JP7612104B2 - TRANSPORTATION APPARATUS AND TRANSPORTATION METHOD - Google Patents

Description

The present disclosure relates to a transport device and a transport method for transporting a cart containing items.

Carts for storing items are equipped with a front frame, a rear frame facing the front frame, a connecting frame connecting the front frame and the rear frame, and multiple casters provided on the bottom mechanism, and are used in a variety of situations. Recently, in order to save labor, the method of moving carts has evolved from manual movement to automatic movement.

Various technologies have been developed to automatically move a cart. For example, a technology has been disclosed in which a cart is moved while a combined frame is clamped between holding arms (see, for example, Patent Document 1). Also, a technology has been disclosed in which the entire cart is lifted and moved (see, for example, Patent Document 2).

WO 2005/105620 JP 2020-187457 A

In Patent Document 1, the cart is moved with the coupling frame sandwiched between the holding arms, so strong stress is applied to the connection points between the coupling frame and the front frame and between the coupling frame and the rear frame when the cart is moved, causing the problem that metal fatigue accumulates at these connection points and deteriorates the cart. Patent Document 1 also has the problem that stress is applied to the contact points between the holding arms and the coupling frame, causing metal fatigue.

In Patent Document 2, there is a problem that the device for lifting the cart becomes large-scale, which increases costs. In addition, in Patent Document 2, when the cart is lifted from below, vibrations may be applied to the items stored in the cart. Furthermore, in Patent Document 2, depending on the position of the center of gravity of the cart, the cart may become unstable when moved.

The present disclosure has been made to solve such problems, and aims to provide a transport device and transport method that can transport a cart stably without applying unnecessary stress to each frame that makes up the cart.

In order to solve the above problems, the transport device disclosed herein is a transport device that transports a cart having a front frame, a rear frame opposing the front frame, a connecting frame connecting the front frame and the rear frame, and a plurality of casters, and is equipped with an equipment drive unit that drives the transport device, at least one sensor that detects the surrounding conditions of the transport device and the respective positions of the front frame, rear frame, and connecting frame that make up the cart, clamp mechanisms that hold the front frame and rear frame, respectively, a clamp mechanism drive unit that drives the clamp mechanism, and a control unit that controls the equipment drive unit and the clamp mechanism drive unit, and the control unit controls the equipment drive unit to move the transport device under the cart based on the detection results of the sensor, and then controls the clamp mechanism drive unit to slide the clamp mechanism outward to hold the front frame and rear frame from the inside.

According to the present disclosure, it is possible to transport the cart stably without applying unnecessary stress to each frame that constitutes the cart.

The objectives, features, aspects, and advantages of the present disclosure will become more apparent from the following detailed description and accompanying drawings.

1 is a block diagram showing an example of a configuration of a conveying device according to a first embodiment; 1 is a block diagram showing an example of a configuration of a conveying device according to a first embodiment; FIG. 2 is a diagram showing an example of a configuration of a cart according to the first embodiment. 1 is a diagram showing the appearance of a conveying device according to a first embodiment; FIG. 2 is a plan view showing an example of a clamp mechanism according to the first embodiment. FIG. 2 is a side view showing an example of a clamp mechanism according to the first embodiment. FIG. 2 is a front view showing an example of a clamp mechanism according to the first embodiment. 5 is a flowchart showing an example of an operation of the transport device according to the first embodiment. 5A to 5C are diagrams for explaining the movement of the transport device according to the first embodiment. 5A to 5C are diagrams for explaining the movement of the transport device according to the first embodiment. 5A to 5C are diagrams for explaining the movement of the transport device according to the first embodiment. 10A to 10C are diagrams for explaining the effect of the transport device according to the first embodiment. 10A to 10C are diagrams for explaining the effect of the transport device according to the first embodiment. 13A and 13B are diagrams illustrating an example of a configuration of a clamp mechanism according to a first modified example of the first embodiment. 13A and 13B are diagrams illustrating an example of a configuration of a clamp mechanism according to a first modified example of the first embodiment. 13A and 13B are diagrams illustrating an example of a configuration of a clamp mechanism according to a first modified example of the first embodiment. FIG. 11 is a plan view showing an example of the configuration of a bumper mechanism according to a second modification of the first embodiment. FIG. 11 is a side view showing an example of the configuration of a bumper mechanism according to a second modification of the first embodiment. FIG. 11 is a front view showing an example of the configuration of a bumper mechanism according to a second modification of the first embodiment. 13 is a side view for explaining the movement of the clamp mechanism according to the third modification of the first embodiment. FIG. 13 is a side view for explaining the movement of the clamp mechanism according to the third modification of the first embodiment. FIG. 13 is a side view for explaining the movement of the clamp mechanism according to the third modification of the first embodiment. FIG. 13 is a front view for explaining the movement of the clamp mechanism according to the third modification of the first embodiment. FIG. FIG. 13 is a side view showing an example of the configuration of a bumper mechanism according to a third modification of the first embodiment. FIG. 13 is a plan view showing an example of the configuration of a bumper mechanism according to a third modification of the first embodiment. FIG. 13 is a plan view showing an example of the configuration of a bumper mechanism according to a third modification of the first embodiment. FIG. 11 is a block diagram showing an example of the configuration of a conveying device according to a second embodiment. FIG. 11 is a diagram showing the appearance of a conveying device according to a second embodiment. 11 is a flowchart showing an example of an operation of the transport device according to the second embodiment. FIG. 11 is a plan view showing an example of the configuration of a guide mechanism according to a second embodiment. FIG. 11 is a plan view showing an example of the configuration of a guide mechanism according to a second embodiment. FIG. 11 is a front view showing an example of the configuration of a guide mechanism according to a second embodiment. FIG. 11 is a side view showing an example of the configuration of a guide mechanism according to a second embodiment. FIG. 11 is a front view showing an example of the configuration of a guide mechanism according to a second embodiment. FIG. 13 is a diagram showing an example of a configuration in which a sensor is provided in a guide mechanism according to a first modification of the second embodiment; FIG. 13 is a diagram showing an example of a configuration in which a sensor is provided in a guide mechanism according to a first modification of the second embodiment; FIG. 11 is a block diagram showing an example of the configuration of a conveying device according to a third embodiment. FIG. 11 is a diagram showing the appearance of a transport device according to a third embodiment. FIG. 11 is a diagram showing the arrangement of sensors according to the third embodiment. FIG. 2 is a diagram illustrating an example of a hardware configuration of a transport device according to the first to third embodiments. FIG. 2 is a diagram illustrating an example of a hardware configuration of a transport device according to the first to third embodiments.

