CPC B65G 1/137 (2013.01) [G05D 1/02 (2013.01)] | 2 Claims |
1. A conveyance system comprising:
a conveyance robot configured to convey an item located adjacent to an obstacle, by approaching the item in a predetermined control target direction relative to the item, getting under the item, lifting the item, and moving in a lifted condition, the lifted condition being a condition in which the item is lifted by the conveyance robot;
a first processor; and
a memory, wherein
the conveyance robot includes
a second processor,
a robot main body,
a first motor driver configured to drive a motor of wheels, the wheels being attached to the robot main body, and
a second motor driver configured to drive a motor of a plate, the plate being attached to the robot main body and being configured to lift the item placed on the plate,
the first processor is configured to:
obtain information on a control error from the memory, the information on the control error indicating deflection in a yaw direction of a direction of movement of the conveyance robot relative to the predetermined control target direction when the conveyance robot gets under the item;
determine, based on the obtained information on the control error, whether the item gets closer to the obstacle when the conveyance robot starts moving in the lifted condition;
determine whether a value of a clearance between the item and the obstacle is equal to or smaller than a predetermined value;
determine that the item interferes with the obstacle in response to a determination that the item gets closer to the obstacle when the conveyance robot starts moving in the lifted condition and a determination that the value of the clearance between the item and the obstacle is equal to or smaller than the predetermined value;
correct the predetermined control target direction used when the conveyance robot gets under the item to reduce the control error; and
transmit the corrected predetermined control target direction to the second processor, and
the second processor is configured to:
receive the corrected predetermined control target direction;
control the first motor driver to drive the motor of the wheels to move the conveyance robot in the corrected predetermined control target direction under the item;
control the second motor driver to drive the motor of the plate to move the plate up to lift the item; and
control the first motor driver to drive the motor of the wheels to move the conveyance robot to convey the item to a destination.
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