WO2024134840A1 - Automatic moving device and control method for automatic moving device - Google Patents

Automatic moving device and control method for automatic moving device Download PDF

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Publication number
WO2024134840A1
WO2024134840A1 PCT/JP2022/047443 JP2022047443W WO2024134840A1 WO 2024134840 A1 WO2024134840 A1 WO 2024134840A1 JP 2022047443 W JP2022047443 W JP 2022047443W WO 2024134840 A1 WO2024134840 A1 WO 2024134840A1
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WO
WIPO (PCT)
Prior art keywords
vehicle body
unit
moving device
automatic moving
passage
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PCT/JP2022/047443
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French (fr)
Japanese (ja)
Inventor
翔平 白木
琢也 小田
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株式会社Fuji
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Application filed by 株式会社Fuji filed Critical 株式会社Fuji
Priority to PCT/JP2022/047443 priority Critical patent/WO2024134840A1/en
Publication of WO2024134840A1 publication Critical patent/WO2024134840A1/en

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  • This specification discloses an automatic moving device and a method for controlling the automatic moving device.
  • automatic transport devices used in commercial facilities and the like unload transported goods at their destinations, but for example, unloading the goods in a narrow passageway can cause obstructions to traffic.
  • the automatic transport device described in Patent Document 1 is said to improve transport efficiency by determining whether the unloading area is full, but does not take into consideration making it easier to pass through the passageway.
  • the present disclosure has been made to solve these problems, and has as its main objective the provision of an automatic moving device and a control method for an automatic moving device that can make it easier to pass through passageways.
  • the automated moving device disclosed in the present specification comprises: An automatic moving device for transporting an object, A vehicle body including a drive unit; A coupling part that is disposed on the vehicle body and can be coupled to and decoupled from a transported object; a control unit that controls the coupling unit and the drive unit to move the vehicle body unit to a position a predetermined distance from the end of the passage while connected to the article, release the connection with the article, move the vehicle body unit so that the end of the vehicle body unit on the side of the passage end is located below the article, and then reconnect the vehicle body unit to the article and move the end of the vehicle body unit to the end of the passage; It is equipped with the following:
  • the end of the vehicle body is pulled closer to the end of the transported object, and then the transported object is moved closer to the end of the aisle. This makes it easier for the object to pass through the aisle.
  • FIG. 1 is a schematic explanatory diagram showing an example of a transport system 10.
  • FIG. 2 is an explanatory diagram showing an example of a store 60.
  • FIG. 2 is an explanatory diagram showing an example of an automatic moving device 30.
  • 4A to 4D are views showing an example of an automatic moving device 30.
  • 3 is a three-view diagram of an automated moving device 30 connected to a carriage 12.
  • FIG. 5 is a flowchart showing an example of a work command processing routine.
  • 11 is a flowchart showing an example of an automatic movement processing routine.
  • FIG. FIG. 11 is a plan view illustrating an example of an edge pushing process performed by the automatic moving device 30.
  • 10 is a flowchart showing an example of another automatic movement processing routine.
  • FIG. 1 is a schematic explanatory diagram showing an example of a conveying system 10.
  • FIG. 2 is an explanatory diagram showing an example of a store 60.
  • FIG. 3 is an explanatory diagram showing an example of an automatic moving device 30.
  • FIG. 4 is a four-sided view showing an example of an automatic moving device 30, where FIG. 4A is a plan view, FIG. 4B is a front view, FIG. 4C is a side view, FIG. 4D is a rear view, and FIG. 4E is a side view with the connecting portion 42 raised.
  • FIG. 5 is a three-sided view of the automatic moving device 30 connected to a cart 12, where FIG. 5A is a plan view, FIG. 5B is a front view, and FIG. 5C is a side view.
  • the transport system 10 has an automatic moving device 30 that automatically moves items as transported objects within a specific space, and is a system that performs the process of transporting these items.
  • the transport system 10 will be described as an example in which the transport of items is performed using a cart 12, but this is not limited to this, and the cart 12 may be omitted or other components may be used.
  • the "item” is not particularly limited as long as it is something to be transported, and examples include industrial products including machines, devices, device units, and parts, household goods that are generally used daily, food, and fresh produce.
  • examples of the "delivery source” and "delivery destination” include a logistics center 20 that accumulates and delivers items, a warehouse that stores items, and a store 60 that sells items.
  • the automatic moving device 30 that moves items at the store 60 as the delivery destination of the transport system 10 will be mainly described.
  • the transport system 10 includes a logistics PC 21, a store PC 61, an automatic moving device 30, and a management server 70.
  • the trolley 12 is a transport object used to transport goods, and is equipped with a placement section 13 and casters 14 as shown in FIGS. 1 and 5.
  • the placement section 13 is a flat plate-shaped member on which goods are loaded.
  • the casters 14 have wheels that allow the trolley 12 to travel, and are disposed on the underside of the placement section 13.
  • This trolley 12 may be a basket trolley.
  • the delivery vehicle 18 is a vehicle that loads one or more trolleys 12 and delivers goods. The delivery vehicle 18 loads the trolleys 12 in its cargo compartment at the logistics center 20, delivers the goods to the delivery destination, and returns the empty trolley 12 to the logistics center 20.
  • the logistics center 20 is a place where goods are collected and distributed to stores 60 in various locations or to other logistics centers 20. As shown in FIG. 1, the logistics center 20 has one or more automatic moving devices 30, which can automatically move the carts 12. At this logistics center 20, workers or arm robots (not shown) perform the task of loading goods onto the carts 12 according to the delivery destination. The automatic moving devices 30 collect the carts 12 with specified delivery destinations and carry them in and out.
  • the logistics PC 21 is installed in the logistics center 20 and is configured as a control device that manages products at the logistics center 20 and manages the automatic moving device 30.
  • the logistics PC 21 is equipped with a control unit 22, a storage unit 23, and a communication unit 27.
  • the control unit 22 has a CPU and controls the entire device.
  • the storage unit 23 stores various application programs and various data files.
  • the storage unit 23 stores map information 24, transport management information 25, and the like.
  • the map information 24 is information on the map of the logistics center 20.
  • the transport management information 25 is information that manages jobs used to transport items, and includes information on the type, weight, and size of the item, as well as the initial position and the transport position after movement.
  • the communication unit 27 wirelessly communicates with external devices such as the automatic moving device 30.
  • the communication unit 27 exchanges information with the management server 70 and the store PC 61 via the network 15.
  • the automatic moving device 30 is a vehicle that automatically moves a cart 12 as a transported object.
  • the automatic moving device 30 slides into the space between the casters 14 on the underside of the mounting part 13 of the cart 12, and either lifts the mounting part 13 from below to load it, or engages with the mounting part 13 and connects to the cart 12 so as to tow it, and moves the cart 12.
  • the automatic moving device 30 may be an AGV (Automatic Guided Vehicle) that moves along a line formed on a road surface or a wall surface, or an AMR (Autonomous Mobile Robot) that detects the surroundings and moves along a free route.
  • the automatic moving device 30 includes a control device 31, a vehicle body part 37, a lifting part 38, a communication part 39, a drive part 40, a connection part 42, a detection part 50, and a lighting part 56.
  • the control device 31 is a controller that controls the entire automatic moving device 30, and includes a transport control unit 32 such as a CPU, and a storage unit 33 such as a flash memory.
  • the transport control unit 32 outputs control signals to the lifting unit 38, the driving unit 40, the communication unit 39, and the detection unit 50, and inputs signals from the communication unit 39 and the detection unit 50.
  • the transport control unit 32 controls the connection unit 42 by controlling the lifting unit 38.
  • the transport control unit 32 grasps the moving direction, moving distance, and current position of the automatic moving device 30 based on the driving state of the driving unit 40.
  • the transport control unit 32 controls the movement and stopping of the automatic moving device 30 based on information from the detection unit 50.
  • the storage unit 33 stores various application programs and various data files.
  • the storage unit 33 stores, for example, map information 34 and transport information 35.
  • the map information 34 is, for example, the map when the logistics center 20 is used, and the map information when the store 60 is used.
  • the transport information 35 is job information used to transport items, and includes information such as the type, weight, and size of the item, as well as the initial position, the destination position, the travel route, and whether or not edge gathering processing is performed.
  • the map information 34 and transport information 35 are obtained by communication from the logistics PC 21, the store PC 61, the management server 70, etc.
  • the vehicle body 37 is a flat housing that fits under the cart 12, with wheels 41 on the underside and a coupling 42 on the upper side, and travels.
  • the vehicle body 37 houses the control device 31, communication unit 39, drive unit 40, power unit 45, and other components.
  • the detection unit 50 is disposed on the outer surface of the vehicle body 37.
  • the length Lb of the vehicle body 37 along the direction in which it fits into the cart 12 may be longer than the length Lc of the cart 12 (see FIG. 5A). For this reason, the vehicle body 37 may protrude outward from the end of the cart 12 when it is coupled to the cart 12 and travels.
  • the communication unit 39 is an interface that wirelessly exchanges information with external devices such as the logistics PC 21 and the store PC 61.
  • the transport control unit 32 exchanges information with external devices via the communication unit 39.
  • the drive unit 40 is a motor that is connected to each wheel 41 of the vehicle body 37 and drives the automatic moving device 30 to move by rotating the connected wheels 41.
  • the automatic moving device 30 has four wheels 41 and moves by the rotational drive of the wheels 41.
  • the wheels 41 may be Mecanum wheels or omni wheels that can move vertically and horizontally with four independently driven wheels.
  • the connecting portion 42 is a unit that is disposed on the upper surface of the vehicle body portion 37 and can be connected and disconnected to the trolley 12 as a transported object by raising and lowering.
  • This connecting portion 42 is a structure that loads the trolley 12 or engages with the trolley 12 to move the trolley 12.
  • the connecting portion 42 has, for example, a loading member 43 that moves the trolley 12 in a loaded state with the placement portion 13 of the trolley 12 raised, and an engaging member 44 that engages with the placement portion 13 and pulls the trolley 12.
  • the loading members 43 are flat members that push up the underside of the object to be moved, and are disposed on the upper side of the vehicle body portion 37 one by one so that they can be raised and lowered.
  • the engaging members 44 are multiple pin-shaped members that are configured to descend by a spring when a load is applied from the upper side.
  • the engaging members 44 are disposed at the four corners of the upper surface of the vehicle body portion 37 and are disposed so as to be inserted into a through hole in the center of the loading member 43.
  • the lifting unit 38 is a drive unit that lifts and lowers the connecting unit 42, and lifts and lowers the loading member 43 and the engagement member 44.
  • the connecting unit 42 can connect to a dolly 12 that has a length Lc that is shorter than the length Lb of the vehicle body unit 37.
  • the detection unit 50 is disposed in the vehicle body 37 and detects the state of the automatic moving device 30 and objects present in at least a portion of the periphery of the automatic moving device 30 and their distance.
  • the detection unit 50 may detect the presence and distance of an object by, for example, irradiating the surroundings with light such as a laser or sound waves and detecting reflected waves.
  • the detection unit 50 may be, for example, one or more of an inertial measurement unit, a laser scan sensor, an imaging camera, a stereo camera, and a sonar sensor.
  • the detection unit 50 is configured to include first to fifth detection units 51 to 55.
  • the first detector 51 may be a stereo camera disposed in front of the vehicle.
  • the second detector 52, the third detector 53, the fourth detector 54, and the fifth detector 55 may be LiDAR (light detection and ranging) disposed in the front, side, or back of the vehicle body 37.
  • the detection unit 50 may also include a gyro sensor and an acceleration sensor (not shown), and the automatic mobile device 30 may be equipped with an inertial measurement unit (IMU) that detects the inclination and acceleration of its own body.
  • IMU inertial measurement unit
  • the first detector 51 can detect objects around the body unit 37.
  • the lighting unit 56 is an LED light that shines light on the surroundings.
  • the store 60 displays and sells the transported items.
  • the store 60 has one or more automatic moving devices 30 and can automatically move the trolleys 12.
  • the store 60 has a road surface along which the trolleys 12 pass and display shelves 69 on which the items are displayed.
  • the display shelves 69 also serve as passage end walls 68 that obstruct the passage of the automatic moving devices 30.
  • the store PC 61 is disposed in the store 60 and is configured as a control device that performs product management and the like in the store 60.
  • This store PC 61 has a control unit 62, a memory unit 63, and a communication unit 67.
  • the control unit 62 has a CPU and is responsible for controlling the entire device.
  • the memory unit 63 stores various application programs and various data files.
  • the memory unit 63 stores map information 64 of the store 60 and transport management information 65 including information for managing jobs of transported items transported by the automatic moving devices 30.
  • Transport management information 65 is information that manages jobs used to transport items, and includes information such as the type, weight, and size of the item, as well as the initial position and the transport position after movement.
  • the management server 70 is a device that manages the transportation system 10.
  • This management server 70 is equipped with a control unit 72, a memory unit 73, and a communication unit 77.
  • the memory unit 73 stores map information 74, which is a database of maps of the logistics center 20 and the stores 60, and transportation management information 75, which is a database used to manage the transportation of goods.
