Patent Description:
In recent years, for example, a technology of transporting various transportation targets such as luggage by a robot has been studied. An example of a transportation target at a restaurant includes eatables and drinkables such as food and drinks provided at the restaurant.

Document <NPL>, relates to a situation in which an object is transported on a mobile platform and all accelerations of the mobile platform affect the object. Stewart-platforms are mostly used for simulation, where the platform generates accelerations that increase the simulation's quality. Vice versa, it's possible to use a Stewart-platform mounted on a mobile platform to compensate unwanted accelerations in the way that the Stewart-platform generates an anti-acceleration. The necessary movement of the platform is calculated by a washout-filter. Applications of this combination are either the transport of liquids in open boxes or medical transports, where the patients must not be affected by any acceleration.

Document <CIT> discloses an orbit system traffic vehicle comprising tilt actuators which are arranged at the front and rear of the vehicle and incline a vehicle body by displacing it in the vertical direction, and a tilt actuator controller which controls a drive amount of the tilt actuator. The tilt actuator controller acquires an inclination angle in the traveling direction of the vehicle body which can cancel acceleration in a fore- and-aft direction parallel with a floor face of the vehicle body acting on a passenger. Then, the tilt actuator controller acquires the drive amount of the tilt actuator which can obtain the inclination angle, and outputs a drive command which sets the drive amount as a target drive amount to the tilt actuator.

When a transportation target is delicately presented food or a drink that easily tips over, for example, the food may collapse, or the drink may spill due to acceleration or deceleration that occurs during transportation.

The technology of the disclosure has been made to solve the problem described above, and an object of the disclosed technology is to safely transport a transportation target.

Optional embodiments of the invention are described in the dependent claims.

According to an aspect of the disclosure, a control device that controls movement of a transporting unit connected to a moving unit that is movable comprises a first control unit that controls a movement speed of the moving unit; and a second control unit that moves the transporting unit with respect to the moving unit according to acceleration or deceleration of the moving unit.

According to the aspect of the disclosure, it is possible to safely transport a transportation target.

Hereinafter, embodiments of a control device, a control method, and a computer program disclosed in the present specification will be described with reference to the drawings. Note that the control device, the control method, and the computer program disclosed in the present specification are not limited by these embodiments. Furthermore, in the embodiments, the same reference numerals are given to configurations having the same functions.

Furthermore, the technology of the disclosure will be described according to the order of items illustrated below.

<FIG> is a diagram illustrating a configuration example of a transport robot of the first embodiment. In <FIG>, a transport robot <NUM> has a chassis <NUM>, a mounting table <NUM>, a connecting arm <NUM>, and a control device <NUM>. The chassis <NUM> is a moving unit that moves the transport robot <NUM> along a floor surface, for example, and has a traveling mechanism such as wheels WH and caterpillars as a movement means thereof. However, instead of the traveling mechanism by the chassis <NUM>, various movable configurations, such as a walking mechanism composed of two or more legs and a spherical movement mechanism that rotates and moves by itself, can also be used as the moving unit of the transport robot <NUM>.

The control device <NUM> is provided in the chassis <NUM>, for example. Since the chassis <NUM> and the mounting table <NUM> are connected by the connecting arm <NUM> that is bendable and extendable, the chassis <NUM> and the mounting table <NUM> can operate independently of each other. A transportation target CO is placed on an upper surface of the mounting table <NUM>. An example of the transportation target CO includes eatables and drinkables such as food and drink provided at a restaurant. For example, food is placed on the mounting table <NUM> while being served on a plate and the drink is placed on the mounting table <NUM> while being poured into a cup. The transportation target CO placed on the mounting table <NUM> connected to the chassis <NUM> via the connecting arm <NUM> is transported as the chassis <NUM> moves while being placed on the mounting table <NUM>. The mounting table <NUM> is an example of a "transporting unit" that comes into contact with the transportation target CO and transports the transportation target CO.

<FIG> is a diagram illustrating a configuration example of the control device of the first embodiment. In <FIG>, the control device <NUM> has a transportation target sensor <NUM>, a characteristic judgment unit <NUM>, an external condition sensor <NUM>, an operation determination unit <NUM>, a chassis control unit <NUM>, a mounting table control unit <NUM>, and a storage unit <NUM>.

The characteristic judgment unit <NUM>, the operation determination unit <NUM>, the chassis control unit <NUM>, and the mounting table control unit <NUM> are implemented by a processor, for example. An example of the processor includes a central processing unit (CPU), a digital signal processor (DSP), a field programmable gate array (FPGA), and the like. Furthermore, the characteristic judgment unit <NUM>, the operation determination unit <NUM>, the chassis control unit <NUM>, and the mounting table control unit <NUM> may also be implemented by a large scale integrated circuit (LSI) including the processor and peripheral circuits. Moreover, the characteristic judgment unit <NUM>, the operation determination unit <NUM>, the chassis control unit <NUM>, and the mounting table control unit <NUM> may also be implemented using an application specific integrated circuit (ASIC), and the like.

The storage unit <NUM> is implemented by a memory, for example. An example of the memory includes a random access memory (RAM) such as a synchronous dynamic random access memory (SDRAM), a read only memory (ROM), a flash memory, and the like.

Furthermore, all or some of respective processes in the following description in the characteristic judgment unit <NUM>, the operation determination unit <NUM>, the chassis control unit <NUM>, and the mounting table control unit <NUM> may also be implemented by causing a processor included in the control device <NUM> to execute a computer program corresponding to each process. For example, the computer program corresponding to each process in the following description may be stored in the memory, read from the memory by the processor, and executed. Furthermore, the computer program may be stored in a program server connected to the control device <NUM> via an arbitrary network, downloaded from the program server to the control device <NUM>, and executed. Alternatively, the computer program may be stored in a recording medium readable by the control device <NUM>, read from the recording medium, and executed. The recording medium readable by the control device <NUM> includes, for example, a portable storage medium such as a memory card, a USB memory, an SD card, a flexible disk, a magneto-optical disk, a CD-ROM, a DVD, and a Blu-ray (registered trademark) disk. Furthermore, the computer program is a data processing method described in a discretionary language or a discretionary description method, and may be in any format such as source codes and binary codes. Furthermore, the computer program is not necessarily limited to a single program, and includes a computer program distributed as a plurality of modules or a plurality of libraries, or a computer program that performs its function in cooperation with a separate computer program represented by an OS.

