JP7618115B2 - 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 center frame connecting the front frame and the rear frame, and multiple casters attached to 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 its center frame is clamped between holding arms (see, for example, Patent Document 1).

WO 2005/105620

In the structure disclosed in Patent Document 1 in which the center frame is sandwiched between the holding arms, strong stress is applied to the holding arms when the transport device transporting the cart makes a movement such as turning the cart. In order to withstand such stress, the holding arms need to be made strong, which raises the problem of increased manufacturing costs for the transport device. In addition, the strong stress applied to the parts of the center frame sandwiched between the holding arms raises the problem of metal fatigue.

The present disclosure has been made to solve such problems, and aims to provide a conveying device and conveying method that can prevent strong stress from being placed on the center frame of the cart while keeping manufacturing costs down.

In order to solve the above problems, the transport device disclosed herein is a transport device for transporting a cart having a front frame, a rear frame opposing the front frame, a center frame connecting the front frame and the rear frame, front connecting fittings and rear connecting fittings attached to the center frame so as to protrude in a direction different from the extension direction of the center frame, and a plurality of casters, and the transport device comprises a main body mechanism that supports the entire transport device, a device drive unit that is attached to the main body mechanism and drives the transport device, a guide mechanism having a groove for the center frame that can be fitted into the center frame, and a guide mechanism drive unit that drives the guide mechanism in the height direction; The conveying device is equipped with a group of sensors that detects the surrounding conditions of the conveying device, and a control unit that controls the device driving unit and the guide mechanism driving unit, and the control unit controls the device driving unit and the guide mechanism driving unit based on the detection results of the sensor group so that the center frame fits into the center frame groove, and when the center frame is fitted into the center frame groove, the guide mechanism is positioned between the front connecting fitting and the rear connecting fitting , and when the center frame groove is fitted into the center frame, a predetermined gap exists between the center frame and the center frame groove, and when the cart is transported, at least one of the front connecting fitting and the rear connecting fitting contacts the guide mechanism .

The present disclosure makes it possible to reduce manufacturing costs while avoiding placing strong stress on the center frame of 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 transport device according to a first embodiment; 1 is a block diagram showing an example of a configuration of a transport 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; 4 is a plan view showing a state in which the center frame groove and the center frame according to the first embodiment are fitted together. FIG. This is a cross-sectional view taken along line A1-A1 of FIG. FIG. 5 is a side view of FIG. 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. 5A to 5C are diagrams for explaining the movement of the transport device according to the first embodiment. 10 is a diagram for explaining the allowable elevation angle between the center frame and the center frame groove according to the first embodiment. FIG. 13 is a plan view showing a state in which a center frame groove and a center frame according to the second embodiment are fitted together. FIG. This is a cross-sectional view taken along B1-B1 in FIG. FIG. 14 is a side view of FIG. 13 . 13 is a diagram for explaining the relationship between the presence or absence of a first guide mechanism according to the second embodiment and the allowable position error between a center frame groove and a center frame. FIG. 13 is a diagram for explaining the relationship between the presence or absence of a first guide mechanism according to the second embodiment and the allowable position error between a center frame groove and a center frame. FIG. 13 is a diagram for explaining the relationship between the presence or absence of a first guide mechanism according to the second embodiment and the allowable position error between a center frame groove and a center frame. FIG. 13A to 13C are diagrams for explaining the action of a first induction mechanism according to the second embodiment. 13A to 13C are diagrams illustrating an example of a shape of a first guide mechanism according to a second modification of the second embodiment. 13 is a diagram for explaining the installation position of the first guiding mechanism in the third modification of the second embodiment. FIG. 13 is a plan view showing a state in which a center frame groove and a center frame according to embodiment 3 are fitted together. FIG. This is a cross-sectional view taken along C1-C1 in FIG. 22. FIG. 23 is a side view of FIG. 13 is a side view showing a state in which the center frame groove and the center frame are fitted together according to the first modified example of the third embodiment. FIG. 13 is a side view showing a state in which the center frame groove and the center frame according to Modification 2 of the third embodiment are fitted together. FIG. 13 is an external view showing a state in which the transport device and the cart according to the fourth embodiment are fitted together; FIG. 13 is a plan view showing a state in which a center frame groove and a center frame according to a fourth embodiment are fitted together. FIG. This is a cross-sectional view taken along D1-D1 in FIG. 28. FIG. 29 is a side view of FIG. FIG. 13 is a plan view showing an example of a guide mechanism according to embodiment 4. FIG. 13 is a plan view showing an example of a guide mechanism according to a first modified example of the fourth embodiment. 13 is a plan view showing a state in which a center frame groove and a center frame are fitted together according to a second modification of the fourth embodiment; FIG. FIG. 34 is a side view of FIG. FIG. 1 is a diagram illustrating an example of a hardware configuration of a conveying device according to the first to fourth embodiments. FIG. 1 is a diagram illustrating an example of a hardware configuration of a conveying device according to the first to fourth 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 includes a main body mechanism 2 and a guide mechanism 4. The main body mechanism 2 includes a device drive unit 3, a guide mechanism drive unit 5, a sensor group 6, and a control unit 7.