<First embodiment>
<Configuration>
FIG. 1 is a block diagram showing an example of the configuration of a conveying device 1 according to the first embodiment.

The conveying device 1 comprises an apparatus drive unit 2, at least one sensor 3, a clamping mechanism 4, a clamping mechanism drive unit 5, and a control unit 6.

The device drive unit 2 drives the conveying device 1. The sensor 3 detects the surrounding conditions of the conveying device 1 and the respective positions of the front frame 15, rear frame 16, and connecting frame 17 that constitute the cart shown in Figure 3 described later.

The clamp mechanism 4 holds the front frame 15 and the rear frame 16, respectively. The clamp mechanism drive unit 5 drives the clamp mechanism 4. Based on the detection result of the sensor 3, the control unit 6 controls the device drive unit 2 to move the conveying device 1 under the cart, and then controls the clamp mechanism drive unit 5 to slide the clamp mechanism 4 outward to hold the front frame 15 and the rear frame 16 from the inside.

Next, other configurations of the transport device including the transport device 1 shown in FIG. 1, and a cart transported by the transport device will be described. FIG. 2 is a block diagram showing an example of the configuration of the transport device 7 relating to another configuration. Also, FIG. 3 is a diagram showing an example of the configuration of the cart transported by the transport device 7. Below, the configuration of the cart will be described first, and then the configuration of the transport device 7 will be described.

<Cart configuration>
As shown in FIG. 3, the cart includes a front frame 15, a rear frame 16, a connecting frame 17, casters 18, caster brakes 19, support frames 20, 21, and a tray 22.

The front frame 15 is a frame provided at the front of the cart. The rear frame 16 is a frame provided at the rear of the cart facing the front frame 15. The connecting frame 17 is a frame that connects the front frame 15 and the rear frame 16. The position of the connecting frame 17 is higher than the positions of the front frame 15 and the rear frame 16.

The casters 18 are provided on the left and right ends of the front frame 15, and on the left and right ends of the rear frame 16. The caster brakes 19 are used to fix the casters 18 so that they do not move, and the user can fix the cart so that it does not move by operating the caster brakes 19. Note that the caster brakes 19 do not have to be provided on the cart.

The support frame 20 is provided vertically on the front frame 15. The support frame 21 is provided vertically on the rear frame 16. The tray 22 is placed on the support frames 20 and 21, and items can be placed on the tray 22. Note that, although two trays 22 are provided in FIG. 3, the number of trays 22 is not limited to this.

<Configuration of conveying device 7>
2, the transport device 7 includes a device drive unit 2, a clamp mechanism 4, a clamp mechanism drive unit 5, a control unit 6, a Lidar 11, a 3D camera 12, and a communication unit 13. The device drive unit 2, the clamp mechanism drive unit 5, the control unit 6, and the communication unit 13 are provided in the bottom mechanism 8. The Lidar 11 and the 3D camera 12 correspond to the sensor 3 shown in FIG.