The transportation target sensor <NUM> is installed, for example, on the upper surface side of the mounting table <NUM>. The transportation target sensor <NUM> has, for example, a camera, a depth sensor, and a temperature sensor, acquires an image, depth information, and temperature information of the transportation target CO placed on the mounting table <NUM>, and outputs the acquisition result to the characteristic judgment unit <NUM> and the operation determination unit <NUM>.

The external condition sensor <NUM> is installed, for example, on the front surface side of the chassis <NUM> in the traveling direction. The external condition sensor <NUM> has, for example, a camera and a depth sensor, detects an obstacle existing on the movement path of the transport robot <NUM>, and outputs the detection result to the operation determination unit <NUM>.

The characteristic judgment unit <NUM> judges the characteristics of the transportation target CO placed on the mounting table <NUM> on the basis of the acquisition result (that is, the image, the depth information, and the temperature information of the transportation target CO) input from the transportation target sensor <NUM>, and outputs the judgment result to the operation determination unit <NUM>.

In the storage unit <NUM>, information on a map of the movement range of the transport robot <NUM> and information on a destination of the transport robot <NUM> within the movement range are preset and stored.

The operation determination unit <NUM> determines the movement path of the transport robot <NUM> (that is, the movement path of the chassis <NUM>) (hereinafter, may be simply referred to as a "movement path") on the basis of the information on the map and the information on the destination, which are stored in the storage unit <NUM>. Furthermore, on the basis of the judgment result input from the characteristic judgment unit <NUM> (that is, the characteristics of the transportation target CO), the operation determination unit <NUM> determines an upper limit value (hereinafter, may be simply referred to as a "mounting table acceleration upper limit value") of the acceleration of the mounting table <NUM> (hereinafter, may be simply referred to as a "mounting table acceleration"). Furthermore, on the basis of the judgment result input from the characteristic judgment unit <NUM>, the operation determination unit <NUM> determines an upper limit value (hereinafter, may be simply referred to as a "mounting table speed upper limit value") of the movement speed of the mounting table <NUM> (hereinafter, may be simply referred to as a "mounting table speed"). Furthermore, the operation determination unit <NUM> determines where and how the chassis <NUM> and the mounting table <NUM> are accelerated or decelerated on the movement path thereof so as not to exceed the mounting table acceleration upper limit value and the mounting table speed upper limit value. That is, on the basis of the characteristics of the transportation target CO, the operation determination unit <NUM> determines the movement speed or acceleration of the chassis <NUM> on the movement path of the chassis <NUM> before the chassis <NUM> starts moving, and outputs the determination result to the chassis control unit <NUM>. Furthermore, on the basis of the judgment result input from the characteristic judgment unit <NUM> (that is, the characteristics of the transportation target CO), the operation determination unit <NUM> determines where and how the mounting table <NUM> is controlled on the movement path before the chassis <NUM> starts moving, and outputs the determination result to the mounting table control unit <NUM>. By so doing, the operation determination unit <NUM> determines the operations of the chassis <NUM> and the mounting table <NUM> before the chassis <NUM> starts moving.

In this way, on the basis of the characteristics of the transportation target CO, the operation determination unit <NUM> determines the movement speeds or accelerations of the chassis <NUM> and the mounting table <NUM> on the movement path before the chassis <NUM> starts moving.

Note that the operation determination unit <NUM> may acquire information from the transportation target sensor <NUM> and the external condition sensor <NUM> at any time even during the movement of the chassis <NUM>, and determine the operations of the chassis <NUM> and the mounting table <NUM> according to the condition of the transportation target CO, the condition of obstacles on the movement path thereof, and the like.

Furthermore, since the magnitude of the vibration of the transport robot <NUM> during traveling depends on a traveling location and a speed, the relation between the vibration and the speed may be obtained on the basis of traveling information on pre-traveling or during the past transportation, and the mounting table speed upper limit value may be obtained from allowable vibration.

The chassis control unit <NUM> controls a driving device of the chassis <NUM> such as a motor (not illustrated) and wheels WH according to the determination result of the operation determination unit <NUM>, and moves the chassis <NUM>.

The mounting table control unit <NUM> controls the operation of the mounting table <NUM> by controlling the operation of the connecting arm <NUM> according to the determination result of the operation determination unit <NUM> during the movement of the transport robot <NUM>, and moves the mounting table <NUM> three-dimensionally in front, back, left, right, up, and down.

Note that the mounting table control unit <NUM> may move the mounting table <NUM> according to an instruction from the characteristic judgment unit <NUM> when the characteristic judgment unit <NUM> judges the characteristics of the transportation target CO.

The control device <NUM> controls the movement of the mounting table <NUM> connected to the movable chassis <NUM> by adopting the above configuration.

For example, the characteristic judgment unit <NUM> instructs the mounting table control unit <NUM> to temporarily vibrate the mounting table <NUM> before the chassis <NUM> starts moving, and then judges the following characteristics of the transportation target CO on the basis of the image, the depth information, and the temperature information of the transportation target CO acquired by the transportation target sensor <NUM>.

For example, the characteristic judgment unit <NUM> judges, as the characteristics of the transportation target CO, whether the transportation target CO has fluidity such as a source, that is, whether the transportation target CO continues to shake during the movement of the transport robot <NUM>.

Furthermore, for example, when the transportation target CO is a liquid, the characteristic judgment unit <NUM> judges the difference in height between a liquid level and a vessel, the viscosity of the liquid, and the like as the characteristics of the transportation target CO.