The guide mechanism 4 has a center frame groove 25 that can be fitted into the center frame 18 that constitutes the cart described below (see, for example, Figure 4).

The main body mechanism 2 supports the entire conveying device 1. The device drive unit 3 drives the conveying device 1. The guide mechanism drive unit 5 drives the guide mechanism 4 in the height direction. The sensor group 6 detects the surrounding conditions of the conveying device 1. The control unit 7 controls the device drive unit 3 and the guide mechanism drive unit 5. Specifically, the control unit 7 controls the device drive unit 3 and the guide mechanism drive unit 5 based on the detection results of the sensor group 6 so that the center frame 18 fits into the center frame groove 25. When the center frame 18 fits into the center frame groove 25, the guide mechanism 4 is located between the front connecting fitting 23 and the rear connecting fitting 24 that constitute the cart described below (see Figure 4, for example).

Next, other configurations of the transport device including the transport device 1 shown in Figure 1, and the cart transported by the transport device will be described. Figure 2 is a block diagram showing an example of the configuration of the transport device 8 relating to another configuration. Also, Figure 3 is a diagram showing an example of the configuration of the cart transported by the transport device 8. Below, the configuration of the cart will be described first, and then the configuration of the transport device 8 will be described.

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

The front frame 16 is a frame provided at the front of the cart. The rear frame 17 is a frame provided at the rear of the cart, facing the front frame 16. The center frame 18 is a frame that connects the front frame 16 and the rear frame 17.

The front connecting fitting 23 is provided on the center frame 18 so as to protrude in a direction different from the extension direction of the center frame 18. When the center frame 18 is fitted into the center frame groove 25, the front connecting fitting 23 is located closer to the front frame 16 than the guide mechanism 4.

The rear connecting fitting 24 is provided on the center frame 18 so as to protrude in a direction different from the extension direction of the center frame 18. When the center frame 18 is fitted into the center frame groove 25, the rear connecting fitting 24 is located closer to the rear frame 17 than the guide mechanism 4.

One caster 19 is provided on each of the left and right ends of the front frame 16, and one on each of the left and right ends of the rear frame 17. The caster brakes 20 are used to lock the casters 19 in place so that they do not move. When the user operates the caster brakes 20, the casters 19 are locked, and the movement of the cart can be stopped.

The support frame 21 is provided vertically on each of the front frame 16 and the rear frame 17. The tray 22 is placed on the support frame 21, and items can be placed on the tray 22.

In the example of Fig. 3, two trays 22 are placed on the support frame 21, but the number of trays 22 is not limited to this. Also, the center frame 18 may be structured to protrude from both or either of the front frame 16 and the rear frame 17.

<Configuration of the conveying device>
2, the transport device 8 includes a guide mechanism 4, a main body mechanism 9, casters 13, and drive wheels 14. The casters 13 are provided at the four corners of the main body mechanism 9. The guide mechanism 4 is provided integrally with the main body mechanism 9, and has a center frame groove 25 that can be fitted into the center frame 18 of the cart.

The main body mechanism 9 includes a device drive unit 3, a guide mechanism drive unit 5, a sensor group 6, a control unit 7, and a communication unit 12.

The device drive unit 3 is a motor that rotates and drives the drive wheels 14 in accordance with instructions from the control unit 7. The drive wheels 14 are provided on the left and right sides of the main mechanism 9. It should be noted that a device drive unit 3 may be provided for each drive wheel 14. The drive wheels 14 are not limited to wheels, and may be other forms of movement such as caterpillar tracks. In addition, the drive wheels 14 are not limited to a configuration in which a pair is provided on the left and right sides of the main mechanism 9, and may be provided in any configuration, such as multiple pairs.

The sensor group 6 includes a Lidar 10 and a depth camera 11.

Lidar 10 detects obstacles in the space surrounding the transport device 8 and detects its own position for SLAM (Simultaneous Localization and Mapping) driving. Obstacles in the space surrounding the transport device 8 include each part that constitutes the cart.