Figure 4 shows the external appearance of the transport device 7. Casters 9 are provided at the four corners of the bottom mechanism 8.

The device drive unit 2 is a motor that drives the drive wheels 10 in accordance with instructions from the control unit 6. The drive wheels 10 are provided on the left and right sides of the conveying device 7. Note that a motor, which is the device drive unit 2, may be provided for each drive wheel 10.

The clamp mechanism 4 is a pair of mechanisms that press and hold the front frame 15 and rear frame 16 of the cart from the inside.

Figure 5 is a plan view showing an example of the clamp mechanism 4, Figure 6 is a side view showing an example of the clamp mechanism 4, and Figure 7 is a front view showing an example of the clamp mechanism 4. Figures 5 to 7 show the clamp mechanism 4 pressing against and holding the front frame 15 from the inside, but the clamp mechanism 4 on the rear frame 16 side is similar.

Note that the clamp mechanism 4 is not limited to the structure shown in Figures 5 to 7, as long as it can slide outward and spread out to press against and hold the front frame 15 (and rear frame 16) from the inside. The shape of the clamp mechanism 4 is not limited to the rectangular parallelepiped shape shown in Figures 5 to 7 in plan view. The shape of the clamp mechanism 4 may be a trapezoid with a tapered tip in plan view, or may be divided into multiple parts, and may have a shape that matches the shape of the front frame 15 and rear frame 16 if the shape of the cart's front frame 15 and rear frame 16 is not linear.

The clamp mechanism drive unit 5 slides the clamp mechanism 4 from the inside to the outside of the cart. The clamp mechanism drive unit 5 may employ various mechanisms, such as a hydraulic mechanism or an electric mechanism.

Lidar 11 detects the surrounding situation of conveying device 7 by measuring the distance to objects present around conveying device 7. 3D camera 12 photographs the surroundings of conveying device 7 to obtain a distance image, and performs image processing on the distance image to determine the distance to objects present around conveying device 7. Lidar 11 and 3D camera 12 also detect the positions of each part of the cart, including the front frame 15, rear frame 16, and connecting frame 17. Note that a configuration may be provided with either Lidar 11 or 3D camera 12.

The control unit 6 controls the entire conveying device 7, including the device drive unit 2 and the clamp mechanism drive unit 5.

The communication unit 13 communicates with an instruction center 14 located outside the conveying device 7.

The instruction center 14 monitors the transport device 7 and instructs the transport device 7 to transport the cart.

<Operation>
In the following, the transport device 7 waits at a predetermined waiting position Prest inside the building, and upon receiving instructions from the instruction center 14, detects a cart stopped at point Pa and transports the cart to destination Pb.

The control unit 6 is equipped with a SoC (System On a Chip) and has a built-in program that causes the entire conveying device 7 to operate autonomously.

Figure 8 is a flowchart showing an example of the operation of the conveying device 7.

In step S11, the control unit 6 receives a movement command transmitted from the instruction center 14 via the communication unit 13. The movement command is a command to transport the cart stopped at point Pa to destination Pb, and includes position information of the cart (position information of point Pa) and position information of the destination of the cart (destination Pb).

In step S12, the control unit 6 calculates a route from the waiting position Prest of the transport device 7 to the point Pa where the cart is located, based on map information inside the building (not shown). Then, based on the surrounding conditions detected by the Lidar 11 and the 3D camera 12, the control unit 6 controls the device driving unit 2 to autonomously travel to the point Pa while avoiding moving objects or obstacles present around the transport device 7. When the control unit 6 finds a cart near the point Pa, it controls the device driving unit 2 to stop the transport device 7.

Here, the case where the control unit 6 calculates the route from the waiting position Prest to the point Pa has been described, but this is not limited to the case. The instruction center 14 may calculate the route from the waiting position Prest to the point Pa and notify the conveying device 7.

Map information within the building may be held by the control unit 6, or may be obtained from an external source such as the instruction center 14 if necessary.

In step S13, the control unit 6 formulates a movement plan for moving the transport device 7 into the cart. Then, based on the formulated movement plan and the surrounding conditions detected by the Lidar 11 and the 3D camera 12, the control unit 6 controls the device driving unit 2 so that the transport device 7 moves into the cart. Figure 9 shows the transport device 7 moving into the cart.

In step S14, the control unit 6 rotates the clamp mechanism 4 so that it is parallel to the front frame 15 and rear frame 16 of the cart based on the positions of the front frame 15 and rear frame 16 of the cart detected by the Lidar 11 and the 3D camera 12. Figure 10 shows the state after the conveying device 7 has rotated.