Furthermore, for example, when the transportation target CO is food, the characteristic judgment unit <NUM> judges susceptibility to collapse of the arrangement of the food from the form (height and shape) of the arrangement of the food as the characteristics of the transportation target CO. For example, when the form of the arrangement of the food is a thin flat shape or is flocculent, the characteristic judgment unit <NUM> judges that the arrangement of the food is likely to collapse due to the influence of wind caused by the movement of the transport robot <NUM>.

Furthermore, for example, the characteristic judgment unit <NUM> judges whether the arrangement of the food has a certain regularity, as the characteristics of the transportation target CO.

Furthermore, for example, the characteristic judgment unit <NUM> judges whether the transportation target CO has a high temperature, as the characteristics of the transportation target CO.

Note that in order to judge the characteristics of the transportation target CO in more detail, the characteristic judgment unit <NUM> may apply a load to the transportation target CO before the chassis <NUM> starts moving, and judge the susceptibility to collapse of the arrangement of the food from the difference between the images of the transportation target CO acquired by the transportation target sensor <NUM> before and after the load is applied (that is, the difference between the image before the load is applied and the image after the load is applied). The load applied to the transportation target CO by the control of the mounting table control unit <NUM> with respect to the mounting table <NUM> according to an instruction from the characteristic judgment unit <NUM> includes, for example, at least one of acceleration, deceleration, and vibration of the transportation target CO. However, when the load is applied to the transportation target CO, the load is gradually increased starting from a minimum load, thereby preventing the transportation target CO from tipping over and the arrangement of the food from collapsing. For example, it is preferable to minimize a load when transporting the transportation target CO while minimizing the load on the transportation target CO. Furthermore, how much the load on the transportation target CO is increased may be set in advance, or may be determined on the basis of information acquired by the transportation target sensor <NUM>.

Furthermore, it may be possible to adopt a configuration in which a fan that sends wind to the transportation target CO placed on the mounting table <NUM> is provided, a load due to the wind is applied to the transportation target CO before the chassis <NUM> starts moving, and the susceptibility to collapse of the arrangement of the food is determined from the difference between images before and after the load is applied.

In this way, the characteristic judgment unit <NUM> judges the characteristics of the transportation target CO by applying a load to the transportation target CO before the chassis <NUM> starts moving.

Note that the judgment of the characteristics of the transportation target CO may be used in the following judgment regarding whether the transportation target CO can be transported at a specified speed, acceleration, and time before the transportation target CO is started to be transported. For example, when the transportation target CO is food, if it is known that the arrangement of the food will collapse before the food is started to be transported, it is possible to take measures such as changing the arrangement of the food when it is known.

The operation determination unit <NUM> determines the mounting table acceleration upper limit value and the mounting table speed upper limit value, for example, as follows, on the basis of the characteristics of the transportation target CO.

For example, the operation determination unit <NUM> determines the mounting table acceleration upper limit value to be a smaller value as the difference in height between a liquid level and a vessel becomes smaller.

Furthermore, for example, the operation determination unit <NUM> determines the mounting table acceleration upper limit value to be a smaller value as the viscosity of a liquid becomes smaller.

Furthermore, for example, since the arrangement of food more easily collapses as the height of the arrangement is higher, the operation determination unit <NUM> determines the mounting table acceleration upper limit value to be a smaller value as the height of the arrangement of the food becomes higher.

Furthermore, for example, when the form of the arrangement of the food is a thin flat shape or is flocculent, since the arrangement of the food is likely to collapse due to the influence of wind, the operation determination unit <NUM> determines the mounting table speed upper limit value to a value smaller than a threshold value.

Furthermore, for example, when the arrangement of the food has a certain regularity, since a slight collapse of the arrangement of the food may lead to a complaint from a customer, the operation determination unit <NUM> determines the mounting table acceleration upper limit value to a value smaller than the threshold value.

Furthermore, for example, when the transportation target CO has fluidity, the operation determination unit <NUM> determines the mounting table acceleration upper limit value to a value smaller than the threshold value.

Furthermore, for example, when the transportation target CO has a high temperature, since the damage at the time of accident becomes large, the operation determination unit <NUM> determines both the mounting table acceleration upper limit value and the mounting table speed upper limit value to values smaller than the threshold value.

<FIG> are diagrams provided for explaining operation examples of the transport robot of the first embodiment. As described above, in the transport robot <NUM>, the operation of the mounting table <NUM> is controlled by controlling the operation of the connecting arm <NUM> by the mounting table control unit <NUM>. However, in the description of the operation examples using <FIG>, the operation examples of the mounting table <NUM> will be described by omitting the description of the connecting arm <NUM> in order to avoid complicated description.

As illustrated in <FIG>, when the transportation target CO is in a stationary state, since gravity mg and surface drag N from the mounting table <NUM> are applied to the transportation target CO having a mass of m, "N=mg" is obtained.

On the other hand, as illustrated in <FIG>, in a state in which the transportation target CO is accelerated at an acceleration a and the transportation target CO is not shifted from the mounting table <NUM>, the gravity mg, the surface drag N from the mounting table <NUM>, friction force f from the mounting table <NUM>, and inertial force F (=ma) are applied to the transportation target CO when viewed from an inertial form (stationary system). At this time, since the inertial force F is applied to the transportation target CO in a lateral direction (±X direction), the transportation target CO may be shifted from the mounting table <NUM> or the transportation target CO may tip over. Furthermore, sine the inertial force F is a load in a direction different from the gravity mg constantly applied to the transportation target CO, when the transportation target CO is food, the inertial force F becomes a factor that collapses the arrangement of the food.

In this regard, in the present embodiment, the lateral load applied to the transportation target CO is reduced, preferably <NUM> (zero), by taking the following countermeasures <NUM> to <NUM>.

Note that, in the following, the unit of speed is set to [cm/s] and the unit of acceleration is set to [cm/s<NUM>].

