JP7608688B2 - Autonomous vehicle, transport system, and connection structure between autonomous vehicle and transport object - Google Patents

Description

This disclosure relates to an autonomous vehicle, a transport system, and a connection structure between the autonomous vehicle and an object to be transported.

When autonomous vehicles such as automated guided vehicles are used in factories or homes, they may transport objects by towing them, such as shelves carrying items or towing carts.

As a configuration for connecting the autonomous vehicle and the object to be transported, a plate is placed on the top of the automated guided vehicle, and a guide with a slit is provided on the towing cart. After the plate of the automated guided vehicle is inserted into the slit, an electromagnetic lock pin is passed through the plate and guide to activate the electromagnetic lock, thereby physically connecting the automated guided vehicle and the towing cart.

JP 2019-148881 A

When the connection structure between the autonomous vehicle and the object to be transported is complex, high positioning accuracy is required for the connection position of the autonomous vehicle.

This disclosure provides an autonomous vehicle that can more easily and reliably connect with an object to be transported.

An autonomous vehicle according to one aspect of an embodiment of the present disclosure is an autonomous vehicle capable of being connected to a transport target, and includes an engagement portion that engages with a convex portion provided on the transport target so as to sandwich the convex portion at least in front of and behind the autonomous vehicle in the direction of travel, a biasing portion that biases the engagement portion in a predetermined direction to cause the engagement portion to protrude, and a suppression portion that suppresses the protrusion of the engagement portion by applying a force that resists the bias by the biasing portion , wherein the suppression portion does not apply a force that resists the bias by the biasing portion while the engagement portion is moving in the predetermined direction under the bias of the biasing portion in response to the release of the suppression .

A diagram showing an example of a scenario in which an autonomous vehicle can be used FIG. 1 is a diagram showing an example of the external configuration of an autonomous vehicle. A diagram showing an autonomous vehicle docking with a shelf to be transported A front view showing a schematic configuration of the lower part of the shelf from the lowest level. FIG. 1 is a perspective view of a locking device according to a first embodiment; 6 is a cross-sectional view of the locking device shown in FIG. 5 taken along the line AA. BB cross-sectional view of the locking device in FIG. Functional block diagram of a control device for docking control Control device hardware configuration diagram FIG. 1 is a diagram showing a first stage of a docking operation by the locking device of the first embodiment; FIG. 13 is a diagram showing a second stage of the docking operation by the locking device of the first embodiment. FIG. 13 is a diagram showing a third stage of the docking operation by the locking device of the first embodiment. FIG. 13 is a view showing a fourth stage of the docking operation by the locking device of the first embodiment. FIG. 13 is a perspective view of a locking device according to a second embodiment; FIG. 15 is a cross-sectional view of the locking device shown in FIG. 14 along the line CC, illustrating a first stage of a docking operation performed by the locking device according to the second embodiment; FIG. 13 is a diagram showing a second stage of the docking operation by the locking device of the second embodiment. FIG. 13 is a diagram showing a third stage of the docking operation by the locking device of the second embodiment. FIG. 13 is a view showing a fourth stage of the docking operation by the locking device of the second embodiment. FIG. 13 is a schematic diagram showing a first modified example of a connection structure between an autonomous vehicle and a transport object; FIG. 13 is a schematic diagram showing a second modified example of a connection structure between an autonomous vehicle and a transport object; FIG. 13 is a schematic diagram showing a third modified example of a connection structure between an autonomous vehicle and a transport object; FIG. 13 is a schematic diagram for explaining the effect of a configuration in which a connecting element on the conveyed object side is formed by a convex portion; 13 is a schematic diagram showing another example of the configuration of the recess of the connecting element on the transport target side; FIG. FIG. 13 is a schematic diagram for explaining a further effect of a configuration in which a connecting element on the conveyed object side is formed by a convex portion; FIG. 13 is a schematic diagram for explaining another effect of a configuration in which a connecting element on a conveyed object side is formed by a convex portion;

According to at least one embodiment of the present disclosure, a connection structure between an autonomous vehicle and a transport target is provided that allows the connection between the autonomous vehicle and the transport target to be made easier and more reliable. In the embodiment described below, the autonomous vehicle transports the transport target to a destination by towing the transport target.

The following describes the embodiments with reference to the attached drawings. To facilitate understanding of the description, the same components in each drawing are denoted by the same reference numerals as much as possible, and duplicate descriptions are omitted.

In the following description, the x, y, and z directions are perpendicular to each other. The x and y directions are horizontal, and the z direction is vertical. The x direction is the width direction of the autonomous vehicle 120. The y direction is the front-to-rear direction of the autonomous vehicle 120. The z direction is the height direction of the autonomous vehicle 120. For ease of explanation, the positive z direction may be referred to as the upper side and the negative z direction may be referred to as the lower side.

[First embodiment]
<Scenes where autonomous vehicles can be used>
First, a usage scene of the autonomous vehicle according to the first embodiment will be described. Fig. 1 is a diagram showing an example of a usage scene of the autonomous vehicle, illustrating an autonomous vehicle 120 and a transport system having a transport target. As shown in Fig. 1, the autonomous vehicle 120 is used in a scene where a user 110 is relaxing on a sofa in a predetermined space 100 such as a living room at home, for example.

In the usage scenario shown in FIG. 1, for example, a user 110 is about to use a notebook PC and requests the autonomous vehicle 120 to:
After you say the wake word,
When "Bring me the laptop computer" is spoken (i.e., when a voice instruction for transportation (hereinafter referred to as a voice instruction) is given),
In this case, autonomous vehicle 120 identifies shelf 130 on which work tools 131 such as a notebook PC and books are placed as the transportation target from among shelves 130-150 with casters, and after docking with shelf 130, transports shelf 130 to a position near user 110. Note that autonomous vehicle 120 may be configured to follow voice instructions given without a wake word.

In this way, by using the autonomous vehicle 120, the user 110 can place the laptop computer located far away at a distance without moving from the sofa, simply by giving voice instructions.

The example in FIG. 1 shows a case where the shelf 130 is waiting at the anchor 170 in the specified space 100 at the time the user 110 issues a voice command. The example in FIG. 1 also shows a case where a trash can 160 is placed as an obstacle on the shortest transport path when the shelf 130 waiting at the anchor 170 is transported to a position 172 near the user 110.

In such a case, the autonomous vehicle 120 detects the trash can 160 while transporting the shelf 130, and transports the shelf 130 along the transport path indicated by the dotted arrow 171, thereby avoiding a collision with the trash can 160.

Although not shown in FIG. 1, assume that autonomous vehicle 120 transports shelf 130 to position 172 near user 110, and user 110 removes the laptop PC from shelf 130, and then issues a voice command to autonomous vehicle 120 to "return the shelf to its original position." In this case, autonomous vehicle 120 transports shelf 130 to the position of anchor 170.

In the example of FIG. 1, the autonomous vehicle 120 transports the shelf 130 as the transport target, but depending on the content of the voice instruction from the user 110, the autonomous vehicle 120 may identify and transport the shelf 140 or the shelf 150 as the transport target. In the example of FIG. 1, the autonomous vehicle 120 identifies a position near the user 110 as the transport destination of the shelf 130. However, depending on the content of the voice instruction from the user 110, the autonomous vehicle 120 may identify a position near a specified object (e.g., furniture, etc.) installed in the specified space 100, or any position within the specified space 100, as the transport destination of the shelf 130.

<Configuration of an autonomous vehicle>
Next, a description will be given of the configuration of autonomous vehicle 120. Fig. 2 is a diagram showing an example of the external configuration of an autonomous vehicle.

As shown in FIG. 2(a), the autonomous vehicle 120 has an overall rectangular parallelepiped shape, and its dimensions in the height direction (z-axis direction) and width direction (x-axis direction) are specified so that it can enter under the lowest shelf to be transported. Note that the shape of the autonomous vehicle 120 is not limited to a rectangular parallelepiped.

A locking device 211, which is a component of a docking mechanism for docking with a shelf to be transported, is installed on the top surface 210 of the autonomous vehicle 120. A LIDAR (Laser Imaging Detection and Ranging) 212 is also installed on the top surface 210 of the autonomous vehicle 120. The LIDAR 212 has a measurement range that covers the front-rear direction (y-axis direction) and width direction (x-axis direction) at the height position of the top surface 210 of the autonomous vehicle 120, and the measurement results by the LIDAR 212 can be used to detect obstacles and the like within the measurement range.

A front RGB camera 221 and a Time of Flight (ToF) camera (ToF camera 222) are installed on the front 220 of the autonomous vehicle 120. Note that in this embodiment, the front RGB camera 221 is installed above the ToF camera 222, but the installation position of the front RGB camera 221 is not limited to this position.