In step S15, the clamp mechanism drive unit 5, in accordance with instructions from the control unit 6, slides the clamp mechanism 4 from the inside to the outside of the cart, and presses and holds the clamp mechanism 4 against the inside of the front frame 15 and the inside of the rear frame 16. Figure 11 shows the clamp mechanism 4 being pressed and held against the inside of the front frame 15 and the inside of the rear frame 16.

In step S16, the control unit 6 calculates a route from point Pa to destination Pb based on map information inside a building (not shown). Then, based on the surrounding conditions detected by the Lidar 11 and the 3D camera 12, the control unit 6 controls the device drive unit 2 to autonomously travel to destination Pb while avoiding moving objects or obstacles present around the transport device 7. As a result, the cart is transported from point Pa to destination Pb.

Here, the case where the control unit 6 calculates the route from point Pa to destination Pb has been described, but this is not limited to the case. The instruction center 14 may calculate the route from point Pa to destination Pb and notify the transport device 7.

When the cart arrives at destination Pb, staff in the building collects the items placed on the tray 22 of the cart. Thereafter, when the control unit 6 of the transport device 7 receives a command from the instruction center 14 via the communication unit 13 to return to the waiting position Prest, it controls the device drive unit 2 to travel autonomously from destination Pb to waiting position Pret. Alternatively, the movement command received by the control unit 6 from the instruction center 14 in step S11 may include a command to travel autonomously to waiting position Pret after the transport device 7 arrives at destination Pb.

Uses of the conveying device 7 include, for example, delivering medicines or food in a hospital, delivering food in a school, delivering food or goods in an office, or transporting parts in a manufacturing plant.

＜Effects＞
As shown in FIG. 12, in a conventional conveying device such as that disclosed in Patent Document 1, a clamping mechanism holds a coupling frame, which causes stress to be applied to the points indicated by circles in the figure, resulting in unstable movement of the cart during transportation.

On the other hand, as shown in FIG. 13, in the conveying device 7 according to embodiment 1, the clamping mechanism 4 is pressed against the inside of the front frame 15 and the rear frame 16, and the front frame 15 and the rear frame 16 are held by the clamping mechanism 4 (holding them in a square shape as shown in the figure), so that the cart can be transported stably without applying unnecessary stress to each frame that constitutes the cart.

<First Modification of First Embodiment>
There are various configurations for the front frame 15, the rear frame 16, and the connecting frame 17 of the cart. The frame configurations shown in Fig. 3 are merely examples, and the transport device 7 of the first embodiment can be applied to other configurations described below.

For example, as shown in FIG. 14, even if two connecting frames 17 are provided on the cart, the clamp mechanism 4 is pressed against the inside of the front frame 15 and the rear frame 16, and the front frame 15 and the rear frame 16 are held by the clamp mechanism 4, thereby achieving the same effect as in embodiment 1.

As shown in Figure 15, when the front frame 15 and the rear frame 16 are long axes and the connecting frame 17 is short axes, a conveying device with a shorter length between the ends of the clamping mechanism 4 than the conveying device 7 shown in Figure 4 can be designed to match the length of the connecting frame 17. With a conveying device designed in this way, the same effect as in embodiment 1 can be obtained.

As shown in Figure 16, when the front frame 15, rear frame 16, and two connecting frames 17 form a rectangular shape in plan view, the clamp mechanism 4 may be pressed against the inside of the front frame 15 and rear frame 16, which are the long axis, to hold the front frame 15 and rear frame 16, or the clamp mechanism 4 may be pressed against the inside of the connecting frame 17, which is the short axis, to hold the connecting frame 17, or both may be used. If both are used, two pairs of clamp mechanisms 4 must be provided.

<Modification 2 of First Embodiment>
As shown in Figures 17 to 19, a bumper mechanism 23 may be provided on the outside of the clamp mechanism 4. Figure 17 is a plan view showing an example of the bumper mechanism 23, Figure 18 is a side view showing an example of the bumper mechanism 23, and Figure 19 is a front view showing an example of the bumper mechanism 23.

Note that Figures 17 to 19 show the bumper mechanism 23 provided on the clamp mechanism 4 on the front frame 15 side, but a bumper mechanism 23 is also provided on the clamp mechanism 4 on the rear frame 16 side.

At least a portion of the bumper mechanism 23 protrudes outward beyond the front frame 15 and the rear frame 16 when the clamp mechanism 4 is pressed against the inside of the front frame 15 and the rear frame 16. The provision of the bumper mechanism 23 can reduce the impact when the bottom of the cart comes into contact with an obstacle.

In addition, if a portion of the tray 22 or cart protrudes outward beyond the front frame 15 and the rear frame 16, a bumper mechanism 23 that protrudes outward beyond the protruding portion may be provided on the clamp mechanism 4.

