Trolley alignment device, distribution system and control method

Abstract

The disclosed trolley alignment device is used in a delivery system that utilizes trolleys for delivering items. The trolleys include a loading portion for loading items, and casters disposed on the loading portion and having wheels capable of changing the direction of movement of the loading portion. The trolley alignment device includes a rail member for guiding the casters of the trolleys in a predetermined alignment direction, and a placement unit for placing and securing the rail member in an accumulation chamber that accommodates one or more trolleys.

Description

Technical Field

[0001] This specification discloses a trolley alignment device, a delivery system, and a control method. Background Art

[0002] In the past, in a delivery system for delivering items, an automatic moving vehicle that enters the lower part of a trolley with casters and automatically moves the trolley has been proposed (for example, see Patent Document 1). This automatic moving vehicle can move the trolley without an operator. In addition, in a delivery system, a delivery system having wheels that moves a trolley loaded with items has been proposed (for example, see Patent Document 2). In addition, the following structure has been proposed: a chain of a predetermined length mounted on a transport vehicle, a driving arm connected to the front end of the chain, and an engaging unit that can engage and disengage the driving arm and the movable groove side, the driving arm is advanced in the direction of sending out the chain to transfer the movable groove side to the workstation side, and the driving arm is retreated in the direction of pulling the chain to return the movable groove from the workstation side to the transport vehicle, and then the forward direction of the driving arm based on the chain is changed to the opposite direction (for example, see Patent Document 3). In addition, a lifting and moving device is proposed, which is a device that can be freely installed on the rack of a vehicle and is used for loading and unloading goods. The device comprises at least: a pair of main rails arranged along the front-to-back direction at the left and right ends of the rack; a pair of extension rails that can be freely installed and installed and connected to the rear ends of the main rails and extend to the rear of the rack; and a winch mechanism, in which a support component for supporting a steel wire rope for lifting goods is provided on a bridge-shaped main body that travels on the main rails and the extension rails (for example, refer to patent document 4).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: U.S. Patent No. 10202061

[0006] Patent Document 2: U.S. Patent No. 5,374,151

[0007] Patent Document 3: Japanese Patent Application Laid-Open No. 5-178455

[0008] Patent Document 4: Utility Model Registration No. 3136222 Summary of the Invention

[0009] Problems to be solved by the invention

[0010] As shown in Patent Document 1, carts loaded with items typically have freely rotatable casters, allowing the carts to move smoothly in their desired direction. However, in the collection chamber where the carts are collected, while it is desirable to arrange the carts as closely as possible within the narrow space provided, the flexibility of the casters sometimes prevents smooth storage. Patent Documents 1 to 4 do not specifically address this issue, but rather demand a simpler way to align the carts within the collection chamber.

[0011] The present disclosure is made to solve such problems, and its main purpose is to provide a trolley aligning device, a delivery system, and a control method that can more easily align trolleys in an accumulation room and further reduce the workload of operators.

[0012] In addition, in such delivery systems, as described in Patent Document 1, automated transport vehicles are sometimes used to automatically move the carts to further reduce operator workload. Furthermore, at the collection area for delivery carts and carts, a door is sometimes installed at the opening for loading and unloading the carts. Because this door must be opened and closed manually by the operator, it is desirable to further reduce the workload of delivery system operators.

[0013] The present disclosure has been made to solve such a problem, and its main object is to provide an automatic moving device and a control method thereof that can further reduce the workload of an operator in an article delivery system using a cart.

[0014] In order to achieve the above-mentioned main object, the present disclosure adopts the following means.

[0015] The trolley alignment device disclosed in this specification is used in a distribution system that uses trolleys to distribute items. The trolley comprises: a loading portion for loading items; and casters, which are arranged on the loading portion and have wheels that can change the moving direction of the loading portion. The trolley alignment device comprises: a rail component that guides the casters of the trolley in a predetermined arrangement direction; and a distribution portion that distributes and fixes the rail component in an accumulation chamber that accommodates one or more trolleys.

[0016] In this trolley alignment device, the casters that can change their moving direction are guided along a predetermined arrangement direction by a track component fixed to the collection chamber, while the trolleys are arranged along the arrangement direction. If the trolleys are simply moved into the collection chamber, the casters that can freely change their moving direction will mostly face various directions, making it difficult to arrange them in an orderly manner. However, in this trolley alignment device, the casters can be aligned along the arrangement direction of the track component simply by allowing the casters to enter the track component. Therefore, the trolley alignment device can more easily align the trolleys in the collection chamber using a relatively simple structure such as a track component, which can further reduce the workload of the operator. The trolley alignment device can also include a car stop component, which is provided at the innermost part of the track component to limit the movement of the trolleys in the arrangement direction. In this trolley alignment device, since the trolleys are fixed at the innermost part by the car stop component, it is easy to move the trolleys in one by one. Here, "articles" are not particularly limited as long as they are delivered. Examples include industrial products, including machinery and equipment units and components, common household items, food, and fresh produce. Examples of "accumulation locations" include logistics centers, warehouses, stores, and warehouses for storing goods, such as mobile transport vehicles for delivering goods. Examples of mobile transport vehicles include vehicles such as automobiles and trains, ships, and aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic explanatory diagram showing an example of the delivery system 10.

[0018] Figure 2 It is an explanatory diagram showing an example of the automatic moving device 30.

[0019] Figure 3 It is an explanatory diagram showing an example of the carriage aligning device 40 .

[0020] Figure 4 It is a front view of the carriage aligning device 40 with the carriage 14 loaded therein.

[0021] Figure 5 It is an explanatory diagram showing an example of the stopper device 50 .

[0022] Figure 6 1 is an explanatory diagram showing an example of the delivery vehicle 60 as viewed from the rear.

[0023] Figure 7 This is a flowchart showing an example of a width-space adjustment processing routine.

[0024] Figure 8 This is an explanatory diagram showing changes in the width of the carriage aligning device 40 and the interval between the stoppers 50 .

[0025] Figure 9This is a front view showing a state in which the width of the carriage aligning device 40 and the interval between the stoppers 50 are changed.

[0026] Figure 10 This is a flowchart showing an example of a carriage count stop control processing routine.

[0027] Figure 11 This is an explanatory diagram of the operation of the stopper based on the recognition signal of the recognition sensor 53 .

[0028] Figure 12 This is an explanatory diagram of an example of aligning the carriages 14 on the carriage aligning device 40 .

[0029] Figure 13 Explanatory diagram of the operation of releasing the stopper based on the detection signal of the detection sensor 54.

[0030] Figure 14 This is a flowchart showing an example of an automatic movement control processing routine.

[0031] Figure 15 This is an explanatory diagram of an example in which the automatic moving device 30 accommodates the vehicle 14 in the warehouse 61 .

[0032] Figure 16 It is an explanatory diagram of an example of another stopper device 50B. DETAILED DESCRIPTION

[0033] Embodiments of the present disclosure will be described using the accompanying drawings. Figure 1 It is a schematic explanatory diagram showing an example of the delivery system 10. Figure 2 It is an explanatory diagram showing an example of the automatic moving device 30. Figure 3 1 is an explanatory diagram showing an example of a carriage aligning device 40. Figure 3 (A) is a top view, Figure 3 (B) is the main view. Figure 4 It is a front view of the carriage aligning device 40 with the carriage 14 loaded therein. Figure 5 It is an explanatory diagram showing an example of the stopper device 50 . Figure 6This is an explanatory diagram showing an example of a delivery vehicle 60 viewed from the rear. A delivery system 10 utilizes a trolley 14 to deliver items from a delivery source, which has a collection room where the trolleys 14 are collected, to a delivery destination. The term "item" herein refers to any item being delivered, and is not particularly limited to any item. Examples include industrial products, including machinery, devices, device units, and components, as well as general daily necessities, food, and fresh produce. Examples of "delivery sources" and "delivery destinations" include logistics centers where items are collected and delivered, warehouses where items are stored, and stores where items are sold. Furthermore, "collection rooms" include, in addition to the aforementioned delivery sources and destinations, warehouses 61 of the delivery vehicle 60. For ease of explanation, this description focuses on the delivery system 10 that delivers goods, such as daily necessities and fresh produce, from a logistics center 20, the delivery source, to a store 25, the delivery destination, using a delivery vehicle 60. In this embodiment, the left-right, front-back, and top-down directions are described as shown in the respective figures.

[0034] The trolley 14 includes a loading portion 15 and casters 16. The loading portion 15 is a flat plate-shaped member for loading articles. The casters 16 have wheels for moving the trolley 14 and are disposed on the lower surface side of the loading portion 15. The casters 16 are supported by an axis so as to rotate 360 ​​degrees around the rotation axis, and can freely change the moving direction of the loading portion 15. The trolley 14 has four casters 16 in the vertical and horizontal directions, and two of them are also referred to as the first row of casters 16a and the second row of casters 16b (see Figure 3 (A)).

[0035] The logistics center 20 is a place where items are collected and delivered to stores 25 and other logistics centers 20 in various locations. The logistics center 20 is equipped with one or more automatic moving devices 30 that can automatically move the trolleys 14. In the logistics center 20, one or more trolley alignment devices 40 are arranged on the ground. The trolley alignment device 40 is, for example, arranged in each specific area of ​​the ground corresponding to the delivery destination. The operator loads items onto the trolley 14 corresponding to the delivery destination. The automatic moving device 30 carries out the operation of moving the trolley 14 in and out of the trolley alignment device 40 with the delivery destination determined. The delivery vehicle 60 loads one or more trolleys 14 in the logistics center 20 and delivers items to the delivery destination, and returns the empty trolley 14 to the logistics center 20.

[0036] The store 25 displays and sells delivered articles. The store 25 has one or more automatic moving devices 30 that can automatically move the cart 14. The store 25 has display shelves for displaying articles, and workers display articles on these display shelves.

[0037] like Figure 1As shown, the distribution system 10 is constructed to include a logistics PC 21, a store PC 26, an automatic moving device 30, a trolley alignment device 40, and a management server 70. The logistics PC 21 is arranged in the logistics center 20 to perform commodity management in the logistics center 20. The logistics PC 21 has a control unit 22, a storage unit 23, and a communication unit 24. The control unit 22 has a CPU and is responsible for controlling the entire device. The storage unit 23 stores various applications and various data files. The communication unit 24 communicates with external devices such as the automatic moving device 30 and the trolley alignment device 40. The communication unit 24 exchanges information with the management server 70 and the store PC 26 via the network 12. The storage unit 23 stores the delivery management information obtained by establishing a correspondence between the delivery destination and the item, the trolley information for managing the trolley 14 used in the logistics center 20, etc. The trolley information also includes, for example, the width between the casters 16 of the trolley 14, that is, the caster width X (see Figure 3 (A)), the width of the wheel of the caster 16, that is, the wheel width Y, the size of the loading part 15 and other information.