When the autonomous vehicle 120 moves forward, the front RGB camera 221 captures, for example,
-Shelf to be transported (e.g., shelf 130);
A user (e.g., user 110) near the destination, an installation near the destination,
Obstacles on the transport path (e.g., trash can 160),
etc., and output color images.

The ToF camera 222 is an example of a sensor that acquires measurement data related to the three-dimensional position of an object within the measurement range. In order to avoid the multipath problem, the ToF camera 222 is installed facing upward on the front surface 220 of the autonomous vehicle 120 so that the driving surface on which the autonomous vehicle 120 drives (floor surface 240 shown in FIG. 2B) is not included in the measurement range. One example of the multipath problem is a deterioration in measurement accuracy due to light emitted from a light source passing through the floor surface 240 and being reflected by other objects, and the reflected light being received by the ToF camera 222. In this embodiment, the upward installation angle Θ of the ToF camera 222 on the front surface 220 of the autonomous vehicle 120 is set to be approximately 50 degrees with respect to the floor surface 240.

When the autonomous vehicle 120 moves forward, the ToF camera 222 captures obstacles and the like in a measurement range that is at least the area through which the docked shelf passes (an area equal to the height of the docked shelf x the width of the docked shelf). The ToF camera 222 outputs the captured distance image (depth image) as three-dimensional position data. In this embodiment, the vertical angle of view θv of the ToF camera 222 is 70 degrees, and the horizontal angle of view θh is 90 degrees. A stereo camera or a monocular camera may be used instead of the ToF camera 222 as a sensor device for acquiring three-dimensional position data of an object. In the case of a stereo camera, three-dimensional position data within the measurement range can be calculated from two images captured at the same time. In the case of a monocular camera, three-dimensional position data within the measurement range can be calculated from two images captured at different times and the movement direction and movement distance of the autonomous vehicle 120.

Drive wheels 231 and driven wheels 232 are installed on the underside 230 of the autonomous vehicle 120 to support the autonomous vehicle 120.

The drive wheels 231 are installed one on each side in the width direction (x-axis direction) (a total of two installed in the width direction), and each is independently motor-driven to move the autonomous vehicle 120 in the direction of travel, i.e., forward/backward (y-axis direction). The drive wheels 231 can also turn the autonomous vehicle 120 around the z-axis.

The driven wheels 232 are installed one on each side in the width direction (x-axis direction) (a total of two in the width direction). The driven wheels 232 are installed so that they can each turn around the z-axis with respect to the autonomous vehicle 120. Note that the installation positions and number of the driven wheels 232 may be other than those described above.

2(b), a control device 300 is mounted inside the autonomous vehicle 120. The control device 300 controls the operation of the drive wheels 231 and the locking device 211 based on information input from various sensors mounted inside the autonomous vehicle 120 and operation commands received from the outside, and controls the movement of the autonomous vehicle 120 and the connection to the shelf 130. Note that the connection of two objects in this disclosure may refer to a relationship in which when one object moves, the other object also moves in conjunction with the movement, regardless of whether the two objects are in contact with each other.

<Docking Overview>
Next, an overview of docking will be described. Fig. 3 is a diagram showing how an autonomous vehicle docks with a shelf to be transported. Fig. 3(a) shows the state immediately before autonomous vehicle 120 docks with shelf 130 to be transported, which is waiting at the position of anchor 170.

As shown in FIG. 3(a), shelf 130 has three tiers, and frame guides 410, 420 are attached to the underside of the lowest tier 400 in a manner that is generally parallel to the autonomous vehicle 120 at intervals according to the width of the autonomous vehicle 120. This defines the direction in which autonomous vehicle 120 approaches the underside of the lowest tier 400 of shelf 130 to be transported. In addition, frame guides 410, 420 function as width-direction guides when autonomous vehicle 120 transports shelf 130 to be transported, preventing shelf 130 from shifting widthwise relative to autonomous vehicle 120.

In addition, casters 431 to 434 are rotatably attached to the base of shelf 130. This allows autonomous vehicle 120 to easily transport docked shelf 130.

On the other hand, FIG. 3(b) shows the state after the autonomous vehicle 120 has docked with the shelf 130 to be transported. As shown in FIG. 3(b), even when docked with the shelf 130, the front surface 220 of the autonomous vehicle 120 is not covered by the steps of the shelf 130 (the front surface 220 protrudes forward beyond the steps of the shelf 130). Therefore, when the autonomous vehicle 120 transports the shelf 130, the measurement range of the front RGB camera 221 is not blocked by any of the steps of the shelf 130.

Similarly, when the autonomous vehicle 120 transports the shelf 130, the measurement range (vertical angle of view θv, horizontal angle of view θh) of the ToF camera 222 is not blocked by any of the levels of the shelf 130.

On the other hand, when the autonomous vehicle 120 is docked to the shelf 130, the measurement range of the LIDAR 212 in front and behind the autonomous vehicle 120 at the height position is not obstructed. However, the measurement range in the width direction may be obstructed by the frame guides 410 and 420.

For this reason, the frame guides 410, 420 of the shelf 130 are provided with openings 411, 421 to reduce the proportion of the widthwise measurement range of the LIDAR 212 that is blocked. This allows the LIDAR 212 to measure the forward, rearward, and widthwise measurement ranges at the height position of the autonomous vehicle 120 without being blocked by the shelf 130 when the autonomous vehicle 120 transports the shelf 130.

Although not shown in FIG. 3B, the microphone installed on the front side of the autonomous vehicle 120 is also positioned in a position that protrudes in the forward direction from each step of the shelf 130 when the autonomous vehicle 120 is docked to the shelf 130. Therefore, when the autonomous vehicle 120 transports the shelf 130, the detection range of the microphone on the front side is not blocked by any of the steps of the shelf 130.

Figure 4 is a front view showing a schematic configuration of the shelf 130 below the lowest level 400. As shown in Figure 4, a protrusion 440 (convex portion) is provided at the midpoint between the pair of frame guides 410, 420, i.e., at the center position in the x-direction of the lowest level 400 of the shelf 130, so as to protrude downward from the underside of the lowest level 400. In this embodiment, the protrusion 440 is, for example, cylindrical, but is not limited to this shape.

The locking device 211 of the autonomous vehicle 120 described above is configured to be movable up and down, and when the locking device 211 rises, it engages with this protrusion 440, thereby connecting the autonomous vehicle 120 to the shelf 130. In other words, the locking device 211 of the autonomous vehicle 120 and the protrusion 440 of the shelf 130 (the object to be transported) constitute the "connection structure between the autonomous vehicle and the object to be transported" according to this embodiment.

<Configuration of lock device 211>
The configuration of the locking device 211 will be described with reference to Figures 5 to 7. Figure 5 is a perspective view of the locking device 211 according to the first embodiment. Figure 6 is a cross-sectional view of the locking device 211 taken along line A-A in Figure 5. Figure 7 is a cross-sectional view of the locking device 211 taken along line B-B in Figure 5. Figure 6 is a cross-sectional view of the locking device 211 taken from the x-positive direction side, and Figure 7 is a cross-sectional view taken from the y-negative direction side.

Locking device 211 functions as "a restricting portion that is provided on autonomous vehicle 120, is vertically movable, and restricts the relative movement of protrusion 440 in at least the forward and backward directions of autonomous vehicle 120 when it moves upward and engages with protrusion 440." In this embodiment, locking device 211 as a restricting portion is a recess that engages with protrusion 440, and can be said to be an engaging portion that engages with protrusion 440 so as to sandwich protrusion 440 at least in the front and rear of the traveling direction of autonomous vehicle 120. When the recess of locking device 211 moves upward and engages with protrusion 440 (accommodating at least a portion of protrusion 440), it restricts the relative movement of protrusion 440, i.e., the transport object, in the horizontal direction with respect to autonomous vehicle 120, thereby creating a state in which autonomous vehicle 120 can tow the transport object.

The term "engagement" used in the first embodiment is an example of "engagement" and is included in the concept of "engagement." "Engagement" generally refers to a relationship in which various parts of a machine fit together, such as a shaft and a bearing, and refers to a relationship in which, for example, a shaft fits tightly into a recess such as a hole, or fits loosely so as to slide. In this embodiment, it refers to a state in which the convex projection 440 and the concave locking device 211 (outer part 270) fit together, and the outer circumferential surface of the projection 440 is completely covered by the locking device 211.

In addition, "engagement" means that multiple elements are engaged with each other, and is a term that is generally used when expressing power transmission between gears. In this embodiment, "engagement" refers to a connection relationship between locking device 211 and protrusion 440 such that, as autonomous vehicle 120 moves, concave locking device 211 (outer part 270) provided on autonomous vehicle 120 and convex protrusion 440 provided on shelf 130 come into contact with each other at least temporarily, and the driving force of autonomous vehicle 120 can be transmitted from locking device 211 to protrusion 440. Types of engagement other than engagement include, for example, a configuration in which convex protrusion 440 is clamped between multiple plate materials or rod materials. Details of clamping will be described later with reference to Figures 19 to 21. Alternatively, the engagement relationship does not necessarily require multiple elements to be in contact with each other, and may be a non-contact relationship as long as the driving force can be transmitted. For example, an electromagnet or the like may be used to generate attractive or repulsive forces between elements, and power may be transmitted between the elements by these attractive or repulsive forces.