  • the communication unit 77 exchanges information with external devices such as the logistics PC 21 and the store PC 61 via the network 15.
  • the control unit 72 transmits the map information 74 and the transportation management information 75 via the communication unit 77 based on requests from the logistics PC 21 and the store PC 61.
  • FIG. 6 is a flowchart showing an example of a work command processing routine executed by the control unit 62 of the store PC 61. This routine is stored in the storage unit 63 and is repeatedly executed at a predetermined interval after the store PC 61 is started.
  • the control unit 62 of the store PC 61 determines whether it is the timing to set the transport information 35 used by the automatic moving device 30 when moving the transported item to the destination (S100). This timing can be set, for example, to a time sufficiently before the delivery vehicle 18 carries in the goods. If it is not the timing to set the transport information 35, the control unit 62 ends this routine as it is. On the other hand, when it is time to set the transport information 35, the control unit 62 reads and acquires the map information 64 and transport management information 65 from the storage unit 63 (S110) and selects the transport item to be set this time (S120).
  • the control unit 62 determines whether the selected transported object is an edge-adjusted transported object that should be moved to the aisle edge (S130). For example, the worker may specify in advance in the transport management information 65 whether the transported object is to be moved to the aisle edge or not. Alternatively, the control unit 62 may obtain the aisle width of the target position of the transported object based on the map information 64, and make the determination in S130 based on whether placing the transported object will obstruct passage or whether passage beyond the placement position is unnecessary. The control unit 62 may determine not to move the trolley 12 to the edge if the aisle width of the target position where the trolley 12 is to be placed is a predetermined value or more, and to move the trolley 12 to the edge if it is less than the predetermined value.
  • the control unit 62 sets the destination position set in the transport management information 65 as the target position (S140).
  • the control unit 62 sets the target position to a position a predetermined distance from the end of the aisle, which is the destination position set in the transport management information 65 (S150). In other words, the control unit 62 moves the transport item to the target position a predetermined distance from the end of the aisle, and then performs edge-alignment processing to the end of the aisle.
  • the control unit 62 uses the map information 64 to set a movement route from the initial position and the target position (S160).
  • the control unit 62 may set a movement route that minimizes the movement distance.
  • the control unit 62 may preferentially select an aisle with a wider passage width or an aisle where other transported objects are not placed based on the transport positions of other transported objects.
  • the control unit 62 determines whether there is an unset transported object based on the transport management information 65 (S170), and if there is an unset transported object, repeats the processing from S120 onwards. That is, the control unit 62 selects the transported object and sets the target position and the movement route.
  • control unit 62 outputs the set contents to the automatic moving device 30 as transport information 35 (S180) and ends this routine.
  • the automatic moving device 30 that has received the transport information 35 executes the movement processing of the transported object when it reaches the execution timing.
  • FIG. 7 is a flowchart showing an example of an automatic moving processing routine executed by the control device 31 of the automatic moving device 30.
  • This routine is stored in the memory unit 33, and is repeatedly executed at a predetermined interval by the transport control unit 32 after the automatic moving device 30 is started.
  • the transport control unit 32 of the control device 31 reads and acquires the map information 34 and transport information 35 from the memory unit 33 (S200).
  • the transport control unit 32 moves to the initial position of the cart 12, which is the transported object to be transported this time, and executes a process of connecting to the cart 12 (S210).
  • the transport control unit 32 detects the cart 12 by the detection unit 50, moves the cart 12 to the lower part thereof, moves the cart 12 to the connecting position where the center of the cart 12 and the center of the cart 12 are aligned, and raises the connecting unit 42 by the lifting unit 38 to engage the engaging member 44 with the placement unit 13.
  • the transport control unit 32 may use each sensor of the detection unit 50 to, for example, obtain the position of the caster 14 and confirm the connection position.
  • the transport control unit 32 controls the drive unit 40 so that the vehicle body unit 37 moves to the target position along the movement path (S220). At this time, the transport control unit 32 uses the detection unit 50 to move the vehicle body unit 37 to the target position while correcting the movement path so as not to come into contact with the obstacle if there is an obstacle nearby. Next, the transport control unit 32 determines whether the vehicle body unit 37 has reached the target position (S230), and if it has not reached the target position, executes the processing from S220 onwards. On the other hand, when the vehicle body unit 37 has reached the target position in S230, the transport control unit 32 determines whether the connected object is an edge-shifted transport object based on the information set in the transport information 35 (S240). If the connected object is not an edge-shifted transport object, it is determined that the transport of this cart 12 has ended, and the coupling unit 42 is lowered and the coupling is released (S280).
  • FIG. 8 is an explanatory diagram showing an example of a case where an obstacle is present on the passage end wall 68. As shown in FIG.
  • the transport control unit 32 determines that there is a possibility that the cart 12 will come into contact with the obstacle if the edge-pulling process is performed, and interrupts the entire edge-pulling process, releases the connection in S280, and ends the transport process of the cart 12.
  • the transport control unit 32 may perform the process of S250 during the edge-pulling process of the cart 12 to the passage end wall 68 side, and interrupt the edge-pulling process midway if an obstacle is detected.
  • FIG. 9 is a side view explaining an example of the edge-pulling process by the automatic moving device 30, in which FIG. 9A shows the target position being reached and the connection being released, FIG. 9B shows the end of the vehicle body 37 being moved so as to be positioned below the transported object and reconnected, FIG. 9C shows the edge being pushed to the passage end wall 68 and the connection being released, and FIG. 9D shows the end of the vehicle body 37 being moved after transport is completed.
  • FIG. 10 is a plan view explaining an example of the edge-pulling process by the automatic moving device 30, in which FIG.
  • FIG. 10A shows the target position being reached and the connection being released
  • FIG. 10B shows the end of the vehicle body 37 being moved so as to be positioned below the transported object and reconnected
  • FIG. 10C shows the end of the vehicle body 37 being pushed to the passage end wall 68, the connection being released, transport is completed, and transport is moved.
  • the transport control unit 32 moves the car body 37 to a target position at a predetermined distance from the end of the passage while connected to the cart 12, and when the cart 12 arrives at the target position, it releases the connection with the cart 12 (FIGS. 9A, 10A) and moves the car body 37 so that the end of the car body 37 on the side of the end of the passage is located below the cart 12 (S260, FIG. 9B, FIG. 10B).
  • the transport control unit 32 may measure the distance between the car body 37 and the passage end wall 68.
  • the transport control unit 32 controls the drive unit 40 so that the end of the car body 37 is in the same position as the end of the cart 12 or is in a position inside the end of the cart 12 before reconnecting to the cart 12.
  • the transport control unit 32 may move the car body 37 so that the end of the car body 37 is in the same position as the end of the cart 12.
  • the transport control unit 32 may move the vehicle body unit 37 until the end of the vehicle body unit 37 is located at approximately the center of the lower part of the dolly 12.
  • the transport control unit 32 may also move the vehicle body unit 37 a predetermined distance so that the tip of the vehicle body unit 37 is located at a desired position without using the detection unit 50.
  • the predetermined distance may be set based on the dimensions of the dolly 12 and the vehicle body unit 37.
  • the transport control unit 32 may move the vehicle body unit 37 by checking the position of the caster 14, etc., using the detection unit 50, for example.
  • the transport control unit 32 may detect the bottom surface of the dolly 12 and the position of the caster 14 to correct the misalignment when reconnecting the dolly 12 and the connection unit 42, and correct the position.
  • the transport control unit 32 raises the coupling unit 42, reconnects it to the cart 12, and controls the coupling unit 42 and the drive unit 40 to move the end of the cart 37 to the end of the passage (S270, Figures 9C and 10C).
  • the transport control unit 32 may move the cart 37 a predetermined distance so that the tip of the cart 37 is closer to the passage end wall 68.
  • the predetermined distance may be set from the distance from the target position to the passage end wall 68.
  • the transport control unit 32 may check the position of the passage end wall 68, etc., using the detection unit 50 and move the cart 37.
  • the transport control unit 32 uses the map information 34 and information on the current position of the cart 37, or the detection result by the detection unit 50, to move the cart 12 so that the cart 12 and the passage end wall 68 are parallel. Then, in S280, the transport control unit 32 lowers the coupling unit 42, releases the coupling from the cart 12, and moves the car body unit 37 to the next position (FIGS. 9D, 10C).
  • the transport control unit 32 temporarily moves the tip of the car body unit 37 below the cart 12 and reconnects it to move the cart 12 closer to the passage end wall 68.
  • the transport control unit 32 determines whether there is a next object to be transported (S290), and if there is, executes the processes from S210 onwards. That is, it moves to the initial position of the next cart 12 and connects the cart 12, then moves the cart 12 to the target position and executes edge alignment processing as necessary. On the other hand, if there is no next object to be transported in S290, the transport control unit 32 controls the drive unit 40 to move the vehicle body unit 37 to a predetermined initial position (S300), and ends this routine.
  • the predetermined initial position may be, for example, a charging position in the back yard.
  • the products are loaded onto a trolley 12 and transported to the front of the display shelf 69.
  • the trolley 12 may block the passageway, preventing workers and the automatic moving device 30 from passing through.
  • the end of the automatic moving device 30 may protrude from the end of the trolley 12, and the trolley 12 may not be able to move sufficiently close to the end of the passageway.
  • the trolley 12 is temporarily stopped at a position a predetermined distance from the end of the passageway, and the protruding end of the body part 37 is reconnected to eliminate it, and the trolley 12 is moved to the end of the passageway.
  • the trolley 12 can be moved closer to the end of the passageway than when the trolley 12 is moved to the end of the passageway as it is. Therefore, with this automatic moving device 30, the worker does not need to move the cart 12 to the side of the aisle, and the passage of the aisle can be ensured. And with this automatic moving device 30, unnecessary detours are further suppressed, which can further improve work efficiency, etc.
  • the automatic moving device 30 of this embodiment is an example of an automatic moving device of this disclosure
  • the transport control unit 32 is an example of a control unit
  • the vehicle body unit 37 is an example of a vehicle body unit
  • the drive unit 40 is an example of a drive unit
  • the connection unit 42 is an example of a connection unit
  • the detection unit 50 is an example of a detection unit. Note that in this embodiment, by explaining the operation of the automatic moving device 30, an example of a control method for the automatic moving device 30 of the present disclosure is also clarified.
  • the automatic moving device 30 of the present embodiment described above is for moving the cart 12 as the transported object within a specific space, i.e., a commercial facility, and includes a vehicle body 37 including a drive unit 40, a coupling unit 42 arranged on the vehicle body 37 and capable of coupling and decoupling to the cart 12, and a transport control unit 32 that controls the coupling unit 42 and the drive unit 40 to move the vehicle body 37 to a position a predetermined distance from the end of the aisle while connected to the cart 12, to release the coupling from the cart 12 and move the vehicle body 37 so that the end of the vehicle body 37 on the side of the end of the aisle is positioned below the cart 12, and then to recouple the vehicle body 37 to the cart 12 and move the end of the vehicle body 37 to the end of the aisle.
  • a transport control unit 32 that controls the coupling unit 42 and the drive unit 40 to move the vehicle body 37 to a position a predetermined distance from the end of the aisle while connected to the cart 12, to release the coupling from the cart 12 and move the
  • this automatic road device 30 the end of the vehicle body 37 is pulled closer to the end of the cart 12, and then the cart 12 is moved closer to the end of the aisle, so that the cart 12 can be moved closer to the end wall 68 of the aisle.
  • This automatic moving device 30 therefore makes it easier to pass through the aisle.
  • the transport control unit 32 also controls the drive unit 40 so that the end of the car body 37 is at the same position as the end of the cart 12 or is at a position inside the end of the cart 12 before reconnecting to the cart 12.
  • the end of the car body 37 is closer to the inside of the cart 12, so that the cart 12 can be moved closer to the edge of the aisle, making it easier to pass through the aisle.
  • the automatic moving device 30 is equipped with a detection unit 50 that is disposed on the car body 37 and detects at least a part of the surroundings, and the transport control unit 32 performs one or more of the following movements based on the detection result of the detection unit 50: moving the car body 37 to a position a predetermined distance from the end of the aisle, moving the car body 37 to the lower side of the cart 12 after disconnection, and moving the car body 37 to the end of the aisle after reconnection.
  • the detection result by the detection unit 50 can be used to make it easier to pass through the aisle while suppressing contact with objects.
  • the transport control unit 32 sets a position a specified distance from the end of the aisle as the target position, and executes a process to move the cart 12 from this target position toward the aisle end wall 68. Therefore, with this automatic moving device 30, the process of moving the cart 12 toward the end of the aisle can be realized by setting the target position.
  • the automatic moving device 30 is equipped with a detection unit 50 disposed in the vehicle body section 37 for detecting at least a portion of the surroundings, and the transport control unit 32, based on the detection result of the detection unit 50, when an obstacle is present, suspends all movement of the vehicle body section 37 to the end of the passage after reconnecting to the trolley 12, or suspends it midway.
  • This automatic moving device 30 can further prevent unnecessary contact between the trolley 12 and obstacles.
  • the vehicle body section 37 slips under the trolley 12, and the coupling section 42 is capable of coupling to a trolley 12 having a length Lc shorter than the length Lb of the vehicle body section 37, is provided on the upper part of the vehicle body section 37, and couples and uncouples from the trolley 12 by rising and lowering.
