduce the curvature of the travel object when it travels along a curve. According to such a configuration, it is possible to prevent the towed body from overturning when traveling on a curved line by stopping or decelerating the traveling body or by reducing the curvature when traveling on a curved line.

Preferably, the towed body includes a top portion and a wheel portion. The index portion is provided at a position closer to the top portion than the wheel portion in the vertical direction. According to such a configuration, the behavior of the indicator portion becomes greater when the traveling object travels around a curvature, so that the control device can easily recognize a change in the positional information of the indicator portion.

Preferably, the positional information of the index portion includes third positional information acquired before the running body crosses the step on the floor and fourth positional information acquired after the running body crosses the step on the floor. include. The traveling control unit controls traveling of the traveling object when the amount of change in the fourth position information based on the third position information exceeds a predetermined threshold when the traveling object travels. According to such a configuration, it is possible to prevent the towed body from overturning when there is a step on the floor surface.

Preferably, the running control unit controls running of the running body so that the running body stops. According to such a configuration, by stopping the traveling body, it is possible to prevent the towed body from overturning when there is a step on the floor surface.

Preferably, the index portion is a specific figure attached to the towed body. The acquisition unit includes a camera, and acquires the position information of the indicator by acquiring an image of the figure captured by the camera. According to such a configuration, the self-propelled device can maintain the posture of the towed body using the graphic attached to the towed body.

Preferably, the towed body is a trolley. When the object to be towed is a trolley, the type of trolley towed by the traveling object may vary, the number and weight of loads to be loaded on the trolley, and the loading positions of the loads may differ. The running condition of the running body in which the rollover occurs changes each time. Therefore, it is possible to accurately prevent the towed object from overturning by controlling the running of the traveling object based on the change in the position information of the indicator acquired by the acquiring unit.

Preferably, the acquisition unit further acquires the position information of the index unit with respect to the running body when the running body is test run. The test run is carried out with the loading state of the cargo on the trolley fixed or with no cargo loaded. The travel control unit sets travel conditions during actual operation of the traveling object based on changes in the position information of the index unit acquired by the acquiring unit during test runs, and sets the traveling conditions during actual operation of the traveling object. to control the running of the running body.

According to such a configuration, it is possible to set a traveling condition that prevents the truck from overturning when the truck is in a specific loading state by making the traveling body test run. During actual operation, by controlling the traveling of the traveling object so as to satisfy the traveling condition and controlling the traveling of the traveling object based on the change in the position information of the index portion acquired by the acquisition unit, The posture of the towed body can be maintained more stably than when the conditions are not set in advance.

According to another aspect of the present disclosure, a traveling system includes a traveling body capable of self-propelled, a towed body having an indicator section and towed by the traveling body, and a camera or a laser sensor. an acquisition unit for acquiring positional information of the indicator unit with respect to the running object; setting a running condition of the running object based on changes in the positional information of the indicator unit acquired by the acquisition unit; and a travel control unit that controls travel of the traveling body so as to satisfy travel conditions.

According to such a configuration, it is possible to set running conditions that prevent the towed body from overturning by test running the running body. By controlling the traveling of the traveling body so as to satisfy the traveling conditions, it is possible to maintain the posture of the towed body during traveling of the traveling body.

According to the present disclosure, it is possible to maintain the posture of the towed body at low cost during travel.

It is a side view of a running system. It is a top view of a traveling system. It is a top view which shows a driving|running|working main-body part. It is a figure which shows the apparatus structure regarding the motion control of a self-propelled apparatus. 3 is a cross-sectional view taken along line vv of FIG. 2; FIG. It is a functional block diagram for explaining the functional composition of a self-propelled device. FIG. 11 is a top view of the traveling system when the self-propelled device starts to turn left; FIG. 8 is a cross-sectional view taken along line ix-ix in FIG. 7; FIG. 5 is a schematic diagram for explaining image data obtained immediately before and after starting a left turn. It is a side view of a traveling system immediately after a self-propelled device gets over a level|step difference. FIG. 4 is a schematic diagram for explaining image data obtained before and immediately after the self-propelled device climbs over a step; It is a flow diagram for explaining the flow of processing executed by the self-propelled device. FIG. 11 is a diagram showing another form of carriage; FIG. 5 is a diagram for explaining driving conditions generated by a test run of the driving system;

Each embodiment according to the present invention will be described below with reference to the drawings. In the following description, identical parts and components are given identical reference numerals. Their names and functions are also the same. Therefore, detailed description of these will not be repeated. In addition, each embodiment and each modified example described below may be selectively combined as appropriate.

Also, in the following, a self-propelled device in which a robot arm is combined with an autonomous mobile transport robot (AMR) will be described as an example. The robotic arm is, for example, a collaborative robot. Note that the self-propelled device may be an automated guided vehicle (AGV) combined with a robot arm instead of the autonomous transport robot.

In addition, the self-propelled device only needs to have a self-propelled running body, and does not have to have a robot arm. That is, the self-propelled device may simply be an autonomous transport robot or an unmanned transport vehicle.

Also, in the following, as an example of the object to be towed by the self-propelled device, a trolley will be described as an example. However, the towed object is not limited to a trolley and may be a movable peripheral device on wheels (eg, a battery-powered deburring machine).

[Embodiment 1]
<A. Schematic configuration of traveling system>
FIG. 1 is a side view of a travel system 1 according to this embodiment. FIG. 2 is a top view of the traveling system 1. FIG.

　In Figures 1, 2 and the drawings described later, the six directions of forward, backward, rightward, leftward, upward and downward are shown as appropriate. The forward and rearward directions are the traveling directions when the self-propelled device 100 travels straight, and are opposite to each other. The right side is the right-hand direction when viewed forward from the self-propelled device 100 . The left side is the left-hand direction when viewed forward from the self-propelled device 100, and is the opposite direction to the right side. The upper side is the sky side when viewed from the self-propelled device 100, and the lower side is the floor side on which the self-propelled device 100 runs.

In this embodiment, the direction in which the robot arm 11 is positioned with respect to a tray 66, which will be described later, is referred to as the front, and the opposite direction is referred to as the rear. is not particularly limited.

As shown in FIGS. 1 and 2, the travel system 1 includes a self-propelled device 100 and a truck 200 as a towed body. The self-propelled device 100 and the carriage 200 are connected by a connecting portion 45 . The cart 200 is towed by the self-propelled device 100 . Carriage 200 is typically a material stocker, a product stocker, a measuring instrument stocker, or a chuck stocker, for example.