To further explain the configuration of the locking device 211 according to the first embodiment, the locking device 211 as a recess has a base 250, an inner part 260 fixed to the autonomous vehicle 120 via the base 250, and an outer part 270 that is provided on the outer periphery of the inner part 260 so as to be movable up and down. In the locking device 211 according to the first embodiment, the outer part 270 functions as a recess that moves upward and engages with the protrusion 440. Note that Figs. 5 to 7 show a state in which the outer part 270 has risen to a height position where it can engage with the protrusion 440. Note that when the outer part 270 has descended to the lowest position, the upper end of the outer part 270 and the upper surface of the inner part 260 are arranged so as to be approximately flush with each other (see Fig. 10(a) and the like).

In the first embodiment, the outer part 270 is formed in a cylindrical shape that can fit the cylindrical protrusion 440 of the shelf 130, but it is sufficient that at least the protrusion 440 can be accommodated inside, and it may be an annular shape other than a circle, such as an elliptical or oval shape. Also, the inner part 260 may be a columnar body whose cross section viewed from the z direction has the same shape as the inner surface of the outer part 270 so that the annular outer part 270 can slide, and in this embodiment it is cylindrical.

The locking device 211 further includes a drive unit 280 and a sensor storage unit 290.

The drive unit 280 supplies power to the outer part 270 for vertical movement. The drive unit 280 is disposed below the outer part 270 and the inner part 260. The drive unit 280 is connected to the outer part 270 and moves the outer part 270 up and down. In this embodiment, a solenoid with a compression spring is used as the drive unit 280.

The driving unit 280 is, for example, a cylinder-type solenoid, and has a solenoid body 281 and a movable part 282. A rod-shaped movable part 282 is slidably inserted into the solenoid body 281, and the movable part 282 can advance and retreat in one direction relative to the solenoid body 281. Inside the solenoid body 281, a coil is built around the movable part 282, and the movable part 282 is moved in a predetermined direction by passing a current through the coil. In this embodiment, the driving unit 280 is a pull-type solenoid, and is installed so that the movable part 282 faces upward. In other words, when the solenoid is energized, the driving unit 280 maintains a state in which the movable part 282 moves downward and is pulled into the solenoid body 281.

On the other hand, when the solenoid is not energized, the movable part 282 is in a state in which it can slide up and down if an external force is applied. For this reason, the drive part 280 has a compression spring 283 as a return mechanism for the movable part 282 when it is not energized. The compression spring 283 is arranged around the upper exposed part of the movable part 282. The upper end of the compression spring 282 is connected to the upper exposed part of the movable part 282, and the lower end is arranged opposite the upper surface of the solenoid body 281. When the solenoid is energized and the movable part 282 moves downward and is drawn into the solenoid body 281, the compression spring 283 is compressed between the movable part 282 and the solenoid body 281. When the movable part 282 is located at the bottom, the compression spring 283 contracts the most. In this case, the solenoid body 281 is fixed and is biased upward. Therefore, when the solenoid is switched to a non-energized state, the force of the compression spring moves the movable part 282 upward. In this way, the solenoid in the energized state can be said to be a suppression part that prevents the movable part 282 from protruding (suppresses the protrusion of the movable part 282) against the force of the compression spring 283.

6 and 7, the outer part 270 has a cylindrical part 271, a connecting part 272, and a protruding part 273. The cylindrical part 271 is a cylindrical part arranged on the outer periphery of the inner part 260. The connecting part 272 is a plate material with the y direction as the longitudinal direction, and is arranged along the diameter direction of the cylindrical part 271 at the lower end of the cylindrical part 271, and both ends of the plate are connected to the cylindrical part 271. The connecting part 272 is also installed so that the y direction is the longitudinal direction and the z direction is the short direction. The connecting part 272 is arranged to penetrate the inner part 260 in the y direction. For this reason, the inner part 260 has a slit (not shown) along the z direction so that the connecting part 272 can slide along the short direction (z direction) of the connecting part 272 so as not to hinder the outer part 270 from moving up and down. As shown in Figures 6 and 7, a protrusion 273 is provided at the center of the longitudinal direction of the connecting portion 272 so as to protrude upward.

The solenoid body 281 of the drive unit 280 operates in response to a control command from the control device 300, and when it is operated (energized), it attracts and lowers the movable part 282. When the solenoid body 281 stops, the attraction of the movable part 282 stops, and the movable part 282 rises due to the biasing force of the compression spring 283 (biasing part). In this way, the movable part 282 of the drive unit 280 moves up and down relative to the inner part 260. The longitudinal direction of the movable part 282 is the z direction, and its upper end is connected to the connecting part 272 of the outer part 270. As a result, when the movable part 282 moves up and down, the outer part 270 also moves up and down via the connecting part 272.

The sensor storage section 290 is a section that houses various sensors used for docking control of the lock device 211. The sensor storage section 290 is embedded in the center of the upper surface of the inner part 260, for example, as shown in Figures 5 to 7. The sensor storage section 290 has its longitudinal direction in the x direction as shown in Figure 5, and is equipped with two sets of sensors that face each other along this longitudinal direction as shown in Figure 7.

The first sensor is the photoreflector 291 (detection unit). The photoreflector 291 is composed of a sensor on the light-emitting unit side and a sensor on the light-receiving unit side, and detects an object by blocking the light emitted from the light-emitting unit by the object to be detected and receiving the reflected light with the light-receiving unit. In this embodiment, as shown in FIG. 7, the photoreflector 291 is installed exposed from the upper surface of the sensor storage unit 290, and the light-emitting unit outputs light upward and the light-receiving unit receives reflected light from above. This allows the photoreflector 291 of this embodiment to detect the presence of the protrusion 440 to be detected above the locking device 211. In other words, the photoreflector 291 functions as a "detection unit that detects that the restricting unit (locking device 211) is in a position facing the convex portion (protrusion 440)".

The second sensor is a photointerrupter 292. The photointerrupter 292 detects the presence or absence of an object by arranging a light-emitting element and a light-receiving element opposite each other, and blocking the light between the light-emitting element and the light-receiving element when an object passes between them. In this embodiment, as shown in FIG. 7, the photointerrupter 292 is installed in the lower part of the sensor storage section 290 so that the light-emitting element and the light-receiving element are arranged opposite each other along the x direction. In addition, a recess 293 is arranged between the light-emitting element and the light-receiving element, and is recessed upward from the lower surface of the sensor storage section 290. This recess 293 is formed at a position where the above-mentioned protrusion 273 is inserted when the outer part 270 rises. As a result, the photointerrupter 292 in this embodiment can detect that the outer part 270 of the locking device 211 has risen.

<Docking control>
8 to 13, a description will be given of docking control between the lock device 211 according to this embodiment and the protrusion 440 of the shelf 130. Fig. 8 is a functional block diagram of the control device 300 relating to the docking control.

This docking control is performed by the control device 300 of the autonomous vehicle 120 using each element of the locking device 211. As shown in FIG. 8, the control device 300 has a docking control unit 310 related to the function of controlling docking with the protrusion 440 of the shelf 130 by the locking device 211. The docking control unit 310 has a shelf position detection unit 311, a vertical movement control unit 312, a docking detection unit 313, and a driving control unit 314.

The shelf position detection unit 311 detects the position of the protrusion 440 of the shelf 130 relative to the locking device 211, more specifically, whether the protrusion 440 is located directly above the locking device 211, based on the detection signal of the photoreflector 291. The shelf position detection unit 311 outputs information on the detection result, whether the protrusion 440 is located in a position opposite the locking device 211, to the up-down movement control unit 312.

The vertical movement control unit 312 controls the vertical movement of the outer part 270 of the locking device 211 based on the detection result by the shelf position detection unit 311. When the shelf position detection unit 311 determines that the protrusion 440 of the shelf 130 is not in a position facing the locking device 211, the vertical movement control unit 312 activates the solenoid body 281 of the drive unit 280 to keep the movable part 282 and the outer part 270 in a predetermined position below. On the other hand, when the shelf position detection unit 311 determines that the protrusion 440 of the shelf 130 is in a position facing the locking device 211, the solenoid body 281 of the drive unit 280 is switched to inactivation, and the movable part 282 and the outer part 270 are raised by the biasing force of the compression spring 283. The vertical movement control unit 312 outputs information on the operating state of the outer part 270 (whether it is rising or falling, etc.) to the docking detection unit 313. The drive unit 280 controlled by the vertical movement control unit 312 is not limited to a solenoid type, and other mechanisms may be used.