The shape of the bumper mechanism 23 is not limited to the shapes shown in Figures 17 to 19, and may be any shape that protrudes outward beyond the cart. In addition, the clamp mechanism 4 and the bumper mechanism 23 may be configured as one unit.

<Third Modification of First Embodiment>
Depending on the cart, the height of the front frame 15 and the rear frame 16 may be equal to or greater than the height of the connecting frame 17. In this case, in the transport device 7 described in the first embodiment, even if the clamp mechanism 4 is slid after entering the cart, the clamp mechanism 4 passes under the front frame 15 and the rear frame 16, and therefore the clamp mechanism 4 cannot hold the front frame 15 and the rear frame 16.

To address this problem, the clamp mechanism 4 is made movable vertically, as shown in Figures 20 to 23. Figure 20 is a side view showing the clamp mechanism 4 in its initial state, Figure 21 is a side view showing the clamp mechanism 4 rising, Figure 22 is a side view showing the clamp mechanism 4 being pressed against the inside of the front frame 15, and Figure 23 is a front view showing the clamp mechanism 4 being pressed against the inside of the front frame 15.

Note that Figures 20 to 23 show the clamp mechanism 4 on the front frame 15 side, but the clamp mechanism 4 on the rear frame 16 side is similar.

Vertical movement of the clamp mechanism 4 is achieved by the clamp mechanism drive unit 5 driving the clamp mechanism 4.

The clamp mechanism 4 rises from the initial state shown in Fig. 20 to the same height as the front frame 15 and the rear frame 16 as shown in Fig. 21, and then slides and presses against the inside of the front frame 15 as shown in Fig. 22. As a result, the front frame 15 is held by the clamp mechanism 4.

In order to prevent the clamp mechanism 4 from coming into contact with the connecting frame 17 when the clamp mechanism 4 is raised, the clamp mechanism 4 has a concave shape as shown in Fig. 23. In addition, by adjusting the dimensions of the concave shape of the clamp mechanism 4 to the dimensions of the connecting frame 17, it may be possible to give it a function similar to that of the guide mechanism in the second embodiment described later.

As shown in Figure 24, the bumper mechanism 23 described in variant example 2 may be provided on the outside of the clamp mechanism 4. In this case, the bumper mechanism 23 may be concave as shown in Figure 25. Also, as shown in Figure 26, the bumper mechanism 23 may have a U-shape in plan view, with its tip portion longer than the front frame 15 and rear frame 16 of the cart. By making the bumper mechanism 23 U-shaped, the strength of the bumper mechanism 23 can be increased.

<Fourth Modification of First Embodiment>
In the first embodiment, the description is given on the assumption that the transport device 7 transports the cart between locations on the same floor of a building that do not have doors, etc. However, the transport device 7 can also transport the cart when the cart is moved between locations that have doors or when the cart is moved to another floor using an elevator.

For example, the command center 14 is configured to have the function of controlling the opening and closing of elevators and doors installed in a building, and monitoring the status of the conveying device 7. The command center 14 may then control the opening and closing of doors, the opening and closing of elevators, or the raising and lowering of elevators in accordance with the movement of the conveying device 7, so that the conveying device 7 can travel autonomously to the destination. Alternatively, the control unit 6 of the conveying device 7 may communicate with the elevator control unit and the door opening and closing control unit via the communication unit 13, so that the conveying device 7 can travel autonomously to the destination.

<Embodiment 2>
<Configuration>
Fig. 27 is a block diagram showing an example of the configuration of the transport device 24 according to the embodiment 2. Fig. 28 is a diagram showing the external appearance of the transport device 24.

As shown in Fig. 27, the conveying device 24 is characterized by having a guide mechanism drive unit 25 and a guide mechanism 26. The rest of the configuration is similar to that of the conveying device 7 described in the first embodiment, so a detailed description is omitted here.

The guide mechanism 26 is a mechanism that fits into the connecting frame 17 of the cart. Specifically, the guide mechanism 26 does not fit into the connecting frame 17 so as to hold it, but rather fits loosely into the connecting frame 17.

The guide mechanism drive unit 25 is provided in the bottom mechanism 8 and drives the guide mechanism 26 in the vertical direction.

<Operation>
Fig. 29 is a flow chart showing an example of the operation of the transport device 24. Steps S21 to S23, S26, and S27 in Fig. 29 are similar to steps S11 to S13, S15, and S16 in Fig. 8 described in the first embodiment, and therefore will not be described here. Steps S24 and S25 will be described below.

In step S24, the control unit 6 rotates the guide mechanism 26 to a position where the connecting frame 17 can be engaged, based on the positions of the cart's front frame 15, rear frame 16, and connecting frame 17 detected by the Lidar 11 and the 3D camera 12.