The inertial force applied to the transportation target CO is proportional to the acceleration of the transportation target CO. Therefore, in the countermeasure <NUM>, in order to reduce an absolute value of the acceleration of the transportation target CO, the mounting table control unit <NUM> moves the mounting table <NUM>, which can operate independently of the chassis <NUM>, with respect to the chassis <NUM>, whose operation is controlled by the chassis control unit <NUM>, as follows. Hereinafter, the countermeasure <NUM> will be described by dividing it into countermeasures <NUM>-<NUM>, <NUM>-<NUM>, and <NUM>-<NUM> (<FIG>, <FIG>, and <FIG>). Hereinafter, the acceleration of the chassis <NUM> may be referred to as "chassis acceleration" and the speed of the chassis <NUM> may be referred to as "chassis speed".

For example, as illustrated in <FIG>, it is assumed that the chassis <NUM>, which is in a stationary state at a chassis speed V1=<NUM> at times t0 and t1, starts accelerating at a chassis acceleration A1=<NUM> at the time t1 toward the traveling direction, continues to accelerate while keeping the chassis acceleration A1 constant at A1=<NUM> at time t2, and finishes the acceleration at time t3 and reaches a constant chassis speed V1=<NUM>. Here, for example, it is assumed that the time t1 is <NUM> second after the time t0, the time t2 is <NUM> seconds after the time t0, and the time t3 is <NUM> seconds after the time t0. Thus, the chassis speed V1 is V1=<NUM> at the time t2 and V1=<NUM> at the time t3.

With respect to the chassis <NUM> that accelerates toward the traveling direction in this way, the mounting table control unit <NUM> starts accelerating the mounting table <NUM> at a mounting table acceleration A2=<NUM> toward the traveling direction of the chassis <NUM> at the time t0. Furthermore, the mounting table control unit <NUM> continuously accelerates the mounting table <NUM> while keeping the mounting table acceleration A2 constant at A2=<NUM> at the times t1 and t2, and finishes accelerating the mounting table <NUM> at the time t3. Thus, a mounting table speed V2 is V2=<NUM> at the time t1, V2=<NUM> at the time t2, and V2=<NUM> at the time t3. Thus, at the time t3, the mounting table <NUM> is in a stopped state with respect to the chassis <NUM>.

In this way, when the chassis <NUM> accelerates from the stopped state toward the traveling direction, the mounting table control unit <NUM> accelerates the mounting table <NUM> to a predetermined speed (for example, V2=<NUM> at the time t1) and then the chassis control unit <NUM> starts accelerating the chassis <NUM>. Furthermore, at the time when the acceleration of the chassis <NUM> is finished (for example, at the time t3), the mounting table control unit <NUM> controls the mounting table speed V2 to be the same as the chassis speed V1 (for example, V2=V1=<NUM>). With this, a load applied to the transportation target CO placed on the mounting table <NUM> can be suppressed to a load with an acceleration of <NUM>.

The countermeasure <NUM>-<NUM> is particularly useful, for example, when it takes time to start movement or change direction of the chassis <NUM> due to design of the driving system of the chassis <NUM>, or when notifying the surroundings by light or sound that the chassis <NUM> is to start moving, in consideration of safety, before the chassis <NUM> starts moving.

For example, as illustrated in <FIG>, it is assumed that the chassis <NUM>, which is moving toward the traveling direction at the chassis speed V1=<NUM>, starts decelerating at a chassis acceleration A1=-<NUM> at time t11, continues to decelerate while keeping the chassis acceleration A1 constant at A1=-<NUM> at time t12, and stops at time t13. Here, for example, it is assumed that the time t12 is <NUM> seconds after the time t11, the time t13 is <NUM> seconds after the time t11, and time t14 is <NUM> seconds after the time t11. Thus, the chassis speed V1 is V1=<NUM> at the time t12 and V1=<NUM> at the time t13.

With respect to the chassis <NUM> that decelerates toward the traveling direction in this way, the mounting table control unit <NUM> starts decelerating the mounting table <NUM>, which is moving toward the traveling direction at the mounting table speed V2=<NUM> (that is, the same speed as the chassis speed V1=<NUM>) at a mounting table acceleration A2=-<NUM> at the time t11, and continuously decelerates the mounting table <NUM> while keeping the mounting table acceleration A2 constant at A2=-<NUM> at the times t12 and t13. Thus, the mounting table speed V2 is V2=<NUM> at the time t12, V2=<NUM> at the time t13, and V2=<NUM> at the time t14. Thus, at the time t14, the mounting table <NUM> is in a stopped state with respect to the chassis <NUM>.

Here, for example, when the positional relation between the mounting table <NUM> and the chassis <NUM> is fixed in <FIG> (that is, when the mounting table <NUM> moves in the same manner as the chassis <NUM>), a load with an acceleration of -<NUM> is applied to the transportation target CO placed on the mounting table <NUM>.

On the other hand, by changing the positional relation between the mounting table <NUM> and the chassis <NUM> as illustrated in <FIG>, a load applied to the transportation target CO placed on the mounting table <NUM> can be suppressed to a load with an acceleration of -<NUM>.

Furthermore, in <FIG>, the chassis <NUM> starts decelerating at the time t11 and stops at the time t13, which is <NUM> second after the time t11, but the mounting table <NUM> starts decelerating at the time t11 and stops at the time t14, which is <NUM> seconds after the time t11. Thus, when the mounting table <NUM> is decelerated as illustrated in <FIG> with respect to the chassis <NUM> that decelerates as illustrated in <FIG>, the mounting table <NUM> moves by <NUM> with respect to the chassis <NUM> in the traveling direction (+ X direction) of the chassis <NUM> within <NUM> seconds during the times t11 to t14. That is, in <FIG>, in order to halve the load applied to the transportation target CO placed on the mounting table <NUM> from the load with an acceleration of -<NUM> to the load with an acceleration of - <NUM>, the mounting table control unit <NUM> moves the mounting table <NUM> by <NUM> with respect to the chassis <NUM>.