The docking detection unit 313 detects whether the outer part 270 of the locking device 211 has been docked with the protrusion 440 of the shelf 130 based on the detection signal of the photointerrupter 292. When the vertical movement control unit 312 is raising the outer part 270, the docking detection unit 313 checks the detection signal of the light receiving element of the photointerrupter 292. For example, when the detection signal of the light receiving element falls below a predetermined threshold and the amount of light received by the light receiving element becomes equal to or less than a predetermined value, it can be determined that the convex portion 273 of the outer part 270 has risen to a position where it penetrates to the innermost part of the concave portion 293 of the sensor storage unit 290. At this time, the docking detection unit 313 detects that the outer part 270 has risen to a position where it engages with the protrusion 440, and determines that the docking between the outer part 270 of the locking device 211 and the protrusion 440 of the shelf 130 has been successful. The docking detection unit 313 outputs information on the determination result of whether docking was successful to the driving control unit 314.

The docking detection unit 313 may determine that docking has been successful when it detects that the photoreflector 291 is under the protrusion 440 (the photoreflector 291 detects the protrusion 440) and that the outer part 270 has risen to a position where it fits with the protrusion 440 (the photointerrupter 292 detects the rise of the outer part 270). This prevents a false determination that docking has been successful if the outer part 270 rises when the outer part 270 is not under the protrusion 440 after the photoreflector 291 detects the protrusion 440 (for example, when the autonomous vehicle 120 passes under the protrusion 440 due to a high driving speed, or when the autonomous vehicle 120 comes into contact with a frame guide and the shelf shifts).

The driving control unit 314 controls the drive wheels 231 of the autonomous vehicle 120 to control the driving of the autonomous vehicle 120. In docking control, the driving control unit 314 controls the driving of the autonomous vehicle 120 so that the locking device 211 of the autonomous vehicle 120 approaches the protrusion 440 of the shelf 130, and when it receives information from the docking detection unit 313 that docking is successful, it stops the driving.

Note that the functional blocks of the docking control unit 310 shown in FIG. 8 are merely examples, and other configurations may be used as long as they can achieve similar functions. In addition, the control device 300 having the docking control unit 310 is shown in FIG. 2 and other figures as being mounted inside the autonomous vehicle 120, but this is merely an example, and the control device 300 may be mounted in another location on the autonomous vehicle 120, or may be installed outside the autonomous vehicle 120 and connected to each element of the autonomous vehicle 120 so as to be able to communicate with it via wired or wireless communication.

Figure 9 is a hardware configuration diagram of the control device 300. As shown in Figure 9, the control device 300 can be physically configured as a computer system including a CPU (Central Processing Unit) 101, a RAM (Random Access Memory) 102 and a ROM (Read Only Memory) 103 that are main storage devices, an input device 104 such as a keyboard and a mouse that are input devices, an output device 105 such as a display, a communication module 106 that is a data transmission/reception device such as a network card, an auxiliary storage device 107, and the like.

The functions of the control device 300 shown in FIG. 8 are realized by loading specific computer software onto hardware such as the CPU 101 and RAM 102, operating the communication module 106, input device 104, and output device 105 under the control of the CPU 101, and reading and writing data from and to the RAM 102 and auxiliary storage device 107. In other words, by executing the docking control program for the connected structure according to this embodiment on a computer, the control device 300 functions as the shelf position detection unit 311, vertical movement control unit 312, docking detection unit 313, and travel control unit 314 in FIG. 8.

In addition, each function of the control device 300 may be a circuit configured with an analog circuit, a digital circuit, or an analog-digital mixed circuit. Also, it may be equipped with a control circuit that controls each function. Each circuit may be implemented using an ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), etc.

At least some of the functions of the control device 300 may be configured with hardware, or may be configured with software, and may be implemented by a CPU or the like through information processing of the software. When configured with software, the control device 300 and a program that realizes at least some of its functions may be stored in a storage medium such as a flexible disk or CD-ROM, and may be read and executed by a computer. The storage medium is not limited to removable media such as magnetic disks and optical disks, but may be fixed storage media such as hard disk drives and memories. In other words, information processing by the software may be specifically implemented using hardware resources. Furthermore, the processing by the software may be implemented in a circuit such as an FPGA, and executed by hardware such as a processor. Jobs may be executed using an accelerator such as a GPU (Graphics Processing Unit).

For example, the computer can become the device of the above embodiment by reading out dedicated software stored in a computer-readable storage medium. There is no particular limitation on the type of storage medium. Also, the computer can become the device of the above embodiment by installing dedicated software downloaded via a communication network. In this way, information processing by software is specifically implemented using hardware resources. Note that the hardware such as memory, processor, computer, etc. may each be provided in one or more units.

Next, the docking procedure in the first embodiment will be described with reference to Figures 10 to 13. Figures 10 to 13 are diagrams showing the first to fourth stages of the docking operation by the locking device 211 of the first embodiment. In each of Figures 10 to 13, (a) is an enlarged view showing the positional relationship between the locking device 211 and the protrusion 440 of the shelf 130, and (b) is a perspective view showing the positional relationship between the autonomous vehicle 120 and the shelf 130.

In the docking operation, as shown in FIG. 3(a), the autonomous vehicle 120 first retreats from the rear side in the y-positive direction and enters between the lower frame guides 410, 420 of the bottommost level 400 of the shelf 130. At this time, the vertical movement control unit 312 activates the solenoid body 281 of the drive unit 280 of the locking device 211 to bring it into a solenoid attraction state. As a result, the movable unit 282 and the outer part 270 are positioned at the bottom end positions, and the position of the upper end of the outer part 270 is aligned with the upper surface of the inner part 260 (see FIG. 10(a)).

10(a) and (b), autonomous vehicle 120 continues to enter in the y-positive direction while photoreflector 291 detects protrusion 440 of shelf 130. At a stage prior to the state shown in FIG. 10, the distance autonomous vehicle 120 has entered shelf 130 is still short, so the detection range of photoreflector 291 has not reached the end position of protrusion 440 on the y-negative side (right side of the drawing). On the other hand, in the state shown in FIG. 10, autonomous vehicle 120 continues to enter shelf 130, and the detection range directly above photoreflector 291 has reached the end position of protrusion 440 on the y-negative side, as shown by dotted circle B1 in FIG. 10(a). At this time, shelf position detection unit 311 detects that protrusion 440 of shelf 130 is in a position directly above and facing lock device 211.

11, in response to the detection of the protrusion 440, the vertical movement control unit 312 deactivates the solenoid body 281 and releases the solenoid suction. As a result, as shown by arrow A3 in FIG. 11(a), the movable part 282 of the drive unit 280 rises due to the biasing force of the compression spring 283, and the outer part 270 connected to the movable part 282 also rises as shown by arrow A4. At this time, as shown by the dotted circle B2 in FIG. 11(a), the outer part 270 has not yet reached a position where it engages with the protrusion 440, so part of the upper end of the outer part 270 abuts against the lower end surface 441 of the protrusion 440.

At this time, the biasing force of the compression spring 283 is still applied upward, so the outer part 270 is in contact with the end face of the protrusion 440 and is pressing it upward. Also, at this time, the outer part 270 is in an intermediate position where it has not yet risen to the engagement position with the protrusion 440, so the convex part 273 of the outer part 270 has not risen to the position of the photointerrupter 292. Therefore, the docking detection unit 313 does not detect the completion of docking. Therefore, as shown by the arrow A2 in Figures 11 (a) and (b), the driving control unit 314 continues the entry of the autonomous vehicle 120. As a result, the outer part 270 of the locking device 211 is dragged along the entry direction while being pressed against the lower end surface 441 of the protrusion 440 of the shelf 130.

12, autonomous vehicle 120 advances further into shelf 130, and locking device 211 reaches a position directly below protrusion 440 of shelf 130. At this time, as shown by arrows A5 and A6 in FIG. 12(a), outer part 270 (and movable part 282) of locking device 211, which has been urged upward and pressed against lower end surface 441 of protrusion 440, rises further. As a result, outer part 270 engages with protrusion 440, as shown by dotted circle B3. At this time, convex part 273 of outer part 270 also rises to the position of photointerrupter 292, so photointerrupter 292 is interrupted and docking detection unit 313 detects the completion of docking. In response to the detection of the completion of docking, traveling control unit 314 stops the advancement of autonomous vehicle 120.

By maintaining the state of the third stage shown in FIG. 12, the autonomous vehicle 120 can connect to the shelf 130 and transport it. When the autonomous vehicle 120 detaches from the shelf 130, it proceeds to the fourth stage shown in FIG. 13.