The depth camera 11 photographs the area around the transport device 8 to obtain a distance image, and performs image processing on the obtained distance image to determine the distance to obstacles present around the transport device 8. The range of the depth camera 11 is approximately 10 cm. Obstacles present around the transport device 8 include each part that makes up the cart.

The guide mechanism drive unit 5 is a lifting motor that changes the height of the guide mechanism 4 from the floor surface. The guide mechanism drive unit 5 drives the drive wheel 14 to push it down from the main body mechanism 9, or drives the drive wheel 14 to accommodate it in the main body mechanism 9, according to instructions from the control unit 7.

When the guide mechanism drive unit 5 drives the drive wheel 14 to push down from the main mechanism 9, the main mechanism 9 is accordingly pushed up from the floor surface to its normal height. At this time, the position of the guide mechanism 4, which is configured integrally with the main mechanism 9, also rises to its normal height.

On the other hand, when the guide mechanism drive unit 5 drives the drive wheels 14 to be housed in the main mechanism 9, the main mechanism 9 accordingly assumes a low-floor state lower than the normal height state. At this time, the position of the guide mechanism 4 configured integrally with the main mechanism 9 is also lowered to assume the low-floor state.

The control unit 7 controls the entire conveying device 8, including the device drive unit 3 and the guide mechanism drive unit 5.

The communication unit 12 communicates with an instruction center 15 provided outside the transport device 8. The instruction center 15 monitors the transport device 8 and instructs the transport device 8 to transport the cart.

<Fitting of Cart and Guide Mechanism>
Fig. 4 is a plan view showing a state in which the center frame 18 of the cart and the center frame groove 25 of the guide mechanism 4 are fitted together. Fig. 5 is a cross-sectional view taken along the line A1-A1 of Fig. 4. Fig. 6 is a side view of Fig. 4.

As shown in Figures 4 and 6, when the transport device 8 transports the cart, the guide mechanism 4 is located between the front connecting fitting 23 and the rear connecting fitting 24. When the transport device 8 moves the cart in the front-to-rear direction, the guide mechanism 4 comes into contact with the front connecting fitting 23 or the rear connecting fitting 24. In the example of Figure 6, the front connecting fitting 23 and the rear connecting fitting 24 are in contact with the main mechanism 9 in the up-down direction, but they do not have to come into contact with the main mechanism 9 in the up-down direction. In other words, it is sufficient that the front connecting fitting 23 or the rear connecting fitting 24 comes into contact with and supports the guide mechanism 4 when the transport device 8 moves the cart in the front-to-rear direction.

As shown in Figures 4 and 5, when the transport device 8 transports the cart, the center frame 18 fits into the center frame groove 25. When the transport device 8 turns the cart, the center frame groove 25 comes into contact with the center frame 18. Note that some play may be provided between the center frame groove 25 and the center frame 18, for example a gap of about 1 mm or more on the left and right.

<Operation>
In the following, the operation of the transport device 8 waiting at a predetermined waiting position Prest inside the building, detecting a cart stopped at point Pa upon receiving an instruction from the instruction center 15, and transporting the cart to destination Pb will be described.

The control unit 7 is equipped with a SoC (System On a Chip) and has a built-in program that causes the entire conveying device 8 to operate autonomously.

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

In step S1, the control unit 7 receives a movement command transmitted from the instruction center 15 via the communication unit 12. The movement command is a command indicating that the cart stopped at point Pa should be transported to destination Pb. The movement command includes position information of the cart (position information of point Pa) and position information of the destination of the cart (position information of destination Pb).

In step S2, the control unit 7 calculates a route from the waiting position Prest of the transport device 8 to point Pa where the cart is located, based on map information inside the building (not shown). Then, the control unit 7 controls the device driving unit 3 to autonomously travel to point Pa while avoiding moving objects or obstacles present around the transport device 8, based on the surrounding conditions detected by the sensor group 6 including the Lidar 10 and the depth camera 11. When the control unit 7 finds a cart near point Pa, it controls the device driving unit 3 to stop the transport device 8. The transport device 8 travels from the waiting position Prest to point Pa at a normal height.

Here, the case where the control unit 7 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 15 may calculate the route from the waiting position Prest to the point Pa and notify the conveying device 8.

Map information within the building may be held by the control unit 7, or may be obtained from an external source such as the instruction center 15 if necessary.

In step S3, the control unit 7 formulates a movement plan for causing the transport device 8 to slip under the cart. Then, based on the formulated movement plan and the surrounding conditions detected by the Lidar 10 and the depth camera 11, the control unit 7 controls the device driving unit 3 so that the transport device 8 slips under the cart. Figures 8 and 9 show the transport device 8 slipping under the cart. At this time, the transport device 8 slips under the cart after changing from the normal height state to the low-floor state.