  • the transport system 10 includes the automatic moving device 30 described above, and the logistics PC 21, store PC 61, and management server 70 as the management devices described above. Since the transport system 10 includes the automatic moving device 30 described above, the carts 12 can be moved closer to the aisle end wall 68, making it easier to pass through the aisle.
  • the transport control unit 32 controls the drive unit 40 so that the end of the car body unit 37 is at a position equivalent to the end of the cart 12 or is at a position more inward than the end of the cart 12 before reconnecting it to the cart 12, but this is not particularly limited as long as the end of the car body unit 37 is brought closer to the end of the cart 12.
  • the end of the car body portion 37 does not protrude from the bogie 12 as much as possible, so that the bogie 12 can be brought closer to the passage end wall 68.
  • the transport control unit 32 moves the vehicle body unit 37 to a position a predetermined distance from the end of the aisle, moves the vehicle body unit 37 to the lower side of the cart 12 after disconnection, and moves the vehicle body unit 37 to the end of the aisle after reconnection based on the detection results of the detection unit 50, but one or more of these may be omitted.
  • the transport control unit 32 can perform these movements without using the detection results of the detection unit 50.
  • a position at a predetermined distance from the end of the aisle is set as the target position, and the process of moving the cart 12 from this target position to the end of the aisle is executed, but this is not particularly limited.
  • the transport control unit 32 may set the end of the aisle as the target position, execute a process of disconnecting the cart 12 at a position at a predetermined distance from the target position, move the car body unit 37 to the lower side of the cart 12 to reconnect it, and execute the edge-pulling process.
  • Figure 11 is a flowchart showing an example of another automatic movement process routine. Note that the same process as the routine in Figure 7 is given the same step number, and detailed description thereof is omitted.
  • the store PC 61 as a management device sets the target position of the edge-pulling transported object to the vicinity of the end of the aisle. Then, when the edge-pulling transported object is moved to the target position in S220, the transport control unit 32 determines whether or not it has reached a position at a predetermined distance from the target position (S400), and executes the edge-pulling process when it has reached the position at the predetermined distance (S260, S410).
  • This automatic moving device 30 can also set a target position to move the transported item to the end of the aisle.
  • the automatic moving device 30 has been described as transporting items inside the store 60, but is not limited to this and may also transport items inside a logistics center 20, a warehouse, or other commercial facilities such as an exhibition hall, sports facility, museum, science museum, zoo, or aquarium.
  • the wheels 41 of the automatic moving device 30 are Mecanum wheels or omni wheels, but they are not limited to this and may be normal wheels.
  • the present disclosure has been described as an automatic moving device 30, but is not particularly limited thereto, and may be a conveying system 10 or a control device 31. Furthermore, the present disclosure may be applied to a control method for the automatic moving device 30, or may be a program therefor, or may be a setting method or program therefor executed by one or more of the logistics PC 21, the store PC 61, and the management server 70 as management devices.
  • the control method of the automatic moving device of the present disclosure includes: A method for controlling an automatic moving device that transports an object, the automatic moving device comprising: a vehicle body including a drive unit; and a coupling unit that is disposed on the vehicle body and can be coupled to and decoupled from the object, the automatic moving device comprising: a step of moving the vehicle body to a position a predetermined distance from the end of the passage while connected to the article, releasing the connection with the article and moving the vehicle body so that the end of the vehicle body on the side of the passage end is positioned below the article, and then reconnecting the vehicle body to the article and controlling the connection unit and the drive unit to move the end of the vehicle body to the end of the passage; It includes.
  • the transported object can be moved closer to the end of the aisle, making it easier to pass through the aisle.
  • various aspects of the automatic moving device described above may be adopted, and steps may be added to realize each function of the automatic moving device described above.
  • the automatic moving device and the control method for the automatic moving device disclosed herein can be used in the technical field of distribution systems that transport goods.

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

An automatic moving device of the present disclosure is for conveying an object to be conveyed and comprises: a vehicle body including a drive unit; a coupling unit provided to the vehicle body and capable of coupling to and decoupling from the object to be conveyed; and a control unit that controls the coupling unit and the drive unit, such that the vehicle body, in a state of being coupled to the object to be conveyed, is moved to a position at a prescribed distance from an edge of a passage, is decoupled from the object to be conveyed and moved to a position where the end portion of the vehicle body on the passage edge side is located below the object to be conveyed, and thereafter, the vehicle body is coupled again to the object to be coupled and the end portion of the vehicle body is moved to the passage edge.

Description

自動移動装置及び自動移動装置の制御方法Automatic moving device and control method for automatic moving device
　本明細書は、自動移動装置及び自動移動装置の制御方法を開示する。 This specification discloses an automatic moving device and a method for controlling the automatic moving device.
　従来、搬送物を搬送するシステムにおいて、搬送ロボットが第１搬送路に沿って第１エリアに進入した場合に最初に通る配置位置である第１配置位置に搬送ロボットが荷物を降ろしたことを示す搬入情報を受け取ると、第１エリアが満杯状態であると判断し、満杯状態の判断結果に基づいて、荷物の第１エリアへの搬入の可否を判断するものが提案されている（例えば、特許文献１参照）。この搬送ロボットでは、搬送効率の向上を図ることができるとしている。 　Conventionally, a system for transporting transported items has been proposed that, upon receiving carry-in information indicating that the transport robot has unloaded a load at a first placement position, which is the first placement position the transport robot passes through when it enters the first area along the first transport path, determines that the first area is full, and determines whether or not the load can be brought into the first area based on the result of the fullness determination (see, for example, Patent Document 1). It is said that this transport robot can improve transport efficiency.
特開２０２２－１４６６９７号公報JP 2022-146697 A
　ところで、商業施設内などで利用される自動移動装置では、搬送先で、搬送物を荷下ろしするが、例えば、狭い通路に搬送物を荷下ろしすると、通行の妨げになることがあった。特許文献１に記載の自動移動装置では、荷下ろしするエリアが満杯状態であるかを判断し搬送効率を向上させるとしているが、通路をより通過しやすくすることが考慮されていなかった。 Incidentally, automatic transport devices used in commercial facilities and the like unload transported goods at their destinations, but for example, unloading the goods in a narrow passageway can cause obstructions to traffic. The automatic transport device described in Patent Document 1 is said to improve transport efficiency by determining whether the unloading area is full, but does not take into consideration making it easier to pass through the passageway.
　本開示は、このような課題を解決するためになされたものであり、通路をより通過しやすくすることができる自動移動装置及び自動移動装置の制御方法を提供することを主目的とする。 The present disclosure has been made to solve these problems, and has as its main objective the provision of an automatic moving device and a control method for an automatic moving device that can make it easier to pass through passageways.
　本開示は、上述の主目的を達成するために以下の手段を採った。 This disclosure takes the following steps to achieve the above-mentioned primary objective:
　本明細書で開示する自動移動装置は、
　搬送物を搬送する自動移動装置であって、
　駆動部を含む車体部と、
　前記車体部に配設され搬送物に連結及び連結解除可能な連結部と、
　前記搬送物に連結した状態で通路端から所定距離の位置へ前記車体部を移動し、該搬送物との連結を解除して前記車体部の前記通路端側の端部が前記搬送物の下方側に位置するよう前記車体部を移動したのち該搬送物に再度連結し、前記車体部の端部を前記通路端へ移動するよう前記連結部と前記駆動部とを制御する制御部と、
　を備えたものである。 The automated moving device disclosed in the present specification comprises:
An automatic moving device for transporting an object,
A vehicle body including a drive unit;
A coupling part that is disposed on the vehicle body and can be coupled to and decoupled from a transported object;
a control unit that controls the coupling unit and the drive unit to move the vehicle body unit to a position a predetermined distance from the end of the passage while connected to the article, release the connection with the article, move the vehicle body unit so that the end of the vehicle body unit on the side of the passage end is located below the article, and then reconnect the vehicle body unit to the article and move the end of the vehicle body unit to the end of the passage;
It is equipped with the following:
　この自動移動装置では、車体部の端部をより搬送物の端部側に引き込んだのち搬送物を通路端側に寄せるため、搬送物をより通路端側へ寄せることができる。このため、この自動移動装置では、通路をより通過しやすくすることができる。 In this automatic moving device, the end of the vehicle body is pulled closer to the end of the transported object, and then the transported object is moved closer to the end of the aisle. This makes it easier for the object to pass through the aisle.
搬送システム１０の一例を示す概略説明図。FIG. 1 is a schematic explanatory diagram showing an example of a transport system 10. 店舗６０の一例を示す説明図。FIG. 2 is an explanatory diagram showing an example of a store 60. 自動移動装置３０の一例を示す説明図。FIG. 2 is an explanatory diagram showing an example of an automatic moving device 30. 自動移動装置３０の一例を示す４面図。4A to 4D are views showing an example of an automatic moving device 30. 台車１２と接続した自動移動装置３０の３面図。3 is a three-view diagram of an automated moving device 30 connected to a carriage 12. FIG. 作業指令処理ルーチンの一例を示すフローチャート。5 is a flowchart showing an example of a work command processing routine. 自動移動処理ルーチンの一例を示すフローチャート。11 is a flowchart showing an example of an automatic movement processing routine. 通路端壁６８に障害物がある場合の一例を示す説明図。FIG. 13 is an explanatory diagram showing an example in which an obstacle is present on a passage end wall 68; 自動移動装置３０による端寄せ処理の一例を説明する側面図。11 is a side view illustrating an example of an edge moving process performed by the automatic moving device 30. FIG. 自動移動装置３０による端寄せ処理の一例を説明する平面図。FIG. 11 is a plan view illustrating an example of an edge pushing process performed by the automatic moving device 30. 別の自動移動処理ルーチンの一例を示すフローチャート。10 is a flowchart showing an example of another automatic movement processing routine.
　本開示の実施形態を、図面を用いて説明する。図１は、搬送システム１０の一例を示す概略説明図である。図２は、店舗６０一例を示す説明図である。図３は、自動移動装置３０の一例を示す説明図である。図４は、自動移動装置３０の一例を示す４面図であり、図４Ａが平面図、図４Ｂが正面図、図４Ｃが側面図、図４Ｄが背面図、図４Ｅが連結部４２を上昇した側面図である。図５は、台車１２と接続した自動移動装置３０の３面図であり、図５Ａが平面図、図５Ｂが正面図、図５Ｃが側面図である。 Embodiments of the present disclosure will be described with reference to the drawings. FIG. 1 is a schematic explanatory diagram showing an example of a conveying system 10. FIG. 2 is an explanatory diagram showing an example of a store 60. FIG. 3 is an explanatory diagram showing an example of an automatic moving device 30. FIG. 4 is a four-sided view showing an example of an automatic moving device 30, where FIG. 4A is a plan view, FIG. 4B is a front view, FIG. 4C is a side view, FIG. 4D is a rear view, and FIG. 4E is a side view with the connecting portion 42 raised. FIG. 5 is a three-sided view of the automatic moving device 30 connected to a cart 12, where FIG. 5A is a plan view, FIG. 5B is a front view, and FIG. 5C is a side view.
　搬送システム１０は、搬送物としての物品を特定空間内で自動移動する自動移動装置３０を有し、この物品を搬送する処理を行うシステムである。この搬送システム１０は、物品の搬送を、台車１２を利用して行うものを一例として説明するが、特にこれに限定せず、台車１２を省略したり、他の構成物を用いたりするものとしてもよい。ここで、「物品」としては、搬送するものであれば特に限定されず、例えば、機械や装置、装置のユニット、部品などを含む産業品や、一般に日用的に用いられる生活用品、食品や生鮮品などが挙げられる。また、「配送元」や「配送先」としては、例えば、物品を集積、配送する物流センター２０や物品を保管する倉庫、物品を販売する店舗６０などが挙げられる。ここでは、説明の便宜のため、搬送システム１０のうち、配送先としての店舗６０で物品を移動する自動移動装置３０について、主として説明する。 The transport system 10 has an automatic moving device 30 that automatically moves items as transported objects within a specific space, and is a system that performs the process of transporting these items. The transport system 10 will be described as an example in which the transport of items is performed using a cart 12, but this is not limited to this, and the cart 12 may be omitted or other components may be used. Here, the "item" is not particularly limited as long as it is something to be transported, and examples include industrial products including machines, devices, device units, and parts, household goods that are generally used daily, food, and fresh produce. In addition, examples of the "delivery source" and "delivery destination" include a logistics center 20 that accumulates and delivers items, a warehouse that stores items, and a store 60 that sells items. Here, for ease of explanation, the automatic moving device 30 that moves items at the store 60 as the delivery destination of the transport system 10 will be mainly described.