13, the vertical movement control unit 312 operates the solenoid body 281 of the drive unit 280 to switch to the solenoid attraction state. As a result, the movable unit 282 is lowered and positioned at the bottom end position as shown by the arrow A7 in FIG. 13(a). The outer part 270 connected to the movable unit 282 is also lowered and positioned at the bottom end position as shown by the arrow A8, and the upper end of the outer part 270 is returned to a position aligned with the upper surface of the inner part 260. As a result, the docking between the locking device 211 and the protrusion 440 is released. In the released state, the autonomous vehicle 120 moves in the direction opposite to the direction of entry into the shelf 130 as shown by the arrow A9 in FIGS. 13(a) and (b), and the autonomous vehicle 120 leaves the shelf 130.

10, in the first embodiment, when autonomous vehicle 120 is coupled to shelf 130 as a transport target, autonomous vehicle 120 is caused to enter the lower part of shelf 130. Next, as shown in FIG. 11, when photoreflector 291 detects that locking device 211 is in a position facing protrusion 440 of shelf 130, outer part 270 of locking device 211 is raised to an intermediate state in which outer part 270 abuts against lower end surface 441 of protrusion 440 and is urged upward by compression spring 283 of drive unit 280. Then, as shown in FIG. 12, autonomous vehicle 120 is moved further until outer part 270 reaches a position where it engages with protrusion 440, and outer part 270 is moved along lower end surface 441 of protrusion 440 while maintaining the intermediate state, and when outer part 270 reaches a position where it engages with protrusion 440, outer part 270 is further raised by the biasing force of compression spring 283, and outer part 270 of locking device 211 is engaged with protrusion 440 of shelf 130.

With this configuration, before the outer part 270 of the locking device 211 is engaged with the protrusion 440 of the shelf 130, an intermediate state can be created in which the outer part 270 is pressed against the lower end surface 441 of the protrusion 440 and dragged along the entry direction of the autonomous vehicle 120. The timing for creating such an intermediate state allows a time margin equivalent to the length of the lower end surface 441 of the protrusion 440 along the entry direction (y direction) of the autonomous vehicle 120. In other words, the outer part 270 can be raised between the time when the protrusion 440 is detected by the photoreflector 291 and the time when the front end (the upper end surface on the y positive side) of the outer part 270 of the locking device 211 enters deeper than directly below the protrusion 440. Therefore, even if the timing of the detection of the protrusion 440 by the photoreflector 291 by the control device 300 or the timing of the lifting operation of the outer part 270 of the locking device 211 is slightly advanced or delayed, these control errors can be tolerated due to the above-mentioned time margin, so the transition to the intermediate state can be ensured. Therefore, it is possible to align the outer part 270 of the locking device 211 with the protrusion 440 of the shelf 130 with high precision.

In the first embodiment, the locking device 211 (outer part 270) as a restricting part is a recess that fits with the protrusion 440 of the shelf 130 to be transported. When this recess moves upward and fits with the protrusion 440 as a convex part, it restricts the relative movement of the protrusion 440 in the horizontal direction. With this configuration, the outer part 270 of the locking device 211 can completely cover the entire outer periphery of the protrusion 440 as a convex part on the transport target side, making it possible to restrict the horizontal movement of the protrusion 440 and the shelf 130 in all directions. This makes it possible to more firmly connect the locking device 211 to the shelf 130.

In addition, in the first embodiment, the autonomous vehicle 120 and the shelf 130 can be connected by simply performing the simple action of raising the outer part 270 of the locking device 211, which serves as a regulating part on the autonomous vehicle 120 side, and engaging it with the protrusion 440 of the shelf 130 on the transport target side. Furthermore, since the engaging element of the shelf 130 on the transport target side only needs to be provided with a convex part with a simple shape like the protrusion 440, the engaging element on the transport target side can be easily manufactured and can also be made smaller. Therefore, the autonomous vehicle and the transport target can be connected more easily and reliably.

The effect of simplifying the engagement elements of the shelf 130 on the transport target side is particularly notable when there are multiple transport targets, i.e., when multiple transport targets (three caster-equipped shelves 130, 140, 150 in FIG. 1) are used for a single autonomous vehicle 120 as described with reference to FIG. 1, as the cost benefits of the docking unit of the transport target are significant.

In addition, in the first embodiment, the docking unit (locking device 211) of the autonomous vehicle 120 is configured to place a shelf detection sensor (photoreflector 291) inside a recess. That is, the photoreflector 291 is embedded in the upper surface of the inner part 260, which is placed inside the outer part 270 that moves up and down. With this configuration, it is not necessary to place the shelf detection sensor on the outside of the locking device 211 in the autonomous vehicle 120, and the space required to mount the sensor can be reduced, which makes it possible to improve the design of the entire autonomous vehicle 120 and the locking device 211, and to reduce costs by making the parts smaller.

The photoreflector 291 is preferably disposed in the center of the upper surface of the inner part 260, as shown in FIG. 7, for example. By disposing the photoreflector 291 in the center of the inner part 260, even if the relative positions of the autonomous vehicle 120 and the shelf 130 are shifted during a docking operation, the amount of shift can be ensured to be uniform in any horizontal direction.

[Second embodiment]
The second embodiment will be described with reference to Figures 14 to 18. In the second embodiment, the configuration of the locking device (regulating unit) is changed from the connection structure between the autonomous vehicle and the transport target according to the first embodiment. The configuration other than the locking device is the same as in the first embodiment, so the description will be omitted.

Figure 14 is a perspective view of a locking device 511 according to the second embodiment. Figure 15 is a cross-sectional view of the locking device 511 in Figure 14 taken along the line CC. The locking device 511 according to the second embodiment shown in Figure 14 is a recess that fits into the protrusion 440 (convex portion) of the shelf 130 to be transported, similar to the locking device 211 of the first embodiment. When the recess of the locking device 211 moves upward and fits into the protrusion 440, it restricts the relative movement of the protrusion 440 in the horizontal direction.

14 and 15, the locking device 511 has a base 550, an outer part 570 fixed to the autonomous vehicle 120 via the base 250, an inner part 560 arranged on the inner periphery of the outer part 570 so as to be movable up and down, and a cover part 590 arranged on the inner periphery of the inner part 560 and supporting the inner part 560. In the locking device 511 according to the second embodiment, the inner part 560 moves upward and engages with the protrusion 440.

Note that FIG. 14 illustrates a state in which the inner part 560 has risen to a height position where it can engage with the protrusion 440. Note that when the inner part 560 has descended to the lowest position, as shown in FIG. 15, the upper end of the inner part 560, the upper end of the outer part 570, and the upper surface of the cover part 590 are positioned so as to be substantially flush with each other.

In the second embodiment, the inner part 560 is formed in a cylindrical shape that can engage with the cylindrical protrusion 440 of the shelf 130, but it may be annular in shape other than circular as long as it can accommodate at least the protrusion 440 inside. The cover part 590 may be a columnar body whose cross section viewed from the z direction has the same shape as the inner surface of the inner part 560 so that the annular inner part 560 can slide, and is cylindrical in this embodiment. Similarly, the outer part 570 may be annular in shape whose cross section viewed from the z direction has the same shape as the outer surface of the inner part 560 so that the annular inner part 560 can slide.

The locking device 511 includes a drive unit 580. The drive unit 580 is a solenoid with a compression spring similar to the drive unit 280 of the first embodiment, and includes a solenoid body 581, a movable part 582, and a compression spring 583. As shown in FIG. 15, the drive unit 580 differs from the drive unit 280 of the first embodiment in that the drive unit 580 is connected to the inner part 560 and moves the inner part 560 up and down.

A photoreflector 591 (detection unit) is installed and exposed on the upper surface of the cover part 590. Similar to the photoreflector 291 of the first embodiment, the photoreflector 591 functions as a "detection unit that detects that the regulating unit (locking device 511) is in a position facing the convex portion (protrusion 440)."

In FIG. 14, the photoreflector 591 is disposed at the end of the top surface of the cover part 590 on the negative x-direction side, but it may be disposed at another position on the top surface. In particular, it is preferable to dispose it at the center of the top surface of the cover part 590. By locating the photoreflector 591 at the center of the cover part 590, even if the relative positions of the autonomous vehicle 120 and the shelf 130 are shifted during a docking operation, for example, the amount of shift can be ensured to be uniform in any horizontal direction.

The locking device 511 is provided with a limit switch 593. An arm portion 592 is provided above the limit switch. The arm portion 592 is connected to the inner part 560 and moves up and down together with the inner part 560. As shown by the solid line in FIG. 14, when the inner part 560 is raised to a height position where it can engage with the protrusion 440, the arm portion 592 is located at a height position where it can be separated from the limit switch 593 and turn off the limit switch 593. In other words, when the inner part 560 is below the upper limit position, the arm portion 592 maintains a state in which it presses down the limit switch 593, as shown by the dotted line in FIG. 14. The arm portion 592 and the limit switch 593 have a function of detecting a state in which the inner part 560 of the locking device 511 is raised to a position where it can engage with the protrusion 440, similar to the photointerrupter 292 of the first embodiment. For example, in the second embodiment, when the limit switch 593 is in the off state, the docking detection unit 313 detects that the inner part 56 has risen to a position where it engages with the protrusion 440, and can determine that the docking between the inner part 560 of the locking device 511 and the protrusion 440 of the shelf 130 has been successful.