The self-propelled device 100 performs two-way communication with a server (not shown). The communication is realized by, for example, a wireless LAN (Local Area Network). Alternatively, the above communication is realized by a wireless system for mobiles. For example, a fourth-generation communication system (4G) and a fifth-generation communication system (5G) can be used as mobile radio systems.

As shown in FIG. 1, the self-propelled device 100 has a traveling body 61, a robot arm 11, a camera 35, and a connecting portion 45b. The traveling body 61 is configured to be travelable (self-propellable) by driving wheels using a motor. The robot arm 11 is mounted on the traveling body 61 . An end effector 40 is attached to the tip of the robot arm 11 . The end effector 40 is detachably attached to the tip of the robot arm 11 and performs work on an object. In this example, a grasping hand is connected to the robot arm 11 as an end effector 40 . Self-propelled device 100 is configured to be able to grip an object to be conveyed by end effector 40 .

The running body 61 has a running body portion 62 and a cover portion 63 . The cover portion 63 is provided on the traveling body portion 62 . The cover portion 63 is composed of a cover body that forms an internal space on the traveling main body portion 62, and contains a motor for driving the robot arm 11, a battery provided as a power source for the self-propelled device 100, or a self-propelled device. Various control parts and the like for controlling the device 100 are accommodated. The structure of the running body portion 62 will be described later in detail.

The cover portion 63 has a top surface 65 . A tray 66 for placing an object to be conveyed is provided on the top surface 65 . Robot arm 11 is connected to top surface 65 . The robot arm 11 extends upward from the top surface 65 . The connecting position of the robot arm 11 to the traveling body 61 is aligned with the tray 66 in the front-rear direction.

The robot arm 11 has a base portion 12 and an arm portion 13 . The base portion 12 is rotatably connected to the traveling body 61 . The arm portion 13 is connected to the base portion 12 . The arm portion 13 extends like an arm from the base portion 12 .

The robot arm 11 is a program-controlled robot. The robot arm 11 is a vertically articulated robot in this example. Specifically, in this example, the robot arm 11 is a six-axis robot having six degrees of freedom (six movable parts). Instead of the six-axis controllable robot arm 11, the traveling body 61 may be equipped with a multi-axis controllable robot arm other than the six-axis controllable robot arm.

The carriage 200 includes a main body 205 and a plurality of wheels 220. Specifically, the truck 200 includes a right front wheel 220Rf, a left front wheel 220Lf (see FIG. 3), a right rear wheel 220Rb, and a left front wheel (not shown).

The carriage 200 further includes a connecting portion 45a. The self-propelled device 100 and the carriage 200 are connected to each other by a connecting portion 45 a and a connecting portion 45 b that constitute the connecting portion 45 .

As shown in FIG. 2 , the body portion 205 of the carriage 200 includes an accommodation portion 210 and a plurality of side wall portions 251 . A housing portion 210 is formed by a plurality of side wall portions 251 . Specifically, the truck 200 includes a front side wall portion 251F, a rear side wall portion 251B, a right side wall portion 251R, and a left side wall portion 251L. In this example, the top portion 211 of each side wall portion 251 has a flat shape. Each side wall portion 251 prevents the cargo (load) loaded on the truck 200 from falling due to a large inclination of the truck 200 or the like.

As shown in FIGS. 1 and 2, the camera 35 is installed on the traveling body 61. Camera 35 is installed so that the rear of self-propelled device 100 can be imaged. Specifically, the camera 35 is installed at a position where the carriage 200 can be imaged. More specifically, the camera 35 is installed at a position capable of capturing an image of the side wall portion 251F on the front side of the carriage 200 .

As in this example, when the self-propelled device 100 is connected to the carriage 200, the camera 35 images an area including at least part of the side wall portion 251F. In the state of FIG. 2, the optical axis J of the camera 35 and the side wall portion 251F are substantially orthogonal.

The camera 35 is typically a digital camera in this example. The camera 35 can capture at least moving images. It should be noted that the installation position of the camera 35 is not limited to the illustrated position. The position is not particularly limited as long as it is a position where the later-described indicator portion 300 attached to the carriage 200 can be imaged.

<B. Traveling body of self-propelled device>
FIG. 3 is a top view showing the running body portion 62. As shown in FIG.

As shown in FIG. 3, the traveling main body 62 includes first driving wheels 71, a first traveling motor 77, a second driving wheel 72, a second traveling motor 78, and a plurality of driven wheels 51 ( 51Rf, 51Lf, 51Rb, 51Lb). The driven wheel 51 consists of an omni wheel. The driven wheel 51 has a wheel 56 and a plurality of rollers 60 .

The traveling main body 62 has a first axle 73 , a second axle 74 , a speed reducer 75 and a speed reducer 76 . The first travel motor 77 is connected to the first driving wheels 71 via a reduction gear 75 . The second travel motor 78 is connected to the second drive wheels 72 via a reduction gear 76 .

The traveling body portion 62 includes a frame 86, a first support arm 93, a second support arm 94, a first support shaft 91, a second support shaft 92, a third support arm 88, and a third support shaft 87. and

The traveling main body 62 further has a third axle 96 , a fourth axle 97 , a fifth axle 98 and a sixth axle 99 . The driven wheel 51Rf is connected to the first support arm 93 via the third axle 96 . The driven wheel 51Lf is connected to the second support arm 94 via the fourth axle 97 . The driven wheel 51</b>Rb is connected to the third support arm 88 via the fifth axle 98 . The driven wheel 51Lb is connected to the third support arm 88 via the sixth axle 99 . In this example, the connecting portion 45b is connected to the frame 86. As shown in FIG.

Since the hardware configuration of such a traveling main unit 62 is publicly known, detailed description of the configuration will not be repeated here. The moving direction of the traveling body 61 by the traveling body portion 62 will be described below.

The running body 61 moves straight in the front-rear direction by imparting the same rotation to the first driving wheels 71 and the second driving wheels 72 , and rotates relative to the first driving wheels 71 and the second driving wheels 72 . , rotates in the left-right direction (differential two-wheel drive system). The first drive wheel 71, the second drive wheel 72 and the driven wheel 51 cannot be steered left and right.