For example, as illustrated in <FIG>, it is assumed that the chassis <NUM>, which is moving toward the traveling direction at the chassis speed V1=<NUM>, starts decelerating at a chassis acceleration A1=-<NUM>,<NUM> at time t21, continues to decelerate while keeping the chassis acceleration A1 constant at A1=-<NUM>,<NUM> at time t22, and stops at time t23. Here, for example, it is assumed that the time t22 is <NUM> seconds after the time t21, the time t23 is <NUM> seconds after the time t21, and time t24 is <NUM> seconds after the time t21. Thus, the chassis speed V1 is V1=<NUM> at the time t22 and V1=<NUM> at the time t23.

With respect to the chassis <NUM> that decelerates toward the traveling direction in this way, the mounting table control unit <NUM> starts decelerating the mounting table <NUM>, which is moving toward the traveling direction at the mounting table speed V2=<NUM> (that is, the same speed as the chassis speed V1=<NUM>) at a mounting table acceleration A2=-<NUM> at the time t21, and continuously decelerates the mounting table <NUM> while keeping the mounting table acceleration A2 constant at A2=-<NUM> at the times t22 and t23. Thus, the mounting table speed V2 is V2=<NUM> at the time t22, V2=<NUM> at the time t23, and V2=<NUM> at the time t24. Thus, at the time t24, the mounting table <NUM> is in a stopped state with respect to the chassis <NUM>.

Here, for example, when the positional relation between the mounting table <NUM> and the chassis <NUM> is fixed in <FIG> (that is, when the mounting table <NUM> moves in the same manner as the chassis <NUM>), a load with an acceleration of -<NUM>,<NUM> is applied to the transportation target CO placed on the mounting table <NUM>.

Furthermore, in <FIG>, the chassis <NUM> starts decelerating at the time t21 and stops at the time t23, which is <NUM> seconds after the time t21, but the mounting table <NUM> starts decelerating at the time t21 and stops at the time t24, which is <NUM> seconds after the time t21. Thus, when the mounting table <NUM> is decelerated as illustrated in <FIG> with respect to the chassis <NUM> that decelerates as illustrated in <FIG>, the mounting table <NUM> moves by <NUM> with respect to the chassis <NUM> in the traveling direction (+ X direction) of the chassis <NUM> within <NUM> seconds during the times t21 to t24. That is, in <FIG>, in order to halve the load applied to the transportation target CO placed on the mounting table <NUM> from the load with an acceleration of -<NUM>,<NUM> to the load with an acceleration of -<NUM>, the mounting table control unit <NUM> needs only to move the mounting table <NUM> by <NUM> with respect to the chassis <NUM>. As described above, in the countermeasure <NUM>-<NUM>, in order to halve the load applied to the transportation target CO as in the countermeasure <NUM>-<NUM>, the movement amount of the mounting table <NUM> with respect to the chassis <NUM> can be suppressed to <NUM>/<NUM> of that of the countermeasure <NUM>-<NUM>. Thus, the countermeasure <NUM>-<NUM> is particularly useful for a case, where an obstacle suddenly occurs in the traveling direction of the transport robot <NUM> and the chassis <NUM> has to be stopped suddenly, and the like.

So far, the countermeasure <NUM> has been described.

In the countermeasure <NUM>, as illustrated in <FIG>, when the chassis <NUM> is accelerated, the mounting table control unit <NUM> inclines the mounting table <NUM> such that a side surface S1 on the traveling direction side of the chassis <NUM> in a vertical direction (±Y direction) is lower than a side surface S2 on a side opposite to the traveling direction of the chassis <NUM>. That is, when the chassis <NUM> is accelerated, the mounting table control unit <NUM> inclines the mounting table <NUM> in the same direction as the traveling direction of the chassis <NUM>.

In a case where the mass of the transportation target CO is represented by m and a horizontal acceleration acting on the transportation target CO is represented by "a", when the chassis <NUM> is accelerated, the mounting table control unit <NUM> inclines the mounting table <NUM> with respect to the horizontal direction at an angle θ1 at which, for example, the relation of Formula (<NUM>) or Formula (<NUM>) is satisfied, so that it is possible to reduce a lateral load applied to the transportation target CO to <NUM> (zero). That is, when the chassis <NUM> is accelerated, the mounting table control unit <NUM> inclines the mounting table <NUM> in the same direction as the traveling direction of the chassis <NUM>, so that the component force K1 of the inertial force F and the component force K2 of the gravity can be balanced on the transportation target CO placed on the mounting table <NUM>. Thus, for example, when the chassis <NUM> is accelerated, the mounting table control unit <NUM> sets the angle θ1 to a larger value as the acceleration a in the same direction as the traveling direction of the chassis <NUM> is larger. <MAT> <MAT>.

Furthermore, as illustrated in <FIG>, when the chassis <NUM> is decelerated, the mounting table control unit <NUM> inclines the mounting table <NUM> such that the side surface S2 is lower than the side surface S1 in the vertical direction (±Y direction). That is, when the chassis <NUM> is decelerated, the mounting table control unit <NUM> inclines the mounting table <NUM> in the direction opposite to the traveling direction of the chassis <NUM>.

In a case where the mass of the transportation target CO is represented by m and the horizontal acceleration acting on the transportation target CO is represented by "a", when the chassis <NUM> is decelerated, the mounting table control unit <NUM> inclines the mounting table <NUM> with respect to the horizontal direction at an angle θ2 at which, for example, the relation of Formula (<NUM>) or Formula (<NUM>) is satisfied, so that it is possible to reduce the lateral load applied to the transportation target CO to <NUM> (zero). That is, when the chassis <NUM> is decelerated, the mounting table control unit <NUM> inclines the mounting table <NUM> in the direction opposite to the traveling direction of the chassis <NUM>, so that the component force K1 of the inertial force F and the component force K2 of the gravity can be balanced on the transportation target CO placed on the mounting table <NUM>. Thus, for example, when the chassis <NUM> is decelerated, the mounting table control unit <NUM> sets the angle θ2 to a larger value as the acceleration a in the direction opposite to the traveling direction of the chassis <NUM> is larger. <MAT> <MAT>.