[0038] The store PC 26 is installed in the store 25 and performs, for example, merchandise management in the store 25. The store PC 26 includes a control unit 27, a storage unit 28, and a communication unit 29. The control unit 27 has a CPU and is responsible for controlling the entire device. The storage unit 28 stores various application programs and various data files. The communication unit 29 communicates with external devices such as the automatic moving device 30. The communication unit 29 exchanges information with the management server 70 and the logistics PC 21 via the network 12. The storage unit 28 stores merchandise management information obtained by establishing correspondence between items and display shelves, trolley information for managing the trolleys 14 used in the store 25, and the like. The trolley information may also include the same content as the trolley information stored in the logistics PC 21 and the trolley information 76 stored in the management server 70.

[0039] The automatic moving device 30 is a vehicle that automatically moves the trolley. The automatic moving device 30 enters the space between the casters 16 on the lower surface side of the loading part 15 of the trolley 14, lifts the loading part 15 from the bottom using the lifting part 34, and connects to the trolley 14 to move the trolley 14. The automatic moving device 30 can be an AGV (Automatic Guided Vehicle) that moves on a predetermined driving path, or it can be an AMR (Autonomous Mobile Robot) that detects the surroundings and moves along a free route. Here, the automatic moving device 30 having the structure of an AMR is described. In addition, for the sake of convenience, the automatic moving device 30 configured in the logistics center 20 is specifically described here.

[0040] The autonomous mobile device 30 is configured as an AMR (Autonomous Mobile Robot) that detects the surroundings and moves along a free route. Figure 2 As shown, the automatic moving device 30 includes a movement control unit 31, a storage unit 32, a lifting unit 34, a Mecanum wheel 35, a movement drive unit 36, a non-contact sensor 37, and a communication unit 38. The movement control unit 31 is a controller that controls the entire automatic moving device 30. It outputs control signals and other signals to the lifting unit 34, the movement drive unit 36, and the communication unit 38, and receives input signals from the non-contact sensor 37 and the communication unit 38. The movement control unit 31 determines the movement direction, movement distance, current position, and other information of the automatic moving device 30 based on the driving status of the movement drive unit 36. The storage unit 32 stores various applications and data files. For example, the storage unit 32 stores map data for the logistics center 20 and a schedule for moving the trolley 14. The map data and schedule are obtained from the logistics PC 21 via communication. The lifting unit 34 arches upward relative to the main body of the automatic moving device 30, pressing against the bottom surface of the loading unit 15 to connect to the trolley 14. The Mecanum wheels 35 have a structure with multiple rollers on the ground contact side, supported by shafts for free rotation at a 45° angle relative to the axle. This autonomous vehicle 30 is configured with four Mecanum wheels 35. Each wheel independently rotates forward or backward, enabling the autonomous vehicle 30 to move in all directions, turn in place, turn horizontally, and perform other functions. The movement drive unit 36 ​​is a motor connected to each Mecanum wheel 35. It drives the connected Mecanum wheel 35 to rotate, thereby driving the autonomous vehicle 30 and causing it to travel. The non-contact sensor 37 detects objects around the autonomous vehicle 30 and their distances. For example, the non-contact sensor 37 irradiates the surrounding area with light such as laser light or sound waves and detects the reflected waves to detect the presence of objects and their distances. The movement control unit 31 controls the movement and stopping of the autonomous vehicle 30 based on information from the non-contact sensors 37. The communication unit 38 wirelessly exchanges information with external devices such as the logistics PC 21 and the delivery vehicle 60. The movement control unit 31 moves to the location of the trolley 14 based on instructions received from the logistics PC 21 via the communication unit 38. After connecting with the trolley 14, it moves the trolley 14 along the set movement path to the destination. The movement control unit 31 also functions as a transmission control unit that sends signals to the delivery vehicle 60. The movement control unit 31 outputs, via the communication unit 38, signals to open and close the tailgate 62, control signals to move the tailgate 63 up and down, and control signals to activate the fall prevention stopper 64.

[0041] The trolley alignment device 40 is a device that has the function of aligning and fixing multiple trolleys 14. Figure 3 、 Figure 4 As shown, the carriage aligning device 40 includes a rail member 43 , a disposing portion 44 , a width changing portion 45 , a width driving portion 46 , an alignment control portion 48 , a carriage blocking member 49 , a stopper 50 , and a communication portion 58 .

[0042] The rail member 43 is a member that guides the casters 16 of the trolley 14 along a predetermined arrangement direction D. The rail member 43 includes a first row of members 41 and a second row of members 42. The first row of members 41 guides the first row of casters 16a, and the second row of members 42 guides the second row of casters 16b. The first row of members 41 includes a main body 41a, a lower member 41b, and a guide member 41c. The main body 41a is arranged along the predetermined arrangement direction D. Figure 3 The main body 41a is a long strip component formed in the front-to-back direction. A stopper 50 is built into the main body 41a. The lower component 41b is a long strip component joined to the lower side of the main body 41a. A guide component 41c is provided on the upper surface of the lower component 41b in a state that it can slide in the left and right directions. The exposed upper surface of the lower component 41b is the surface for the wheels of the caster 16 to travel. The guide component 41c is a long strip component formed in the front-to-back direction. A guide space for the wheels of the caster 16 to pass through is formed between the vertical surface 41d of the main body 41a and the vertical surface of the guide component 41c (see Figure 3 (B)). In addition, an open groove is formed on the vertical surface 41d so that the stop member 55 can protrude into the guide space. The second column of components 42 includes a main body 42a, a lower component 42b and a guide component 42c. In addition, the main body 42a, the lower component 42b, the guide component 42c and the vertical surface 42d respectively have the same structure as the main body 41a, the lower component 41b, the guide component 41c and the vertical surface 41d, and their detailed description is omitted. The first column of components 41 and the second column of components 42 are arranged on the arrangement portion 44 in such a manner that the guide components 41c and 42c are located on the inner side and opposite to each other. The first column of components 41 is fixed to the arrangement portion 44 in an immovable manner. On the other hand, the second column of components 42 is arranged on the arrangement portion 44 in a manner that can slide in the left and right directions through the width change portion 45 and the width drive portion 46 arranged inside the vehicle stop component 49. The rail member 43 is disposed on the end surface of the vehicle stopper member 49 on the side of the arrangement portion 44 so as to slide in a direction perpendicular to the longitudinal direction (arrangement direction D) of the vehicle aligning device 40 .

[0043] The installation section 44 is a section that installs and fixes the track member 43 in the collection room that accommodates one or more trolleys 14. The trolley alignment device 40 is installed and fixed to the logistics center 20 and the warehouse 61 of the delivery vehicle 60 via the installation section 44. The installation section 44 installs and fixes the track member 43 in the logistics center 20 that is the collection room of the delivery source and the warehouse 61 of the delivery vehicle 60 that is the collection room. Figure 3 In the figure, the arrangement portion 44 is a plate-shaped member fixed to the ground using screws (not shown). In addition, the arrangement portion is not particularly limited as long as it is a member that fixes the rail member 43 to the ground, and can also be the screws themselves that fix the rail member 43 to the ground.

[0044] The width changing portion 45 can change the width between the first row member 41 and the second row member 42 of the rail member 43. The width changing portion 45 can also be a mechanism that slides the rail member 43 along the groove formed in the vehicle stop member 49 and the arrangement portion 44 (see below). Figure 8 、 Figure 9 ). The width changing part 45 slides the main body 42a and the lower part 42b of the second column part 42, and separately slides the guide parts 41c and 42c. The width changing part 45 changes the distance between the first column casters 16a and the second column casters 16b, that is, the caster width X, and changes the width of the wheels of the first column casters 16a and the second column casters 16b, that is, the wheel width Y. The width changing part 45 changes the wheel width Y by sliding the guide part 41c on the lower part 41b in a direction perpendicular to the arrangement direction D. The width driving part 46 drives the width changing part 45. The width driving part 46 can also be set as a linear motor that slides the rail part 43. The rail part 43 has an entry space 47 (refer to Figure 3 (B)). The vehicle stopper 49 is located at the innermost portion of the track member 43 and restricts the movement of the trolley 14 along the arrangement direction D. The vehicle stopper 49 includes a built-in width adjustment unit 45, a width drive unit 46, and the like. The communication unit 58 wirelessly exchanges information with external devices such as the logistics PC 21 and the management server 70.

[0045] The stopper 50 restricts the movement of the trolley 14 on the trolley alignment device 40 and releases the restriction on the movement of the trolley 14 on the trolley alignment device 40. The stopper 50 is provided within a predetermined range of the rail member 43 corresponding to the arrangement interval of the trolleys 14, and fixes and releases the fixation of the trolley 14. In addition, the predetermined range of the rail member 43 can also be set as the range within which the trolley 14 can move on the trolley alignment device 40. Figure 5As shown, the stopper device 50 includes a main body 51, a stopper sensor moving unit 52, an identification sensor 53, a detection sensor 54, a stopper member 55, and a stopper driving unit 57. The main body 51 is a rectangular parallelepiped box supported on the rail of the stopper sensor moving unit 52 so as to be movable along the arrangement direction D. The identification sensor 53, the detection sensor 54, the stopper member 55, and the stopper driving unit 57 are built into the main body 51.

[0046] The stopper sensor moving portion 52 is composed of a rail provided along the arrangement direction D inside the rail member 43 and a motor that moves the main body 51 along the rail in the front-rear direction parallel to the arrangement direction D. The stopper sensor moving portion 52 has both the function of a stopper moving portion that moves the stopper member 55 along the arrangement direction D and the function of a sensor moving portion that moves the identification sensor 53 and the detection sensor 54 along the arrangement direction D. The stopper sensor moving portion 52 moves the stopper member 55 along the longitudinal direction of the rail member 43 and fixes the stopper member 55 at a position corresponding to the stopper interval L corresponding to the arrangement interval of the carriage 14 (see Figure 3 (A) The stopper sensor moving portion 52 moves the recognition sensor 53 and the detection sensor 54 along the rail member 43 and fixes them at positions corresponding to the arrangement intervals of the carriages 14 .

[0047] The recognition sensor 53 is a non-contact sensor that identifies the trolley 14 within a predetermined range of the rail member 43. The recognition sensor 53 can be any sensor capable of identifying the presence of the trolley 14 and can be a non-contact sensor that emits light and detects reflected waves, or a switch-type contact sensor that outputs a signal by contacting the trolley 14. Alternatively, a camera that captures an image of the trolley 14 and identifies the trolley 14 can be used in place of the recognition sensor 53. The recognition sensor 53 is located on the main body 51, further back than the stop member 55 and above the upper surfaces of the guide members 41c and 42c. The detection sensor 54 is a non-contact sensor that detects the automatic moving device 30, which is the object moving the trolley 14. The detection sensor 54 can also be a sensor that detects another object moving the trolley 14, such as a human operator. The detection sensor 54 can be any sensor capable of detecting the object moving the trolley 14 and, for example, can be a sensor similar to those listed above as the recognition sensor 53.