More specifically, the traveling body 61 moves straight forward (forward) by rotating the first driving wheel 71 and the second driving wheel 72 at the same number of revolutions. The traveling body 61 advances straight rearward (backward) by rotating the first driving wheel 71 and the second driving wheel 72 at the same number of revolutions and inverting them.

The traveling body 61 rotates the second driving wheels 72 forward and rotates the first driving wheels 71 forward at a higher rotational speed than the second driving wheels 72, thereby turning leftward (left turning). The running body 61 rotates the first drive wheel 71 forward and rotates the second drive wheel 72 forward at a higher rotational speed than the first drive wheel 71, thereby turning rightward (right turn).

The traveling body 61 rotates (counterclockwise rotation) by rotating the first driving wheels 71 forward and rotating the second driving wheels 72 in the same rotation speed as the first driving wheels 71 . Ideally, the center of rotation of the traveling body 61 when viewed from above is on the axis of the first shaft 121 and the second shaft 122, corresponding to the center position of the first drive wheel 71 and the second drive wheel 72. there is

When the first drive wheel 71 is reversed and the second drive wheel 72 is rotated forward at the same rotational speed as the first drive wheel 71, the direction of rotation of the running body 61 is reversed from that in the above case. (Right rotation). The "turning motion" in the present invention includes the right turning, left turning, and rotation (left turning, right turning) described above.

<C. Device Configuration for Operation Control>
FIG. 4 is a diagram showing a device configuration regarding operation control of the self-propelled device 100. As shown in FIG.

As shown in FIG. 4, the self-propelled device 100 includes a control device 501, a ROM (Read Only Memory) 502, a RAM (Random Access Memory) 503, a communication interface 504, a laser sensor 505, and a motor drive device. 506 , storage device 510 , robot arm 11 , antenna 31 , and camera 35 . These components are connected to bus 509 .

The control device 501 is composed of, for example, at least one integrated circuit. The integrated circuit is, for example, at least one CPU (Central Processing Unit), at least one GPU (Graphics Processing Unit), at least one ASIC (Application Specific Integrated Circuit), at least one FPGA (Field Programmable Gate Array), or It can be configured by a combination thereof. As an example, the control device 501 is a PLC (Programmable Logic Controller).

The control device 501 controls the operation of the self-propelled device 100 by executing various programs such as a control program 511 or an operating system. The control device 501 reads the control program 511 from the storage device 510 or the ROM 502 to the RAM 503 based on the acceptance of the execution command of the control program 511 . The RAM 503 functions as a working memory and temporarily stores various data necessary for executing the control program 511 .

The control device 501 performs travel control of the travel body 61 . A control device 501 controls the motion of the robot arm 11 . That is, the control device 501 also functions as a robot controller. The self-propelled device 100 may include a control device for controlling the traveling of the traveling body 61 and a control device for controlling the operation of the robot arm 11 as separate bodies.

The communication interface 504 is connected to the antenna 31 and the like. Self-running device 100 realizes wireless communication between self-running device 100 and an external device (for example, a server) via antenna 31 and communication interface 504 .

The laser sensor 505 is housed in the cover portion 63 of FIG. The laser sensor 505 detects an object around the laser sensor 505 by irradiating the surroundings with laser light while rotating and receiving the reflected light of the laser light. The laser sensor 505 outputs the distance from the laser sensor 505 to an object existing within the scanning plane of the laser beam to the control device 501 as two-dimensional distance data D representing each angle around the rotation axis of the laser sensor 505 . The scanning plane of the laser sensor 505 is tilted with respect to the horizontal plane. Therefore, the self-propelled device 100 can three-dimensionally scan the surroundings by moving.

The motor drive device 506 controls the rotation of the first travel motor 77 and the second travel motor 78 according to the motor drive command from the control device 501 . The motor drive command includes, for example, a forward rotation command for the first travel motor 77 and the second travel motor 78, a reverse rotation command for the first travel motor 77 and the second travel motor 78, and a first travel motor 77. and the number of revolutions (rotational speed) of the second travel motor 78 .

The storage device 510 is, for example, a storage medium such as a hard disk or flash memory. The storage device 510 stores a control program 511 for controlling the operation of the self-propelled device 100, a three-dimensional map 512 of the travel area, and the like. Specifically, the control program 511 includes a program for controlling the travel of the traveling body 61 and a program for controlling the motion of the robot arm 11 . Note that the control program 511 and the three-dimensional map 512 are not limited to the storage device 510, and are stored in a storage area of the control device 501 (eg, cache memory, etc.), ROM 502, RAM 503, or an external device (eg, server). may be

Also, the control program 511 may be provided as a part of an arbitrary program, not as a standalone program. In this case, the travel control processing of the traveling body 61 and the motion control processing of the robot arm 11 by the control program 511 are realized in cooperation with arbitrary programs.

Even a program that does not include such a part of modules does not deviate from the gist of the control program 511 according to the present embodiment. Furthermore, part or all of the functions provided by the control program 511 may be realized by dedicated hardware. Furthermore, self-propelled device 100 may be configured in a form such as a so-called cloud service in which at least one server executes part of the processing of control program 511 .

<D. Index part of the truck>
5 is a cross-sectional view taken along line vv of FIG. 2. FIG.

As shown in FIG. 5 , the indicator part 300 is attached to the carriage 200 . The indicator portion 300 is attached to the side wall portion 251F of the carriage 200 . The index portion 300 is attached to the top portion 211 of the truck 200 rather than the wheels 220 in the vertical direction. From the viewpoint of detection accuracy, the indicator part 300 is preferably attached to a flat surface.

For example, the indicator portion 300 is directly attached to the side wall portion 251F. The back surface of the indicator section 300 may be made of an adhesive sheet. Alternatively, the index portion 300 may be encased in a transparent case attached to the side wall portion 251F.

The index part 300 is a specific figure. The indicator part 300 is a marker in this example. The indicator unit 300 is used by the self-propelled device 100 to detect the inclination of the carriage 200 . The indicator part 300 is used to detect the inclination of the truck 200 with respect to the floor surface 910 (running surface). Specifically, the indicator section 300 is used to detect the inclination of the body section 205 with respect to the floor surface 910 (see FIG. 8). Note that the inclination is typically represented by an inclination angle.