In step S25, the guide mechanism drive unit 25, in accordance with an instruction from the control unit 6, raises the guide mechanism 26 and engages it with the coupling frame 17. Figure 28 shows the guide mechanism 26 being raised and engaged with the coupling frame 17.

Figure 30 is a plan view showing the guide mechanism 26 engaged with the coupling frame 17. Figure 31 is a plan view showing the guide mechanism 26 engaged with the coupling frame 17, Figure 32 is a front view showing the guide mechanism 26 engaged with the coupling frame 17, and Figure 33 is a side view showing the guide mechanism 26 engaged with the coupling frame 17.

When the guide mechanism 26 is engaged with the connecting frame 17 as shown in Figures 30 to 33, in step S26 the clamp mechanism 4 is slid and pressed against the inside of the front frame 15 and the inside of the rear frame 16 to hold it in place.

Note that, although Figures 30 to 33 show the case where the guide mechanism 26 has a concave shape, the shape of the guide mechanism 26 is not limited to a concave shape, and may be any shape that allows it to fit loosely into the coupling frame 17. For example, the guide mechanism 26 may have a tapered shape as shown in Figure 34. By making the guide mechanism 26 have a tapered shape as shown in Figure 34, the guide mechanism 26 can be more easily fitted into the coupling frame 17.

＜Effects＞
In the transport device 24 according to the second embodiment, the guide mechanism 26 is loosely fitted to the connecting frame 17. Therefore, the cart can be held more stably than the transport device 7 according to the first embodiment. Also, since the guide mechanism 26 is loosely fitted to the connecting frame 17, the clamp mechanism 4 can be smoothly slid and pressed against the front frame 15 and the rear frame 16 to hold the cart.

<First Modification of Second Embodiment>
A sensor for checking the presence or absence of the coupling frame 17 may be provided on the lower surface of the guide mechanism 26 (the bottom surface of the recess).

Figures 35 and 36 are diagrams showing an example of a configuration in which a sensor 27 is provided on the guide mechanism 26. Figure 35 shows a state in which the guide mechanism 26 is not engaged with the coupling frame 17. Figure 36 shows a state in which the guide mechanism 26 is engaged with the coupling frame 17.

The sensor 27 detects whether or not a cart is present above the guide mechanism 26, and whether or not the guide mechanism 26 is properly fitted to the coupling frame 17. Examples of the sensor 27 include a set of an infrared laser and a light receiving element, or a magnetic sensor.

<Third embodiment>
<Configuration>
Fig. 37 is a block diagram showing an example of the configuration of the transport device 28 according to embodiment 3. Fig. 38 is a diagram showing the external appearance of the transport device 28.

As shown in Fig. 37, the transport device 28 includes a sensor mechanism 29 and a sensor mechanism drive unit 30, and is characterized in that the guide mechanism 26 and the sensor mechanism 29 are integrally configured. The rest of the configuration is similar to that of the transport device 24 described in the second embodiment, so detailed description is omitted here.

The sensor mechanism 29 is provided on the top of the bottom mechanism 8 and has at least one sensor. In the example of FIG. 37, the sensor mechanism 29 has a Lidar 11 and a 3D camera 12.

The sensor mechanism drive unit 30 is provided in the bottom mechanism 8 and drives the sensor mechanism 29 in the vertical direction. Specifically, the sensor mechanism drive unit 30 drives the sensors (Lidar 11 and 3D camera 12) of the sensor mechanism 29 in accordance with instructions from the control unit 6 so that the sensors can detect the surrounding conditions of the transport device 28. The sensor mechanism drive unit 30 may employ various mechanisms, such as a mechanism that moves vertically by rotating a screw.

<Operation>
The basic operation of the transport device 28 is similar to the operation of the transport device 24 (see FIG. 29) described in the second embodiment. However, when the guide mechanism driving unit 25 raises the guide mechanism 26 in step S25 in FIG. 29, the sensor mechanism 29 configured integrally with the guide mechanism 26 also rises together with the guide mechanism 26.

＜Effects＞
In the transport device 28 according to the third embodiment, when the guide mechanism 26 rises, the sensor mechanism 29 configured integrally with the guide mechanism 26 also rises together. With this configuration, the Lidar 11 and the 3D camera 12 of the sensor mechanism 29 can be changed to an optimal height at which the periphery of the transport device 28 can be detected, and the detection accuracy of the Lidar 11 and the 3D camera 12 is improved.