[0048] The stopper member 55 is a columnar member having a restriction surface 56 that contacts the caster 16 and restricts the movement of the carriage 14. The stopper member 55 is slidably disposed on the main body 51 so as to protrude from the vertical surface 42d of the rail member 43 located on the side of the wheel of the running caster 16. The stopper drive unit 57 moves the stopper member 55 to the restriction position ( Figure 5The right figure) and the release position ( Figure 5 The stopper drive unit 57 may also move the stopper member 55 using one or more of the following: a magnetic force such as a solenoid, a change in the flow path of a fluid such as air, a linear gear, etc. The stopper device 50 can perform functions such as confirming the presence of the carriage 14 and the automatic moving device 30, and restricting and releasing the movement of the carriage 14.

[0049] The alignment control unit 48 is a controller that controls the entire trolley alignment device 40. It outputs control signals to the width drive unit 46 and the stopper 50, and receives input signals from the stopper 50 and the communication unit 38. The alignment control unit 48 also functions as a width control unit, a spacing control unit, a stopper control unit, a disaster area control unit, and a count control unit. The width control unit controls the width drive unit 46 based on the type of trolley 14, adjusting the widths of the first and second rows of components 41 and 42. The spacing control unit controls the stopper sensor moving unit 52 based on the type of trolley 14, adjusting the spacing between the stopper components 55. The stopper control unit receives signals from the identification sensor 53 and the detection sensor 54, and drives and controls the stopper driving unit 57 to restrict or release the movement of the trolley 14. The sensor position control unit performs the following processing: controls the stopper sensor moving unit 52 according to the type of trolley 14, thereby moving and fixing the identification sensor 53 and the detection sensor 54. The counting control unit performs the following processing: receives a signal from the identification sensor 53, and counts the number of trolleys 14 brought into the trolley alignment device 40 and the number of trolleys 14 unloaded from the trolley alignment device 40. The counting control unit counts the number of trolleys 14 brought into the trolley alignment device 40, which is located in the logistics center 20 and fixed to the accumulation room serving as the delivery source, and the number of trolleys 14 unloaded from the trolley alignment device 40. In addition, the counting control unit outputs an accumulation completion signal when the number of trolleys brought into the trolley alignment device 40 reaches the delivery quantity to the delivery destination, and outputs a delivery permission signal when the number of trolleys 14 unloaded from the trolley alignment device 40 reaches the delivery quantity to the delivery destination.

[0050] The delivery vehicle 60 is a vehicle that loads and delivers one or more trolleys 14. Figure 1 、 Figure 6As shown, the delivery vehicle 60 includes a cargo hold 61, a tailgate 62, a tail lift 63, and a fall prevention stopper 64. The cargo hold 61 is a gathering room for the trolleys 14, and a trolley alignment device 40 is fixed on the floor thereof. The tailgate 62 is provided at the rear of the vehicle, and the cargo hold 61 is opened and closed by closing the door. The tail lift 63 loads the trolleys 14, the operator, etc. onto a work platform that becomes horizontal when the door is opened, and moves the work platform up and down between the floor of the cargo hold 61 and the driving surface of the delivery vehicle 60. The fall prevention stopper 64 is provided at the front end of the tail lift 63, and moves between a restriction position that restricts the movement of the trolley 14, etc. and a restriction release position that releases the restriction on the movement of the trolley 14, etc., to prevent the trolley 14 and articles from falling. The fall prevention stopper 64 is a plate-shaped component that rotates between a restriction position that makes the plate-shaped component a vertical wall and a restriction exclusion position that makes the plate-shaped body horizontal (see below). Figure 15 The tailgate 62, tail lift 63, and anti-drop stopper 64 of the delivery vehicle 60 can be mechanically actuated by a motor, oil pressure, or the like. Furthermore, the delivery vehicle 60 includes a controller 68 and a communication unit (not shown), which can actuate the tailgate 62, tail lift 63, and anti-drop stopper 64 via external wireless signals or the like. Furthermore, in this embodiment, the delivery vehicle 60 utilizes a truck-type delivery vehicle 60 for delivery of the trolley 14. However, this is not particularly limiting and may also utilize a mobile transport vehicle such as a train, ship, or airplane.

[0051] The management server 70 is a device for managing the distribution system 10. The management server 70 includes a management control unit 71, a storage unit 73, and a communication unit 78. The management control unit 71 has a CPU 72, which is responsible for controlling the entire device. The storage unit 73 stores various applications and various data files. The storage unit 73 stores distribution management information 75 for managing the distribution of items, trolley information 76 for managing the trolleys 14 used in the logistics center 20 and the store 25, and the like. The distribution management information 75 includes distribution information obtained by establishing a correspondence between the distribution destination and the item, correspondence information obtained by establishing a correspondence between the trolley 14 loaded with items and the item, and scheduled information including the time of distribution of the trolley 14. The trolley information 76 includes the length of the width of the caster 16 of the multiple types of trolleys 14 used in the distribution system 10, that is, the caster width X (see Figure 3 (A)), the wheel width Y of caster 16, and the dimensions of loading section 15. Communication section 78 exchanges information with external devices such as logistics PC 21 and store PC 26 via network 12. Management server 70 provides information included in delivery management information 75 and trolley information 76 to logistics PC 21 and store PC 26.

[0052] Next, a description will be given of a process for changing the caster width X, wheel width Y, and stopper interval L of the cart aligning device 40 in the delivery system 10 configured as described above. Figure 7 This is a flowchart illustrating an example of a width-interval adjustment processing routine executed by the alignment control unit 48 of the cart alignment device 40. This routine is stored in the storage unit of the alignment control unit 48 and is executed before the cart alignment device 40 is used. When this routine is started, the alignment control unit 48 obtains the delivery management information 75 and cart information 76 from the management server 70 (S100) and obtains the type of cart 14 used by the cart alignment device 40 (S110). Based on the obtained information, the alignment control unit 48 then controls the width drive unit 46 and the stopper sensor moving unit 52 to match the caster width X, wheel width Y, and stopper interval L of the cart 14 of the type currently being used (S120), and then immediately terminates the routine.

[0053] Figure 8 This is an explanatory diagram showing changes in the width of the carriage aligning device 40 and the interval between the stoppers 50 . Figure 9 This is a front view showing changes to the width of the carriage alignment device 40 and the spacing between the stoppers 50. For example, if the next carriage 14 to be used is smaller than the previous one, the alignment control unit 48 uses the width drive unit 46 to slide and move the main body 42a and guide member 42c of the second row component 42 to change the position. Furthermore, the alignment control unit 48 uses the stopper sensor moving unit 52 to move and fix the positions of the individual stoppers 50 to achieve this change. In this carriage alignment device 40, by acquiring information about the next carriage 14 to be used and automatically moving the components, the operator's workload and time burden can be reduced.

[0054] Next, we will describe the process of counting the number of carts 14 delivered by the cart aligning device 40. In conventional logistics centers, areas for accumulating carts 14 are pre-set for each delivery destination, and the carts 14 are gathered in these areas. This method makes it difficult to accurately determine whether the carts 14 to be delivered can be delivered together. In this delivery system 10, by installing and utilizing the cart aligning device 40 in the logistics center 20, it is possible to count the number of carts 14 and restrict their free movement. Figure 10This is a flowchart showing an example of a trolley counting and stopping control routine executed by the alignment control unit 48 of the trolley alignment device 40. This routine is stored in the storage unit of the alignment control unit 48 and is executed when the trolley alignment device 40 begins to collect and distribute trolleys 14. Before starting this routine, the operator inputs into the logistics PC 21 whether to load a trolley 14 into the trolley alignment device 40 or to unload a trolley 14 from the trolley alignment device 40 as the subsequent operation. During the loading operation of the trolley 14 into the trolley alignment device 40, the operator or the arm robot loads the trolley 14 with items. When the loading of the items onto the trolley 14 is complete, the automatic moving device 30 moves the loaded trolley 14 toward the trolley alignment device 40. In addition, during the unloading operation of the trolleys 14 from the trolley aligning device 40, when the accumulation of the trolleys 14 loaded with items is completed and all the trolleys 14 for delivery to the delivery destination are ready, the automatic moving device 30 moves the accumulated trolleys 14 to the delivery vehicle 60.

[0055] When the routine is started, the alignment control unit 48 determines whether it is an operation of moving the trolley 14 in or moving the trolley 14 out (S200). When the operation of moving the trolley 14 into the trolley alignment device 40 is being performed this time, the alignment control unit 48 obtains the delivery quantity of the trolleys 14 moved in this time (S210). The delivery quantity is the total number of trolleys 14 delivered to the delivery destination this time. The alignment control unit 48 obtains the delivery quantity from the information contained in the delivery management information 75. Next, the alignment control unit 48 inputs the signal of the mth identification sensor 53 and the detection sensor 54 (S220), and waits until the identification signal from the corresponding identification sensor 53 is obtained (S230). The alignment control unit 48 initially sets the mth as the first identification sensor 53. The first identification sensor 53 can also be located at the innermost side of the rail component 43 of the trolley alignment device 40, for example (refer to Figure 11 etc.). In addition, at this time, the alignment control unit 48 may also ignore the signals of the identification sensors 53 other than the m-th identification sensor 53. Furthermore, the alignment control unit 48 may also auxiliaryly use the signal input from the detection sensor 54. The automatic moving device 30 moves the trolley 14 along the rail component 43, so that the trolley 14 is moved to the inner side of the trolley alignment device 40. At this time, the casters 16 of the trolley 14 are guided by the guide rail component 43 and arranged side by side along the arrangement direction D. In addition, when the automatic moving device 30 passes in front of the detection sensor 54, the detection sensor 54 outputs a detection signal to the alignment control unit 48. In addition, when the trolley 14 passes in front of the identification sensor 53, the identification sensor 53 outputs an identification signal to the alignment control unit 48.

[0056] When an identification signal is received from the corresponding identification sensor 53, the alignment control unit 48 increments the number of carts loaded into the cart alignment device 40 by 1, activates the mth stopper 50, and moves the stopper 55 to the restricted position (S240). The alignment control unit 48 then determines whether the counted number of carts has reached the delivery quantity (S250). If not, m is incremented by 1 (S260) and the process from S220 onwards is executed. Specifically, the alignment control unit 48 waits until it receives an identification signal from the next identification sensor 53. Upon receiving an identification signal, the alignment control unit 48 repeatedly activates the next stopper 50. On the other hand, if the number of carts has reached the delivery quantity in S250, the alignment control unit 48 deems that all carts 14 for this delivery have been loaded into the cart alignment device 40 and outputs a loading completion message to the logistics PC 21 (S270), terminating the routine. Furthermore, upon completion of transport to the logistics center 20, the alignment control unit 48 may output an accumulation completion signal as transport completion information. Having received this transport completion information, the logistics PC 21 may also display a message on a display unit, such as a monitor, indicating that the carts 14 are ready for delivery to the corresponding destination. Upon confirming this, the operator begins loading the accumulated carts 14 onto the delivery vehicle 60.