It should be noted that when not only the body portion 205 but also the self-propelled device 100 is similarly tilted, the index portion 300 detects the degree of inclination of the body portion 205 with respect to the self-propelled device 100 .

For example, an AR (Augmented Reality) marker can be used as the indicator section 300 . In this example, AprilTag, which is one of the AR markers, is illustrated. Note that AprilTag is a visual marker for applications that detect the position and orientation of a three-dimensional object. AprilTag is also used in machine tools. AprilTag is designed to encode less data, so it can be decoded faster. Therefore, it is suitable for the traveling system 1 that requires real-time performance.

In this example, since the AprilTag is attached to the truck 200 , the relative position and orientation of the truck 200 with respect to the self-propelled device 100 can be detected by the self-propelled device 100 .

It should be noted that the indicator section 300 is not limited to the AR marker. As will be described later, self-propelled device 100 only needs to be able to detect at least the relative position of index section 300 with respect to camera 35 . For this reason, the indicator unit 300 may be anything that can be recognized by the application on the self-propelled device 100 side. The index section 300 may be any device as long as the application can track the position of the index section 300 .

<E. Functional configuration of self-propelled device>
FIG. 6 is a functional block diagram for explaining the functional configuration of self-propelled device 100. As shown in FIG.

As shown in FIG. 6, the control device 501 includes a travel control unit 550, a robot control unit 560, and a data processing unit 555 as an example of a functional configuration.

The robot control unit 560 is a functional configuration for controlling the operations of the robot arm 11 and the end effector 40. The robot control unit 560 controls operations of six movable parts (six axes) of the robot arm 11 . Specifically, the robot control unit 560 controls the operation (rotation angle, rotation speed, etc.) of an actuator (not shown) of the robot arm 11 .

Furthermore, the robot control unit 560 controls the movement of the electric hand of the end effector 40. A robot control unit 560 controls the gripping operation of the electric hand. Specifically, the robot controller 560 controls the operation of an actuator (not shown) inside the end effector 40 .

The travel control unit 550 is a functional configuration for controlling travel of the self-propelled device 100 . Travel control unit 550 identifies the current position of self-propelled device 100 by comparing two-dimensional distance data D input from laser sensor 505 and three-dimensional map 512 . Control device 501 causes self-propelled device 100 to travel along a predetermined route on three-dimensional map 512 by specifying the current position. Note that the control device 501 can also generate a three-dimensional map 512 .

Further, the travel control unit 550 detects obstacles around the self-propelled device 100 based on the two-dimensional distance data D sequentially acquired from the laser sensor 505 while the self-propelled device 100 is driven, and detects the obstacle. The traveling of the self-propelled device 100 is controlled so as to avoid a collision with. The obstacles include, for example, moving bodies such as people and other self-propelled devices 100, and stationary bodies such as walls and shelves.

The traveling control unit 550 controls traveling of the self-propelled device 100 so that it travels along a predetermined route on the three-dimensional map 512 while no obstacle is detected. On the other hand, when an obstacle is detected, the travel control unit 550 controls travel of the self-propelled device 100 so as to avoid collision with the obstacle.

In a certain aspect, when the distance to the obstacle is equal to or greater than a predetermined distance, the travel control unit 550 controls travel of the self-propelled device 100 so as to avoid the obstacle. On the other hand, when the distance to the obstacle is less than the predetermined distance, the travel control unit 550 stops the travel of the self-propelled device 100 .

Next, the control of the traveling body 61 by the control device 501 using the camera 35 will be described.

The self-propelled device 100 has a position information acquisition unit 570 . Position information acquisition unit 570 includes camera 35 and data processing unit 555 in control device 501 . Travel control unit 550 includes a storage unit 551 . The storage unit 551 stores a threshold Th1 and a threshold Th2. In this example, the threshold Th1 is an angle threshold. The threshold Th2 is a threshold for distance (length or number of pixels). Note that the storage unit 551 is part of the storage device 510 .

As shown in FIG. 6, the position information acquisition unit 570 includes the camera 35 and acquires position information of the index unit 300 with respect to the running body 61 while the running body 61 is running. Specifically, the camera 35 continuously images the index portion 300 . The camera 35 sequentially transmits image data obtained by imaging to the data processing unit 555 .

The data processing unit 555 calculates the position and orientation of the index unit 300 in the three-dimensional space based on the image data. Specifically, the data processing unit 555 calculates the position of the index unit 300 (position information of the index unit 300), and calculates the orientation of the index unit 300 based on the calculation result. In this example, the inclination (inclination angle) of the index section 300 is calculated as the orientation. Data processing section 555 sends the position information of indicator section 300 and the information of the inclination of indicator section 300 to running control section 550 . For convenience of explanation, the inclination of the indicator portion 300 in the state of FIG. 5 is assumed to be 0°.

In this way, the position information acquisition section 570 acquires the position information and the tilt information of the index section 300 by acquiring the image of the index section 300 captured by the camera 35 . Note that the data processing unit 555 does not necessarily need to determine the position and inclination of the index portion 300 in all image data. The data processing section 555 may determine the position and inclination of the index section 300 according to a predetermined calculation cycle.

The travel control unit 550 sequentially acquires position information and inclination information of the index unit 300 from the data processing unit 555 . The travel control unit 550 controls travel of the traveling body 61 based on changes in the position information of the indicator unit 300 . More specifically, the travel control unit 550 controls travel of the traveling body 61 based on changes in the position information of the indicator 300 and the tilt of the indicator 300 based on the change.

Two control examples based on changes in the positional information of the index unit 300 will be described below. In addition, since the self-propelled device 100 runs autonomously or travels along an instructed route, the self-propelled device 100 can move forward, backward, turn left, turn right, turn left, or turn right. I know if there is.

(1) Switching from Straight Traveling to Curved Traveling Control of the traveling body 61 by the traveling control unit 550 when the traveling route of the traveling body 61 switches from straight traveling to curved traveling will be described.

The position information of the index unit 300 includes position information P1 acquired when the running body 61 travels straight and position information P2 acquired when the running body 61 travels along a curve. The travel control unit 550 controls the travel control unit 550 when the amount of change in the position information P2 based on the position information P1 (hereinafter referred to as “change amount ΔP12”) exceeds a predetermined threshold value Th1 when the traveling object 61 travels along a curve. , to control the running of the running body 61 . Specifically, in this example, the amount of change ΔP12 is the inclination (inclination angle) of the indicator section 300 .