<First Modification of Third Embodiment>
In embodiment 3, the arrangement of the sensors (Lidar 11 and 3D camera 12) of the sensor mechanism 29 is not specified, but as shown in Figure 39, the same type of sensors (Lidar 11 and 3D camera 12) may be arranged in symmetrical positions in front of and behind the sensor mechanism 29 (i.e., the conveying device 28) and in symmetrical positions on the left and right when viewed in a plan view.

By arranging the sensors of the sensor mechanism 29 as shown in Fig. 39, the forward and backward movement of the conveying device 28 can be executed by the same program processing. In addition, the left and right rotational movement of the conveying device 28 can also be executed by the same program processing. This means that the forward and backward movement and the left and right rotational movement of the conveying device 28 can be realized with the same performance.

In addition, since the forward and backward movement of the conveying device 28 can be realized by the same program processing, the program development costs of the control unit 6 can be reduced. Since the left and right rotational movement of the conveying device 28 can also be realized by the same program processing, the program development costs of the control unit 6 can be reduced.

<Modification 2 of Third Embodiment>
In the third embodiment, the guide mechanism 26 and the sensor mechanism 29 are integrally configured, but only the sensor mechanism 29 may be configured to rise. In this case, the transport device is configured to include the transport device 7 described in the first embodiment and the sensor mechanism 29 described in the third embodiment. Alternatively, the guide mechanism 26 is removed from the transport device 28 described in the third embodiment.

<Modification 3 of Embodiment 3>
The transport device 28 described in the third embodiment may be provided with a bumper mechanism on the outside of the clamp mechanism 4. The bumper mechanism may be the bumper mechanism 23 described in the second modification of the first embodiment.

<Fourth Modification of Third Embodiment>
The conveying device 28 described in embodiment 3 may be configured such that the clamp mechanism 4 and the clamp mechanism drive unit 5 are disposed in the sensor mechanism 29, and the clamp mechanism 4 and the clamp mechanism drive unit 5 are movable vertically together with the sensor mechanism 29.

<Fifth Modification of Third Embodiment>
The transport device 28 described in the third embodiment may be provided with a camera (not shown) as a sensor in the clamp mechanism 4, and the camera may be used to detect an obstacle in front of the transport device 28.

In addition, the conveying device 28 described in embodiment 3 may be provided with a camera on the bumper mechanism described in variant example 3.

Instead of providing a camera in the clamp mechanism 4 or the bumper mechanism, a capacitance sensor may be provided to detect obstacles in front of the conveying device 28.

<Sixth Modification of Third Embodiment>
The transport device 28 described in the third embodiment may be provided with a step detection sensor in the clamp mechanism 4, and the step detection sensor may be used to detect a step in front of the transport device 28.

<Hardware Configuration>
The functions of the control unit 6 and the communication unit 13 in the transport device 7 shown in Fig. 2 are realized by a processing circuit. That is, the transport device 7 includes a processing circuit for controlling the device driving unit 2 to move the transport device 7 under the cart based on the detection result of the sensor 3, and then controlling the clamp mechanism driving unit 5 to slide the clamp mechanism 4 outward and hold the front frame 15 and the rear frame 16 from the inside, and for communicating with an instruction center 14 provided outside the transport device 7. The processing circuit may be dedicated hardware, or may be a processor (also called a CPU, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP (Digital Signal Processor)) that executes a program stored in a memory.

When the processing circuit is a dedicated hardware, as shown in Fig. 40, the processing circuit 31 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these. Each function of the control unit 6 and the communication unit 13 may be realized by the processing circuit 31, or each function may be realized together by one processing circuit 31.

When the processing circuit 31 is the processor 32 shown in FIG. 41, each function of the control unit 6 and the communication unit 13 is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 33. The processor 32 realizes each function by reading and executing the program recorded in the memory 33. That is, the transport device 7 has a memory 33 for storing a program that results in the execution of a step of controlling the device drive unit 2 to make the transport device 7 slip into the cart based on the detection result of the sensor 3, and then controlling the clamp mechanism drive unit 5 to slide the clamp mechanism 4 outward to hold the front frame 15 and the rear frame 16 from the inside, and a step of communicating with the instruction center 14 provided outside the transport device 7. It can also be said that these programs cause the computer to execute the procedures or methods of the control unit 6 and the communication unit 13. Here, the memory may be, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read Only Memory), a magnetic disk, a flexible disk, an optical disk, a compact disk, a DVD (Digital Versatile Disc), or any storage medium that will be used in the future.

In addition, with regard to the functions of the control unit 6 and the communication unit 13, some functions may be realized by dedicated hardware and other functions may be realized by software or firmware.

Thus, the processing circuitry can realize each of the above-mentioned functions through hardware, software, firmware, or a combination of these.

Note that while the above describes the hardware configuration of the conveying device 7 shown in Figure 2, the hardware configuration of the conveying device 24 shown in Figure 27 and the conveying device 28 shown in Figure 37 is similar.