　搬送システム１０は、図１に示すように、物流ＰＣ２１と、店舗ＰＣ６１と、自動移動装置３０と、管理サーバ７０とを含んで構成されている。台車１２は、物品の搬送に用いられる搬送物であり、図１、５に示すように、載置部１３とキャスター１４とを備えている。載置部１３は、物品を積載する平板状の部材である。キャスター１４は、台車１２を走行させる車輪を有し、載置部１３の下面側に配設されている。この台車１２は、かご台車としてもよい。配送車１８は、１以上の台車１２を積載して物品を配送する車両である。配送車１８は、物流センター２０で台車１２を荷室に積載して配送先へ物品を配送し、空の台車１２を物流センター２０へ返却する。 As shown in FIG. 1, the transport system 10 includes a logistics PC 21, a store PC 61, an automatic moving device 30, and a management server 70. The trolley 12 is a transport object used to transport goods, and is equipped with a placement section 13 and casters 14 as shown in FIGS. 1 and 5. The placement section 13 is a flat plate-shaped member on which goods are loaded. The casters 14 have wheels that allow the trolley 12 to travel, and are disposed on the underside of the placement section 13. This trolley 12 may be a basket trolley. The delivery vehicle 18 is a vehicle that loads one or more trolleys 12 and delivers goods. The delivery vehicle 18 loads the trolleys 12 in its cargo compartment at the logistics center 20, delivers the goods to the delivery destination, and returns the empty trolley 12 to the logistics center 20.
　物流センター２０は、物品を集積し、各地の店舗６０や他の物流センター２０へ物品を配送する場所である。物流センター２０には、図１に示すように、１以上の自動移動装置３０を有しており、台車１２を自動移動することができる。この物流センター２０では、作業者や図示しないアームロボットなどが、配送先に応じた台車１２に物品を載せる作業を行う。自動移動装置３０は、配送先が特定されている台車１２を集積し、搬入、搬出する作業を行う。 The logistics center 20 is a place where goods are collected and distributed to stores 60 in various locations or to other logistics centers 20. As shown in FIG. 1, the logistics center 20 has one or more automatic moving devices 30, which can automatically move the carts 12. At this logistics center 20, workers or arm robots (not shown) perform the task of loading goods onto the carts 12 according to the delivery destination. The automatic moving devices 30 collect the carts 12 with specified delivery destinations and carry them in and out.
　物流ＰＣ２１は、物流センター２０に配設され、物流センター２０での商品管理や自動移動装置３０の管理などを行う制御装置として構成されている。この物流ＰＣ２１は、制御部２２と、記憶部２３と、通信部２７とを備えている。制御部２２は、ＣＰＵを有し、装置全体の制御を司る。記憶部２３は、各種アプリケーションプログラムや各種データファイルを記憶する。記憶部２３には、マップ情報２４や、搬送管理情報２５などが記憶されている。マップ情報２４は、物流センター２０のマップの情報である。搬送管理情報２５は、物品の搬送を実行するのに用いられるジョブを管理する情報であり、物品の種別、重量、サイズのほか、初期位置や移動後の搬送位置などの情報が含まれている。通信部２７は、自動移動装置３０などの外部機器と無線で通信を行う。通信部２７は、ネットワーク１５を介して管理サーバ７０や店舗ＰＣ６１と情報のやりとりを行う。 The logistics PC 21 is installed in the logistics center 20 and is configured as a control device that manages products at the logistics center 20 and manages the automatic moving device 30. The logistics PC 21 is equipped with a control unit 22, a storage unit 23, and a communication unit 27. The control unit 22 has a CPU and controls the entire device. The storage unit 23 stores various application programs and various data files. The storage unit 23 stores map information 24, transport management information 25, and the like. The map information 24 is information on the map of the logistics center 20. The transport management information 25 is information that manages jobs used to transport items, and includes information on the type, weight, and size of the item, as well as the initial position and the transport position after movement. The communication unit 27 wirelessly communicates with external devices such as the automatic moving device 30. The communication unit 27 exchanges information with the management server 70 and the store PC 61 via the network 15.
　自動移動装置３０は、図２～４に示すように、搬送物としての台車１２を自動移動する車両である。この自動移動装置３０は、台車１２の載置部１３の下面側においてキャスター１４の間の空間に潜り込み、載置部１３を下方から持ち上げて積載するか、載置部１３に係止して牽引するように台車１２に連結し、台車１２を移動させる。この自動移動装置３０は、路面や壁面などに形成されたラインに沿って移動するＡＧＶ（Automatic Guided Vehicle）としてもよいし、周囲を検知して自由なルートで移動するＡＭＲ（Autonomous Mobile Robot）としてもよい。自動移動装置３０は、図３に示すように、制御装置３１と、車体部３７と、昇降部３８と、通信部３９と、駆動部４０と、連結部４２と、検出部５０と、照明部５６とを備える。 As shown in Figs. 2 to 4, the automatic moving device 30 is a vehicle that automatically moves a cart 12 as a transported object. The automatic moving device 30 slides into the space between the casters 14 on the underside of the mounting part 13 of the cart 12, and either lifts the mounting part 13 from below to load it, or engages with the mounting part 13 and connects to the cart 12 so as to tow it, and moves the cart 12. The automatic moving device 30 may be an AGV (Automatic Guided Vehicle) that moves along a line formed on a road surface or a wall surface, or an AMR (Autonomous Mobile Robot) that detects the surroundings and moves along a free route. As shown in Fig. 3, the automatic moving device 30 includes a control device 31, a vehicle body part 37, a lifting part 38, a communication part 39, a drive part 40, a connection part 42, a detection part 50, and a lighting part 56.
　制御装置３１は、自動移動装置３０の装置全体を制御するコントローラであり、ＣＰＵなどの搬送制御部３２と、フラッシュメモリなどの記憶部３３とを備える。この搬送制御部３２は、昇降部３８や駆動部４０、通信部３９、検出部５０へ制御信号などを出力すると共に、通信部３９や検出部５０からの信号を入力する。搬送制御部３２は、昇降部３８を制御することによって連結部４２を制御する。搬送制御部３２は、駆動部４０の駆動状態などに基づいて自動移動装置３０の移動方向や移動距離、現在位置などを把握する。搬送制御部３２は、検出部５０からの情報に基づいて、自動移動装置３０の移動や停止を制御する。記憶部３３は、各種アプリケーションプログラムや各種データファイルを記憶する。記憶部３３には、例えば、マップ情報３４や搬送情報３５などが記憶されている。マップ情報３４は、例えば、利用されるのが物流センター２０ではそのマップであり、利用されるのが店舗６０であればそのマップの情報である。搬送情報３５は、物品の搬送を実行するのに用いられるジョブ情報であり、物品の種別、重量、サイズのほか、初期位置や移動先の目標位置、移動経路、端寄せ処理の実行の有無などの情報が含まれている。マップ情報３４や搬送情報３５は、物流ＰＣ２１や店舗ＰＣ６１、管理サーバ７０などから通信で取得する。 The control device 31 is a controller that controls the entire automatic moving device 30, and includes a transport control unit 32 such as a CPU, and a storage unit 33 such as a flash memory. The transport control unit 32 outputs control signals to the lifting unit 38, the driving unit 40, the communication unit 39, and the detection unit 50, and inputs signals from the communication unit 39 and the detection unit 50. The transport control unit 32 controls the connection unit 42 by controlling the lifting unit 38. The transport control unit 32 grasps the moving direction, moving distance, and current position of the automatic moving device 30 based on the driving state of the driving unit 40. The transport control unit 32 controls the movement and stopping of the automatic moving device 30 based on information from the detection unit 50. The storage unit 33 stores various application programs and various data files. The storage unit 33 stores, for example, map information 34 and transport information 35. The map information 34 is, for example, the map when the logistics center 20 is used, and the map information when the store 60 is used. The transport information 35 is job information used to transport items, and includes information such as the type, weight, and size of the item, as well as the initial position, the destination position, the travel route, and whether or not edge gathering processing is performed. The map information 34 and transport information 35 are obtained by communication from the logistics PC 21, the store PC 61, the management server 70, etc.
　車体部３７は、台車１２の下面に入り込む平板状の筐体であり、下面側に車輪４１が配設され、上面側に連結部４２が配設されており、走行する。車体部３７の内部には、制御装置３１や通信部３９、駆動部４０、電力部４５などが収容されている。車体部３７の外面には、検出部５０が配設されている。この車体部３７は、例えば、台車１２に入り込む方向に沿った長さＬｂが台車１２の長さＬｃに比して長いものとしてもよい（図５Ａ参照）。このため、車体部３７は、台車１２に連結して移動する際に、台車１２の端部から外側に突出することがある。通信部３９は、物流ＰＣ２１や店舗ＰＣ６１などの外部機器と無線で情報のやりとりを行うインターフェイスである。搬送制御部３２は、通信部３９を介して外部機器と情報のやりとりを行う。 The vehicle body 37 is a flat housing that fits under the cart 12, with wheels 41 on the underside and a coupling 42 on the upper side, and travels. The vehicle body 37 houses the control device 31, communication unit 39, drive unit 40, power unit 45, and other components. The detection unit 50 is disposed on the outer surface of the vehicle body 37. For example, the length Lb of the vehicle body 37 along the direction in which it fits into the cart 12 may be longer than the length Lc of the cart 12 (see FIG. 5A). For this reason, the vehicle body 37 may protrude outward from the end of the cart 12 when it is coupled to the cart 12 and travels. The communication unit 39 is an interface that wirelessly exchanges information with external devices such as the logistics PC 21 and the store PC 61. The transport control unit 32 exchanges information with external devices via the communication unit 39.
　駆動部４０は、車体部３７が有するそれぞれの車輪４１に接続され、接続された車輪４１を回転駆動することにより自動移動装置３０を走行駆動するモータである。自動移動装置３０は、４輪の車輪４１を有しており、車輪４１の回転駆動によって移動する。車輪４１は、４輪の独立駆動で縦横に移動可能なメカナムホイール又はオムニホイールであるものとしてもよい。 The drive unit 40 is a motor that is connected to each wheel 41 of the vehicle body 37 and drives the automatic moving device 30 to move by rotating the connected wheels 41. The automatic moving device 30 has four wheels 41 and moves by the rotational drive of the wheels 41. The wheels 41 may be Mecanum wheels or omni wheels that can move vertically and horizontally with four independently driven wheels.
　連結部４２は、車体部３７の上面に配設され、昇降することにより、搬送物としての台車１２と連結及び連結解除可能なユニットである。この連結部４２は、台車１２を積載又は台車１２に係合して台車１２を移動する構造体である。連結部４２は、例えば、台車１２の載置部１３を持ち上げた積載状態で台車１２を移動する積載部材４３と、載置部１３に係止して台車１２を牽引する係合部材４４と、を有する。積載部材４３は、移動対象物の下面を押し上げる平板状の部材であり、車体部３７の上面側方に１枚ずつ昇降可能に配設されている。係合部材４４は、複数のピン状部材であり、上面側から負荷がかかるとバネにより下降するように構成されている。係合部材４４は、車体部３７の上面の４隅に配設されると共に、積載部材４３の中央の貫通孔に挿入されるように配設されている。昇降部３８は、連結部４２を昇降する駆動部であり、積載部材４３と係合部材４４とを昇降する。連結部４２は、車体部３７の長さＬｂよりも短い長さＬｃを有する台車１２を連結可能である。 The connecting portion 42 is a unit that is disposed on the upper surface of the vehicle body portion 37 and can be connected and disconnected to the trolley 12 as a transported object by raising and lowering. This connecting portion 42 is a structure that loads the trolley 12 or engages with the trolley 12 to move the trolley 12. The connecting portion 42 has, for example, a loading member 43 that moves the trolley 12 in a loaded state with the placement portion 13 of the trolley 12 raised, and an engaging member 44 that engages with the placement portion 13 and pulls the trolley 12. The loading members 43 are flat members that push up the underside of the object to be moved, and are disposed on the upper side of the vehicle body portion 37 one by one so that they can be raised and lowered. The engaging members 44 are multiple pin-shaped members that are configured to descend by a spring when a load is applied from the upper side. The engaging members 44 are disposed at the four corners of the upper surface of the vehicle body portion 37 and are disposed so as to be inserted into a through hole in the center of the loading member 43. The lifting unit 38 is a drive unit that lifts and lowers the connecting unit 42, and lifts and lowers the loading member 43 and the engagement member 44. The connecting unit 42 can connect to a dolly 12 that has a length Lc that is shorter than the length Lb of the vehicle body unit 37.