Next, the docking procedure in the second embodiment will be described with reference to Figs. 15 to 18. Figs. 15 to 18 are diagrams showing the first to fourth stages of the docking operation by the locking device 511 of the second embodiment. Each of Figs. 15 to 18 corresponds to Figs. 10 to 13(a) of the first embodiment. That is, the positional relationship between the autonomous vehicle 120 and the shelf 130 in each stage of Figs. 15 to 18 is the same as Figs. 10 to 13(b).

In the docking operation, as shown in FIG. 3A, the autonomous vehicle 120 first retreats from the rear side in the y-positive direction and enters between the lower frame guides 410, 420 of the bottommost level 400 of the shelf 130. At this time, the vertical movement control unit 312 activates the solenoid body 581 of the drive unit 580 of the locking device 511 to bring it into a solenoid attraction state. This positions the movable unit 582 and the inner part 560 at their lower end positions, and aligns the upper end of the inner part 560 with the upper end of the outer part 570 and the upper surface of the cover part 590 (see FIG. 15). At this time, as shown in FIG. 14, the arm unit 592 connected to the inner part 560 presses the limit switch 593.

15, as shown by arrow A1 in FIG. 15, autonomous vehicle 120 continues to enter in the y positive direction while photoreflector 591 detects protrusion 440 of shelf 130. At a stage prior to the state shown in FIG. 15, the distance autonomous vehicle 120 has entered shelf 130 is still short, so the detection range of photoreflector 591 has not reached the end position of protrusion 440 on the y negative side (right side of the drawing). On the other hand, in the state shown in FIG. 15, as shown by dotted circle B1 in FIG. 15, autonomous vehicle 120 continues to enter shelf 130, and the detection range directly above photoreflector 591 has reached the end position of protrusion 440 on the y negative side. At this time, shelf position detection unit 311 detects that protrusion 440 of shelf 130 is in a position directly above and facing lock device 511.

16, in response to the detection of the protrusion 440, the vertical movement control unit 312 deactivates the solenoid body 581 and releases the solenoid suction. As a result, as shown by arrow A3 in FIG. 16, the movable part 582 of the drive unit 580 rises due to the biasing force of the compression spring 583, and the inner part 560 connected to the movable part 582 also rises as shown by arrow A4. At this time, as shown by the dotted circle B2 in FIG. 16, the inner part 560 has not yet reached a position where it engages with the protrusion 440, so part of the upper end of the inner part 560 abuts against the lower end surface 441 of the protrusion 440.

At this time, the biasing force of the compression spring 583 is still applied upward, so the inner part 560 is in contact with the end face of the protrusion 440 and presses it upward. Also, at this time, the inner part 560 is in an intermediate position where it has not yet risen to the engagement position with the protrusion 440, so the arm part 592 (see FIG. 14) connected to the inner part 560 has not risen to a position away from the limit switch 593. Therefore, the docking detection unit 313 does not detect the completion of docking. Therefore, as shown by the arrow A2 in FIG. 16, the driving control unit 314 continues the entry of the autonomous vehicle 120. As a result, the inner part 560 of the locking device 511 is dragged along the entry direction while being pressed against the lower end surface 441 of the protrusion 440 of the shelf 130.

17, autonomous vehicle 120 advances further into shelf 130, and locking device 511 reaches directly below protrusion 440 of shelf 130. At this time, as shown by arrows A5 and A6 in FIG. 17, inner part 560 (and movable part 582) of locking device 511, which has been urged upward and pressed against lower end surface 441 of protrusion 440, rises further. As a result, inner part 560 engages with protrusion 440, as shown by dotted circle B3. At this time, arm part 592 also rises in conjunction with inner part 560 to a position separated from limit switch 593, so limit switch 593 is switched to the OFF state, and docking detection unit 313 detects the completion of docking. In response to the detection of the completion of docking, travel control unit 314 stops the entry of autonomous vehicle 120.

By maintaining the state of the third stage shown in FIG. 17, the autonomous vehicle 120 can connect to the shelf 130 and transport it. When the autonomous vehicle 120 detaches from the shelf 130, it proceeds to the fourth stage shown in FIG. 18.

18, the vertical movement control unit 312 operates the solenoid body 581 of the drive unit 580 to switch to the solenoid attraction state. As a result, the movable unit 582 is lowered and positioned at the lower end position as shown by the arrow A7 in FIG. 18. The inner part 560 connected to the movable unit 582 is also lowered and positioned at the lower end position as shown by the arrow A8, and the upper end of the inner part 560 is returned to a position aligned with the upper end of the outer part 570 and the upper surface of the cover part 590. As a result, the docking between the locking device 511 and the protrusion 440 is released. In the released state, the autonomous vehicle 120 moves in the opposite direction to the direction of entry into the shelf 130 as shown by the arrow A9 in FIG. 18, and the autonomous vehicle 120 leaves the shelf 130.

The locking device 511 according to the second embodiment can achieve the same effects as the first embodiment.

[Modification]
Modifications will be described with reference to Figures 19 to 21. In the above first and second embodiments, a configuration was exemplified in which autonomous vehicle 120 is connected to shelf 130 as a transport target by engaging protrusion 440 provided on shelf 130 with outer part 270 of locking device 211 or inner part 560 of locking device 511 provided on autonomous vehicle 120. In other words, a configuration was exemplified in which the entire outer periphery of protrusion 440 as a convex part on the transport target side is completely covered by outer part 270 or inner part 560 as a concave part on the autonomous vehicle 120 side, thereby restricting horizontal movement of protrusion 440 and shelf 130 in all directions. However, the restriction direction of protrusion 440 by locking devices 211, 511 only needs to be at least the forward and backward directions of autonomous vehicle 120, and the engagement structure between protrusion 440 (convex part) and locking devices 211, 511 (restriction part) may be another configuration. The examples shown in Figs. 19 to 21 are clamping configurations as an example of an engagement structure other than a fitting structure.

Figure 19 is a schematic diagram showing a first modified example of the connection structure between an autonomous vehicle and a transport object. A cylindrical protrusion 600 is provided on a transport object such as shelf 130. Autonomous vehicle 120 is provided with four plate members 601, 602, 603, and 604 that can move up and down as regulating units. Plate members 601, 602, 603, and 604 each face the central axis of cylindrical protrusion 600 and are arranged on the outer periphery of protrusion 600. Plate members 601 and 603 are arranged opposite each other in the y direction, and plate members 602 and 604 are arranged opposite each other in the x direction.

In the example of FIG. 19, when the four plate materials 601, 602, 603, and 604 are raised, they are positioned on the outer periphery of the convex portion 600, thereby restricting the relative movement of the convex portion 600 in the x and y directions in which the at least four plate materials 601, 602, 603, and 604 face each other.

The restricting portion illustrated in FIG. 19 may have a number of plate members 601, 602, 603, and 604 other than four. For example, the number of plate members surrounding the cylindrical protrusion 600 may be greater than four. In addition, in FIG. 19, the four plate members 601, 602, 603, and 604 are arranged to surround the outer periphery of the protrusion 600, but a continuous member in which these four plate members are connected in a "U" shape may be used as the restricting portion.

Figure 20 is a schematic diagram showing a second modified example of the connection structure between an autonomous vehicle and a transport object. The protrusion 610 has a substantially cross-shaped cross section when viewed from the z direction, is formed extending in the z direction, and is provided on the transport object such as shelf 130. Autonomous vehicle 120 is provided with four rods 611, 612, 613, 614 that can move up and down as regulating parts. Rods 611, 612, 613, 614 extend in the z direction like protrusion 610.

In the example of FIG. 20, when the four rods 611, 612, 613, and 614 are raised, they are positioned in the four cross-shaped recessed portions of the protrusion 610, thereby restricting the relative movement of the protrusion 610 in the x and y directions, which are the arrangement directions of the at least four rods 611, 612, 613, and 614.

Figure 21 is a schematic diagram showing a third modified example of the connection structure between an autonomous vehicle and a transport object. A rectangular prism-shaped protrusion 620 is formed extending in the z direction and is provided on a transport object such as a shelf 130. Two plates 621 and 622 that can move up and down are provided as regulating parts on the autonomous vehicle 120. Plates 621 and 622 are arranged opposite each other in the y direction and are arranged on the outer periphery of protrusion 620 in the y direction.

In the example of FIG. 21, when the two plate materials 621, 622 rise, they are positioned on either side of the protrusion 620 in the y direction, thereby restricting the relative movement of the protrusion 620 in the y direction, which is the opposing direction of the two plate materials 621, 622.