For example, while the transport robot <NUM> is moving, preferably, the mounting table control unit <NUM> changes the angles θ1 and θ2 such that the mounting surface (that is, the upper surface of the mounting table <NUM>) of the mounting table <NUM> on which the transportation target CO is placed is perpendicular to the direction of combined force obtained by combining the horizontal inertial force F (F=ma) acting on the transportation target CO and the gravity mg.

Here, from Formula (<NUM>) or Formula (<NUM>), it can be seen that the angles θ1 and θ2 increase as the absolute value of the acceleration a increases. On the other hand, there is a case where the absolute value of the acceleration a suddenly increases such as when an obstacle suddenly occurs in the traveling direction of the transport robot <NUM> and the chassis <NUM> has to be stopped suddenly. In this way, when the absolute value of the acceleration a suddenly increases, the mounting table control unit <NUM> suddenly increases the angles θ1 and θ2 in accordance with the sudden increase in the absolute value of the acceleration a, so that it is possible to suppress an increase in the lateral load applied to the transportation target CO. On the other hand, when the angles θ1 and θ2 suddenly increase, for example, if a transportation target placed on the mounting table <NUM> is food, the arrangement of the food is likely to collapse. Furthermore, since the angles θ1 and θ2 need to be increased or decreased appropriately in accordance with an acceleration, more precise timing control is required for a sudden increase/decrease. When timing shift occurs, a load may be applied to the transportation target CO placed on the mounting table <NUM>.

In this regard, particularly, when the absolute value of the acceleration a suddenly increases, it is preferable to use the countermeasure <NUM> and the countermeasure <NUM> (particularly, the countermeasure <NUM>-<NUM>) together in order to suppress an increment of the inclination angles θ1 and θ2 of the mounting table <NUM>.

Furthermore, the operation determination unit <NUM> may determine the angles θ1 and θ2 that gently increase or decrease according to the acceleration or deceleration of the chassis <NUM>, and determine the acceleration a that increases or decreases on the movement path thereof in accordance with an increase or decrease in the angles θ1 and θ2. For example, when the angle θ1 or the angle θ2 is increased from <NUM> (zero) at a constant angular velocity ω [rad/s], the operation determination unit <NUM> may determine the acceleration a according to Formula (<NUM>).

As described above, it is possible to reduce the lateral load on the transportation target CO to <NUM> (zero) by taking the countermeasure <NUM>. However, a load applied to the transportation target CO downward in the direction perpendicular to the mounting surface of the mounting table <NUM> when taking the countermeasure <NUM> becomes larger than the load "m × g" applied to the transportation target CO when the transportation target CO is stopped or is moving at a constant velocity. For example, in the above example of <FIG>, with respect to the transportation target CO, the sum force "m × g × cosθ1 + m × a × sinθ1" of the component force "m × g × cosθ1" acting vertically downward to the mounting surface of the mounting table <NUM> of the gravity mg and the component force "m × a × sinθ1" acting vertically downward to the mounting surface of the mounting table <NUM> of the inertial force F (=ma) is applied vertically downward to the mounting surface of the mounting table <NUM>.

Here, since a is g × sinθ1/cosθ1 from m × g × sinθ1 + m × a × cosθ1, the aforementioned force "m × g × cosθ1 + m × a × sinθ1" is expressed by the following Formula (<NUM>) <MAT>.

That is, when the countermeasure <NUM> is taken, with respect to the transportation target CO, a load of "<NUM>/cosθ1" times m × g is applied downward in the direction perpendicular to the mounting surface of the mounting table <NUM> of the gravity mg. For example, when the angle θ1 takes a value of <NUM>° to <NUM>°, "<NUM>/cosθ1" becomes <NUM> to ∞. Furthermore, in the countermeasure <NUM>, as the acceleration a increases, the angle θ1 increases, resulting in an increase in "<NUM>/cosθ1".

In this regard, in the countermeasure <NUM>, as the chassis <NUM> is accelerated or decelerated, the mounting table control unit <NUM> inclines the mounting table <NUM> according to the countermeasure <NUM>, and simultaneously moves the mounting table <NUM> in the direction perpendicular to the mounting surface thereof. For example, when the chassis <NUM> is accelerated or decelerated, the mounting table control unit <NUM> inclines the mounting table <NUM> according to the countermeasure <NUM>, and simultaneously accelerates the mounting table <NUM> downward in the direction perpendicular to the mounting surface thereof.

So far, the first embodiment has been described.

<FIG> is a diagram provided for explaining an operation example of the transport robot of the second embodiment. In the second embodiment, the countermeasures <NUM>, <NUM>, and <NUM> are used together.

For example, as illustrated in <FIG>, it is assumed that the chassis <NUM>, which is moving toward the traveling direction (X direction in the drawing) at the chassis speed V1=<NUM>, starts decelerating at the chassis acceleration A1=-<NUM>,<NUM> at time t31, and stops at time t34. Here, for example, it is assumed that time t32 is <NUM> seconds after the time t31 (T=<NUM>), time t33 is <NUM> seconds after the time t31 (T=<NUM>), the time t34 is <NUM> seconds after the time t31 (T=<NUM>), time t35 is <NUM> seconds after the time t31 (T=<NUM>), time t36 is <NUM> seconds after the time t31 (T=<NUM>), and time t37 is <NUM> seconds after the time t31 (T=<NUM>).

With respect to the chassis <NUM> that decelerates toward the traveling direction in this way, the mounting table control unit <NUM> accelerates the mounting table <NUM>, which is moving toward the traveling direction at the mounting table speed V2=<NUM> (that is, the same speed as the chassis speed V1=<NUM>) to an acceleration (A2=-<NUM>) corresponding to half the chassis acceleration A1 at the time t33 by gradually increasing the mounting table acceleration A2 from the time t31. For simplification of description, it is assumed that the mounting table control unit <NUM> linearly increases the mounting table acceleration A2 during the time t31 to the time t33. In such a case, at the time t32, the mounting table acceleration A2 is -<NUM> and the mounting table speed V2 is <NUM>. Furthermore, at the time t33, the mounting table acceleration A2 is -<NUM> and the mounting table speed V2 is <NUM>.