In step S4, the control unit 7 controls the device drive unit 3 so that the center frame 18 and the center frame groove 25 of the guide mechanism 4 are aligned in a planar view based on the position of the center frame 18 of the cart detected by the Lidar 10 and the depth camera 11. Figure 10 shows the state after the conveying device 8 has rotated (pivoted) so that the center frame and the center frame groove 25 of the guide mechanism 4 are aligned in a planar view.

In step S5, the control unit 7 controls the guide mechanism drive unit 5 so that the conveying device 8 is in the normal height state. When the conveying device 8 is in the normal height state, the center frame groove 25 and the center frame 18 engage with each other.

In step S6, the control unit 7 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 10 and the depth camera 11, the control unit 7 controls the device drive unit 3 to autonomously travel to destination Pb while avoiding moving objects or obstacles present around the transport device 8. As a result, the cart is transported from point Pa to destination Pb. Figure 11 shows how the transport device 8 transports the cart.

Here, the case where the control unit 7 calculates the route from the point Pa to the destination Pb has been described, but this is not limited to the case. The instruction center 15 may calculate the route from the point Pa to the destination Pb and notify the transport device 8.

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 7 of the transport device 8 receives a command from the instruction center 15 via the communication unit 12 to return to the waiting position Prest, it controls the device drive unit 3 to travel autonomously from destination Pb to waiting position Pret. Alternatively, the movement command received by the control unit 7 from the instruction center 15 in step S1 may include a command to travel autonomously to waiting position Pret after the transport device 8 arrives at destination Pb.

Uses of the conveying device 8 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 of First Embodiment>
In the first embodiment, the cart has a front connecting fitting 23 and a rear connecting fitting 24 that are provided on the center frame 18 so as to protrude in a direction different from the extension direction of the center frame 18. Also, the guide mechanism 4 of the transport device 8 has a center frame groove 25 that can be fitted into the center frame 18. When the center frame 18 is fitted into the center frame groove 25, the guide mechanism 4 is located between the front connecting fitting 23 and the rear connecting fitting 24. With this configuration, strong stress is not applied to the center frame 18 when the transport device 8 transports the cart, so there is no need to strengthen the holding arms, and manufacturing costs can be reduced.

<First Modification of First Embodiment>
In the first embodiment, the front connecting metal fitting 23 and the rear connecting metal fitting 24 are positioned to support the guide mechanism 4 in the front-rear direction, but the present invention is not limited to this. The front connecting metal fitting 23 and the rear connecting metal fitting 24 may be configured to support the transport device 8 when the cart is transported, and may be configured to support a part of the main body mechanism 9, for example.

<Modification 2 of First Embodiment>
When the transport device 8 moves on a flat floor surface while transporting the cart, the guide mechanism 4 may be structured to be firmly fitted with the center frame 18, the front connecting metal fitting 23, and the rear connecting metal fitting 24. However, when the transport device 8 moves on a floor surface with a slope while transporting the cart, as shown in FIG. 12, the elevation angle α between the center frame groove 25 of the guide mechanism 4 and the center frame 18 must be allowed within a pre-designed range. The elevation angle α is allowed, for example, within a range in which the gradient is greater than -5% and less than +5%. In this way, when the center frame groove 25 is fitted into the center frame 18, a predetermined gap is present between the center frame 18 and the center frame groove 25.

<Embodiment 2>
In embodiment 1, a case has been described in which the conveying device 8 detects the exact position of each part of the cart, moves the conveying device 8 so that the center frame 18 and the center frame groove 25 of the guide mechanism 4 are aligned in a planar view, and then engages the center frame groove 25 with the center frame 18.

The second embodiment is characterized by the provision of a guide mechanism (first guide mechanism 26, described below) to allow for positional error in the left-right direction of the center frame 18 relative to the center frame groove 25. The rest of the configuration and operation of the transport device 8 and cart are the same as those of the first embodiment, so detailed description is omitted here.

Figure 13 is a plan view showing the state in which the center frame groove 25 and the center frame 18 according to embodiment 2 are engaged with each other. Figure 14 is a cross-sectional view taken along line B1-B1 of Figure 13. Figure 15 is a side view of Figure 13.

As shown in Figures 13 and 14, a pair of first guide mechanisms 26 are provided at the front-rear end portions of the center frame groove 25. Specifically, the first guide mechanisms 26 are inclined toward the inside of the center frame groove 25 and are provided on opposite sides of the center frame groove 25. The width of the center frame groove 25 in embodiment 2 is wider than the width of the center frame groove in embodiment 1 by the width of the first guide mechanisms 26.