As illustrated in Figures 19 to 21, the regulating portion provided on the autonomous vehicle 120 side does not necessarily have to be a recess that covers the entire horizontal portion of the convex portion provided on the transport target side, and may have a portion that is open in the horizontal direction. In addition, an engagement method other than fitting, such as clamping, may be applied. As described above, it is sufficient that the regulating portion is provided on the autonomous vehicle 120, is movable up and down, and has the function of regulating the relative movement of the convex portion in at least the forward and backward directions of the autonomous vehicle 120 when it moves upward and engages with the convex portion on the transport target side. The restriction of the relative movement of the convex portion in the width direction (x direction) of the autonomous vehicle 120 may be performed by other elements, such as frame guides 410 and 420 provided on the shelf 130 and arranged on both sides of the width direction of the autonomous vehicle 120 when the autonomous vehicle 120 is docked with the shelf 130.

In addition, the shape of the recess of the connecting element provided on the autonomous vehicle 120 side of the connecting structure may not be the same as the shape of the protrusion of the connecting element provided on the transport target side. For example, when the protrusion is cylindrical, the shape of the recess as viewed in the z direction may be an ellipse with the major axis in the width direction (x direction). In this case, it is preferable that the length of the minor axis in the forward/reverse direction (y direction) of the autonomous vehicle 120 is approximately the same as the diameter of the cylindrical shape of the protrusion. The longer the recess is formed in the width direction, the more reliably the protrusion is positioned on the movement path of the recess, even if the relative positions of the autonomous vehicle 120 and the shelf 130 in the width direction are shifted when the autonomous vehicle 120 enters the lower part of the shelf 130 to be transported in the docking sequence. This makes it possible to more reliably connect the autonomous vehicle 120 and the shelf 130.

In the above embodiment, an intermediate state is created in which the outer part 270 or the inner part 560 of the locking device 211 or the locking device 511 is pressed against the lower end surface 441 of the protrusion 440 and dragged along the entry direction of the autonomous vehicle 120 before the outer part 270 or the inner part 560 is engaged with the protrusion 440 of the shelf 130 in the docking sequence. However, such an intermediate state may not be provided and the outer part 270 or the inner part 560 may be immediately engaged with the protrusion 440 when it is raised.

In addition, in the connection structure between the autonomous vehicle and the transport target according to this embodiment, the connection element on the transport target side is formed with a convex portion, as in the protrusion 440 described above. The effect of this configuration will be described with reference to FIG. 22.

Figure 22 is a schematic diagram for explaining the effect of a configuration in which the connecting element on the transport target side is formed with a convex portion. (a) of Figure 22 shows a simplified view of the connecting structure of the first and second embodiments described above. That is, the connecting element provided on the shelf 130 of the transport target is a protrusion 440 as a convex portion, and the connecting element on the autonomous vehicle 120 side is a locking device 211 as a concave portion. On the other hand, (b) of Figure 22 shows, opposite to the configuration of the embodiment, the connecting element on the transport target side is a concave portion, and the connecting element on the autonomous vehicle 120 side is a convex portion. In the example of (b) of Figure 22, a hole 440A provided on the bottom level 400 of the shelf 130 is given as an example of a concave portion, and a pin 211A that can be inserted into this hole 440A is given as an example of a convex portion.

22(a), in the configuration of the embodiment, when autonomous vehicle 120 travels with locking device 211 and protrusion 440 connected, the driving force is transmitted to shelf 130 via the inner circumferential surface of the recess of locking device 211 and the outer circumferential surface of protrusion 440. At this time, when focusing on the transmission of the driving force on the autonomous vehicle 120 side, the point of application is contact point X1 between the inner circumferential surface of the recess of locking device 211 and the outer circumferential surface of protrusion 440, and the fulcrum is connection point Y between locking device 211 and autonomous vehicle 120. The distance between the fulcrum and the point of application is L1. Also, in FIG. 22, the direction of movement of autonomous vehicle 120 is indicated by arrow Z.

On the other hand, as shown in FIG. 22(b), in a configuration in which the connecting element on the transport target side is hole 440A, the point of action is contact point X2 between the inner surface of hole 440A and pin 211A. Because hole 440A is provided in the lowest level 400 of shelf 130, the position of contact point X2 is also at the lowest level 400, which is higher than in the case of (a). The fulcrum is connection point Y between pin 211A and autonomous vehicle 120, which is the same as in (a). For this reason, distance L2 between the fulcrum and point of action is greater than distance l1 in the case of (a).

Therefore, when autonomous vehicle 120 applies the same driving force to shelf 130, the moment applied to the fulcrum (connection part Y) is smaller in the configuration of the embodiment shown in FIG. 22(a), i.e., in which the connecting element on the transport target side is formed with a convex part, than in the configuration shown in FIG. 22(b), in which the transport target side is formed with a concave part. As a result, by configuring the connecting element on the transport target side to be formed with a convex part, it is possible to reduce the load applied to the connection part between autonomous vehicle 120 and the connecting element, and it is believed that the product life can be extended.

Here, the configuration in which the connecting element on the transport target side is a recess and the connecting element on the autonomous vehicle 120 side is a protrusion, which is the opposite of the configuration of the embodiment, may be a configuration other than the pattern in which the hole 440A is provided in the lowest level 400 of the shelf 130 illustrated in FIG. 22(b). FIG. 23 is a schematic diagram showing another configuration example of the recess of the connecting element on the transport target side. For example, as shown in FIG. 23, a configuration in which a recessed product formed to open downward and recess upward, such as a cylindrical member 440B, is installed so as to protrude downward from the underside of the lowest level 400 of the shelf 130, can be considered as the recess of the connecting element on the transport target side. In the case of the configuration shown in FIG. 23, a convex movable member 211B such as a pin similar to FIG. 22(b) provided on the autonomous vehicle 120 rises when it reaches directly below the cylindrical member 440B. As a result, the tip of movable member 211B penetrates into cylindrical member 440B, resulting in the state shown in FIG. 23, and autonomous vehicle 120 and shelf 130 are connected.

For configurations that use recessed parts such as the cylindrical member 440B shown in Figure 23, the configuration of this embodiment can further achieve the following effects.

Figure 24 is a schematic diagram for explaining a further effect of a configuration in which the connecting element on the transport target side is formed with a convex portion. Figure 24(a) shows by diagonal lines the detection range of the connecting element on the shelf side (cylindrical member 440B) by the shelf detection sensor (photoreflector 291) on the autonomous vehicle 120 side in the opposite configuration to the present embodiment shown in Figure 23 (the connecting element on the transport target side is a concave portion). In Figure 24(a), the detection range of the sensor is annular on the lower end surface of cylindrical member 440B.

On the other hand, Figure 24(b) shows by diagonal lines the detection range of the connecting element (protrusion 440) on the shelf side by the shelf detection sensor (photoreflector 291) on the autonomous vehicle 120 side in the configuration of this embodiment shown in Figure 22(a) (the connecting element on the transport target side is a convex portion). In Figure 24(b), the sensor detection range is a circle on the lower end surface of the protrusion 440. Here, the size of the circle of the sensor detection range in Figure 24(b) is approximately the same as the inner circle of the annular sensor detection range in Figure 24(a).

24(a) and (b), the direction of movement of the autonomous vehicle 120 is indicated by the arrow Z as in FIG. 22 and FIG. 23, and the sections in which the sensor can detect the engaging element on the shelf side while the autonomous vehicle 120 is moving are indicated by the arrows L3 and L4, respectively. The section indicated by the arrow L3 in FIG. 24(a) is only the width of the edge of the annular shape, whereas the section indicated by the arrow L4 in FIG. 24(b) is the diameter of the circle, and is relatively large. Therefore, the configuration of the embodiment shown in FIG. 24(b), that is, the configuration in which the connecting element on the transport target side is formed by a convex portion, increases the distance over which the shelf detection sensor (photoreflector 291) can react compared to the configuration shown in FIG. 24(a) in which the transport target side is a concave portion, and therefore the accuracy of shelf detection can be improved. Furthermore, when the reaction distance increases, the sampling period of the sensor can be reduced, and the movement speed of the autonomous vehicle 120 can be increased.

Figure 25 is a schematic diagram for explaining another effect of a configuration in which the connecting element on the transport target side is formed as a convex portion. Figure 25(a) is a schematic diagram showing an enlarged view of the connecting portion in the case of a configuration opposite to that of this embodiment shown in Figure 23 (the connecting element on the transport target side is a concave portion). Figure 25(b) is a schematic diagram showing an enlarged view of the connecting portion in the case of the configuration of this embodiment shown in Figure 22(a) (the connecting element on the transport target side is a convex portion).