The traveling control unit 550 stops traveling of the traveling body 61 when the amount of change ΔP12 exceeds the threshold Th1. Without being limited to this, the traveling control unit 550 may decelerate the traveling body 61 to continue traveling when the amount of change exceeds the threshold value Th1. Alternatively, the traveling control unit 550 may reduce the curvature of the traveling object 61 in traveling along a curve when the amount of change exceeds the threshold value Th1. Which control is to be performed by travel control unit 550 is preset in self-propelled device 100 . The setting can be made based on a user operation.

Further, the travel control unit 550 may appropriately select a control method from among the three controls according to the travel speed of the travel object 61 and/or the curvature of the curve. Further, the traveling control unit 550 may simultaneously decelerate the traveling body 61 and reduce the curvature of the traveling body 61 when it travels along a curve.

For example, when the running speed is faster than a predetermined speed, the running control unit 550 decelerates the running body 61 . If the curvature is greater than the predetermined value, the traveling control unit 550 may reduce the curvature of the traveling body 61 traveling along the curve. When the traveling speed is faster than the predetermined speed and the curvature is greater than the predetermined value, the traveling control unit 550 decelerates the traveling body 61 and reduces the curvature of the traveling body 61 when it travels along the curve. and may be performed at the same time.

The deceleration control may be a control to reduce the speed to a predetermined speed, or may be a control to slow down the running speed by a predetermined speed. In the latter control, traveling control unit 550 repeats the control of slowing the traveling speed by a predetermined speed until variation ΔP12 becomes equal to or less than threshold Th1.

Further, the travel control unit 550 may select a control method based on the difference between the amount of change ΔP12 and the threshold value Th1.

(2) When there is a step Control of the traveling object 61 by the traveling control unit 550 when the traveling object 61 has passed over a step will be described.

The position information of the index portion 300 includes position information P3 acquired before the running object 61 crosses the step on the floor surface 910 and position information P4 acquired after the running object 61 crosses the step on the floor surface 910. include. The travel control unit 550 controls the travel of the travel object 61 when the amount of change in the position information P4 based on the position information P3 (hereinafter referred to as “change amount ΔP34”) exceeds a threshold Th2 when the travel object 61 travels. control running. Specifically, in this example, the amount of change ΔP34 is the amount of change in the position of the index portion 300 in the vertical direction.

The traveling control unit 550 stops traveling of the traveling body 61 when the amount of change ΔP34 exceeds the threshold Th2. Without being limited to this, the traveling control unit 550 may decelerate the traveling body 61 to continue traveling when the amount of change ΔP34 exceeds the threshold value Th2. Which control is to be performed by travel control unit 550 is preset in self-propelled device 100 . The setting can be made based on a user operation.

For example, when the running speed is faster than a predetermined speed, the running control unit 550 stops the running body 61 . When the running speed is slower than the predetermined speed, the running control unit 550 decelerates the running body 61 to continue running.

Further, the travel control unit 550 may select a control method based on the difference between the amount of change ΔP34 and the threshold Th2 (that is, the size of the step). For example, when the difference is equal to or greater than a predetermined value, the running control unit 550 stops the running body 61, and when the difference is less than the predetermined value, the running body 61 is stopped. You may decelerate to the determined speed.

When the running body 61 is stopped, the running control unit 550 then reverses the running body 61 (for example, moves backward). For example, travel control unit 550 may cause traveling body 61 to move backward on condition that a predetermined time has elapsed after traveling body 61 is stopped.

<F. Examples of images captured by the camera>
(1) In the Case of Switching from Straight Traveling to Curved Traveling FIG. 7 is a top view of the traveling system 1 when the self-propelled device 100 starts to turn left.

As shown in FIG. 7, when the self-propelled device 100 starts turning, the subject area captured by the camera 35 changes in the side wall portion 251F of the carriage. The position where the optical axis J of the camera 35 and the side wall portion 251F intersect greatly changes from the position shown in FIG.

8 is a cross-sectional view taken along line ix-ix of FIG. 7. FIG.
As shown in FIG. 8, in this example, the truck 200 has the left front wheel 220Lf separated from the floor surface 910, and the truck 200 is tilted by an angle θ. The cart 200 is tilted in the direction of the arrow as the self-propelled device 100 turns to the left. Along with this, the index portion 300 attached to the side wall portion 251F is also inclined by an angle θ.

FIG. 9 is a schematic diagram for explaining image data obtained immediately before and after starting a left turn.

As shown in FIG. 9, in the state (A), since the traveling body 61 and the carriage 200 are traveling straight, the image 300G of the index portion 300 is not tilted. Also, the image 300G exists at the reference position in the image data 501G obtained by imaging. In this example, for convenience of explanation, a case where the reference position is the center of the image data 501G is taken as an example.

In state (B), as shown in FIG. 7, the traveling body 61 has started to turn left, so the state of the truck 200 is as shown in FIG. In this case, the left front wheel 220Lf of the truck 200 is tilted by the angle θ while the left front wheel 220Lf of the truck 200 is separated from the floor surface 910, so the image 300G of the index portion 300 is tilted by the angle θ.

Also, the image 300G of the index portion 300 is shifted from the default position in the image data 502G obtained by imaging. In this example, the image 300G is shifted by x1 in the positive direction of the X axis and by y1 in the positive direction of the Y axis.

By the way, as described above, the travel control unit 550 prevents the travel of the travel object 61 when the change amount ΔP12 of the position information P2 based on the position information P1 exceeds the threshold value Th1 when the travel object 61 travels along a curve. Control. Since AprilTag is used as the index portion 300, the amount of change ΔP12 can be used as the inclination (tilt angle) of the image 300G as described above. The threshold Th1 can be, for example, 3°.

Note that if an index that cannot detect the tilt angle is used as the index unit 300, the amount of change ΔP12 may be a value obtained by dividing y1 by x1 (=y1/x1).

(2) When there is a step Fig. 10 is a side view of the traveling system 1 immediately after the self-propelled device 100 has climbed over the step.

As shown in FIG. 10, when the self-propelled device 100 climbs over the step W, the subject area imaged by the camera 35 changes in the side wall portion 251F of the carriage. The position where the optical axis J of the camera 35 and the side wall portion 251F intersect shifts upward from the position shown in FIG.