　検出部５０は、車体部３７に配設され、自動移動装置３０の状態や自動移動装置３０の周囲の少なくとも一部に存在する物体やその距離を検出するものである。検出部５０は、例えば、レーザなどの光や音波などを周囲に照射し、反射波を検出することによって物体の存在やその距離などを検出するものとしてもよい。検出部５０は、例えば、慣性計測ユニット、レーザスキャンセンサ、撮像カメラ、ステレオカメラ、及びソナーセンサのうち１以上であるものとしてもよい。検出部５０は、第１～第５検出部５１～５５を含んで構成される。第１検出器５１は、車両の正面に配設されたステレオカメラであるものとしてもよい。第２検出器５２、第３検出器５３、第４検出器５４、第５検出器５５は、車体部３７の正面や側面、背面に配設されたＬｉＤＡＲ（light detection and ranging）であるものとしてもよい。また、検出部５０には、図示しないジャイロセンサ及び加速度センサを含み、自動移動装置３０は、自己の車体の傾きや加速度を検出する慣性計測ユニット（ＩＭＵ：Inertial Measurement Unit）を備えるものとしてもよい。検出部５０では、第１検出器５１によって、車体部３７の周囲にある物体の検出を行うことができる。照明部５６は、周囲に光を照らすＬＥＤライトである。 The detection unit 50 is disposed in the vehicle body 37 and detects the state of the automatic moving device 30 and objects present in at least a portion of the periphery of the automatic moving device 30 and their distance. The detection unit 50 may detect the presence and distance of an object by, for example, irradiating the surroundings with light such as a laser or sound waves and detecting reflected waves. The detection unit 50 may be, for example, one or more of an inertial measurement unit, a laser scan sensor, an imaging camera, a stereo camera, and a sonar sensor. The detection unit 50 is configured to include first to fifth detection units 51 to 55. The first detector 51 may be a stereo camera disposed in front of the vehicle. The second detector 52, the third detector 53, the fourth detector 54, and the fifth detector 55 may be LiDAR (light detection and ranging) disposed in the front, side, or back of the vehicle body 37. The detection unit 50 may also include a gyro sensor and an acceleration sensor (not shown), and the automatic mobile device 30 may be equipped with an inertial measurement unit (IMU) that detects the inclination and acceleration of its own body. In the detection unit 50, the first detector 51 can detect objects around the body unit 37. The lighting unit 56 is an LED light that shines light on the surroundings.
　店舗６０は、図１に示すように、搬送された物品を陳列して販売する。店舗６０は、１以上の自動移動装置３０を有しており、台車１２を自動移動することができる。店舗６０は、台車１２が通過する路面と、物品を陳列する陳列棚６９とを有している。陳列棚６９は、自動移動装置３０の通行を妨げる通路端壁６８ともなる。店舗ＰＣ６１は、店舗６０に配設され、店舗６０での商品管理などを行う制御装置として構成されている。この店舗ＰＣ６１は、制御部６２と、記憶部６３と、通信部６７とを備えている。制御部６２は、ＣＰＵを有し、装置全体の制御を司る。記憶部６３は、各種アプリケーションプログラムや各種データファイルを記憶する。記憶部６３には、店舗６０のマップ情報６４や自動移動装置３０により搬送する搬送物のジョブを管理する情報を含む搬送管理情報６５などが記憶されている。搬送管理情報６５は、物品の搬送を実行するのに用いられるジョブを管理する情報であり、物品の種別、重量、サイズのほか、初期位置や移動後の搬送位置などの情報が含まれている。 As shown in FIG. 1, the store 60 displays and sells the transported items. The store 60 has one or more automatic moving devices 30 and can automatically move the trolleys 12. The store 60 has a road surface along which the trolleys 12 pass and display shelves 69 on which the items are displayed. The display shelves 69 also serve as passage end walls 68 that obstruct the passage of the automatic moving devices 30. The store PC 61 is disposed in the store 60 and is configured as a control device that performs product management and the like in the store 60. This store PC 61 has a control unit 62, a memory unit 63, and a communication unit 67. The control unit 62 has a CPU and is responsible for controlling the entire device. The memory unit 63 stores various application programs and various data files. The memory unit 63 stores map information 64 of the store 60 and transport management information 65 including information for managing jobs of transported items transported by the automatic moving devices 30. Transport management information 65 is information that manages jobs used to transport items, and includes information such as the type, weight, and size of the item, as well as the initial position and the transport position after movement.
　管理サーバ７０は、搬送システム１０の管理を行う装置である。この管理サーバ７０は、制御部７２と、記憶部７３と、通信部７７とを備えている。記憶部７３には、物流センター２０や店舗６０のマップのデータベースであるマップ情報７４や、物品の搬送を管理するのに用いられるデータベースである搬送管理情報７５などが記憶される。通信部７７は、ネットワーク１５を介して物流ＰＣ２１や店舗ＰＣ６１などの外部機器と情報のやりとりを行うものである。制御部７２は、物流ＰＣ２１や店舗ＰＣ６１からの要求に基づいて、マップ情報７４や搬送管理情報７５を通信部７７を介して送信する。 The management server 70 is a device that manages the transportation system 10. This management server 70 is equipped with a control unit 72, a memory unit 73, and a communication unit 77. The memory unit 73 stores map information 74, which is a database of maps of the logistics center 20 and the stores 60, and transportation management information 75, which is a database used to manage the transportation of goods. The communication unit 77 exchanges information with external devices such as the logistics PC 21 and the store PC 61 via the network 15. The control unit 72 transmits the map information 74 and the transportation management information 75 via the communication unit 77 based on requests from the logistics PC 21 and the store PC 61.
　次に、このように構成された搬送システム１０において、自動移動装置３０が特定空間内で行う作業内容を設定する処理について説明する。ここでは、搬送システム１０において、店舗６０にて店舗ＰＣ６１が自動移動装置３０の移動経路を定め、ＡＭＲとして機能する自動移動装置３０が店舗内を移動する処理を具体例の一例として説明する。図６は、店舗ＰＣ６１の制御部６２が実行する作業指令処理ルーチンの一例を示すフローチャートである。このルーチンは、記憶部６３に記憶され、店舗ＰＣ６１が起動されたあと所定間隔で繰り返し実行される。このルーチンを開始すると、まず、店舗ＰＣ６１の制御部６２は、自動移動装置３０が搬送物を搬送先へ移動する際に利用する搬送情報３５を設定するタイミングであるか否かを判定する（Ｓ１００）。このタイミングは、例えば、配送車１８による物品の搬入より十分前の時間に設定することができる。搬送情報３５の設定タイミングでないときには、制御部６２は、そのままこのルーチンを終了する。一方、搬送情報３５の設定タイミングであるときには、制御部６２は、マップ情報６４および搬送管理情報６５を記憶部６３から読み出して取得し（Ｓ１１０）、今回設定する搬送物を選択する（Ｓ１２０）。 Next, a process for setting the work content to be performed by the automatic moving device 30 in a specific space in the transport system 10 configured as above will be described. Here, a process in which the store PC 61 in the store 60 determines the movement route of the automatic moving device 30 in the transport system 10 and the automatic moving device 30 functioning as an AMR moves within the store will be described as a specific example. FIG. 6 is a flowchart showing an example of a work command processing routine executed by the control unit 62 of the store PC 61. This routine is stored in the storage unit 63 and is repeatedly executed at a predetermined interval after the store PC 61 is started. When this routine is started, first, the control unit 62 of the store PC 61 determines whether it is the timing to set the transport information 35 used by the automatic moving device 30 when moving the transported item to the destination (S100). This timing can be set, for example, to a time sufficiently before the delivery vehicle 18 carries in the goods. If it is not the timing to set the transport information 35, the control unit 62 ends this routine as it is. On the other hand, when it is time to set the transport information 35, the control unit 62 reads and acquires the map information 64 and transport management information 65 from the storage unit 63 (S110) and selects the transport item to be set this time (S120).
　次に、制御部６２は、選択された搬送物が通路端へ寄せておくべき端寄せ搬送物であるか否かを判定する（Ｓ１３０）。作業者は、例えば、その搬送物が通路端へ寄せておくものであるか、通路端へ寄せておかないものであるかを搬送管理情報６５に予め指定するものとしてもよい。あるいは、制御部６２は、マップ情報６４をもとに、その搬送物の目標位置の通路幅などを取得し、搬送物を配置すると、通行の妨げになるか否か、あるいは、配置位置より先への通行が不要であるか否かなどに基づいてＳ１３０の判定を行うものとしてもよい。制御部６２は、台車１２を配置する目標位置の通路幅が所定値以上では台車１２を端寄せせず、所定値未満では台車１２を端寄せすると判定するものとしてもよい。 Next, the control unit 62 determines whether the selected transported object is an edge-adjusted transported object that should be moved to the aisle edge (S130). For example, the worker may specify in advance in the transport management information 65 whether the transported object is to be moved to the aisle edge or not. Alternatively, the control unit 62 may obtain the aisle width of the target position of the transported object based on the map information 64, and make the determination in S130 based on whether placing the transported object will obstruct passage or whether passage beyond the placement position is unnecessary. The control unit 62 may determine not to move the trolley 12 to the edge if the aisle width of the target position where the trolley 12 is to be placed is a predetermined value or more, and to move the trolley 12 to the edge if it is less than the predetermined value.
　選択されたものが端寄せ搬送物でないときには、制御部６２は、搬送管理情報６５に設定されている搬送先の位置を目標位置に設定する（Ｓ１４０）。一方、選択されたものが端寄せ搬送物であるときには、制御部６２は、搬送管理情報６５に設定された搬送先の位置である、通路端から所定距離の位置に目標位置を設定する（Ｓ１５０）。即ち、制御部６２は、搬送物を通路端から所定距離の目標位置に移動したのち、通路端へ端寄せ処理を行うものとする。 When the selected item is not an edge-aligned transport item, the control unit 62 sets the destination position set in the transport management information 65 as the target position (S140). On the other hand, when the selected item is an edge-aligned transport item, the control unit 62 sets the target position to a position a predetermined distance from the end of the aisle, which is the destination position set in the transport management information 65 (S150). In other words, the control unit 62 moves the transport item to the target position a predetermined distance from the end of the aisle, and then performs edge-alignment processing to the end of the aisle.
　Ｓ１５０のあと、またはＳ１４０のあと、制御部６２は、マップ情報６４を利用し、初期位置と目標位置とから移動経路を設定する（Ｓ１６０）。制御部６２は、できるだけ移動距離が短くなるような移動経路を設定するものとしてもよい。このとき、制御部６２は、通路幅がより広い通路や、他の搬送物の搬送位置に基づいて他の搬送物が配置されない通路を優先的に選択するものとしてもよい。続いて、制御部６２は、未設定の搬送物があるか否かを搬送管理情報６５に基づいて判定し（Ｓ１７０）、未設定の搬送物があるときには、Ｓ１２０以降の処理を繰り返し実行する。即ち、制御部６２は、搬送物を選択し、目標位置及び移動経路を設定する。一方、Ｓ１７０で全ての搬送物の設定が完了したときには、制御部６２は、設定した内容を搬送情報３５として自動移動装置３０へ出力し（Ｓ１８０）、このルーチンを終了する。搬送情報３５を受けた自動移動装置３０は、その実行タイミングに至ると、搬送物の移動処理を実行する。 After S150 or S140, the control unit 62 uses the map information 64 to set a movement route from the initial position and the target position (S160). The control unit 62 may set a movement route that minimizes the movement distance. At this time, the control unit 62 may preferentially select an aisle with a wider passage width or an aisle where other transported objects are not placed based on the transport positions of other transported objects. Next, the control unit 62 determines whether there is an unset transported object based on the transport management information 65 (S170), and if there is an unset transported object, repeats the processing from S120 onwards. That is, the control unit 62 selects the transported object and sets the target position and the movement route. On the other hand, when the setting of all transported objects is completed in S170, the control unit 62 outputs the set contents to the automatic moving device 30 as transport information 35 (S180) and ends this routine. The automatic moving device 30 that has received the transport information 35 executes the movement processing of the transported object when it reaches the execution timing.
　次に、自動移動装置３０の制御装置３１による処理について説明する。図７は、自動移動装置３０の制御装置３１が実行する自動移動処理ルーチンの一例を示すフローチャートである。このルーチンは、記憶部３３に記憶され、自動移動装置３０が起動されたあと搬送制御部３２によって所定間隔で繰り返し実行される。このルーチンを開始すると、まず、制御装置３１の搬送制御部３２は、マップ情報３４及び搬送情報３５を記憶部３３から読み出して取得する（Ｓ２００）。次に、搬送制御部３２は、今回搬送すべき搬送物である台車１２の初期位置へ移動し、台車１２に連結する処理を実行する（Ｓ２１０）。具体的には、搬送制御部３２は、台車１２を検出部５０により検出し、その下部に車体部３７が入り込み、台車１２の中央と車体部３７の中央とが合う連結位置へ移動させ、連結部４２を昇降部３８により上昇させて載置部１３に係合部材４４を係合させる。搬送制御部３２は、検出部５０の各センサを用い、例えば、キャスター１４の位置を取得して連結位置を確認するものとしてもよい。 Next, the processing by the control device 31 of the automatic moving device 30 will be described. FIG. 7 is a flowchart showing an example of an automatic moving processing routine executed by the control device 31 of the automatic moving device 30. This routine is stored in the memory unit 33, and is repeatedly executed at a predetermined interval by the transport control unit 32 after the automatic moving device 30 is started. When this routine is started, first, the transport control unit 32 of the control device 31 reads and acquires the map information 34 and transport information 35 from the memory unit 33 (S200). Next, the transport control unit 32 moves to the initial position of the cart 12, which is the transported object to be transported this time, and executes a process of connecting to the cart 12 (S210). Specifically, the transport control unit 32 detects the cart 12 by the detection unit 50, moves the cart 12 to the lower part thereof, moves the cart 12 to the connecting position where the center of the cart 12 and the center of the cart 12 are aligned, and raises the connecting unit 42 by the lifting unit 38 to engage the engaging member 44 with the placement unit 13. The transport control unit 32 may use each sensor of the detection unit 50 to, for example, obtain the position of the caster 14 and confirm the connection position.