[0057] Figure 11 This is an explanatory diagram of the operation of the stopper based on the recognition signal of the recognition sensor 53 . Figure 12 This is an explanatory diagram of an example of aligning the trolley 14 on the trolley aligning device 40. Figure 12 (A) is an explanatory diagram after the first trolley 14 is loaded. Figure 12 (B) is an explanatory diagram after the second trolley 14 is brought in. Figure 12 (C) is an explanatory diagram after the third trolley 14 is brought in. Figure 12 (D) is an explanatory diagram after the fourth trolley 14 is carried in. Here, as a specific example, the case where four stoppers 50 are fixed and four trolleys 14 are carried in the trolley alignment device 40 will be described. Figure 11 As shown, when the first trolley 14 is brought in and an identification signal is input from the identification sensor 53 (#1), the alignment control unit 48 moves the stopper 55 (#1) to the limit position to limit the movement of the trolley 14 ( Figure 12 At this time, the trolley 14 and the automatic moving device 30 pass in front of the identification sensor 53 (#2 to #4), but the alignment control unit 48 ignores these signals. Next, when the automatic moving device 30 moves the second to fourth trolleys 14 into the trolley alignment device 40, the alignment control unit 48 sets the stopper 55 (#2 to #4) to be activated ( Figure 12 (B)~ Figure 12Since the movement of the carriage 14 is restricted when the stopper 50 is driven, the alignment control unit 48 can count the number of carriages 14 more reliably.

[0058] On the other hand, when the operation of moving the trolley 14 out of the trolley alignment device 40 is performed in S200, the alignment control unit 48 obtains the delivery quantity of the trolley 14 moved out this time (S280). When the trolley 14 that has been moved in is moved out of the trolley alignment device 40, the delivery quantity can use the value at the time of moving in. Next, the alignment control unit 48 inputs the signal of the nth identification sensor 53 and the detection sensor 54 (S290), and waits until the detection signal from the corresponding detection sensor 54 is obtained (S300). The alignment control unit 48 initially sets the nth detection sensor 54 to the fourth detection sensor 54 at the end. The fourth detection sensor 54 can also be located at the frontmost position of the rail component 43 of the trolley alignment device 40, for example (refer to Figure 13 ). In addition, at this time, the alignment control unit 48 may also set the signals of the detection sensors 54 other than the nth detection sensor 54 as non-corresponding and process them. When the detection signal from the corresponding detection sensor 54 is obtained, the alignment control unit 48 causes the automatic moving device 30 to move out the corresponding trolley 14, sets the nth stop device 50 to be inactive (OFF), and moves the stop component 55 to the restriction release position (S310). Then, the alignment control unit 48 waits until the identification signal from the identification sensor 53 becomes inactive (S320). The automatic moving device 30 moves to the lower part of the trolley 14 and connects to the trolley 14, moves the trolley 14 along the rail component 43, and moves it out of the trolley alignment device 40. At this time, when the automatic moving device 30 passes in front of the detection sensor 54, the detection sensor 54 outputs a detection signal to the alignment control unit 48. In addition, when the trolley 14 moves from in front of the identification sensor 53, the identification sensor 53 stops outputting the identification signal to the alignment control unit 48.

[0059] If the identification signal from the recognition sensor 53 indicates inactivity, the alignment control unit 48 deems the automatic moving device 30 to have removed the trolley 14, decrements the number of trolleys in the trolley alignment device 40 by one (S330), and determines whether the number of trolleys currently counted has reached the delivery quantity (S340). If it has not reached the delivery quantity, the alignment control unit 48 decrements n by one (S350) and executes the processes from S290 onward. Specifically, the alignment control unit 48 waits until it receives a detection signal from the next detection sensor 54. Upon receiving a detection signal, it deactivates the next stopper 50 and repeats the process of decrementing the number of trolleys as trolleys 14 are removed. On the other hand, if the number of trolleys reaches the delivery quantity in S340, the alignment control unit 48 deems all trolleys 14 for this delivery to have been removed from the trolley alignment device 40. It then outputs a removal completion message to the logistics PC 21 (S360), terminating the routine. Furthermore, upon completion of unloading from the logistics center 20, the alignment control unit 48 may output a delivery permission signal as unloading completion information. Having received this unloading completion information, the logistics PC 21 may also display a message on a display unit, such as a monitor, indicating that the movement of the cart 14 from the collection location to the corresponding delivery destination has been completed. Upon confirming this, the operator begins moving the delivery cart 60, for which delivery permission has been granted, to the delivery destination.

[0060] Figure 13 This is an explanatory diagram of the action of releasing the stopper based on the detection signal of the detection sensor 54. Figure 13 As shown, when the automatic moving device 30 moves to the bottom of the trolley 14 (#4) when unloading the first trolley 14, the alignment control unit 48 receives a detection signal from the detection sensor 54 (#4). The alignment control unit 48 then moves the stopper 55 (#4) to the restriction release position, releasing the restriction on the movement of the trolley 14. At this time, the alignment control unit 48 may also ignore the signals from the detection sensors 54 (#2-#4) and the identification sensors 53 (#2-#4). Next, when the automatic moving device 30 unloads the second to fourth trolleys 14 (#3-#1) from the trolley alignment device 40, the alignment control unit 48 deactivates the stopper 55 (#3-#1) respectively. When the stopper 50 is released, the restriction on the movement of the trolley 14 is released, and the automatic moving device 30 can unload the trolley 14.

[0061] Next, the process of loading the trolley 14 into the cargo hold 61 of the delivery vehicle 60 by the automatic moving device 30 will be described. In a typical delivery vehicle 60, the operator is responsible for opening the tailgate 62 and moving the tail lift 63 up and down. In this delivery system 10, the automatic moving device 30 automatically moves the trolley 14, and is therefore configured to operate the tailgate 62 and tail lift 63. Figure 14This is a flowchart showing an example of an automatic movement control processing routine executed by the movement control unit 31 of the automatic movement device 30. This routine is stored in the storage unit of the movement control unit 31 and is executed when the vehicle 14 is moved from the vehicle alignment device 40 to the delivery vehicle 60. Figure 15 1 is an explanatory diagram of an example of the automatic moving device 30 storing the trolley 14 in the warehouse 61. Figure 15 A is a diagram showing that the automatic moving device 30 has sent an open signal and a descending signal. Figure 15 B is a diagram showing the automatic moving device 30 moving toward the tail elevator 63. Figure 15 C is a diagram showing that the automatic moving device 30 has raised the tail lift 63 and moved it toward the cargo hold 61 .

[0062] When the routine starts, the movement control unit 31 moves to the gathering place for receiving the trolleys 14 and connects to the lower part of the trolley 14 that is moved this time (S400). The gathering place is, for example, a trolley alignment device 40 that gathers the above-mentioned trolleys 14. Then, the movement control unit 31 moves the trolley 14 to the delivery vehicle 60 (S410). The movement control unit 31 obtains information contained in the delivery management information 75 from the management server 70, such as the parking position of the target delivery vehicle 60 and the moving path to the parking position, and moves based on the information. Next, the movement control unit 31 determines whether the automatic moving device 30 has moved to the vicinity of the tailgate 62 (S420). When the automatic moving device 30 has not moved to the vicinity of the tailgate 62, the movement control unit 31 drives the movement drive unit 36 ​​to move the automatic moving device 30. On the other hand, when the automatic moving device 30 moves to the vicinity of the tailgate 62, the moving control unit 31 sends an opening signal of the tail lift 63 and the tailgate 62 and a descending signal of the tail lift 63 to the delivery vehicle 60 and waits (S430, Figure 15 A).

[0063] When the tail elevator 63 descends to the road surface, the movement control unit 31 drives the movement drive unit 36 ​​to move the automatic moving device 30 toward the tail elevator 63 (S440, Figure 15 B), sends a driving signal to the falling prevention stopper 64, and sends a rising signal to the tail elevator 63 (S450, Figure 15C) When the tail lift 63 rises to the height of the cargo hold 61, the movement control unit 31 activates the movement drive unit 36, causing the automatic moving device 30 to move toward the cargo hold 61 and accommodate the trolley 14 therein (S460). The automatic moving device 30 moves the trolley 14 toward the trolley alignment device 40 located in the cargo hold 61. The trolley 14 moves in the alignment direction D, and the casters 16 are guided by the guide rail member 43 to align along the alignment direction D. At this point, the alignment control unit 48 of the trolley alignment device 40 performs the same processing as the aforementioned trolley count and stop control routine, counting the number of trolleys 14 loaded and activating the stop device 50.

[0064] Next, the movement control unit 31 drives the movement drive unit 36 ​​to move the automatic moving device 30 toward the tail lift 63 (S470) and transmits a descent signal for the tail lift 63 to the delivery vehicle 60 (S480). When the tail lift 63 descends to the road surface, the movement control unit 31 transmits a release signal for the fall prevention stopper 64 (S490). When the movement restriction by the fall prevention stopper 64 is released, the movement control unit 31 drives the movement drive unit 36 ​​to move the automatic moving device 30 toward the outside of the tail lift 63 (S500). When the automatic moving device 30 moves toward the outside of the tail lift 63, the movement control unit 31 transmits a closing signal for the tailgate 62 and a rising signal and a closing signal for the tail lift 63 to the delivery vehicle 60 (S510). The movement control unit 31 then determines whether the movement operation of all trolleys 14 is complete (S520). If the movement operation of all trolleys 14 is not complete, the process from S400 onward is executed. On the other hand, when the movement of all carts 14 is completed in S520, the movement control unit 31 controls the movement drive unit 36 ​​to move the automatic moving device 30 to the standby position (S530). This routine ends. In this way, the automatic moving device 30 sends an operation signal to the delivery vehicle 60, allowing the carts 14 to be loaded into the cargo hold 61 even without an operator.

[0065] Next, the process of the automatic moving device 30 of the store 25 unloading the trolley 14 from the warehouse 61 of the delivery vehicle 60 will be described. In this operation, the automatic moving device 30 performs the same process as the automatic moving control processing routine described above. In addition, the trolley alignment device 40 performs the same process as the trolley counting and stopping control processing routine, counting the number of trolleys 14 unloaded and releasing the stopping device 50. For example, in an empty state without being connected to the trolley 14, the movement control unit 31 opens the tailgate 62 and the tail elevator 63 of the delivery vehicle 60 and lowers the tail elevator 63 to the road surface, and then drives the movement drive unit 36 ​​to board the tail elevator 63. Next, the movement control unit 31 drives the fall prevention stopper 64 to raise the tail elevator 63 to the height of the warehouse 61. Next, the movement control unit 31 enters below the trolley 14 closest to the entrance and exit of the trolley alignment device 40, raises the lifting unit 34 to connect with it, and activates the movement drive unit 36 ​​to move the trolley 14 toward the tail elevator 63. The movement control unit 31 then lowers the tail elevator 63 to the road surface, releases the fall prevention stopper 64, and activates the movement drive unit 36 ​​to move the trolley 14 to the destination. In this way, the automatic movement device 30 sends an operation signal to the delivery vehicle 60, allowing the trolley 14 to be unloaded from the warehouse 61 even without an operator.