FIG. 11 is a schematic diagram for explaining image data obtained before and immediately after the self-propelled device 100 climbs over the step W. FIG. In this example, it is assumed that the self-propelled device 100 and the carriage 200 move forward before and after the step W is overcome.

As shown in FIG. 11, in the state (A), since the traveling body 61 and the carriage 200 are traveling straight, the image 300G of the index portion 300 is present at the default position in the image data 503G obtained by imaging. do. Also in this example, the case where the reference position is the center of the image data 503G is taken as an example.

In the state (B), as shown in FIG. 10, the self-propelled device 100 climbs over the step W, but the carriage 200 does not climb over the step W. Therefore, the image 300G of the indicator section 300 is image data 504G obtained by imaging. , it deviates from the default position. Specifically, in the case of this example, the image 300G is shifted by y2 in the negative direction of the Y-axis.

As described above, the traveling control unit 550 controls traveling of the traveling body 61 when the change amount ΔP34 of the position information P4 based on the position information P3 exceeds the threshold Th2 while the traveling body 61 is traveling. In this example, the amount of change ΔP34 can be the amount of change in the Y coordinate.

In the example of FIG. 10, the case where the position of the self-propelled device 100 changes upward due to the step W has been described as an example. When the position of the self-propelled device 100 changes downward due to a step, the image 300G of the index portion 300 changes upward from the reference position.

<G. Control structure and control example>
FIG. 12 is a flowchart for explaining the flow of processing executed by the self-propelled device 100. As shown in FIG.

As shown in FIG. 12, in step S1, the self-propelled device 100 starts traveling. As a result, the cart 200 is towed by the self-propelled device 100 . In step S<b>2 , imaging of the index portion 300 by the camera 35 is started under the control of the control device 501 . In step S3, the control device 501 determines whether or not turning has started.

When it is determined that turning has started (YES in step S3), in step S4, control device 501 determines whether the tilt of index portion 300 (more specifically, the tilt of image 300G of index portion 300) is greater than or equal to threshold Th1. determine whether or not If it is determined that turning has not started (NO in step S3), in step S7, control device 501 changes the position of indicator portion 300 (more specifically, the position of image 300G of indicator portion 300) from the reference position to the threshold value. It is determined whether or not there is an upward or downward change greater than or equal to Th2.

If an affirmative determination is made in step S4 (YES in step S4), the control device 501 controls traveling of the traveling body 61 in step S5. After that, the control device 501 advances the process to step S4. If a negative determination is made in step S4 (NO in step S4), control device 501 advances the process to step S6.

If an affirmative determination is made in step S7 (YES in step S7), the control device 501 controls traveling of the traveling body 61 in step S8. After that, the control device 501 advances the process to step S6. If a negative determination is made in step S7 (NO in step S7), control device 501 advances the process to step S6.

In step S6, the control device 501 determines whether or not the self-propelled device 100 and the carriage 200 have reached the target position. If an affirmative determination is made in step S6 (YES in step S6), control device 501 terminates the series of processes. If a negative determination is made in step S6 (NO in step S6), control device 501 returns the process to step S3.

<H. Summary>
A part of the configuration of the traveling system 1 is summarized as follows.

(1) The traveling system 1 has a self-propellable traveling body 61 and an indicator section 300, and includes a carriage 200 towed by the traveling body 61 and a camera 35. When the traveling body 61 travels, the traveling body 61 A position information acquisition unit 570 that acquires the position information of the indicator unit 300 with respect to the position information acquisition unit 570, and a travel control unit 550 that controls the travel of the traveling body 61 based on changes in the position information of the indicator unit 300 acquired by the position information acquisition unit 570. and

When the truck 200 is towed by the traveling body 61, it is required to prevent the truck 200 from overturning. In addition, attitude control using an inertial measurement device can be considered as means for correcting the attitude of the carriage 200, but the cost is high.

On the other hand, by controlling the travel of the traveling body 61 based on the change in the position information of the indicator section 300 acquired by the position information acquisition section 570, the trolley 200 can be prevented from overturning. In this case, since a camera is used for the position information acquisition unit 570, low cost can be realized.

In addition, there are various types of trucks 200 towed by the traveling body 61, and the number and weight of loads to be loaded on the truck 200 and the loading position of the luggage are different, causing the truck 200 to overturn. Driving conditions change all the time. Therefore, by controlling the travel of the traveling body 61 based on the change in the position information of the index section 300 acquired by the position information acquisition section 570, it is possible to prevent the trolley from overturning with high accuracy.

(2) The position information of the index unit 300 includes position information P1 acquired when the running body 61 travels straight and position information P2 acquired when the running body 61 travels along a curve. The traveling control unit 550 controls traveling of the traveling body 61 when the change amount ΔP12 of the position information P2 based on the position information P1 exceeds a predetermined threshold Th1 when the traveling body 61 travels along a curve. According to such a configuration, it is possible to prevent the truck from overturning when the traveling body 61 travels along a curve.

For example, the traveling control unit 550 controls traveling of the traveling body 61 to any one of stopping the traveling body 61, decelerating the traveling body 61, and decreasing the curvature of the traveling body 61 when traveling on a curve. According to this, it is possible to prevent the truck 200 from overturning when traveling on a curve by stopping or decelerating the traveling body 61 or by reducing the curvature when traveling on a curve.

(3) The carriage 200 includes a top portion 211 and wheels 220 . The index portion 300 is provided at a position closer to the top portion 211 than the wheel 220 in the vertical direction. According to such a configuration, the behavior of the indicator portion 300 becomes greater when the traveling body 61 travels along a curvature, so that the control device 501 can easily recognize the change in the position information of the indicator portion 300 .

(4) The position information of the indicator part 300 is position information P3 acquired before the traveling body 61 crosses the step W of the floor surface 910, and acquired after the traveling body 61 crosses the step W of the floor surface 910. and position information P4. The traveling control unit 550 controls traveling of the traveling body 61 when the change amount ΔP34 of the position information P4 based on the position information P3 exceeds a predetermined threshold Th2 when the traveling body 61 travels. According to such a configuration, it is possible to prevent the trolley from overturning when there is a step W on the floor surface 910 .