　次に、搬送制御部３２は、移動経路に沿って目標位置へ車体部３７が移動するよう駆動部４０を駆動制御する（Ｓ２２０）。このとき、搬送制御部３２は、検出部５０を用い、周囲に障害物がある場合は、障害物に接触しないよう移動経路を修正しながら、目標位置へ車体部３７を移動させる。次に、搬送制御部３２は、車体部３７が目標位置へ到着したか否かを判定し（Ｓ２３０）、目標位置へ到着していないときには、Ｓ２２０以降の処理を実行する。一方、Ｓ２３０で車体部３７が目標値へ到着したときには、搬送制御部３２は、連結しているものが端寄せ搬送物であるか否かを搬送情報３５に設定されている情報に基づいて判定する（Ｓ２４０）。連結しているものが端寄せ搬送物でないときには、この台車１２の搬送が終了したものとして、連結部４２を下降させ、連結を解除する（Ｓ２８０）。 Next, the transport control unit 32 controls the drive unit 40 so that the vehicle body unit 37 moves to the target position along the movement path (S220). At this time, the transport control unit 32 uses the detection unit 50 to move the vehicle body unit 37 to the target position while correcting the movement path so as not to come into contact with the obstacle if there is an obstacle nearby. Next, the transport control unit 32 determines whether the vehicle body unit 37 has reached the target position (S230), and if it has not reached the target position, executes the processing from S220 onwards. On the other hand, when the vehicle body unit 37 has reached the target position in S230, the transport control unit 32 determines whether the connected object is an edge-shifted transport object based on the information set in the transport information 35 (S240). If the connected object is not an edge-shifted transport object, it is determined that the transport of this cart 12 has ended, and the coupling unit 42 is lowered and the coupling is released (S280).
　一方、Ｓ２４０において、連結しているものが端寄せ搬送物であるときには、搬送制御部３２は、通路端壁６８側に障害物があるか否かを検出部５０の検出結果に基づいて判定する（Ｓ２５０）。なお、搬送制御部３２は、第２センサ５２などを用い、台車１２の上方に障害物が突出していないかについても、検出する。図８は、通路端壁６８に障害物がある場合の一例を示す説明図である。図８に示すように、障害物が通路端壁６８との間にあるときには、搬送制御部３２は、端寄せ処理を実行すると台車１２が障害物に接触する可能性があるものとして、端寄せ処理の全体を中断し、Ｓ２８０で連結を解除させ、この台車１２の搬送処理を終了する。なお、搬送制御部３２は、台車１２の通路端壁６８側への端寄せ処理中にＳ２５０の処理を行い、障害物を検出した場合、この端寄せ処理を途中で中断するものとしてもよい。 On the other hand, in S240, when the connected object is an edge-pulling transport object, the transport control unit 32 judges whether or not there is an obstacle on the passage end wall 68 side based on the detection result of the detection unit 50 (S250). The transport control unit 32 also detects whether or not there is an obstacle protruding above the cart 12 using the second sensor 52 or the like. FIG. 8 is an explanatory diagram showing an example of a case where an obstacle is present on the passage end wall 68. As shown in FIG. 8, when an obstacle is present between the cart 12 and the passage end wall 68, the transport control unit 32 determines that there is a possibility that the cart 12 will come into contact with the obstacle if the edge-pulling process is performed, and interrupts the entire edge-pulling process, releases the connection in S280, and ends the transport process of the cart 12. The transport control unit 32 may perform the process of S250 during the edge-pulling process of the cart 12 to the passage end wall 68 side, and interrupt the edge-pulling process midway if an obstacle is detected.
　一方、Ｓ２５０で通路端壁６８側に障害物がないときには、搬送制御部３２は、Ｓ２６０～Ｓ２７０の端寄せ処理を実行する。図９は、自動移動装置３０による端寄せ処理の一例を説明する側面図であり、図９Ａが目標位置へ到達し連結解除する図、図９Ｂが車体部３７の端部を搬送物の下方に位置するよう移動し再連結する図、図９Ｃが通路端壁６８へ端寄せを行い連結解除する図、図９Ｄが搬送終了し車体部３７を移動する図である。図１０は、自動移動装置３０による端寄せ処理の一例を説明する平面図であり、図１０Ａが目標位置へ到達し連結解除する図、図１０Ｂが車体部３７の端部を搬送物の下方に位置するよう移動し再連結する図、図１０Ｃが通路端壁６８へ端寄せを行い連結解除したのち搬送終了し車体部３７を移動する図である。 On the other hand, when there is no obstacle on the side of the passage end wall 68 in S250, the transport control unit 32 executes the edge-pulling process of S260 to S270. FIG. 9 is a side view explaining an example of the edge-pulling process by the automatic moving device 30, in which FIG. 9A shows the target position being reached and the connection being released, FIG. 9B shows the end of the vehicle body 37 being moved so as to be positioned below the transported object and reconnected, FIG. 9C shows the edge being pushed to the passage end wall 68 and the connection being released, and FIG. 9D shows the end of the vehicle body 37 being moved after transport is completed. FIG. 10 is a plan view explaining an example of the edge-pulling process by the automatic moving device 30, in which FIG. 10A shows the target position being reached and the connection being released, FIG. 10B shows the end of the vehicle body 37 being moved so as to be positioned below the transported object and reconnected, and FIG. 10C shows the end of the vehicle body 37 being pushed to the passage end wall 68, the connection being released, transport is completed, and transport is moved.
　搬送制御部３２は、台車１２に連結した状態で通路端から所定距離の目標位置へ車体部３７を移動し、台車１２が目標位置へ到着すると、台車１２との連結を解除し（図９Ａ，図１０Ａ）、車体部３７の通路端側の端部が台車１２の下方側に位置するよう車体部３７を移動させる（Ｓ２６０，図９Ｂ，図１０Ｂ）。台車１２を停車する際に、搬送制御部３２は、車体部３７と通路端壁６８との距離を測定するものとしてもよい。また、搬送制御部３２は、台車１２に再度連結する前に、車体部３７の端部が台車１２の端部と同等の位置になるか、又は、車体部３７の端部が台車１２の端部より内側の位置になるよう駆動部４０を制御する。搬送制御部３２は、通路端を検出する観点から、車体部３７の端部が台車１２の端部と同等の位置になるよう車体部３７を移動するのが好ましい。なお、搬送制御部３２は、車体部３７の端部が台車１２の下方中央くらいの位置まで車体部３７を移動するものとしてもよい。また、搬送制御部３２は、検出部５０を用いずに、車体部３７の先端が所望の位置に来るように所定距離を移動させるものとしてもよい。所定距離は、台車１２及び車体部３７の寸法から設定されるものとしてもよい。あるいは、搬送制御部３２は、例えば、検出部５０によりキャスター１４の位置などを確認して車体部３７を移動するものとしてもよい。更に、搬送制御部３２は、台車１２と連結部４２とを再度連結する際に、ずれを補正するために台車１２の底面やキャスター１４の位置を検出して位置を補正するものとしてもよい。 The transport control unit 32 moves the car body 37 to a target position at a predetermined distance from the end of the passage while connected to the cart 12, and when the cart 12 arrives at the target position, it releases the connection with the cart 12 (FIGS. 9A, 10A) and moves the car body 37 so that the end of the car body 37 on the side of the end of the passage is located below the cart 12 (S260, FIG. 9B, FIG. 10B). When stopping the cart 12, the transport control unit 32 may measure the distance between the car body 37 and the passage end wall 68. In addition, the transport control unit 32 controls the drive unit 40 so that the end of the car body 37 is in the same position as the end of the cart 12 or is in a position inside the end of the cart 12 before reconnecting to the cart 12. From the viewpoint of detecting the end of the passage, it is preferable for the transport control unit 32 to move the car body 37 so that the end of the car body 37 is in the same position as the end of the cart 12. The transport control unit 32 may move the vehicle body unit 37 until the end of the vehicle body unit 37 is located at approximately the center of the lower part of the dolly 12. The transport control unit 32 may also move the vehicle body unit 37 a predetermined distance so that the tip of the vehicle body unit 37 is located at a desired position without using the detection unit 50. The predetermined distance may be set based on the dimensions of the dolly 12 and the vehicle body unit 37. Alternatively, the transport control unit 32 may move the vehicle body unit 37 by checking the position of the caster 14, etc., using the detection unit 50, for example. Furthermore, the transport control unit 32 may detect the bottom surface of the dolly 12 and the position of the caster 14 to correct the misalignment when reconnecting the dolly 12 and the connection unit 42, and correct the position.
　次に、搬送制御部３２は、連結部４２を上昇させ、台車１２と再度連結させ、車体部３７の端部を通路端へ移動するよう連結部４２と駆動部４０とを制御する（Ｓ２７０、図９Ｃ、図１０Ｃ）。このとき、搬送制御部３２は、車体部３７の先端が通路端壁６８により近い位置に来るように所定距離を移動させるものとしてもよい。所定距離は、目標位置から通路端壁６８までの距離から設定されるものとしてもよい。あるいは、搬送制御部３２は、台車１２を壁際へ移動する際に、検出部５０により通路端壁６８の位置などを確認して車体部３７を移動するものとしてもよい。このとき、搬送制御部３２は、マップ情報３４と車体部３７の現在位置の情報とを用いるか、あるいは検出部５０での検出結果を用いることによって、台車１２と通路端壁６８とが平行になるように台車１２を移動するものとする。そして、搬送制御部３２は、Ｓ２８０で連結部４２を下降させ、台車１２との連結を解除させ、車体部３７を次の位置へ移動させる（図９Ｄ，図１０Ｃ）。このように、自動移動装置３０は、安定した移動ができる通常の連結状態（図９Ａ，図１０Ａ）では、台車１２よりも車体部３７が突出しており、そのまま端寄せ処理しても、この突出した長さだけ端寄せすることができない。ここでは、搬送制御部３２は、車体部３７の先端を台車１２の下方へ一旦移動させて再連結して台車１２を端寄せするため、台車１２をより通路端壁６８に近接させることができる。 Next, the transport control unit 32 raises the coupling unit 42, reconnects it to the cart 12, and controls the coupling unit 42 and the drive unit 40 to move the end of the cart 37 to the end of the passage (S270, Figures 9C and 10C). At this time, the transport control unit 32 may move the cart 37 a predetermined distance so that the tip of the cart 37 is closer to the passage end wall 68. The predetermined distance may be set from the distance from the target position to the passage end wall 68. Alternatively, when moving the cart 12 to the wall, the transport control unit 32 may check the position of the passage end wall 68, etc., using the detection unit 50 and move the cart 37. At this time, the transport control unit 32 uses the map information 34 and information on the current position of the cart 37, or the detection result by the detection unit 50, to move the cart 12 so that the cart 12 and the passage end wall 68 are parallel. Then, in S280, the transport control unit 32 lowers the coupling unit 42, releases the coupling from the cart 12, and moves the car body unit 37 to the next position (FIGS. 9D, 10C). Thus, in the normal coupled state (FIGS. 9A, 10A) in which the automatic moving device 30 can move stably, the car body unit 37 protrudes beyond the cart 12, and even if the edge-shifting process is performed in this state, the edge-shifting cannot be achieved by the amount of this protrusion. Here, the transport control unit 32 temporarily moves the tip of the car body unit 37 below the cart 12 and reconnects it to move the cart 12 closer to the passage end wall 68.
　Ｓ２８０のあと、搬送制御部３２は、次の搬送物があるか否かを判定し（Ｓ２９０）、次の搬送物があるときには、Ｓ２１０以降の処理を実行する。即ち、次の台車１２の初期位置へ移動して台車１２を連結したあと、目標位置へ台車１２を移動し、必要に応じて端寄せ処理を実行する。一方、Ｓ２９０で次の搬送物がないときには、搬送制御部３２は、所定の初期位置へ車体部３７を移動するよう駆動部４０を制御し（Ｓ３００）、このルーチンを終了する。所定の初期位置は、例えばバックヤードにある充電位置としてもよい。 After S280, the transport control unit 32 determines whether there is a next object to be transported (S290), and if there is, executes the processes from S210 onwards. That is, it moves to the initial position of the next cart 12 and connects the cart 12, then moves the cart 12 to the target position and executes edge alignment processing as necessary. On the other hand, if there is no next object to be transported in S290, the transport control unit 32 controls the drive unit 40 to move the vehicle body unit 37 to a predetermined initial position (S300), and ends this routine. The predetermined initial position may be, for example, a charging position in the back yard.