25(a), in the configuration where the connecting element on the transport target side is a recess, the entire convex part (movable member 211B) which is the connecting element on the autonomous vehicle 120 side moves up and down, so in consideration of the risk of disconnection of the wiring, it is necessary to place the shelf detection sensor (photoreflector 291) on the outside of the movable member 211B (for example, on the front side in the traveling direction). For this reason, in the docking sequence, the sensor detects the shelf before the convex part 211B comes directly under the recess (cylindrical member 440B), and the rise of the convex part 211B begins. At this time, if the shelf 130 moves even slightly as shown by arrow C1 in FIG. 25(a) due to, for example, the autonomous vehicle 120 coming into contact with the shelf 130, the relative positions of the convex part 211B and the recess 440B are also shifted, so that the convex part 211B cannot be fitted inside the recess 440B as shown by arrow C2, and docking may fail.

In contrast, in this embodiment, as shown in FIG. 25(b), the inner part of the recess (locking device 211), which is the connecting element on the autonomous vehicle 120 side, does not move up and down, so the shelf detection sensor (photoreflector 291) can be placed inside the recess (preferably in the center). This makes it possible to raise the recess 211 after it reaches a position closer to directly below the convex portion (protrusion 440) compared to the configuration in FIG. 25(a). Therefore, even if the shelf 130 moves as shown by arrow C1 in FIG. 25(b) and the relative positions of the recess 211 and the convex portion 440 are slightly shifted, the recess 211 will abut against the lower end surface of the convex portion 440 as shown by arrow C3, so that if the autonomous vehicle 120 continues to move in the traveling direction, the recess 211 can be mated with the convex portion 440, reducing the possibility of docking failure.

The present embodiment has been described above with reference to specific examples. However, the present disclosure is not limited to these specific examples. Design modifications to these specific examples made by a person skilled in the art are also included within the scope of the present disclosure as long as they have the features of the present disclosure. The elements of each of the above-mentioned specific examples and their arrangements, conditions, shapes, etc. are not limited to those exemplified and can be modified as appropriate. The elements of each of the above-mentioned specific examples can be combined in different ways as appropriate as long as no technical contradictions arise.

Claims (21)

An autonomous vehicle capable of being coupled to a transport target,
an engaging portion that engages with a protrusion provided on the transport target so as to sandwich the protrusion at least from the front and rear of the autonomous vehicle in a traveling direction ;
a biasing portion that biases the engaging portion in a predetermined direction so as to cause the engaging portion to protrude;
a suppression portion that suppresses protrusion of the engagement portion by applying a force against the biasing force of the biasing portion;
Equipped with
The suppression portion does not apply a force resisting the biasing force of the biasing portion while the engagement portion is moving in the predetermined direction due to the biasing force of the biasing portion in response to the release of the suppression.
Autonomous vehicles. The suppression portion is in either a first state in which a force against the biasing force of the biasing portion is applied, or a second state in which a force against the biasing force of the biasing portion is not applied,
The release is performed by switching from the first state to the second state.
The autonomous vehicle of claim 1 . The suppression portion is a solenoid that suppresses protrusion of the engagement portion by attracting the engagement portion in a direction opposite to a protruding direction of the engagement portion.
3. An autonomous vehicle as claimed in claim 1 or 2. The suppression unit releases the suppression of the protrusion of the engagement unit by stopping the suction.
The autonomous vehicle of claim 3 . The autonomous vehicle according to claim 1 , further comprising a control unit that releases the inhibition of protrusion of the engagement portion by the inhibition portion. the autonomous vehicle is coupled to the transport target using the engagement portion when the autonomous vehicle has entered under the transport target,
The convex portion is provided to protrude downward from a lower portion of the transport target,
The autonomous vehicle according to claim 1 , wherein at least a portion of the engagement portion is movable up and down, and at least the portion that is movable up and down rises so as to sandwich the downwardly protruding convex portion from the front and rear. The autonomous vehicle of claim 6, wherein the engagement portion has a shape having a space to accommodate the convex portion, and the convex portion protruding downward rises to fit into the space, thereby connecting the autonomous vehicle to the object to be transported. The autonomous vehicle of claim 7, wherein the engagement portion rises until a portion of the engagement portion contacts the underside of the convex portion when facing the underside of the convex portion at the underside of the object to be transported, and while maintaining contact with the underside , the autonomous vehicle moves under the object to a position where the convex portion fits within the space, thereby causing the engagement portion to rise further so that the convex portion fits within the space. At least a portion of the engagement portion is movable toward the protrusion,
The autonomous vehicle according to claim 1 , wherein the part moves toward the protruding portion, so that the engaging portion engages with the protruding portion so as to sandwich the protruding portion from the front and rear. the engaging portion is a recessed portion movable toward the protruding portion,
The autonomous vehicle according to claim 1 , wherein the recessed portion moves toward the protruding portion, so that the engaging portion engages with the protruding portion so as to sandwich the protruding portion from the front and rear. a detection unit that detects when a part of the recess faces the protrusion while the autonomous vehicle is traveling ;
Equipped with
the suppression unit releases the suppression in response to a detection result by the detection unit while the autonomous vehicle is moving forward, and causes the concave portion to protrude toward the convex portion by biasing the biasing unit, thereby creating an intermediate state in which the concave portion is in contact with the convex portion;
The autonomous vehicle according to claim 10, wherein when the autonomous vehicle proceeds while maintaining the intermediate state up to a position where the recess engages with the protrusion, the recess protrudes further due to the biasing force of the biasing portion and engages with the protrusion . The autonomous vehicle according to claim 1 , wherein the engagement portion engages with the protrusion by receiving at least a portion of the protrusion. The autonomous vehicle according to any one of claims 1 to 12, wherein the engagement portion engages with the convex portion so as to sandwich the convex portion at least in front of and behind the autonomous vehicle in the direction of travel, thereby restricting forward and backward movement of the transport object relative to the autonomous vehicle . A conveyance system comprising: the target object having the protrusion; and the autonomous vehicle according to claim 1 . A connection structure between an autonomous vehicle and a transport object,
The autonomous vehicle enters under the object to be transported and connects to the object,
A convex portion provided on the conveying target and protruding downward;
a restricting portion that is provided on the autonomous vehicle, is movable up and down, and restricts relative movement of the protrusion in at least a forward and backward direction of the autonomous vehicle when the restricting portion moves upward and engages with the protrusion;
Equipped with
The restricting portion is a recess that fits into the protruding portion,
When the recessed portion moves upward and engages with the protruding portion, the recessed portion restricts relative movement of the protruding portion in a horizontal direction,
The recessed portion is
An inner part fixed to the autonomous vehicle;
an outer part provided on an outer circumferential side of the inner part so as to be movable up and down;
having
The outer part moves upward and engages with the protrusion.
The connection structure between the autonomous vehicle and the object to be transported. A connection structure between an autonomous vehicle and a transport object,
The autonomous vehicle enters under the object to be transported and connects to the object,
A convex portion provided on the conveying target and protruding downward;
a restricting portion that is provided on the autonomous vehicle, is movable up and down, and restricts relative movement of the protrusion in at least a forward and backward direction of the autonomous vehicle when the restricting portion moves upward and engages with the protrusion;
Equipped with
The restricting portion is a recess that fits into the protruding portion,
When the recessed portion moves upward and engages with the protruding portion, the recessed portion restricts relative movement of the protruding portion in a horizontal direction,
The recessed portion is
An outer part fixed to the autonomous vehicle;
an inner part provided on an inner peripheral side of the outer part so as to be movable up and down;
a cover part provided on an inner peripheral side of the inner part and supporting the inner part;
having
The inner part moves upward and engages with the protrusion .
The connection structure between the autonomous vehicle and the object to be transported. a detection unit that detects that the regulating portion is in a position facing the protrusion, a control device that controls movement of the autonomous vehicle and vertical movement of the regulating portion, and a biasing unit that biases the regulating portion upward when the regulating portion rises,
When connecting the autonomous vehicle and the object to be transported, the control device
The autonomous vehicle is caused to enter under the target to be transported;
when the detection unit detects that the regulating portion is in a position facing the convex portion, the regulating portion is raised to an intermediate state in which the regulating portion abuts against a lower end surface of the convex portion and is urged upward by the urging unit;
further moving the autonomous vehicle until the regulating portion reaches a position where it engages with the convex portion, moving the regulating portion along a lower end surface of the convex portion while maintaining the intermediate state, and when the regulating portion reaches a position where it engages with the convex portion, further raising the regulating portion by the biasing portion to engage the regulating portion with the convex portion.
A connection structure between the autonomous vehicle according to claim 15 or 16 and an object to be transported. 18. The autonomous vehicle of any one of claims 15 to 17. The protrusion according to any one of claims 15 to 17. A transport target provided with the convex portion according to claim 15 . A transport target having the convex portion according to claim 15 provided at a lower portion thereof.

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