For example, the running control unit 550 controls the running of the running body 61 so that the running body 61 stops. By stopping the traveling body 61, it is possible to prevent the trolley 200 from overturning when there is a step W on the floor surface 910. - 特許庁

(5) The index part 300 is a specific figure (AprilTag in this example) attached to the carriage 200 . The position information acquisition section 570 acquires the position information of the index section 300 by acquiring the image of the figure captured by the camera 35 .

<I. Variation>
(1) In the above description, the case where the indicator portion 300 is attached to the side wall portion 251F of the carriage 200 has been described as an example, but the present invention is not limited to this.

FIG. 13 is a diagram showing the carriage 200A. As shown in FIG. 13, the carriage 200A includes a plate member 290. As shown in FIG. Plate-like member 290 is installed on body portion 205 so as to protrude upward from top portion 211 . In this example, the plate-like member 290 has its lower end attached to the side wall portion 251F.

An index portion 300 is attached to the upper end portion of the plate-like member 290 . The index portion 300 is attached to the surface of the plate member 290 on the camera 35 side. According to such a configuration, the indicator portion 300 can be positioned higher than the floor surface 910 as compared with the carriage 200 .

When the truck 200A and the truck 200 are tilted by the same angle, the truck 200A has a larger amount of movement of the indicator part 300. Therefore, when an index that cannot detect the tilt angle is used as the index unit 300, the control device 501 can detect the tilt of the trolley 200A with higher accuracy than when the trolley 200 is tilted.

In this case, it is necessary to install the camera 35 of the self-propelled device 100 at a higher position than when the cart 200 is used. Also, instead of the plate member 290, a square pole may be used.

(2) In the above description, the camera 35 acquires the position information of the index portion 300 with respect to the traveling object 61, but the present invention is not limited to this. A laser sensor 36 (see FIG. 1 etc.) may be used instead of the camera 35 .

(3) In the above description, only the threshold Th1 is used as the threshold for the tilt (tilt angle) of the indicator section 300 . However, without being limited to this, a plurality of thresholds may be used as the thresholds for the inclination. For example, when two thresholds Th1_a and Th1_b are used (Th1_a>Th1_b), running control unit 550 stops running of running body 61 when change amount ΔP12 is Th1_a or more, and changes amount ΔP12 of Th1_b or more and less than Th1_a. In some cases, the traveling body 61 may be decelerated to a constant speed to continue traveling.

[Embodiment 2]
In Embodiment 1, travel control unit 550 controls travel of traveling body 61 based on changes in the position information of index unit 300 acquired by position information acquisition unit 570 . That is, in Embodiment 1, control during actual operation of traveling system 1 has been described.

In the present embodiment, the running system 1 is run on a trial basis, and the carriage 200 sets the running conditions in advance. The position information of the index unit 300 is used for setting the travel conditions. In this example, the traveling condition is a condition under which the trolley 200 does not overturn (for example, overturn).

Also, in the present embodiment, the test run is performed with no luggage loaded on the trolley 200 . However, the present invention is not limited to this, and when the same number of the same packages are placed in the same positions on the cart 200 each time, it is preferable to perform the test run with the packages loaded on the cart 200 .

Specifically, the position information acquisition unit 570 acquires the position information of the indicator unit 300 with respect to the running body 61 when the running body 61 is running on a test run. The traveling control unit 550 sets the traveling condition of the traveling object 61 based on the change in the position information of the index unit 300 acquired by the position information acquiring unit 570, and sets the traveling condition during the actual operation of the traveling object 61. The traveling of the traveling body 61 is controlled so as to satisfy the requirement.

During the test run of the running body 61, the running speed and the curvature of the curve that forms the running route are varied. Also, during the test run, the vehicle is allowed to pass through steps with different heights at a plurality of running speeds. Through such a test run, a running condition is found that does not cause the truck 200 to overturn. For example, a combination of the running speed and the curvature of the curve is obtained so that the tilt angle θ of the truck 200 does not exceed the threshold value Th1. Also, the traveling speed at which the carriage 200 can climb over the step is found for each size of the step.

According to such a configuration, it becomes unnecessary to monitor changes in the position information of the indicator section 300 during actual operation under many circumstances. For example, in particular, as described above, monitoring is not required when the truck 200 is loaded with cargo and the test run is performed.

FIG. 14 is a diagram for explaining driving conditions generated by a test run of the driving system 1. FIG. The travel conditions may be generated by self-propelled device 100 or by a server (not shown). The travel conditions are generated before actual operation based on changes in the position information of the indicator section 300, as described above. Note that the travel conditions are stored in the storage unit 551 ( FIG. 6 ) of the travel control unit 550 .

As shown in FIG. 14, the driving condition P includes two driving conditions P1 and P2 in this example. Traveling conditions P1 and P2 are conditions under which the trolley 200 does not overturn. The running conditions P1 and P2 are preferably set individually based on the type of the truck 200, the weight of the members placed on the truck 200, and the like.

The traveling condition P1 indicates the relationship between the traveling speed of the self-propelled device 100 and the curvature of the curve. The curvature of a curve is the curvature of an arc when the trajectory of the traveling system 1 during traveling is an arc in a certain situation.

The driving condition P1 is defined by a function in this example. The area of the graph is divided into area A1 and area B1 by the function. Area A1 is an area whose curvature is equal to or less than the value of the function (that is, the curvature of the vertical axis). Region B1 is a region where the curvature is greater than the value of the function. Driving condition P1 is defined as a combination of driving speed and curvature within area A1. "Satisfies the traveling condition P1" means that the traveling speed and the curvature are within the area A1.

The traveling condition P2 indicates the relationship between the traveling speed of the self-propelled device 100 and the size of the step. The size of the step is the height difference (cm) between the floor surfaces in the vertical direction.

The driving condition P2 is defined by a function, like the driving condition P1. The area of the graph is divided into area A2 and area B2 by the function. Area A2 is an area whose curvature is equal to or less than the value of the function (that is, the curvature of the vertical axis). Region B2 is a region where the curvature is greater than the value of the function. Driving condition P2 is defined as a combination of driving speed and curvature within area A2. "Satisfies the traveling condition P2" means that the traveling speed and the curvature are within the area A2.

In this way, by controlling the traveling of the traveling body 61 so as to satisfy the traveling condition P during the actual operation of the traveling system 1, it is possible to prevent the carriage 200 from overturning during the actual operation. In addition, it is possible to prevent the load from falling from the truck 200. - 特許庁

[Embodiment 3]
The control of the first embodiment and the control based on the running condition P set in the second embodiment may be combined.