Here, we will explain the relationship between the presence or absence of the first guiding mechanism 26 and the allowable position error between the center frame groove 25 and the center frame 18 in the state shown in Figure 10 after performing the operation of step S4 in Figure 7.

Figure 16 is a diagram showing the relationship between the center frame groove 25 and the center frame 18 in the absence of the first guide mechanism 26. The width of the center frame groove 25 is slightly wider than the width of the center frame 18. If the difference (gap) between the center frame groove 25 and the center frame 18 is D1, the allowable position error between the center frame groove 25 and the center frame 18 is "D1/2". For example, if D1 = 2 mm, the allowable position error is 1 mm, that is, an error of 1 mm on each side is allowed. If such position accuracy cannot be achieved by the sensor group 6 including the Lidar 10 and the depth camera 11, it is necessary to make D1 longer. In this case, when the center frame groove 25 and the center frame 18 are engaged, the gap between the center frame groove 25 and the center frame 18 becomes wider, and rattling occurs when the transport device 8 transports the cart, making it unstable.

Figure 17 is a diagram showing the relationship between the center frame groove 25 and the center frame 18 when the first guide mechanism 26 is provided on the inner wall of the center frame groove 25. If the width of the first guide mechanism 26 is d1 and the difference (gap) between the center frame groove 25 and the center frame 18 is D2, the allowable position error between the center frame groove 25 and the center frame 18 is "D2/2 + d1". For example, if d1 = 5 mm and D2 = 2 mm, the allowable position error is 6 mm. In this way, by providing the first guide mechanism 26, the allowable position error can be made much larger than in the absence of the first guide mechanism 26.

As shown in FIG. 18, it is desirable that the angle θ of the slope of the first guiding mechanism 26 be 45 degrees or more so that friction does not become large when the center frame 18 and the first guiding mechanism 26 come into contact with each other.

Figure 19 is a diagram for explaining the action of the first guide mechanism 26. As shown in Figure 19, when the guide mechanism 4 rises, the center frame 18 comes into contact with the slope of the first guide mechanism 26 and is guided into the center frame groove 25. Then, the misalignment between the central axis of the center frame 18 and the central axis of the center frame groove 25 gradually decreases, and the center frame 18 fits into the center frame groove 25.

<Effects of the Second Embodiment>
In the second embodiment, a pair of first guide mechanisms 26 are provided at the front and rear ends of the center frame groove 25. This increases the allowable position error between the center frame groove 25 and the center frame 18 before the guide mechanism 4 is raised, so that the center frame 18 can be fitted into the center frame groove 25 without using a high-performance sensor. In other words, a transport device that is less expensive than the first embodiment can be realized.

<First Modification of Second Embodiment>
In order to prevent the center frame 18 from being worn down due to contact between the center frame 18 and the first guide mechanism 26, the first guide mechanism 26 may be made of a material having a lower hardness than the center frame 18. This makes it possible to replace the first guide mechanism 26 even if it becomes worn down.

<Modification 2 of Second Embodiment>
The slope of the first guide mechanism 26 is not limited to being linear, but may be an arc shape whose angle with respect to the horizontal gradually decreases downward as shown in Fig. 20. By using such a shape, the center frame 18 can be smoothly guided into the center frame groove 25 when the guide mechanism 4 rises and the first guide mechanism 26 comes into contact with the center frame 18.

The first induction mechanism 26 may consist of two pairs as shown in Figure 13, or it may consist of three or more pairs.

The first guide mechanism 26 may be shaped to cover the entire inner wall of the center frame groove 25. The first guide mechanism 26 may be configured integrally with the guide mechanism 4.

<Third Modification of Second Embodiment>
In the second embodiment, the first guide mechanism 26 is provided on the inner wall of the center frame groove 25, but the present invention is not limited to this.

For example, as shown in Fig. 21, the first guide mechanism 26 may be provided on the upper part of the guide mechanism 4. Specifically, the first guide mechanism 26 is provided outside the center frame groove 25 and along the center frame groove 25.

<Fourth Modification of Second Embodiment>
A plurality of first guide mechanisms 26 having different widths may be prepared in order to accommodate a plurality of types of carts having different widths of the center frame 18. These first guide mechanisms 26 are removable. With this configuration, it is possible to select an appropriate first guide mechanism 26 according to the center frame 18.

<Third embodiment>
In the second embodiment, the case where the first guide mechanism 26 is provided to allow for positional errors in detection of the center frame 18 relative to the center frame groove 25 in the left-right direction has been described.