[0066] Here, the correspondence between the components of this embodiment and the components of the present disclosure is clarified. In this embodiment, the logistics center 20, store 25, and warehouse 61 are equivalent to the collection room, the trolley 14 is equivalent to the trolley, the loading section 15 is equivalent to the loading section, the casters 16 are equivalent to the casters, the first row of casters 16a is equivalent to the casters in the first row, and the second row of casters 16b is equivalent to the casters in the second row. In addition, the distribution system 10 is equivalent to the distribution system, the trolley alignment device 40 is equivalent to the trolley alignment device, the track component 43 is equivalent to the track component, the arrangement section 44 is equivalent to the arrangement section, the first row of components 41 is equivalent to the first row of components, the second row of components 42 is equivalent to the second row of components, the entry space 47 is equivalent to the entry space, the width change section 45 is equivalent to the width change section, the width drive section 46 is equivalent to the width drive section, the alignment control section 48 is equivalent to the width control section, the spacing control section, the stopper control section, the sensor position control section, and the counting control section. In addition, the arrangement direction D is equivalent to the arrangement direction, the caster width X is equivalent to the caster width, and the wheel width Y is equivalent to the wheel width. Furthermore, the stopper device 50 corresponds to the stopper, the stopper sensor moving unit 52 corresponds to the stopper moving unit and the sensor moving unit, the identification sensor 53 corresponds to the identification sensor, the detection sensor 54 corresponds to the detection sensor, the automatic moving device 30 corresponds to the automatic moving device, the movement drive unit 36 ​​corresponds to the movement drive unit, and the movement control unit 31 corresponds to the movement control unit and the delivery control unit. Furthermore, the delivery vehicle 60 corresponds to the delivery vehicle, the tailgate 62 corresponds to the tailgate, the tail lift 63 corresponds to the lift, and the fall prevention stopper 64 corresponds to the fall prevention stopper. Furthermore, in this embodiment, the operation of the delivery system 10 is described to clarify an example of the control method disclosed herein.

[0067] In the trolley alignment device 40 of the present embodiment described above, the trolleys 14 are aligned along the arrangement direction D while being guided by the casters 16 capable of changing their movement direction by a track component 43 fixed to the collection chamber. If the trolleys 14 are simply moved into the collection chamber, the casters 16 capable of changing their movement direction will mostly face various directions, making it difficult to align them in an orderly manner. However, in the trolley alignment device 40, the casters 16 can be aligned along the arrangement direction D of the track component 43 simply by allowing the casters to enter the track component 43. Therefore, the trolley alignment device 40 can more easily align the trolleys 14 in the collection chamber using a relatively simple structure such as the track component 43, further reducing the workload of the operator. The trolley alignment device 40 includes a vehicle stop component 49 provided at the innermost portion of the track component 43 to limit the movement of the trolleys 14 along the arrangement direction D. In the trolley aligning device 40 , since the trolleys 14 are fixed at the innermost portion by the trolley stopper 49 , it is easy to carry the trolleys 14 in one by one.

[0068] The delivery system 10 also includes an automatic moving device 30 for automatically moving a trolley 14. The trolley 14 has a first row of casters 16a and a second row of casters 16b. A rail member 43 includes a first row of members 41 for guiding the first row of casters 16a and a second row of members 42 for guiding the second row of casters 16b. A space is defined between the first and second rows of members 41, 42, allowing the automatic moving device 30 to enter. In this trolley alignment device 40, the automatic moving device 30 enters the entry space 47 formed between the rail members 43, facilitating automatic movement of the trolley 14 by the automatic moving device, further reducing operator workload. Furthermore, the trolley 14 has a first row of casters 16a and a second row of casters 16b. The rail member 43 includes a first row of members 41 for guiding the first row of casters 16a and a second row of members 42 for guiding the second row of casters 16b. The rail member 43 includes a width adjustment portion 45 capable of adjusting the width between the first and second rows of members 41, 42. In this trolley alignment device 40, the width of the rail member 43 can be changed. Therefore, for example, when there are multiple types of trolleys 14 with different caster widths X, it is easy to handle each trolley 14. The width changer 45 changes the caster width X between the first row of casters 16a and the second row of casters 16b, as well as the wheel width Y of the first row of casters 16a and the second row of casters 16b. In this trolley alignment device 40, since the width of the rail member 43 can be changed, it is easy to handle, for example, multiple types of trolleys 14 with different caster widths X and multiple types of trolleys 14 with different wheel widths Y.

[0069] Furthermore, in the trolley alignment device 40, the width drive unit 46 that drives the width change unit 45 controls the width drive unit 45 according to the type of trolley 14, thereby changing the widths of the first row of components 41 and the second row of components 42. In this trolley alignment device 40, the width of the track member 43 can be automatically changed, thereby further reducing the operator's workload when there are multiple types of trolleys 14. Furthermore, the trolley alignment device 40 includes a stopper 50 that is positioned within a predetermined range of the track member 43 corresponding to the arrangement interval of the trolleys 14 to secure the trolleys 14. In this trolley alignment device 40, the stopper 50, positioned according to the arrangement interval, restricts the movement of the trolleys 14 even if more than one trolley 14 is loaded onto the track member 43. This further reduces damage to items loaded on the trolleys 14 that could occur due to the movement of the trolleys 14. Since the stopper 50 is provided on the vertical surfaces 41d and 42d of the rail member 43 located on the side of the wheel of the caster 16, it is relatively free from obstruction to the travel and movement of the trolley 14, which is preferable. In particular, compared with the case where the stopper 50 is provided on the travel surface of the caster 16, the travel stability of the caster 16 can be further improved, which is preferable. In addition, the stopper 50 includes: a stopper 55 having a limiting surface 56 for the caster 16 to abut against and limit the movement of the trolley 14; and a stopper drive 57 for moving the stopper 55 between a limiting position for limiting the movement of the trolley 14 and a release position for allowing the trolley 14 to move. For the stopper 50, since the stopper 55 moves automatically, the operator's work can be further reduced compared with the case where the operator performs it manually.

[0070] Furthermore, the trolley alignment device 40 includes a stopper sensor moving unit 52 that moves the stopper 50 along the rail member 43 and secures the stopper 50 at a position corresponding to the arrangement interval of the trolleys 14. For example, in the case of multiple types of trolleys 14 with different trolley lengths or caster 16 spacings, the trolley alignment device 40 can easily restrict the movement of the various types of trolleys 14 by automatically moving and securing the stopper 50 to a position appropriate for the trolley 14. The trolley alignment device 40 then controls the stopper sensor moving unit 52 based on the type of trolley 14 to adjust the spacing between the stopper 50. Automatically adjusting the spacing between the stopper 50 in the trolley alignment device 40 further reduces operator workload when there are multiple types of trolleys 14 requiring spacing adjustment of the stopper 50. Furthermore, in the trolley alignment device 40, the recognition sensor 53 recognizes the trolley 14 within the predetermined range of the rail member 43, and the detection sensor 54 detects the object causing the trolley 14 to move. Furthermore, the trolley alignment device 40 receives signals from the recognition sensor 53 and the detection sensor 54 to drive and control the stopper 50 to restrict and release the restriction on the trolley's movement. In this trolley alignment device 40, the recognition sensor 53 and the detection sensor 54 are used to control the stopper 50 to restrict the movement of the trolley 14 within the rail member 43, thereby further reducing the operator's work in changing the state of the stopper 50.

[0071] The trolley alignment device 40 also includes a stopper sensor moving unit 52 that moves the recognition sensor 53 and the detection sensor 54 along the rail member 43 and fixes them at positions corresponding to the arrangement intervals of the trolleys 14. In this trolley alignment device 40, the recognition sensor 53 and the detection sensor 54 can be moved according to the type of the trolley 14. Therefore, even if the type of the trolley 14 changes, the trolley 14 can still be identified and the object moving the trolley can be detected. Furthermore, the trolley alignment device 40 controls the stopper sensor moving unit 52 according to the type of the trolley 14, moving and fixing the recognition sensor 53 and the detection sensor 54. In this trolley alignment device 40, the positions for fixing the recognition sensor 53 and the detection sensor 54 can be automatically moved and fixed according to the type of the trolley, further reducing the operator's work in changing the sensor positions.

[0072] Furthermore, the trolley aligning device 40 receives signals from the identification sensor 53 and counts the number of trolleys 14 that have been brought into the trolley aligning device 40 and the number of trolleys 14 that have been unloaded from the trolley aligning device 40. This trolley aligning device 40 reduces the operator's workload, such as counting trolleys 14, while more accurately determining the number of trolleys 14 that have been brought in or out. Furthermore, the trolley aligning device 40 is located in an accumulation room at a delivery source, where a plurality of trolleys 14 are accumulated, and counts the number of trolleys 14 that have been brought into and out of the trolley aligning device 40, which is fixed to the accumulation room at the delivery source. This trolley aligning device 40 reduces the operator's workload while accurately determining the number of trolleys 14 that have been brought in and out of the accumulation room at the delivery source. Furthermore, the trolley alignment device 40 is configured with a delivery destination for the trolleys 14. When the number of trolleys brought into the trolley alignment device 40 reaches the delivery destination, an accumulation completion signal is output. When the number of trolleys 14 unloaded from the trolley alignment device 40 reaches the delivery destination, a delivery permission signal is output. In this trolley alignment device 40, the number of trolleys 14 counted can be used to determine the completion of loading and unloading operations. Furthermore, the trolley alignment device 40 is equipped with a cargo hold 61, which serves as an accumulation chamber and is fixed to a delivery vehicle 60 that accommodates and delivers one or more trolleys 14. In this trolley alignment device 40, the number of trolleys brought into and out of the delivery vehicle 60 can be determined while reducing the workload of the operator.

[0073] Furthermore, the automatic moving device 30 of this embodiment transmits an open signal to the closed tailgate 62 of the delivery vehicle 60. Upon receiving this signal, the delivery vehicle 60 opens the closed door. For example, if the open signal is transmitted after the automatic moving device 30 automatically moves to the vicinity of the delivery vehicle 60, the trolley 14 can be moved in and out without requiring an operator. Therefore, the automatic moving device 30 can further reduce the operator's workload in the delivery system 10 for automatically moving the trolley 14.

[0074] Furthermore, after loading a predetermined number of delivery carts 14 into the accumulation chamber, the automatic moving device 30 transmits a closing signal to the tailgate 62 whenever the predetermined number of delivery carts 14 are unloaded from the accumulation chamber. This automatic moving device 30 is preferred for safety because the closing door is closed whenever a cart is unloaded from the accumulation chamber. It is also effective when temperature control of the accumulation chamber is required. Furthermore, the delivery cart 60 is equipped with a tail lift 63 on its tailgate 62, which carries the carts 60 and moves it up and down, and a fall prevention stopper 64, located at the front end of the tail lift 63 and actuated between a restricted position that restricts the movement of the carts 14 and a released position to prevent the carts 14 from falling. The automatic moving device 30 transmits a lift control signal to the delivery cart 60, controlling the vertical movement of the tail lift 63, and a control signal to actuate the fall prevention stopper. In the automatic moving device 30 , since the tail lifter 63 and the fall prevention stopper 64 are automatically driven, the burden of these operations on the operator can be further reduced.