Next, the mounting table control unit <NUM> decelerates the mounting table <NUM> at a constant mounting table acceleration A2=-<NUM> during the time t33 to the time t35. In such a case, at the time t34 when the chassis <NUM> has stopped, the mounting table speed V2 of the mounting table <NUM> is <NUM>, and at the time t35, the mounting table speed V2 is <NUM>.

Next, the mounting table control unit <NUM> gradually decreases the mounting table acceleration A2 of the mounting table <NUM>, thereby setting the mounting table acceleration V2 to <NUM> in accordance with the stop of the mounting table <NUM> at the time t37. For simplification of description, it is assumed that the mounting table control unit <NUM> linearly decreases the mounting table acceleration A2 during the time t35 to the time t37. In such a case, at the time t36, the mounting table acceleration A2 is -<NUM> and the mounting table speed V2 is <NUM>.

Furthermore, during the times t31 to t33, the mounting table control unit <NUM> gradually increases the inclination of the mounting table <NUM> with respect to the direction opposite to the traveling direction of the chassis <NUM> in accordance with an increase in the mounting table acceleration A2. In such a case, when it is assumed that the angle θ of the mounting table <NUM> at the time t32 is θA, the angle θ of the mounting table <NUM> at the time t33 is an angle θB larger than θA.

Next, the mounting table control unit <NUM> keeps the angle θ at θB during the times t33 to t35 for which the mounting table acceleration A2 is constant, and then gradually decreases the angle θ during the times t35 to t37 in accordance with a decrease in the mounting table acceleration A2, thereby allowing the mounting table <NUM> to be horizontal (θ=<NUM>) at the time t37. In such a case, the angle θ of the mounting table <NUM> at the time t36 is θA.

Moreover, the mounting table control unit <NUM> accelerates the mounting table <NUM> downward in the direction perpendicular to the mounting surface thereof from the time t31 when the mounting table <NUM> is started to decelerate to the time t37 when the mounting table <NUM> is stopped. Specifically, during the times t31 to t33 for which the mounting table acceleration A2 is gradually increased, the mounting table control unit <NUM> gives the mounting table <NUM> an acceleration (mounting table acceleration A2') acting vertically downward to the mounting surface thereof while gradually increasing the acceleration. Next, the mounting table control unit <NUM> keeps the mounting table acceleration A2' constant during the times t33 to t35 for which the mounting table acceleration A2 is constant. Next, the mounting table control unit <NUM> decreases the mounting table acceleration A2' with respect to the mounting table <NUM> during the times t35 to t37 for which the mounting table acceleration A2 is gradually decreased, and then sets the mounting table acceleration A2 to <NUM> at the time t37 when the mounting table <NUM> is stopped in the horizontal direction. With this, a height h of the mounting table <NUM> with respect to the chassis <NUM> is gradually decreased from a height h1 at the time t31 (h=h1→h2→h3→h4→h5→h6), and reaches, for example, a predetermined height h7 from the chassis <NUM> at the time t37. The vertical downward speed (mounting table acceleration V2') at this time is defined as x.

Thereafter, during the times t37 and t38 for which the movement of the mounting table <NUM> in the horizontal direction is stopped and the mounting table <NUM> is parallel to the horizontal direction, the mounting table control unit <NUM> gives the mounting table <NUM> the mounting table acceleration A2'=y upward in the vertical direction. With this, at time t38, which is "<NUM>+(x/y)" seconds after the time t31, the mounting table <NUM> is completely stopped with respect to the chassis <NUM>. At this time, a height h8 of the mounting table <NUM> with respect to the chassis <NUM> may be, for example, <NUM>.

So far, the second embodiment has been described.

<FIG> are diagrams provided for explaining an operation example of the transport robot of the third embodiment.

In the first and second embodiments, the case where the mounting table <NUM> is moved within the range of the lateral width of the chassis <NUM> has been described as an example (<FIG>, <FIG>, <FIG>, and <FIG>). However, the movement range of the mounting table <NUM> is not limited to the range of the lateral width of the chassis <NUM>, and as illustrated in <FIG>, the mounting table control unit <NUM> may move the mounting table <NUM> beyond the lateral width of the chassis <NUM>.

So far, the third embodiment has been described.

<FIG> is a diagram illustrating a configuration example of a transport robot of the fourth embodiment. In <FIG>, a transport robot <NUM> has a chassis <NUM>, a hand <NUM>, a connecting arm <NUM>, and a control device <NUM>. Note that, as in the first embodiment, instead of the chassis <NUM>, various movable configurations can also be used as a moving unit of the transport robot <NUM>. Since the chassis <NUM> and the hand <NUM> are connected by the connecting arm <NUM> that is bendable and extendable, the chassis <NUM> and the hand <NUM> can operate independently of each other. The hand <NUM> grips the transportation target CO. The transportation target CO gripped by the hand <NUM> connected to the chassis <NUM> via the connecting arm <NUM> is transported along with the movement of the chassis <NUM> while being gripped by the hand <NUM>. The hand <NUM> is an example of a "transporting unit" that comes into contact with the transportation target CO and transports the transportation target CO.

As described above, the transport robot <NUM> of the fourth embodiment has the hand <NUM> instead of the mounting table <NUM> provided in the transport robot <NUM> (<FIG>) of the first embodiment. Therefore, the control device <NUM> of the fourth embodiment has a "hand control unit" instead of the "mounting table control unit <NUM>" in <FIG>. Furthermore, in the fourth embodiment, the hand control unit performs the same control on the hand <NUM> as the control performed on the mounting table <NUM> by the mounting table control unit <NUM> in the first to third embodiments.