Within the scope of this disclosure, it is possible to freely combine the various embodiments, or to modify or omit the various embodiments as appropriate.

Although the present disclosure has been described in detail, the above description is illustrative in all respects and is not limiting. It is understood that countless variations not illustrated can be envisioned.

1 Conveying device, 2 Device drive unit, 3 Sensor, 4 Clamping mechanism, 5 Clamping mechanism drive unit, 6 Control unit, 7 Conveying device, 8 Bottom mechanism, 9 Caster, 10 Drive wheel, 11 Lidar, 12 3D camera, 13 Communication unit, 14 Instruction center, 15 Front frame, 16 Rear frame, 17 Connecting frame, 18 Caster, 19 Caster brake, 20 Support frame, 21 Support frame, 22 Tray, 23 Bumper mechanism, 24 Conveying device, 25 Guide mechanism drive unit, 26 Guide mechanism, 27 Sensor, 28 Conveying device, 29 Sensor mechanism, 30 Sensor mechanism drive unit, 31 Processing circuit, 32 Processor, 33 Memory.

Claims (12)

A transport device for transporting a cart having a front frame, a rear frame facing the front frame, a connecting frame connecting the front frame and the rear frame, and a plurality of casters,
A device drive unit that drives the conveying device;
At least one sensor for detecting the surrounding conditions of the transport device and the respective positions of the front frame, the rear frame, and the joint frame that constitute the cart;
a clamp mechanism for holding the front frame and the rear frame,
a clamp mechanism drive unit that drives the clamp mechanism;
A control unit that controls the device drive unit and the clamp mechanism drive unit;
Equipped with
The control unit controls the device drive unit to move the transport device into the cart based on the detection results of the sensor, and then controls the clamp mechanism drive unit to slide the clamp mechanism outward to hold the front frame and the rear frame from the inside. a sensor mechanism having at least one said sensor;
a sensor mechanism driving unit that drives the sensor mechanism in a vertical direction;
Further equipped with
The transport device according to claim 1 , wherein the control unit controls the sensor mechanism drive unit so as to move the sensor mechanism to a position where the sensor can detect a surrounding situation of the transport device. a guide mechanism that fits into the coupling frame of the cart;
a guide mechanism drive unit that drives the guide mechanism in a vertical direction;
Further equipped with
2. The transport device according to claim 1, wherein the control unit controls the guide mechanism drive unit to move the guide mechanism vertically so that the guide mechanism engages with the connecting frame when the transport device is inserted into the cart based on the detection result of the sensor, and then controls the clamp mechanism drive unit to slide the clamp mechanism outward to hold the front frame and the rear frame from the inside. The conveying device according to claim 3, wherein the sensor mechanism having at least one of the sensors is integrally provided with the guide mechanism. The clamp mechanism further includes a bumper mechanism provided on an outer side of the clamp mechanism.
The transport device according to claim 1 , wherein at least a portion of the bumper mechanism protrudes outward beyond the front frame and the rear frame when the clamp mechanism is holding the front frame and the rear frame. The conveying device according to claim 1, wherein the control unit controls the clamp mechanism drive unit so that the clamp mechanism moves to the same height as the front frame and the rear frame. The conveying device according to claim 2, wherein the clamping mechanism and the clamping mechanism drive unit are integral with the sensor mechanism. The sensor includes a plurality of sensors of the same type,
2. The transport device according to claim 1, wherein the sensors of the same type are provided at symmetrical positions in front of and behind the transport device and at symmetrical positions in left and right of the transport device in a plan view. The conveying device according to claim 8, wherein the sensor is provided in the clamping mechanism. The conveying device according to claim 8, wherein the sensor includes a step detection sensor. a communication unit that communicates with an instruction center that instructs the transport device to transport the cart;
The communication unit receives, from the instruction center, a movement command including position information of the cart and position information of a destination of the cart;
The control unit controls the device driving unit to autonomously drive the transport device to the position of the cart based on the movement command acquired by the communication unit, controls the clamp mechanism driving unit to hold the front frame and the rear frame of the cart with the clamp mechanism, and controls the device driving unit to autonomously drive the transport device holding the cart to the destination of the cart. The transport device of claim 1, A method for transporting a cart having a front frame, a rear frame facing the front frame, a connecting frame connecting the front frame and the rear frame, and a plurality of casters, by a transport device, comprising:
Detecting the surrounding conditions of the transport device and the respective positions of the front frame, the rear frame, and the combined frame that configure the cart;
A transport method in which, based on the result of the detection, the transport device is moved under the cart, and then a clamp mechanism provided on the transport device is slid outward to hold the front frame and the rear frame from the inside.

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