[0075] In addition, in the trolley alignment device 40, since the casters 16 pass through the running surface of the rail member 43 that is higher than the ground, the moving height of the loading portion 15 of the trolley 14 becomes higher. Therefore, the thinning of the automatic moving device 30 can be alleviated. Furthermore, in the trolley alignment device 40, the trolley 14 can be fixed by the stop device 50, so that the safety during operation can be further ensured. Furthermore, if the trolley alignment device 40 is used in the logistics center 20, the receiving position of the automatic moving device 30 can be determined more accurately than in the case where the trolleys 14 are randomly gathered in a predetermined area within the logistics center 20. Therefore, the process of searching for the trolleys 14 can be reduced, and the connection can be made easier. In addition, since the number of trolleys is counted by the trolley alignment device 40, it is possible to prevent situations such as forgetting to load a trolley 14.

[0076] In addition, the present disclosure is not limited to the above-mentioned embodiments, and can of course be implemented in various forms as long as it falls within the technical scope of the present disclosure.

[0077] For example, in the above-described embodiment, the trolley 14 is automatically moved by the automatic moving device 30. However, this is not particularly limiting. The automatic moving device 30 may be omitted, and the trolley 14 may be moved to the trolley alignment device 40 by an operator. According to the trolley alignment device 40, since the casters 16 can be aligned along the arrangement direction D simply by moving the casters 16 into the rail member 43, the trolleys 14 can be aligned more simply within the collection chamber, further reducing the operator's workload. In this case, the trolley alignment device 40 does not need to include the entry space 47 for the automatic moving device 30 to pass through. Furthermore, the detection sensor 54 may also be a sensor for detecting the operator.

[0078] In the above embodiment, the track component 43 is separated into a first row of components 41 and a second row of components 42, and the caster width X is set to be changeable, but this is not particularly limited to this, and it can also be an integral part. In this case, the trolley alignment device 40 can use track components 43 with inherent caster widths X for trolleys 14 with different caster widths X. In this trolley alignment device 40, the casters 16 are also arranged side by side along the arrangement direction D, so that the trolleys 14 can be aligned more easily in the collection room, which can further reduce the workload of the operator. In addition, in this track component 43, the width change unit 45 and the width drive unit 46 can be omitted.

[0079] In the above embodiment, the rail member 43 has a structure capable of adjusting both the caster width X and the wheel width Y. However, this is not particularly limited to this structure. Alternatively, only the caster width X may be adjusted. In this case, the main body 41a, the lower member 41b, and the guide member 41c may be formed as a single unit. Alternatively, the rail member 43 may only be capable of adjusting the wheel width Y.

[0080] In the above embodiment, the width drive unit 46 is provided to drive the width change unit 45, and the alignment control unit 48 controls the width drive unit 46, thereby automatically changing the caster width X and the wheel width Y. However, this is not particularly limiting. The control functions of the width drive unit 46 and the alignment control unit 48 may be omitted, and the operator may change one or more of the caster width X and the wheel width Y. In this trolley alignment device 40, the operator's workload for width change is slightly increased, but the trolleys 14 can be aligned in the accumulation chamber with a simpler structure.

[0081] In the above embodiment, the trolley alignment device 40 includes a stopper 50 in which the stopper 55 protrudes from the side, but the present invention is not particularly limited thereto as long as the movement of the trolley 14 can be restricted. For example, the stopper 50 may be provided on one or more of the running surface of the track member 43 on which the wheels of the caster 16 run, the side surface of the collection chamber located on the side of the trolley 14, and the ceiling surface of the collection chamber located on the upper side of the trolley 14. In addition, the stopper 50 restricts the movement of the trolley 14 by protruding the stopper 55, but the stopper 50 may also be provided on the side surface of the collection chamber located on the upper side of the trolley 14. Figure 16 As shown, the movement of the vehicle 14 is restricted by a stopper member 55B that concavely extends the travel surface. Figure 16 1B is an explanatory diagram of another example of a stopper device 50B. In such a carriage aligning device 40, it is also possible to prevent the carriage 14 from accidentally moving in the accumulation chamber.

[0082] In the above embodiment, the carriage aligning device 40 includes the stopper 50, but the present invention is not particularly limited thereto and the stopper 50 driving the stopper member 55 may be omitted. In the carriage aligning device 40, the carriages 14 can be aligned in the stacking chamber with a simpler structure.

[0083] In the above embodiment, the stopper device 50 includes a stopper sensor moving unit 52, and the movement of the stopper member 55 and the movement of each sensor are performed by a single structure. However, this is not particularly limiting. Alternatively, the stopper device 50 may include three moving units: a moving unit for the stopper member 55, a moving unit for the identification sensor 53, and a moving unit for the detection sensor 54. Alternatively, the stopper device 50 may include two moving units in any combination. Furthermore, a structure with fewer moving units is preferred, as it results in a simpler structure. Alternatively, in the above embodiment, the alignment control unit 48 controls the stopper sensor moving unit 52 to automatically move and fix the stopper member 55, the identification sensor 53, and the detection sensor 54. However, this is not particularly limiting. Alternatively, the movement control functions of the stopper sensor moving unit 52 and the alignment control unit 48 may be omitted, and the position of the stopper member 55, the identification sensor 53, and the detection sensor 54 may be moved and fixed by the operator. In this stopper device 50, the operator's workload for position adjustment increases slightly, but the movement of the carriage 14 within the collection chamber can be restricted with a simpler structure.

[0084] In the above embodiment, the alignment control unit 48 controls the stopper drive unit 57 to move the stopper member 55 between the restricted position and the restriction release position. However, the present invention is not limited to this embodiment. The control functions of the stopper drive unit 57 and the alignment control unit 48 may be omitted, and the position of the stopper member 55 may be switched by the operator. In this stopper device 50, although the operator's workload of switching the position of the stopper member 55 is slightly increased, the movement of the carriage 14 within the stacking chamber can be restricted with a simpler structure.

[0085] In the above embodiment, the alignment control unit 48 of the trolley alignment device 40 has the function of a counting control unit, and outputs the loading completion information (aggregation completion signal) and the unloading completion information (distribution permission signal) to the logistics PC 21, but it is not particularly limited to this. The control unit 22 of the logistics PC 21 may also have the function of a counting control unit, and output the loading completion information (aggregation completion signal) and the unloading completion information (distribution permission signal) to the display unit, etc. Alternatively, the trolley alignment device 40 may also omit the counting of the trolleys 14. In addition, the alignment control unit 48 has the functions of a width control unit, a spacing control unit, a stopper control unit, and a sensor position control unit, and performs respective processing, but it is not particularly limited to this. Other control units, such as the control unit 22 of the logistics PC 21, the control unit 27 of the store PC 26, the management control unit 71, the movement control unit 31, etc., may have any one or more of the functions, or the processing of the above functions may be shared by multiple control units. Alternatively, the alignment control unit 48 of the trolley alignment device 40 has the functions of a width control unit, a spacing control unit, a stopper control unit, a sensor position control unit, and a count control unit, but one or more of these functions may be omitted. In this trolley alignment device 40, the trolleys 14 can be aligned in the accumulation chamber with a simpler structure.

[0086] In the above embodiment, the number of carts 14 carried into the cart aligning device 40 and the number of carts 14 carried out from the cart aligning device 40 are counted based on the input signal from the recognition sensor. However, the present invention is not limited to this, and either the number may be counted, or the counting of the number of carts 14 may be omitted. In this cart aligning device 40, the carts 14 can be aligned in the accumulation chamber with a simpler structure.

[0087] While the above embodiment describes the automated mobile device 30 as an AMR, this is not a limitation and may also be an AGV (Automatic Guided Vehicle) that moves along a predetermined path. This automated mobile device 30 can also automatically move the vehicle 14, further reducing the operator's workload. Furthermore, when the automated mobile device 30 is an AGV, the non-contact sensor 37 can be a simpler structure or even omitted.

[0088] In the above embodiment, the automatic moving device 30 transmits a closing signal or an opening signal to the tailgate 62 of the delivery vehicle 60 each time a cart 14 is moved into or out of the warehouse 61, serving as the accumulation chamber. However, this is not particularly limiting. For example, if the automatic moving device 30 transmits a closing signal after a predetermined number of carts 14 have been moved into the accumulation chamber, the tailgate 62 of the delivery vehicle will close, allowing delivery to the delivery destination. Alternatively, if the automatic moving device 30 transmits a closing signal after a predetermined number of carts 14 have been moved out of the accumulation chamber, the tailgate 62 will close, allowing the delivery vehicle to move from the delivery destination.

[0089] In the above embodiment, the automatic moving device 30 transmits signals such as the door opening and closing signals, the tail lift 63 opening, closing, and lifting signals, and the control signal for the fall prevention stopper 64 to the controller 68 of the delivery vehicle 60. However, this is not particularly limiting. For example, one or more of these signals, or even all of them, may be omitted. While this automatic moving device 30 slightly increases the operator's workload, it allows the vehicle 14 to be automatically moved with a simpler structure. Furthermore, the delivery vehicle 60 may not include any or all of the tailgate 62, tail lift 63, fall prevention stopper 64, or controller 68.

[0090] In the above embodiment, the self-propelled device 30 includes Mecanum wheels 35, enabling free movement in both the vertical and horizontal directions. However, the self-propelled device 30 is not particularly limited to these wheels as long as it is capable of traveling. Conventional wheels may also be used. In this case, the self-propelled device 30 may include four wheels, three wheels, or two main wheels and one or more secondary wheels.

[0091] In the above embodiment, the cart aligning device 40 is used by being fixed to both the logistics center 20 and the delivery vehicle 60 , but the present invention is not particularly limited thereto and may be used by being fixed to either the logistics center 20 or the delivery vehicle 60 .

[0092] In the above embodiment, the present disclosure has been described as the delivery system 10 and the cart aligning device 40 , but is not particularly limited thereto, and may be a control method used in the delivery system.

[0093] Here, the present disclosure may also be configured as follows. For example, in the trolley alignment device of the present disclosure, the distribution system may include an automatic moving device that automatically moves the trolley, the trolley having a first row of casters and a second row of casters, the rail component having a first row of components for guiding the first row of casters and a second row of components for guiding the second row of casters, and a space for the automatic moving device to enter between the first row of components and the second row of components. In this trolley alignment device, the automatic moving device enters the entry space formed between the rail components, making it easier for the automatic moving device to automatically move the trolley, further reducing the operator's workload.