Embodiment 3 is characterized by the provision of a guide mechanism (second guide mechanism 27, described below) to allow for positional errors in the detection of the front and rear connecting fittings 23 and 24 relative to the guide mechanism 4. The rest of the configuration and operation of the transport device 8 and cart are the same as in embodiment 2, so detailed explanations are omitted here.

Figure 22 is a plan view showing the state in which the center frame groove 25 and the center frame 18 according to embodiment 3 are engaged with each other. Figure 23 is a cross-sectional view taken along C1-C1 in Figure 22. Figure 24 is a side view of Figure 22.

As shown in Figures 22 to 24, the second guide mechanism 27 is provided at two locations, one on the left and one on the right, at the upper front end of the guide mechanism 4, and at two locations, one on the left and one on the right, at the upper rear end of the guide mechanism 4. If there is an error between the guide mechanism 4 and the front connecting fitting 23 and the rear connecting fitting 24, when the guide mechanism 4 is raised, the front connecting fitting 23 and the rear connecting fitting 24 will first come into contact with the second guide mechanism 27, and then as the guide mechanism 4 rises, the front connecting fitting 23 and the rear connecting fitting 24 will be guided by the second guide mechanism 27, and finally the guide mechanism 4 will be positioned between the front connecting fitting 23 and the rear connecting fitting 24.

If the accuracy of detecting the left-right position of the cart is good, the first guide mechanism 26 does not need to be provided. The second guide mechanism 27 may be configured integrally with the guide mechanism 4.

<Effects of Third Embodiment>
In the third embodiment, a second guide mechanism 27 is provided at each of the upper front and upper rear ends in the fore-and-aft direction of the center frame groove 25. This increases the allowable position error between the guide mechanism 4 and the front connecting fitting 23 and the rear connecting fitting 24 before the guide mechanism 4 rises, so that the guide mechanism 4 can be positioned between the front connecting fitting 23 and the rear connecting fitting 24 without using a high-performance sensor. In other words, a transport device that is less expensive than the first embodiment can be realized.

<First Modification of Third Embodiment>
As shown in FIG. 25, the second guide mechanism 27 may be provided at each of the front and rear sides of the guide mechanism 4 in the front-rear direction.

In addition, the second induction mechanism 27 may be configured integrally with the guide mechanism 4.

<Modification 2 of Third Embodiment>
As shown in FIG. 26 , the second guide mechanism 27 may be provided on each of the front connecting fitting 23 and the rear connecting fitting 24 .

In addition, the second guiding mechanism 27 may be configured integrally with each of the front connecting fitting 23 and the rear connecting fitting 24.

A configuration may be made by combining the configuration shown in Figure 26 with the configurations shown in Figures 22 to 24. Also, a configuration may be made by combining the configuration shown in Figure 26 with the configuration shown in Figure 25.

<Fourth embodiment>
In the first to third embodiments, the cart has been described as having the front connecting fittings 23 and the rear connecting fittings 24 attached to the center frame 18 so as to protrude in a direction different from the extending direction of the center frame 18 .

In the fourth embodiment, the cart has a front connecting fitting 28 and a rear connecting fitting 29 with a wedge-shaped structure (see, for example, Figs. 27 and 28), and the guide mechanism 4 has a front notch 30 and a rear notch 31 (see, for example, Fig. 31). The rest of the configuration and operation of the transport device 8 and the cart are the same as those of the second embodiment, so detailed explanations are omitted here.

Figure 27 is an external view showing the state in which the conveying device and cart of embodiment 4 are engaged. Figure 28 is a plan view showing the state in which the center frame groove 25 and the center frame 18 are engaged. Figure 29 is a cross-sectional view taken along D1-D1 in Figure 28. Figure 30 is a side view of Figure 28. Note that the conveying device shown in Figure 27 is a simplified version of an actual conveying device.

27 and 28, the front connecting fitting 28 has a wedge-shaped structure with the base of the triangular prism fixed to the front frame 16. Specifically, the front connecting fitting 28 has a wedge-shaped structure in which the width of one end on the rear frame side is narrower than the width of the other end on the front frame 16 side in a plan view, and the other end overlaps the center frame 18 in a plan view.

In addition, the rear connecting fitting 29 has a wedge-shaped structure with the base of the triangular prism fixed to the rear frame 17. Specifically, the rear connecting fitting 29 has a wedge-shaped structure in which the width of one end on the front frame 16 side is narrower than the width of one end on the rear frame 17 side in a plan view, and the other end overlaps the center frame 18 in a plan view.

