ARTICLE CONVEYING ROBOT, ARTICLE CONVEYING SYSTEM, AND ROBOT MANAGEMENT DEVICE

• Main Authors: GOTO JIRO, TSUNODA SEIICHI, MATSUOKA TOMOHITO, FUKUNAGA KEIMA, ETO YASUTAKA, UKAI TERUMI
• Format: Patent
• Language: English; Japanese
• Published: 22.04.2021
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

To disclose an article conveying robot, an article conveying system, and a robot management device that enable the article conveying robot to travel autonomously inside and outside a building more smoothly than before.SOLUTION: An autonomous travel palette 10 that is an article conveying robot comprises: a dynamic map storage unit 40 that is a map data storage unit; a BIM data storage unit 42 that is an internal structure storage unit; a road route creation unit 36A; a cooperation unit 36B; and an in-building route creation unit 36C. The road route creation unit 36A acquires a road route that is based on map data and that sets a building entrance as a destination. The cooperation unit 36B obtains a corresponding entrance that is an entrance in the internal structure data, which corresponds to the entrance on the map data, which is the destination on the road route. The in-building route creation unit 36C acquires an in-building route that is based on the internal structure data and that is a route from the corresponding entrance to a position of a recipient specified based on the internal structure data.SELECTED DRAWING: Figure 3 【課題】従来よりも物品搬送ロボットが建物内外をスムーズに自律走行可能な、物品搬送ロボット、物品搬送システム、及びロボット管理装置を開示する。【解決手段】物品搬送ロボットである自走パレット１０は、地図データ記憶部であるダイナミックマップ記憶部４０、内部構造記憶部であるＢＩＭデータ記憶部４２、路上経路作成部３６Ａ、連携部３６Ｂ、および建物内経路作成部３６Ｃを備える。路上経路作成部３６Ａは、地図データに基づく経路であって届先建物の入館口を目的地とする路上経路を取得する。連携部３６Ｂは、路上経路にて目的地とされた地図データ上の入館口に対応する、内部構造データ中の入館口である対応入館口を求める。建物内経路作成部３６Ｃは、内部構造データに基づく経路であって、対応入館口から、内部構造データに基づいて特定される届先人の位置である居所までの建物内経路を取得する。【選択図】図３