As described in the second embodiment, the traveling conditions P are set in advance by test running the traveling system 1 . In actual operation, the self-propelled device 100 travels so that the travel condition P is satisfied. In such a case, in most cases, rollover or the like of the truck 200 does not occur.

However, there are various types of carts 200, and the number and weight of cargoes to be loaded on the carts 200 and the loading position of the cargoes are different, and it is difficult to preset the traveling conditions P in all cases. There is also In addition, there may be cases where the running condition P cannot always be satisfied due to changes in the building environment, deterioration of the truck 200, collision avoidance, and the like. Moreover, when setting the running conditions P, there may be running states that could not be tested in the test run.

Considering such various cases, the control device 501 controls the traveling body 61 so as to satisfy the traveling condition P in actual operation. Running control of the running body 61 is executed based on the change in the positional information of the indicator section 300 .

Specifically, the position information acquisition unit 570 further acquires the position information of the indicator unit 300 with respect to the running body 61 when the running body 61 is running on a test run. The test run is performed with the loading state of the cargo on the trolley 200 fixed or with no cargo loaded. The traveling control unit 550 sets the traveling condition P during actual operation of the traveling object 61 based on the change in the position information of the index unit 300 acquired by the position information acquiring unit 570 during the test run, and The traveling of the traveling body 61 is controlled so as to satisfy the traveling condition P during actual operation.

According to such a configuration, it is possible to set a traveling condition P that prevents the truck 200 from overturning when the truck 200 is loaded in a specific state by running the traveling body 61 on a trial basis. During actual operation, the running control unit 550 controls the running of the running object so as to satisfy the running condition P, and based on the change in the position information of the index unit 300 acquired by the position information acquiring unit 570, the running control unit 550 By controlling the running of the body 61, the posture of the cart 200 can be maintained more stably than when the running condition P is not set in advance.

Specifically, it is possible to further prevent the trolley 200 from overturning due to the tilt of the trolley 200 in the left-right direction or the front-rear direction. In addition, it is possible to prevent the baggage (load) from falling from the carriage 200 .

The embodiments disclosed this time are examples, and are not limited to the above contents. The scope of the present invention is indicated by the claims, and is intended to include all changes within the meaning and range of equivalents to the claims.

1 traveling system, 11 robot arm, 12 base, 13 arm, 31 antenna, 35 camera, 36, 505 laser sensor, 40 end effector, 45, 45a, 45b coupling, 51, 51Lb, 51Lf, 51Rb, 51Rf driven wheel, 56 wheel, 60 roller, 61 running body, 62 running main body, 63 cover part, 65 top surface, 66 tray, 71 first drive wheel, 72 second drive wheel, 73 first axle, 74 second axle , 75, 76 reducer, 77 first travel motor, 78 second travel motor, 86 frame, 87 third support shaft, 88 third support arm, 91 first support shaft, 92 second support shaft, 93 third 1 support arm, 94 second support arm, 96 third axle, 97 fourth axle, 98 fifth axle, 99 sixth axle, 100 self-propelled device, 121 first axle, 122 second axle, 200, 200A truck, 205 Body part, 210 Storage part, 211 Top part, 220 Wheel, 220Lf Left front wheel, 220Rb Rear wheel, 220Rf Right front wheel, 251, 251B, 251F, 251L, 251R Side wall part, 290 Plate member, 300 Index part, 300G Image, 501 control device, 501G, 502G, 503G, 504G image data, 502 ROM, 503 RAM, 504 communication interface, 506 motor drive device, 509 bus, 510 storage device, 511 control program, 512 dimension map, 550 travel control unit, 551 Storage unit, 555 data processing unit, 560 robot control unit, 570 position information acquisition unit, 910 floor surface, A1, A2, B1, B2 areas, D dimension distance data, J optical axis, P, P1, P2 travel conditions.

Claims

a self-propelled running body;
a carriage that has an indicator and is towed by the traveling body;
an acquisition unit that includes a camera or a laser sensor and acquires position information of the index unit with respect to the running body when the running body is running;
a travel control unit that controls travel of the traveling object based on a change in the position information of the index unit acquired by the acquisition unit;
The acquisition unit further acquires the position information of the indicator unit with respect to the running body during a test run of the running body, and the test run is performed with the loading state of the cargo on the truck constant or with no cargo loaded. carried out,
The running control unit sets running conditions during actual operation of the running body based on changes in the position information of the indicator acquired by the acquiring unit during the test run, and sets running conditions during actual operation of the running body. A travel system that controls travel of the travel body so as to satisfy the travel conditions at times.
The position information of the indicator section includes first position information acquired when the running body travels straight and second position information acquired when the running body travels along a curve,
The travel control unit controls travel of the travel object when a change amount of the second position information based on the first position information exceeds a predetermined threshold when the travel object travels a curve. The travel system according to claim 1, wherein
3. The traveling control unit according to claim 2, wherein the travel control unit controls travel of the travel body to any one of stopping of the travel body, deceleration of the travel body, and reduction of curvature in curve travel of the travel body. running system.
the bogie includes a top portion and a wheel portion;
The travel system according to claim 2 or 3, wherein the indicator portion is provided at a position closer to the top portion than the wheel portion in the vertical direction.
The position information of the index portion includes third position information acquired before the running body crosses the step on the floor and fourth position information acquired after the running body crosses the step on the floor. including
The traveling control unit controls traveling of the traveling body when a change amount of the fourth position information based on the third position information exceeds a predetermined threshold when the traveling body travels. , The travel system according to any one of claims 1 to 4.
The traveling system according to claim 5, wherein the traveling control unit controls traveling of the traveling body so that the traveling body stops.
The indicator part is a specific figure attached to the truck,
7. The traveling according to any one of claims 1 to 6, wherein the acquisition unit includes the camera, and acquires the position information of the indicator unit by acquiring an image of the figure captured by the camera. system.
a self-propelled running body;
a towed body having an index portion and towed by the traveling body;
an acquisition unit that includes a camera or a laser sensor and acquires the position information of the indicator unit with respect to the running object during a test run of the running object;
A running condition of the running body is set based on a change in the position information of the indicator acquired by the acquiring section, and the running of the running body is satisfied so as to satisfy the running condition during actual operation of the running body. A travel system comprising a travel control unit that controls the