[0094] In the trolley alignment device disclosed herein, the trolley may include a first row of casters and a second row of casters, the rail member may include a first row of members for guiding the first row of casters and a second row of members for guiding the second row of casters, and the trolley alignment device may include a width changer capable of changing the width between the first row of members and the second row of members. In this trolley alignment device, since the width of the rail member can be changed, it can be easily applied to various trolleys, for example, when there are multiple trolleys having different caster widths.

[0095] In the disclosed trolley alignment device having a width-changing unit, the width-changing unit may change at least one of the caster width between the first row of casters and the second row of casters, and the wheel width of the first row of casters and the second row of casters. This trolley alignment device can be easily adapted to various trolleys having different caster widths and wheel widths, for example, because the width of the rail member can be varied.

[0096] The trolley alignment device of the present disclosure including a width change unit may further include: a width drive unit for driving the width change unit; and a width control unit for controlling the width drive unit according to the type of the trolley, thereby changing the width between the first row of components and the second row of components. In this trolley alignment device, the width of the rail member can be automatically changed, thereby further reducing the operator's work when there are multiple types of trolleys.

[0097] The trolley alignment device disclosed in the present invention may also include a stopper, which is provided in a predetermined range of the rail component corresponding to the arrangement interval of the trolley to fix the trolley. In the trolley alignment device, the stopper provided according to the arrangement interval can limit the movement of the trolley even if more than one trolley is moved into the rail component, thereby further suppressing damage to items loaded on the trolley that may be caused by the movement of the trolley. In this case, the stopper may be provided on one or more of the running surface of the rail component on which the wheels of the casters run, the vertical surface of the rail component located on the side of the wheels of the casters, the side surface in the collection chamber located on the side of the trolley, and the ceiling surface in the collection chamber located on the upper side of the trolley. Furthermore, the stopper may include: a stopper having a limiting surface on which the caster abuts to limit the movement of the trolley; and a stopper drive unit that moves the stopper between a limiting position that limits the movement of the trolley and a release position that enables the trolley to move.

[0098] The trolley alignment device of the present disclosure including a stopper may also include a stopper moving unit that moves the stopper along the rail member and fixes the stopper at a position corresponding to the arrangement interval of the trolleys. In this trolley alignment device, for example, when there are multiple trolleys having different trolley lengths and caster spacings, the movement of the multiple trolleys can be simply restricted by moving and fixing the stopper to a position appropriate for the trolley.

[0099] The disclosed trolley alignment device including a stopper moving unit may also include a spacing control unit that controls the stopper moving unit according to the type of trolley, thereby adjusting the spacing between the stoppers. In this trolley alignment device, the spacing control unit adjusts the spacing between the stoppers, thereby further reducing the operator's workload when there are multiple types of trolleys requiring adjustment of the spacing between the stoppers.

[0100] The trolley alignment device of the present disclosure including a stopper may also include: an identification sensor for identifying the trolley within the predetermined range; a detection sensor for detecting an object moving the trolley; and a stopper control unit for inputting signals from the identification sensor and the detection sensor to drive and control the stopper to restrict the movement of the trolley and / or release the restriction on the movement of the trolley. In this trolley alignment device, the stopper is controlled using the identification sensor for identifying the trolley and the detection sensor for detecting the object moving the trolley to restrict the movement of the trolley within the rail member, thereby further reducing the operator's work in changing the state of the stopper.

[0101] The trolley alignment device of the present disclosure, which includes an identification sensor and a detection sensor, may also include a sensor moving unit that moves the identification sensor and the detection sensor along the rail member and fixes the identification sensor and the detection sensor at positions corresponding to the arrangement intervals of the trolleys. In this trolley alignment device, the identification sensor and the detection sensor can be moved according to the type of trolley. Therefore, even if the trolley type is changed, trolley identification and object detection of the trolley can be performed.

[0102] The trolley alignment device of the present disclosure, which includes a sensor moving unit, may also include a sensor position control unit that controls the sensor moving unit according to the type of the trolley, thereby moving and fixing the identification sensor and the detection sensor. In this trolley alignment device, the positions for fixing the identification sensor and the detection sensor can be automatically moved and fixed according to the type of the trolley, thereby further reducing the operator's work in changing the sensor positions.

[0103] The trolley aligning device disclosed herein may also include: an identification sensor for identifying the trolleys within a predetermined range of the rail member corresponding to the arrangement interval of the trolleys; and a counting control unit for receiving a signal from the identification sensor and counting the number of trolleys carried into the trolley aligning device and / or the number of trolleys carried out of the trolley aligning device. In this trolley aligning device, the number of trolleys carried in or out can be determined while reducing the workload of the operator.

[0104] In the trolley aligning device of the present disclosure including a counting control unit, the arranging unit may be configured to arrange and fix the rail member in the accumulation room at a delivery source where a plurality of trolleys are accumulated, and the counting control unit may be configured to count the number of trolleys that are moved into and / or moved out of the trolley aligning device arranged and fixed in the accumulation room at the delivery source. In this trolley aligning device, the number of trolleys that have been moved into or out of the accumulation room at the delivery source can be determined while reducing the workload of the operator.

[0105] In the trolley aligning device of the present disclosure including a counting control unit, the trolley aligning device may be configured with a delivery destination for the trolleys. The counting control unit may output an accumulation completion signal when the number of trolleys loaded into the trolley aligning device reaches the delivery quantity for the delivery destination, and output a delivery permission signal when the number of trolleys unloaded from the trolley aligning device reaches the delivery quantity for the delivery destination. In this trolley aligning device, the completion of loading and unloading operations can be detected using the counted number of trolleys.

[0106] Alternatively, the arranging unit may arrange and fix the rail member in the accumulation chamber of a delivery vehicle that accommodates and delivers one or more of the trolleys. In this trolley alignment device, the number of trolleys carried in or out of the delivery vehicle can be monitored while reducing the workload of the operator.

[0107] The automatic moving device disclosed in the present invention is used in a distribution system that uses a trolley to distribute items, and is used to automatically move the trolley, wherein the trolley has: a loading part for loading items; and casters, which are arranged on the loading part and have wheels that can change the moving direction of the loading part, wherein the automatic moving device has: a moving drive part that drives the automatic moving device to move; and a sending control part that controls the moving drive part and sends an opening signal of a closing door to the distribution vehicle, and the distribution vehicle has: an accumulation chamber that accommodates one or more trolleys; and the closing door that opens and closes the accumulation chamber.

[0108] In this automatic moving device, an opening signal for closing the door is sent to the delivery vehicle, and the delivery vehicle, upon receiving the signal, performs the action of opening and closing the door. For example, if the opening signal is sent after the automatic moving device automatically moves to the vicinity of the delivery vehicle, the trolley can be moved in and out without the need for an operator. Therefore, in this automatic moving device, the workload of the operator can be further reduced in the delivery system of items that automatically move the trolley. Here, the automatic moving device can be either an AGV (Automatic Guided Vehicle) that moves on a predetermined driving path, or an AMR (Autonomous Mobile Robot) that detects the surroundings and moves on a free route.

[0109] In the automatic moving device disclosed in the present invention, the sending control unit may send a closing signal for the closing door any one of after a predetermined number of the delivery carts are moved into the collection room, after a predetermined number of the delivery carts are moved out of the collection room, each time the carts are moved into the collection room, and each time the carts are moved out of the collection room. In this automatic moving device, for example, if a closing signal is sent after a predetermined number of delivery carts are moved into the collection room, the closing door of the delivery cart is closed and delivery to the delivery destination is possible. In addition, if the automatic moving device sends a closing signal after a predetermined number of delivery carts are moved out of the collection room, the closing door is closed and the delivery cart can move from the delivery destination. In addition, if the automatic moving device sends a closing signal each time a cart is moved into the collection room, the closing door is closed each time, which is preferable in terms of safety. In addition, it is also effective when temperature control of the collection room is required. Furthermore, if the automatic moving device sends a closing signal each time the cart is unloaded from the accumulation chamber, the door is always closed, which is preferable in terms of safety. It is also effective when temperature control of the accumulation chamber is required.

[0110] In the automatic moving device disclosed herein, the delivery vehicle may include, at its tailgate, a lift for loading the trolley and moving it up and down; and a fall prevention stopper disposed at a front end of the lifter and operable between a restricted position for restricting the movement of the trolley and a restriction release position to prevent the trolley from falling, wherein the transmission control unit transmits an lifter control signal for controlling the vertical movement of the lifter and / or a stopper control signal for driving the fall prevention stopper to the delivery vehicle. In this automatic moving device, the lifter and fall prevention stopper are automatically driven, thereby further reducing the burden of these operations on the operator.

[0111] The delivery system disclosed herein utilizes a trolley for delivering items. The trolley includes a loading portion for loading items and casters attached to the loading portion, each having wheels capable of changing the direction of movement of the loading portion. The delivery system also includes any of the aforementioned trolley alignment devices and an automatic moving device including a driving portion for driving the trolley, thereby automatically moving the trolley. By including any of the aforementioned trolley alignment devices, the delivery system can achieve any of the aforementioned effects depending on the method employed. The delivery system may also include any of the aforementioned automatic moving devices.

[0112] The control method disclosed herein is used for a distribution system that distributes items using a trolley and a trolley alignment device, the trolley comprising: a loading portion for loading items; and casters, arranged on the loading portion, having wheels capable of changing the moving direction of the loading portion, the trolley alignment device comprising: a rail component for guiding the casters of the trolley along a predetermined arrangement direction; a disposition portion for disposing and fixing the rail component in an accumulation chamber that accommodates one or more trolleys; and a stopper, arranged in a predetermined range of the rail component corresponding to the arrangement interval of the trolley to fix the trolley, wherein the control method includes: an identification step for identifying the trolley that is within the predetermined range; a detection step for detecting an object that moves the trolley; and a control step for inputting a signal for identifying the trolley and a signal for detecting the object to drive and control the stopper to restrict the movement of the trolley and / or release the restriction on the movement of the trolley.

[0113] In this control method, the trolley is identified, the object causing the trolley to move is detected, and the stopper is controlled to restrict the trolley's movement within the track member. This further reduces the operator's workload during the stopper's state change. Furthermore, the use of a trolley alignment device allows the trolleys to be more easily aligned within the accumulation chamber using a relatively simple structure such as the track member, further reducing the operator's workload. Furthermore, this control method can employ various embodiments of the trolley alignment device described above, and additional steps can be added to implement the various functions of the trolley alignment device.

[0114] The control method disclosed herein is used for a distribution system that distributes items using a trolley and a trolley aligning device, the trolley comprising: a loading portion for loading items; and casters, which are arranged on the loading portion and have wheels capable of changing the moving direction of the loading portion, the trolley aligning device comprising: a rail component for guiding the casters of the trolley in a predetermined arrangement direction; and an arrangement portion for arranging and fixing the rail component in an accumulation chamber that accommodates one or more trolleys, wherein the control method includes: an identification step for identifying the trolleys that are within a predetermined range of the rail component corresponding to the arrangement interval of the trolleys; a counting step for inputting a signal for identifying the trolleys and counting the number of the trolleys moved into the trolley aligning device and / or the number of the trolleys moved out of the trolley aligning device; and an output step for outputting the number of the trolleys counted in the counting step.