　店舗６０などでは、商品を陳列棚６９に陳列する前に台車１２に載せて陳列棚６９の前に搬送する。台車１２を搬送する際に、狭い通路などでは、台車１２によって通路がふさがれてしまい、作業者や自動移動装置３０が通行できない場合が生じる。また、自動移動装置３０で台車１２を搬送する場合、台車１２の端部から自動移動装置３０の端部が突出することがあり、十分に通路端へ台車１２を寄せることができないことがある。この自動移動装置３０では、一旦、通路端から所定距離の位置に台車１２を停止させ、突出した車体部３７の端部をなくした状態に連結し直して、台車１２を通路端へ寄せる処理を行う。したがって、この自動移動装置３０では、そのまま台車１２を通路端へ寄せる場合に比して、台車１２をより通路端側へ寄せることができる。このため、この自動移動装置３０では、作業者が台車１２を通路端へ寄せるようなことを要せず、通路の通行を確保することができる。そして、この自動移動装置３０では、不要な迂回をより抑制することによって、作業効率などをより高めることができる。 In a store 60, before displaying products on a display shelf 69, the products are loaded onto a trolley 12 and transported to the front of the display shelf 69. When transporting the trolley 12, in a narrow passageway, the trolley 12 may block the passageway, preventing workers and the automatic moving device 30 from passing through. In addition, when the trolley 12 is transported by the automatic moving device 30, the end of the automatic moving device 30 may protrude from the end of the trolley 12, and the trolley 12 may not be able to move sufficiently close to the end of the passageway. In this automatic moving device 30, the trolley 12 is temporarily stopped at a position a predetermined distance from the end of the passageway, and the protruding end of the body part 37 is reconnected to eliminate it, and the trolley 12 is moved to the end of the passageway. Therefore, in this automatic moving device 30, the trolley 12 can be moved closer to the end of the passageway than when the trolley 12 is moved to the end of the passageway as it is. Therefore, with this automatic moving device 30, the worker does not need to move the cart 12 to the side of the aisle, and the passage of the aisle can be ensured. And with this automatic moving device 30, unnecessary detours are further suppressed, which can further improve work efficiency, etc.
　ここで、本実施形態の構成要素と本開示の構成要素との対応関係を明らかにする。本実施形態の自動移動装置３０が本開示の自動移動装置の一例であり、搬送制御部３２が制御部の一例であり、車体部３７が車体部の一例であり、駆動部４０が駆動部の一例であり、連結部４２が連結部の一例であり、検出部５０が検出部の一例である。なお、本実施形態では、自動移動装置３０の動作を説明することにより、本開示の自動移動装置３０の制御方法の一例も明らかにしている。 Here, the correspondence between the components of this embodiment and the components of this disclosure will be clarified. The automatic moving device 30 of this embodiment is an example of an automatic moving device of this disclosure, the transport control unit 32 is an example of a control unit, the vehicle body unit 37 is an example of a vehicle body unit, the drive unit 40 is an example of a drive unit, the connection unit 42 is an example of a connection unit, and the detection unit 50 is an example of a detection unit. Note that in this embodiment, by explaining the operation of the automatic moving device 30, an example of a control method for the automatic moving device 30 of the present disclosure is also clarified.
　以上説明した本実施形態の自動移動装置３０は、搬送物としての台車１２を特定空間としての商業施設内で搬送するものであって、駆動部４０を含む車体部３７と、車体部３７に配設され台車１２に連結及び連結解除可能な連結部４２と、台車１２に連結した状態で通路端から所定距離の位置へ車体部３７を移動し、この台車１２との連結を解除して車体部３７の通路端側の端部が台車１２の下方側に位置するよう車体部３７を移動したのちこの台車１２に再度連結し車体部３７の端部を通路端へ移動するよう連結部４２と駆動部４０とを制御する搬送制御部３２とを備える。この自動道装置３０では、車体部３７の端部をより台車１２の端部側に引き込んだのち台車１２を通路端側に寄せるため、台車１２をより通路端壁６８側へ寄せることができる。このため、この自動移動装置３０では、通路をより通過しやすくすることができる。 The automatic moving device 30 of the present embodiment described above is for moving the cart 12 as the transported object within a specific space, i.e., a commercial facility, and includes a vehicle body 37 including a drive unit 40, a coupling unit 42 arranged on the vehicle body 37 and capable of coupling and decoupling to the cart 12, and a transport control unit 32 that controls the coupling unit 42 and the drive unit 40 to move the vehicle body 37 to a position a predetermined distance from the end of the aisle while connected to the cart 12, to release the coupling from the cart 12 and move the vehicle body 37 so that the end of the vehicle body 37 on the side of the end of the aisle is positioned below the cart 12, and then to recouple the vehicle body 37 to the cart 12 and move the end of the vehicle body 37 to the end of the aisle. In this automatic road device 30, the end of the vehicle body 37 is pulled closer to the end of the cart 12, and then the cart 12 is moved closer to the end of the aisle, so that the cart 12 can be moved closer to the end wall 68 of the aisle. This automatic moving device 30 therefore makes it easier to pass through the aisle.
　また、搬送制御部３２は、台車１２に再度連結する前に、車体部３７の端部が台車１２の端部と同等の位置になるか、又は、車体部３７の端部が台車１２の端部より内側の位置になるよう駆動部４０を制御する。この自動移動装置３０では、車体部３７の端部をより台車１２の内側になるようにするため、より台車１２を通路端へ寄せることができ、通路をより通過しやすくすることができる。また、自動移動装置３０は、車体部３７に配設され周囲の少なくとも一部を検出する検出部５０を備え、搬送制御部３２は、検出部５０の検出結果に基づいて、通路端から所定距離の位置への車体部３７の移動、連結解除後の台車１２の下方側への車体部３７の移動、再度連結した後の通路端への車体部３７の移動のうち１以上の移動を行う。この自動移動装置３０では、検出部５０による検出結果を用いて、物体の接触などをより抑制しつつ、通路をより通過しやすくすることができる。更に、搬送制御部３２は、通路端から所定距離の位置を目標位置とし、この目標位置から通路端壁６８側へ台車１２を寄せる処理を実行するため、この自動移動装置３０では、目標位置の設定によって、台車１２を通路端へ寄せる処理を実現することができる。 The transport control unit 32 also controls the drive unit 40 so that the end of the car body 37 is at the same position as the end of the cart 12 or is at a position inside the end of the cart 12 before reconnecting to the cart 12. In this automatic moving device 30, the end of the car body 37 is closer to the inside of the cart 12, so that the cart 12 can be moved closer to the edge of the aisle, making it easier to pass through the aisle. In addition, the automatic moving device 30 is equipped with a detection unit 50 that is disposed on the car body 37 and detects at least a part of the surroundings, and the transport control unit 32 performs one or more of the following movements based on the detection result of the detection unit 50: moving the car body 37 to a position a predetermined distance from the end of the aisle, moving the car body 37 to the lower side of the cart 12 after disconnection, and moving the car body 37 to the end of the aisle after reconnection. In this automatic moving device 30, the detection result by the detection unit 50 can be used to make it easier to pass through the aisle while suppressing contact with objects. Furthermore, the transport control unit 32 sets a position a specified distance from the end of the aisle as the target position, and executes a process to move the cart 12 from this target position toward the aisle end wall 68. Therefore, with this automatic moving device 30, the process of moving the cart 12 toward the end of the aisle can be realized by setting the target position.
　また、自動移動装置３０は、車体部３７に配設され周囲の少なくとも一部を検出する検出部５０を備え、搬送制御部３２は、検出部５０の検出結果に基づいて、障害物が存在するときには、台車１２に再度連結したあとの車体部３７の通路端への移動を全て中断するか、又は途中で中断する。この自動移動装置３０では、台車１２と障害物との不要な接触などをより抑制することができる。更に、車体部３７は、台車１２の下方に潜り込み、連結部４２は、車体部３７の長さＬｂよりも短い長さＬｃを有する台車１２を連結可能であり、車体部３７の上部に設けられ、昇降することにより台車１２と連結及び連結解除する。この自動移動装置３０では、長さの長い車体部３７が台車１２の下に潜り込むと、台車１２の端部から車体部３７が露出するが、上述した制御を行うことにより、露出した車体部３７の先端を台車１２の下方へ入れ込むことによって、より台車１２をより通路端側へ寄せることができる。 In addition, the automatic moving device 30 is equipped with a detection unit 50 disposed in the vehicle body section 37 for detecting at least a portion of the surroundings, and the transport control unit 32, based on the detection result of the detection unit 50, when an obstacle is present, suspends all movement of the vehicle body section 37 to the end of the passage after reconnecting to the trolley 12, or suspends it midway. This automatic moving device 30 can further prevent unnecessary contact between the trolley 12 and obstacles. Furthermore, the vehicle body section 37 slips under the trolley 12, and the coupling section 42 is capable of coupling to a trolley 12 having a length Lc shorter than the length Lb of the vehicle body section 37, is provided on the upper part of the vehicle body section 37, and couples and uncouples from the trolley 12 by rising and lowering. In this automatic moving device 30, when the long body section 37 slides under the cart 12, the body section 37 becomes exposed from the end of the cart 12, but by performing the above-mentioned control, the exposed tip of the body section 37 can be inserted under the cart 12, allowing the cart 12 to be moved closer to the end of the aisle.
　搬送システム１０は、上述した自動移動装置３０と、上述した管理装置としての物流ＰＣ２１、店舗ＰＣ６１及び管理サーバ７０を備える。この搬送システム１０では、上述した自動移動装置３０を備えるため、台車１２をより通路端壁６８側へ寄せることができ、通路をより通過しやすくすることができる。 The transport system 10 includes the automatic moving device 30 described above, and the logistics PC 21, store PC 61, and management server 70 as the management devices described above. Since the transport system 10 includes the automatic moving device 30 described above, the carts 12 can be moved closer to the aisle end wall 68, making it easier to pass through the aisle.
　なお、本開示は上述した実施形態に何ら限定されることはなく、本開示の技術的範囲に属する限り種々の態様で実施し得ることはいうまでもない。 It goes without saying that this disclosure is in no way limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of this disclosure.
　例えば、上述した実施形態では、搬送制御部３２は、台車１２に再度連結する前に、車体部３７の端部が台車１２の端部と同等の位置になるか、又は、車体部３７の端部が台車１２の端部より内側の位置になるよう駆動部４０を制御するものとしたが、車体部３７の端部をより台車１２の端部へ近づけるものとすれば、特にこれに限定されない。
なお、車体部３７の端部が台車１２からできるだけ突出していない方が、台車１２を通路端壁６８へより近づけることができ、好ましい。 For example, in the above-described embodiment, the transport control unit 32 controls the drive unit 40 so that the end of the car body unit 37 is at a position equivalent to the end of the cart 12 or is at a position more inward than the end of the cart 12 before reconnecting it to the cart 12, but this is not particularly limited as long as the end of the car body unit 37 is brought closer to the end of the cart 12.
In addition, it is preferable that the end of the car body portion 37 does not protrude from the bogie 12 as much as possible, so that the bogie 12 can be brought closer to the passage end wall 68.
　上述した実施形態では、搬送制御部３２は、検出部５０の検出結果に基づいて、通路端から所定距離の位置への車体部３７の移動、連結解除後の台車１２の下方側への車体部３７の移動、再度連結した後の通路端への車体部３７の移動を行うものとしたが、これらのうち１以上を省略してもよい。搬送制御部３２は、検出部５０の検出結果を用いることなく、これらの移動を行うことはできる。なお、搬送制御部３２は、検出部５０の検出結果を用いた方が、物体との不要な接触を防止でき、好ましい。 In the above-described embodiment, the transport control unit 32 moves the vehicle body unit 37 to a position a predetermined distance from the end of the aisle, moves the vehicle body unit 37 to the lower side of the cart 12 after disconnection, and moves the vehicle body unit 37 to the end of the aisle after reconnection based on the detection results of the detection unit 50, but one or more of these may be omitted. The transport control unit 32 can perform these movements without using the detection results of the detection unit 50. However, it is preferable for the transport control unit 32 to use the detection results of the detection unit 50, as this can prevent unnecessary contact with objects.
　上述した実施形態では、通路端から所定距離の位置を目標位置とし、この目標位置から通路端側へ台車１２を寄せる処理を実行するものとしたが、特にこれに限定されない。例えば、搬送制御部３２は、通路端を目標位置とし、この目標位置から所定距離の位置で台車１２との連結を解除する処理を実行し、車体部３７を台車１２の下方側へ移動させて再連結し、端寄せ処理を実行するものとしてもよい。図１１は、別の自動移動処理ルーチンの一例を示すフローチャートである。なお、図７のルーチンと同様の処理は、同じステップ番号を付し、その詳細な説明を省略する。この自動移動装置３０では、管理装置としての店舗ＰＣ６１は、端寄せ搬送物は、目標位置を通路端近傍に設定する。そして、搬送制御部３２は、Ｓ２２０で端寄せ搬送物を目標位置へ移動しているときには、目標位置から所定距離の位置へ到達したか否かを判定し（Ｓ４００）、所定距離の位置へ到達したときには、端寄せ処理を実行する（Ｓ２６０，Ｓ４１０）。この自動移動装置３０においても、目標位置の設定によって、搬送物を通路端へ寄せる処理を実現することができる。 In the above embodiment, a position at a predetermined distance from the end of the aisle is set as the target position, and the process of moving the cart 12 from this target position to the end of the aisle is executed, but this is not particularly limited. For example, the transport control unit 32 may set the end of the aisle as the target position, execute a process of disconnecting the cart 12 at a position at a predetermined distance from the target position, move the car body unit 37 to the lower side of the cart 12 to reconnect it, and execute the edge-pulling process. Figure 11 is a flowchart showing an example of another automatic movement process routine. Note that the same process as the routine in Figure 7 is given the same step number, and detailed description thereof is omitted. In this automatic movement device 30, the store PC 61 as a management device sets the target position of the edge-pulling transported object to the vicinity of the end of the aisle. Then, when the edge-pulling transported object is moved to the target position in S220, the transport control unit 32 determines whether or not it has reached a position at a predetermined distance from the target position (S400), and executes the edge-pulling process when it has reached the position at the predetermined distance (S260, S410). This automatic moving device 30 can also set a target position to move the transported item to the end of the aisle.