Figure 31 is a plan view showing an example of the guide mechanism 4. As shown in Figure 31, the guide mechanism 4 has a front notch 30 that can be fitted with the front connecting fitting 28 and a rear notch 31 that can be fitted with the rear connecting fitting 29.

<Effects of Fourth Embodiment>
In the fourth embodiment, the cart has a front connecting fitting 28 and a rear connecting fitting 29 with a wedge-shaped structure, and the guide mechanism 4 has a front notch 30 and a rear notch 31. This allows the front connecting fitting 28 and the front notch 30, and the rear connecting fitting 29 and the rear notch 31 to fit tightly together, making it possible to improve the efficiency of power transmission when the transport device 8 turns the cart and to suppress rattling during turning. In addition, the front connecting fitting 28 and the rear connecting fitting 29 are supported by the front frame 16 and the rear frame 17, respectively, making it easy to fix and position them relative to the center frame 18.

<First Modification of Fourth Embodiment>
In the fourth embodiment, the case where the first guide mechanism 26 is provided in the center frame groove 25 has been described (see, for example, Figs. 28 and 31), but the present invention is not limited to this. As shown in Fig. 32, a dual-purpose guide mechanism 32 may be provided in each of the front cutout 30 and the rear cutout 31 of the guide mechanism 4. Two dual-purpose guide mechanisms 32 are provided in the front cutout 30, and two dual-purpose guide mechanisms 32 are provided in the rear cutout 31.

The combined guide mechanism 32 has an inward inclination of each of the front cutout 30 and the rear cutout 31, and has the function of guiding the cart in the front-rear and left-right directions. In other words, the combined guide mechanism 32 has the function of both the first guide mechanism 26 and the second guide mechanism 27. Specifically, when the center frame 18 is fitted into the center frame groove 25, the combined guide mechanism 32 guides the center frame 18 to the center frame groove 25, guides the front connecting fitting 28 to the front cutout 30, and guides the rear connecting fitting 29 to the rear cutout 31.

This makes it possible to tolerate positional errors in the front-to-back and left-to-right directions between the guide mechanism 4 and the front connecting fitting 28 and the rear connecting fitting 29 before the guide mechanism 4 is raised.

In addition, in Figure 32, a first guide mechanism 26 may be further provided in the center frame groove 25.

<Modification 2 of the Fourth Embodiment>
33 and 34, the front connecting fitting 28 may be provided with a dual-purpose guide mechanism 32 at a portion thereof that contacts the front notch 30 (see FIG. 31, for example) of the guide mechanism 4. Also, the rear connecting fitting 29 may be provided with a dual-purpose guide mechanism 32 at a portion thereof that contacts the rear notch 31 (see FIG. 31, for example) of the guide mechanism 4. The function of the dual-purpose guide mechanism 32 shown in FIG. 33 and 34 is similar to the function of the dual-purpose guide mechanism 32 shown in FIG. 32 described in the first modification.

This makes it possible to tolerate positional errors in the front-to-back and left-to-right directions between the guide mechanism 4 and the front connecting fitting 28 and the rear connecting fitting 29 before the guide mechanism 4 is raised.

In addition, in Figures 33 and 34, a first guide mechanism 26 may be further provided in the center frame groove 25.

<Hardware Configuration>
The functions of the control unit 7 and the communication unit 12 in the conveying device 8 shown in Fig. 2 are realized by a processing circuit. That is, the conveying device 8 includes a processing circuit for controlling the device driving unit 3 and the guide mechanism driving unit 5 so that the center frame 18 fits into the center frame groove 25 based on the detection results of the sensor group 6, and for communicating with an instruction center 15 provided outside the conveying device 8. 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. 35, the processing circuit 33 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 7 and the communication unit 12 may be realized by the processing circuit 33, or each function may be realized together by one processing circuit 33.

When the processing circuit 33 is the processor 34 shown in FIG. 36, each function of the control unit 7 and the communication unit 12 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 35. The processor 34 realizes each function by reading and executing the program recorded in the memory 35. That is, the conveying device 8 has a memory 35 for storing a program that results in the execution of a step of controlling the device drive unit 3 and the guide mechanism drive unit 5 so that the center frame 18 fits into the center frame groove 25 based on the detection result of the sensor group 6, and a step of communicating with the instruction center 15 provided outside the conveying device 8. It can also be said that these programs cause the computer to execute the procedure or method of the control unit 7 and the communication unit 12. 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 each function of the control unit 7 and the communication unit 12, 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.

