Conveyance system, conveying method, and program
A conveyance system includes a conveyance robot that conveys a carried item adjacent to an obstacle, by approaching the carried item in a predetermined control target direction, getting into under the carried item, and moving when the carried item is lifted by an elevating device. The conveyance system obtains information on a control error indicating deflection in a yawing direction of a moving direction of the conveyance robot relative to the control target direction, when the conveyance robot gets into under the carried item, determines whether the carried item interferes with the obstacle, when the conveyance robot starts moving in the condition where the carried item is lifted, based on the obtained control error information, and corrects the control target direction used when the conveyance robot gets into under the carried item, to reduce the control error, when determining that the carried item interferes with the obstacle.
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.
2. The conveyance system according to claim 1 , wherein the first processor is further configured to
determine whether the predetermined control target direction used when the conveyance robot gets under the item is in parallel with the obstacle, and
correct the predetermined control target direction to reduce the control error in response to a determination that the predetermined control target direction used when the conveyance robot gets under the item is in parallel with the obstacle.