　上述した実施形態では、自動移動装置３０は、店舗６０の内部で物品を搬送するものとして説明したが、特にこれに限定されず、物流センター２０や、倉庫、例えば展示場やスポーツ施設、博物館、科学館、動物園、水族館など他の商業施設の内部で物品を搬送するものとしてもよい。 In the above embodiment, the automatic moving device 30 has been described as transporting items inside the store 60, but is not limited to this and may also transport items inside a logistics center 20, a warehouse, or other commercial facilities such as an exhibition hall, sports facility, museum, science museum, zoo, or aquarium.
　上述した実施形態では、自動移動装置３０は、車輪４１がメカナムホイールやオムニホイールとしたが、特にこれに限定されず、通常の車輪としてもよい。 In the above-described embodiment, the wheels 41 of the automatic moving device 30 are Mecanum wheels or omni wheels, but they are not limited to this and may be normal wheels.
　上述した実施形態では、本開示を自動移動装置３０として説明したが、特にこれに限定されず、搬送システム１０や制御装置３１としてもよい。また、本開示は、自動移動装置３０の制御方法に適用するほか、そのプログラムとしてもよいし、管理装置としての物流ＰＣ２１、店舗ＰＣ６１及び管理サーバ７０のうち１以上が実行する設定方法やそのプログラムとしてもよい。 In the above embodiment, the present disclosure has been described as an automatic moving device 30, but is not particularly limited thereto, and may be a conveying system 10 or a control device 31. Furthermore, the present disclosure may be applied to a control method for the automatic moving device 30, or may be a program therefor, or may be a setting method or program therefor executed by one or more of the logistics PC 21, the store PC 61, and the management server 70 as management devices.
　本開示は、以下のように構成してもよい。例えば、本開示の自動移動装置の制御方法は、
　駆動部を含む車体部と、前記車体部に配設され搬送物に連結及び連結解除可能な連結部とを備え、搬送物を搬送する自動移動装置の制御方法であって、
　前記搬送物に連結した状態で通路端から所定距離の位置へ移動し、該搬送物との連結を解除して前記車体部の前記通路端側の端部が前記搬送物の下方側に位置するよう前記車体部を移動したのち該搬送物に再度連結し、前記車体部の端部を前記通路端へ移動するよう前記連結部と前記駆動部とを制御するステップ、
　を含むものである。 The present disclosure may be configured as follows. For example, the control method of the automatic moving device of the present disclosure includes:
A method for controlling an automatic moving device that transports an object, the automatic moving device comprising: a vehicle body including a drive unit; and a coupling unit that is disposed on the vehicle body and can be coupled to and decoupled from the object, the automatic moving device comprising:
a step of moving the vehicle body to a position a predetermined distance from the end of the passage while connected to the article, releasing the connection with the article and moving the vehicle body so that the end of the vehicle body on the side of the passage end is positioned below the article, and then reconnecting the vehicle body to the article and controlling the connection unit and the drive unit to move the end of the vehicle body to the end of the passage;
It includes.
　この自動移動装置の制御方法では、上述した自動移動装置と同様に、搬送物をより通路端側へ寄せることができるため、通路をより通過しやすくすることができる。なお、この自動道装置の制御方法において、上述した自動移動装置の種々の態様を採用してもよいし、また、上述した自動移動装置の各機能を実現するようなステップを追加してもよい。 　In this method of controlling an automatic moving device, similar to the automatic moving device described above, the transported object can be moved closer to the end of the aisle, making it easier to pass through the aisle. Note that in this method of controlling an automatic moving device, various aspects of the automatic moving device described above may be adopted, and steps may be added to realize each function of the automatic moving device described above.
　本明細書では、出願当初の請求項４において「請求項１又は２に記載の自動移動装置」を「請求項１～３のいずれか１項に記載の自動移動装置」に変更した技術思想や、出願当初の請求項５において「請求項１又は２に記載の自動移動装置」を「請求項１～４のいずれか１項に記載の自動移動装置」に変更した技術思想、出願当初の請求項６において「請求項１又は２に記載の自動移動装置」を「請求項１～５のいずれか１項に記載の自動移動装置」に変更した技術思想も開示されている。 　This specification also discloses the technical idea of changing "the automatic moving device according to claim 1 or 2" in claim 4 at the time of the application to "the automatic moving device according to any one of claims 1 to 3," the technical idea of changing "the automatic moving device according to claim 1 or 2" in claim 5 at the time of the application to "the automatic moving device according to any one of claims 1 to 4," and the technical idea of changing "the automatic moving device according to claim 1 or 2" in claim 6 at the time of the application to "the automatic moving device according to any one of claims 1 to 5."
　本開示の自動移動装置及び自動移動装置の制御方法は、物品を搬送する流通システムの技術分野に利用可能である。 The automatic moving device and the control method for the automatic moving device disclosed herein can be used in the technical field of distribution systems that transport goods.
１０　配送システム、１２　台車、１３　積載部、１４　キャスター、１５　ネットワーク、１８　配送車、２０　物流センター、２１　物流ＰＣ、２２　制御部、２３　記憶部、２４　マップ情報、２５　搬送管理情報、２７　通信部、２８　路面、３０　自動移動装置、３１　制御装置、３２　制御部、３３　記憶部、３４　マップ情報、３５　搬送情報、３７　車体部、３８　昇降部、３９　通信部、４０　駆動部、４１　車輪、４２　連結部、４３　積載部材、４４　係合部材、５０　検出部、５１　第１センサ、５２　第２センサ、５３　第３センサ、５４　第４センサ、５５　第５センサ、５６　照明部、６０　店舗、６１　店舗ＰＣ、６２　制御部、６３　記憶部、６４　マップ情報、６５　搬送管理情報、６７　通信部、６８　通路端壁、６９　陳列棚、７０　管理サーバ、７２　制御部、７３　記憶部、７４　マップ情報、７５　搬送管理情報、７７　通信部、Ｌｂ，Ｌｃ　長さ。 10 Delivery system, 12 Cart, 13 Loading unit, 14 Caster, 15 Network, 18 Delivery vehicle, 20 Logistics center, 21 Logistics PC, 22 Control unit, 23 Memory unit, 24 Map information, 25 Transport management information, 27 Communication unit, 28 Road surface, 30 Automatic moving device, 31 Control device, 32 Control unit, 33 Memory unit, 34 Map information, 35 Transport information, 37 Vehicle body unit, 38 Lifting unit, 39 Communication unit, 40 Drive unit, 41 Wheels, 42 Connection unit , 43 loading member, 44 engaging member, 50 detection unit, 51 first sensor, 52 second sensor, 53 third sensor, 54 fourth sensor, 55 fifth sensor, 56 lighting unit, 60 store, 61 store PC, 62 control unit, 63 memory unit, 64 map information, 65 transport management information, 67 communication unit, 68 aisle end wall, 69 display shelf, 70 management server, 72 control unit, 73 memory unit, 74 map information, 75 transport management information, 77 communication unit, Lb, Lc length.

Claims (7)

  1. 　搬送物を搬送する自動移動装置であって、
    　駆動部を含む車体部と、
    　前記車体部に配設され搬送物に連結及び連結解除可能な連結部と、
    　前記搬送物に連結した状態で通路端から所定距離の位置へ前記車体部を移動し、該搬送物との連結を解除して前記車体部の前記通路端側の端部が前記搬送物の下方側に位置するよう前記車体部を移動したのち該搬送物に再度連結し、前記車体部の端部を前記通路端へ移動するよう前記連結部と前記駆動部とを制御する制御部と、
    　を備えた自動移動装置。     An automatic moving device for transporting an object,
    A vehicle body including a drive unit;
    A coupling part that is disposed on the vehicle body and can be coupled to and decoupled from a transported object;
    a control unit that controls the coupling unit and the drive unit to move the vehicle body unit to a position a predetermined distance from the end of the passage while connected to the article, release the connection with the article, move the vehicle body unit so that the end of the vehicle body unit on the side of the passage end is located below the article, and then reconnect the vehicle body unit to the article and move the end of the vehicle body unit to the end of the passage;
    An automatic moving device equipped with
  2. 　前記制御部は、前記搬送物に再度連結する前に、前記車体部の端部が前記搬送物の端部と同等の位置になるか、又は、前記車体部の端部が前記搬送物の端部より内側の位置になるよう前記駆動部を制御する、請求項１に記載の自動移動装置。 The automatic moving device according to claim 1, wherein the control unit controls the drive unit so that the end of the vehicle body is at a position equivalent to the end of the transported object or is located inside the end of the transported object before reconnecting the vehicle body to the transported object.
  3. 　請求項１又は２に記載の自動移動装置であって、
    　前記車体部に配設され周囲の少なくとも一部を検出する検出部、を備え、
    　前記制御部は、前記検出部の検出結果に基づいて、前記通路端から所定距離の位置への前記車体部の移動、前記連結解除後の前記搬送物の下方側への前記車体部の移動、前記再度連結した後の前記通路端への前記車体部の移動のうち１以上の移動を行う、自動移動装置。     3. The automated moving device according to claim 1 or 2,
    A detection unit is provided in the vehicle body portion and detects at least a part of the surroundings,
    The control unit, based on the detection result of the detection unit, performs one or more of the following movements: moving the car body unit to a position a predetermined distance from the end of the aisle, moving the car body unit to a position below the transported object after the connection is released, and moving the car body unit to the end of the aisle after the connection is reconnected.
  4. 　前記制御部は、前記通路端から所定距離の位置を目標位置とし該目標位置から前記通路端側へ前記搬送物を寄せる処理を実行するか、又は前記通路端を目標位置とし該目標位置から所定距離の位置で前記連結を解除する処理を実行するか、のうちいずれかの処理を実行する、請求項１又は２に記載の自動移動装置。 The automatic moving device according to claim 1 or 2, wherein the control unit executes one of the following processes: a process of moving the transported object from a target position that is a predetermined distance from the end of the passage toward the end of the passage from the target position; or a process of releasing the connection at a target position that is a predetermined distance from the end of the passage.
  5. 　請求項１又は２に記載の自動移動装置であって、
    　前記車体部に配設され周囲の少なくとも一部を検出する検出部、を備え、
    　前記制御部は、前記検出部の検出結果に基づいて、前記搬送物に再度連結したあとの前記車体部の前記通路端への移動を全て中断するか又は途中で中断する、自動移動装置。     3. The automated moving device according to claim 1 or 2,
    A detection unit is provided in the vehicle body portion and detects at least a part of the surroundings,
    The control unit, based on the detection result of the detection unit, suspends all movement of the vehicle body part toward the end of the passage after reconnecting to the transported object or suspends it halfway, automatic moving device.
  6. 　前記車体部は、前記搬送物の下方に潜り込み、
    　前記連結部は、前記車体部よりも短い前記搬送物を連結可能であり、前記車体部の上部に設けられ、昇降することにより前記搬送物と連結及び連結解除する、請求項１又は２に記載の自動移動装置。     The vehicle body portion slides under the transported object,
    3. The automatic moving device according to claim 1, wherein the coupling section is capable of coupling the transported object, which is shorter than the vehicle body section, is provided on an upper portion of the vehicle body section, and couples and disconnects the transported object by ascending and descending.
  7. 　駆動部を含む車体部と、前記車体部に配設され搬送物に連結及び連結解除可能な連結部とを備え、コンピュータが実行する、搬送物を搬送する自動移動装置の制御方法であって、
    　前記搬送物に連結した状態で通路端から所定距離の位置へ移動し、該搬送物との連結を解除して前記車体部の前記通路端側の端部が前記搬送物の下方側に位置するよう前記車体部を移動したのち該搬送物に再度連結し、前記車体部の端部を前記通路端へ移動するよう前記連結部と前記駆動部とを制御するステップ、
    　を含む自動移動装置の制御方法。     A method for controlling an automatic moving device for transporting an object, the method comprising: a vehicle body including a drive unit; and a coupling unit disposed on the vehicle body and capable of coupling to and decoupling from the object; the method being executed by a computer, the method comprising:
    a step of moving the vehicle body to a position a predetermined distance from the end of the passage while connected to the article, releasing the connection with the article and moving the vehicle body so that the end of the vehicle body on the side of the passage end is positioned below the article, and then reconnecting the vehicle body to the article and controlling the connection unit and the drive unit to move the end of the vehicle body to the end of the passage;
    A method for controlling an automatic moving device comprising:
PCT/JP2022/047443 2022-12-22 2022-12-22 Automatic moving device and control method for automatic moving device WO2024134840A1 (en)

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Application Number Priority Date Filing Date Title
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