So far, the fourth embodiment has been described.

The technology of the disclosure can be applied not only when the transport robots <NUM> and <NUM> start moving from a stopped state and when the transport robots <NUM> and <NUM> stop moving, but also at any point on the movement paths thereof.

Furthermore, the technology of the disclosure can also be applied not only when the transport robots <NUM> and <NUM> move straight, but also when they simultaneously perform deceleration and acceleration in different directions when turning.

Furthermore, even when the transport robots <NUM> and <NUM> move in an arc when turning, the technology of the disclosure can be applied in accordance with the inertial force acting at that time.

So far, the fifth embodiment has been described.

As described above, according to the technology of the disclosure, in the control device <NUM> provided in the transport robot <NUM>, the chassis control unit <NUM> controls the movement speed of the chassis <NUM>. The mounting table control unit <NUM> moves the mounting table <NUM> with respect to the chassis <NUM> according to the acceleration or deceleration of the chassis <NUM>. For example, when the chassis <NUM> is accelerated, the mounting table control unit <NUM> accelerates the mounting table <NUM> in the same direction as the traveling direction of the chassis <NUM> (<FIG>), and when the chassis <NUM> is decelerated, the mounting table control unit <NUM> accelerates the mounting table <NUM> in the direction opposite to the traveling direction of the chassis <NUM> (<FIG> and <FIG>). By so doing, it is possible to reduce a load applied to the transportation target CO placed on the mounting table <NUM> due to the movement of the transport robot <NUM>, so that it is possible to safely transport the transportation target CO. Particularly, it is possible to transport the transportation target CO that is susceptible to collapse, such as food served on a plate, without collapsing the transportation target CO.

Furthermore, the mounting table control unit <NUM> accelerates or decelerates the mounting table <NUM> at the acceleration with an absolute value |A2| (|A2|=<NUM> in <FIG>, |A2|=<NUM> in <FIG>, and |A2|=<NUM> in <FIG>) smaller than the absolute value |A1| (|A1|=<NUM> in <FIG>, |A1|=<NUM> in <FIG>, and |A1|=<NUM>,<NUM> in <FIG>) of the acceleration given to the chassis <NUM> by the chassis control unit <NUM>. By so doing, the relative acceleration of the mounting table <NUM> with respect to the chassis <NUM> can be set to an appropriate acceleration in reducing a load applied to the transportation target CO placed on the mounting table <NUM>.

Furthermore, the mounting table control unit <NUM> starts accelerating the mounting table <NUM> before the chassis control unit <NUM> starts accelerating the chassis <NUM> (<FIG>). By so doing, it is possible to reduce a load applied to the transportation target CO when the movement of the stopped chassis <NUM> is started.

Furthermore, the mounting table control unit <NUM> controls the movement of the mounting table <NUM> such that the mounting table <NUM> is stopped with respect to the chassis <NUM> when the chassis control unit <NUM> stops accelerating or decelerating the chassis <NUM> (<FIG>, <FIG>, and <FIG>). By so doing, it is possible to reduce a load applied to the transportation target CO when the movement speed of the stopped chassis <NUM> becomes a constant speed, and to prevent the mounting table <NUM> from trying to move beyond the movable range of the connecting arm <NUM> with respect to the chassis <NUM>.

Furthermore, the mounting table control unit <NUM> changes the angle of the mounting table <NUM> with respect to the horizontal direction according to the acceleration or deceleration of the chassis <NUM>. For example, when the chassis <NUM> is accelerated, the mounting table control unit <NUM> inclines the mounting table <NUM> in the same direction as the traveling direction of the chassis <NUM> (<FIG>), and when the chassis <NUM> is decelerated, the mounting table control unit <NUM> inclines the mounting table <NUM> in the direction opposite to the traveling direction of the chassis <NUM> (<FIG>). By so doing, it is possible to further reduce a load applied to the transportation target CO.

Furthermore, the mounting table control unit <NUM> changes the angle of the mounting table <NUM> with respect to the horizontal direction such that the direction parallel to the mounting surface of the mounting table <NUM> is parallel to the direction of a combined acceleration obtained by combining a horizontal acceleration acting on the transportation target CO and the gravitational acceleration. By so doing, the angle of the mounting table <NUM> with respect to the horizontal direction can be controlled to an angle at which a load applied to the transportation target CO can be minimized.

Furthermore, the mounting table control unit <NUM> moves the mounting table <NUM> in the direction perpendicular to the mounting surface thereof according to the acceleration or deceleration of the chassis <NUM>. For example, when the chassis <NUM> is accelerated or decelerated, the mounting table control unit <NUM> accelerates the mounting table <NUM> downward in the direction perpendicular to the mounting surface thereof. By so doing, it is possible to further reduce a load applied to the transportation target CO.

Furthermore, on the basis of the characteristics of the transportation target CO, the operation determination unit <NUM> determines the movement speed or acceleration of the chassis <NUM> on the movement path thereof before the chassis <NUM> starts moving. By so doing, it is possible to transport the transportation target CO at an appropriate movement speed or acceleration based on the characteristics of the transportation target CO.

Furthermore, the characteristic judgment unit <NUM> judges the characteristics of the transportation target CO by applying a load to the transportation target CO before the chassis <NUM> starts moving. By so doing, it is possible to accurately judge the characteristics of the transportation target CO.

Claim 1:
A control device (<NUM>) that controls movement of a transporting unit connected to a moving unit that is movable, the control device (<NUM>) comprising:
a first control unit that is configured to control a movement speed of the moving unit; and
a second control unit that is configured to move the transporting unit with respect to the moving unit according to acceleration or deceleration of the moving unit,
the control device (<NUM>) further comprising:
a judgment unit (<NUM>) that is configured to judge characteristics of a transportation target (CO) that is transported with the transporting unit; and
a determination unit (<NUM>) that is configured to determinate the movement speed or an acceleration of the moving unit on a movement path thereof on the basis of the characteristics before the moving unit starts moving.