[0115] In this control method, the trolley alignment device can monitor the number of trolleys being moved in and out while reducing the operator's workload. Furthermore, the use of the trolley alignment device allows for easier alignment of the trolleys within the accumulation chamber using relatively simple structures such as rail components, further reducing the operator's workload. Furthermore, this control method can employ various configurations of the trolley alignment device described above, and additional steps can be added to implement various functions of the trolley alignment device.

[0116] The control method disclosed herein is a control method for an automatic moving device, wherein the automatic moving device is used in a delivery system that utilizes a trolley to deliver items, and is used to automatically move the trolley, wherein the trolley comprises: a loading portion for loading items; and casters, which are arranged on the loading portion and have wheels capable of changing the moving direction of the loading portion, wherein the control method includes: a driving step, controlling a moving driving portion that drives the automatic moving device to move, and driving the automatic moving device to move; and a sending step, sending an opening signal of a closing door to a delivery vehicle, wherein the delivery vehicle comprises a gathering chamber for accommodating one or more trolleys and the closing door for opening and closing the gathering chamber.

[0117] In this control method, the automated moving device sends a signal to the delivery vehicle to open the door, enabling the loading and unloading of the vehicle without the need for an operator. Consequently, this control method can further reduce the workload on operators in delivery systems that utilize automated vehicle movement. Furthermore, this control method can employ various implementations of the automated moving device described above, and additional steps can be added to implement the various functions of the automated moving device.

[0118] Industrial Applicability

[0119] The trolley aligning device, automatic moving device, delivery system, and control method disclosed herein can be applied to the technical field of commodity circulation systems for delivering commodities.

[0120] Description of Reference Numerals

[0121] 10: Delivery System 12: Network 14: Trolley 15: Loading Unit 16: Casters 16a: First Row of Casters 16b: Second Row of Casters 20: Logistics Center 21: Logistics PC 22: Control Unit 23: Storage Unit 24: Communication Unit 25: Store 26: Store PC 27: Control Unit 28: Storage Unit 29: Communication Unit 30: Automatic Moving Device 31: Movement Control Unit 32: Storage Unit 34: Lifting Unit 35: Mecanum Wheel 36: Moving Drive Unit 37: Non-Contact Sensor 38: Communication Unit 40: Trolley Alignment Device 41: First Row Component 41a: Main Body 41b: Lower Component 41c: Guide Component 41d: Vertical Surface 42: Second Row Component 42a: Main Body 42b: Lower Component 42c: Guide Component 42d: Vertical Surface 43: Track Component 44: Arrangement Unit 45: Width changing unit 46: Width driving unit 47: Entering space 48: Alignment control unit 49: Vehicle blocking component 50, 50B: Stop device 51: Main body 52: Stop sensor moving part 53: Identification sensor 54: Detection sensor 55, 55B: Stop component 56: Limiting surface 57: Stop driving unit 58: Communication unit 60: Delivery vehicle 61: Cargo warehouse 62: Tail gate 63: Tail lift 64: Fall prevention stopper 68: Controller 70: Management server 71: Management control unit 72: CPU 73: Storage unit 75: Delivery management information 76: Trolley information 78: Communication unit D: Arrangement direction L: Stop interval X: Caster width Y: Wheel width

Claims

1. A trolley aligning device used in a delivery system that uses trolleys to deliver articles, wherein the trolley comprises: a loading portion for loading articles; and casters provided on the loading portion and having wheels capable of changing the moving direction of the loading portion, wherein: The trolley aligning device comprises: a track member for guiding the casters of the trolley in a predetermined arrangement direction; a disposing unit for disposing and fixing the rail member in an accumulation chamber for accommodating one or more trolleys; a stopper provided within a predetermined range of the rail member corresponding to the arrangement interval of the trolleys to fix the trolleys; a stopper moving portion that moves the stopper along the rail member and fixes the stopper at a position corresponding to the arrangement interval of the trolleys; an identification sensor for identifying the trolley existing within the predetermined range; a detection sensor for detecting an object causing the trolley to move; a stopper control unit that drives and controls the stopper based on signals input from the recognition sensor and the detection sensor to restrict the movement of the trolley and / or release the restriction on the movement of the trolley; as well as a sensor moving unit that moves the recognition sensor and the detection sensor along the rail member and fixes the recognition sensor and the detection sensor at positions corresponding to the arrangement intervals of the carriages; The stopper is arranged on one or more of the running surface of the rail component on which the wheel of the caster runs, the vertical surface of the rail component located on the side of the wheel of the caster, the side surface inside the collection chamber located on the side of the trolley, and the ceiling surface inside the collection chamber located on the upper side of the trolley.

2. The trolley alignment device according to claim 1, wherein: The distribution system includes an automatic moving device for automatically moving the trolley. The trolley has a first row of casters and a second row of casters, The rail member includes a first row member for guiding the first row of casters and a second row member for guiding the second row of casters, and an entry space into which the automatic moving device can enter is defined between the first row member and the second row member.

3. The trolley alignment device according to claim 1, wherein: The trolley has a first row of casters and a second row of casters, The rail member includes a first row of members for guiding the first row of casters and a second row of members for guiding the second row of casters. The carriage aligning device includes a width changing portion capable of changing a width between the first row of components and the second row of components.

4. The trolley alignment device according to claim 3, wherein: The width changing unit changes at least one of a caster width between the casters in the first row and the casters in the second row, and a wheel width of the casters in the first row and the casters in the second row.

5. The trolley alignment device according to claim 3, wherein: The trolley aligning device comprises: a width driving unit that drives the width changing unit; and The width control unit controls the width driving unit according to the type of the carriage to change the width between the first row of components and the second row of components.

6. The trolley alignment device according to claim 1, wherein: The carriage aligning device includes an interval control unit configured to control the stopper moving unit according to the type of the carriage to adjust the interval between the stoppers.

7. The trolley alignment device according to claim 1, wherein: The carriage alignment device includes a sensor position control unit configured to control the sensor moving unit according to the type of the carriage to move and fix the recognition sensor and the detection sensor.

8. The trolley alignment device according to any one of claims 1 to 7, wherein: The trolley aligning device comprises: a recognition sensor that recognizes the vehicle that is present within a predetermined range of the rail member corresponding to the arrangement interval of the vehicles; and The counting control unit receives a signal from the recognition sensor and counts the number of the carriages carried into the carriage aligning device and / or the number of the carriages carried out from the carriage aligning device.

9. The trolley alignment device according to claim 8, wherein: The arranging unit arranges and fixes the rail member in the accumulation room at the delivery source where a plurality of the vehicles are accumulated. The counting control unit counts the number of the carriages carried into and / or carried out from the carriage aligning device disposed and fixed in the accumulation room at the delivery source.

10. The trolley alignment device according to claim 8, wherein: The trolley aligning device is set with the delivery destination of the trolley, The counting control unit outputs an accumulation completion signal when the number of the trolleys transported into the trolley aligning device reaches the delivery number to the delivery destination, and outputs a delivery permission signal when the number of the trolleys transported out of the trolley aligning device reaches the delivery number to the delivery destination.

11. A delivery system for delivering articles using a trolley, the trolley comprising: a loading portion for loading articles; and casters provided on the loading portion and having wheels capable of changing the direction of movement of the loading portion, wherein: The distribution system has: The trolley alignment device according to any one of claims 1 to 10; and The automatic moving device includes a moving drive unit for driving the vehicle to move automatically.

12. A control method for a delivery system that delivers articles using a trolley and a trolley aligning device, the trolley comprising: a loading portion for loading articles; and casters, disposed on the loading portion, having wheels capable of changing the moving direction of the loading portion, the trolley aligning device comprising: a rail member for guiding the casters of the trolley in a predetermined arrangement direction; a disposition portion for disposing and fixing the rail member in an accumulation chamber that accommodates one or more trolleys; a stopper disposed within a predetermined range of the rail member corresponding to the arrangement interval of the trolleys to fix the trolleys; a stopper moving portion for moving the stopper along the rail member and fixing the stopper at a position corresponding to the arrangement interval of the trolleys; and a recognition sensor for recognizing the trolleys that are present within the predetermined range; A detection sensor that detects an object that moves the trolley; a stopper control unit that inputs signals from the identification sensor and the detection sensor to drive and control the stopper to limit the movement of the trolley and / or release the movement restriction of the trolley; and a sensor moving unit that moves the identification sensor and the detection sensor along the track component and fixes the identification sensor and the detection sensor at a position corresponding to the arrangement interval of the trolley, the stopper is arranged on one or more of the running surface of the track component on which the wheels of the casters run, the vertical surface of the track component located on the side side of the wheels of the casters, the side surface in the collection chamber located on the side side of the trolley, and the ceiling surface in the collection chamber located on the upper side of the trolley, wherein, The control method includes: an identification step of identifying the trolley existing within the predetermined range; a detection step of detecting an object causing the trolley to move; as well as The control step comprises inputting a signal for identifying the trolley and a signal for detecting the object to drive and control the stopper to restrict the movement of the trolley and / or release the restriction on the movement of the trolley.

13. A control method for a delivery system that delivers articles using a trolley and a trolley aligning device, the trolley comprising: a loading portion for loading articles; and casters, disposed on the loading portion, having wheels capable of changing the moving direction of the loading portion, the trolley aligning device comprising: a rail member for guiding the casters of the trolley in a predetermined arrangement direction; a disposition portion for disposing and fixing the rail member in an accumulation chamber that accommodates one or more trolleys; a stopper disposed within a predetermined range of the rail member corresponding to the arrangement interval of the trolleys to fix the trolleys; a stopper moving portion for moving the stopper along the rail member and fixing the stopper at a position corresponding to the arrangement interval of the trolleys; and a recognition sensor for recognizing the trolleys that are present within the predetermined range; A detection sensor that detects an object that moves the trolley; a stopper control unit that inputs signals from the identification sensor and the detection sensor to drive and control the stopper to limit the movement of the trolley and / or release the movement restriction of the trolley; and a sensor moving unit that moves the identification sensor and the detection sensor along the track component and fixes the identification sensor and the detection sensor at a position corresponding to the arrangement interval of the trolley, the stopper is arranged on one or more of the running surface of the track component on which the wheels of the casters run, the vertical surface of the track component located on the side side of the wheels of the casters, the side surface in the collection chamber located on the side side of the trolley, and the ceiling surface in the collection chamber located on the upper side of the trolley, wherein, The control method includes: an identification step of identifying the trolley existing within a predetermined range of the rail member corresponding to an arrangement interval of the trolleys; a counting step of inputting a signal for identifying the trolley and counting the number of the trolleys carried into the trolley aligning device and / or the number of the trolleys carried out from the trolley aligning device; as well as An output step of outputting the number of the vehicles counted in the counting step.

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