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 Main mechanism, 3 Device drive unit, 4 Guide mechanism, 5 Guide mechanism drive unit, 6 Sensor group, 7 Control unit, 8 Conveying device, 9 Main mechanism, 10 Lidar, 11 Depth camera, 12 Communication unit, 13 Caster, 14 Drive wheel, 15 Indication center, 16 Front frame, 17 Rear frame, 18 Center frame, 19 Caster, 20 Caster brake, 21 Support frame, 22 Tray, 23 Front connecting fitting, 24 Rear connecting fitting, 25 Center frame groove, 26 First guide mechanism, 27 Second guide mechanism, 28 Front connecting fitting, 29 Rear connecting fitting, 30 Front cut-out portion, 31 Rear cut-out portion, 32 Dual-purpose guide mechanism, 33 Processing circuit, 34 Processor, 35 Memory.

Claims (9)

A transport device for transporting a cart having a front frame, a rear frame opposing the front frame, a center frame connecting the front frame and the rear frame, front connecting fittings and rear connecting fittings provided on the center frame so as to protrude in a direction different from an extending direction of the center frame, and a plurality of casters,
a main body mechanism for supporting the entire conveying device;
a device driving unit provided in the main body mechanism and configured to drive the conveying device;
a guide mechanism having a center frame groove that can be fitted into the center frame;
a guide mechanism driving unit that drives the guide mechanism in a height direction;
A group of sensors for detecting the surrounding conditions of the conveying device;
A control unit that controls the device drive unit and the guide mechanism drive unit;
Equipped with
the control unit controls the device driving unit and the guide mechanism driving unit based on a detection result of the group of sensors so that the center frame fits into the center frame groove;
When the center frame is fitted into the center frame groove, the guide mechanism is located between the front connecting fitting and the rear connecting fitting ,
When the center frame groove is fitted into the center frame, a predetermined gap exists between the center frame and the center frame groove,
When the cart is transported, at least one of the front connecting fitting and the rear connecting fitting contacts the guide mechanism . the front connecting metal fitting has a wedge-shaped structure in which a width of the other end on the rear frame side is narrower than a width of one end on the front frame side in a plan view, and the other end overlaps with the center frame in a plan view,
the rear connecting metal fitting has a wedge-shaped structure in which a width of one end thereof on the front frame side is narrower than a width of one end thereof on the rear frame side in a plan view, and the other end thereof overlaps with the center frame in a plan view,
The transport device according to claim 1 , wherein the guide mechanism has a notch that fits into each of the other ends of the front connecting fitting and the rear connecting fitting. The conveying device according to claim 1, wherein the guide mechanism has a first guide mechanism that guides the center frame into the center frame groove when the center frame fits into the center frame groove. 4. The conveying device according to claim 3, wherein the first guide mechanism is a pair of mechanisms having a slope provided on opposing surfaces of the center frame groove, or a pair of mechanisms having a slope provided outside the center frame groove and along the center frame groove. The transport device according to claim 1, wherein the guide mechanism has a second guide mechanism that guides the front connecting fitting and the rear connecting fitting so that the guide mechanism is positioned between the front connecting fitting and the rear connecting fitting when the center frame is fitted into the center frame groove. The transport device according to claim 1, wherein each of the front connecting fittings and the rear connecting fittings has a second guide mechanism that guides the front connecting fittings and the rear connecting fittings so that the guide mechanism is positioned between the front connecting fittings and the rear connecting fittings when the center frame is fitted into the center frame groove. The guide mechanism has a dual-purpose guide mechanism in the notch portion,
3. The transport device according to claim 2, wherein the dual-purpose guide mechanism guides the center frame into the center frame groove when the center frame is fitted into the center frame groove, and guides each of the front connecting fitting and the rear connecting fitting to the notch. The transport device according to claim 2, wherein each of the front connecting fittings and the rear connecting fittings has a dual-purpose guide mechanism that guides the center frame into the center frame groove when the center frame is fitted into the center frame groove and guides each of the front connecting fittings and the rear connecting fittings into the notch. A method for transporting a cart using a transport device, the cart having a front frame, a rear frame opposing the front frame, a center frame connecting the front frame and the rear frame, front connecting fittings and rear connecting fittings provided on the center frame so as to protrude in a direction different from an extending direction of the center frame, and a plurality of casters, the method comprising:
the center frame is fitted into a center frame groove of a guide mechanism of the transport device based on a detection result of a sensor group of the transport device;
When the center frame is fitted into the center frame groove, the guide mechanism is located between the front connecting fitting and the rear connecting fitting ,
When the center frame groove is fitted into the center frame, a predetermined gap exists between the center frame and the center frame groove,
When the cart is transported, at least one of the front connecting fitting and the rear connecting fitting contacts the guide mechanism .

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