Conveying device, conveying system and control method for a conveying device

Abstract

The present application provides a kind of conveying device, conveying system and the control method of conveying device.A kind of conveying device of conveying article, with the drive portion of loading article and moving, and the control portion of control drive portion, including the movement mode of straight advancing to specified direction, and the movement mode of rotating towards different direction, control portion for the acceleration condition of the conveying device loaded with article from the state of stopping, in the case of moving in the same movement mode as the movement mode before stopping in multiple movement modes, with the 1st acceleration condition including the 1st target speed, in the case of moving in the movement mode different from the movement mode before stopping, with the 2nd acceleration condition including the 2nd acceleration smaller than the 1st acceleration or the 2nd target speed smaller than the above-mentioned 1st target speed.

Description

[0001] This application claims priority from Japanese Application No. 2021-011356 filed January 27, 2021, the contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to a transport device, a transport system, and a control method of a transport device. BACKGROUND

[0003] In a logistics warehouse, delivered articles are stored, and when an order is received, the corresponding article is taken out, packaged, and then sent to the customer. The movement of the article requires a large amount of labor, and a transport system that uses unmanned transport vehicles to transport articles can achieve labor saving.

[0004] As an example of a transport system, there is a system in which a transport device having a drive wheel and an auxiliary wheel automatically travels to the position of a designated shelf, loads the shelf storing the article on a table on the transport device, and then transports it to a designated picking station. As a technology related to the transport system, for example, there is the technology described in Patent Literature 1.

[0005] PRIOR ART DOCUMENTS

[0006] PATENT LITERATURE

[0007] Patent Literature 1: Japanese Patent Application Publication No. 2020-83548 SUMMARY

[0008] PROBLEMS TO BE SOLVED BY THE INVENTION

[0009] The transport device is automatically moved on the floor in the warehouse, for example, by driving the drive wheel coupled to the motor with power from the battery, combining a turning mode that turns the transport device itself and a straight-ahead mode that advances the transport device straight ahead.

[0010] Here, in a case where the direction of the auxiliary wheel is toward a direction different from the direction of movement when the transport device shifts from the turning mode to the straight-ahead mode, the friction between the floor and the auxiliary wheel increases, and a high load is applied to the auxiliary wheel and the floor.

[0011] For example, the present inventors have found the following problem: In a case where the transport device is moved after switching from the turning mode to the straight-ahead mode, the driving force applied to the drive wheel when the transport device is started increases, and the load applied to the transport device and the floor increases, compared to a case where the transport device is moved again in the straight-ahead mode after stopping from the straight-ahead mode.

[0012] Similarly, for example, in a case where the transport device is caused to move after switching from the straight-ahead travel mode to the turning mode, there is a problem that the load applied to the transport device and the ground increases when the transport device is caused to turn.

[0013] Thus, provided is a transport device, a transport system, and a control method of a transport device, which can reduce the load applied to the transport device and the ground when the transport device is caused to start after switching of the movement mode of the transport device.

[0014] Method for solving the problem

[0015] A transport device of one embodiment of the present application is a transport device that transports an article, including: a driving portion that carries the article and moves; and a control portion that controls the driving portion, the transport device being capable of moving in a plurality of movement modes including a movement mode in which the transport device moves straight ahead in a prescribed direction, and a movement mode in which the transport device moves while rotating in a different direction, the control portion controlling the driving portion so that the transport device accelerates at a first acceleration condition including a first acceleration or a first target speed in a case where the transport device moves from a stopped state with the article carried, in a case where the transport device moves in a movement mode that is the same as the movement mode before stopping among the plurality of movement modes, and controlling the driving portion so that the transport device accelerates at a second acceleration condition including a second acceleration that is smaller than the first acceleration or a second target speed that is smaller than the first target speed in a case where the transport device moves in a movement mode that is different from the movement mode before stopping among the plurality of movement modes.

[0016] Effects of the Invention

[0017] According to the present application, the load applied to the transport device and the ground when the transport device is caused to start after switching of the movement mode of the transport device can be reduced.

[0018] Details of implementation of at least one of the subjects disclosed in this specification are described with reference to the additional drawings and the following description. Other features, modes, effects of the subject matter of the present application can be more apparent from the following disclosure, drawings, and claims. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a block diagram illustrating an example of the structure of a transport system.

[0020] Figure 2 is a perspective view illustrating an example of a transport device and a shelf.

[0021] Figure 3 is a bottom view illustrating an example of a transport device.

[0022] Figure 4is a diagram showing a conveyance device conveying a shelf.

[0023] Figure 5 is a diagram showing an example of order information.

[0024] Figure 6 is a diagram showing an example of stock information.

[0025] Figure 7 is a diagram showing an example of shelf information.

[0026] Figure 8 is a diagram showing an example of floor information.

[0027] Figure 9 is a diagram showing an example of map information.

[0028] Figure 10 is a diagram showing an example of device information.

[0029] Figure 11 is a flowchart showing an example of processing performed in a warehouse control device.

[0030] Figure 12 is a flowchart showing an example of processing performed by a conveyance device.

[0031] Figure 13 is a diagram showing an example of a movement pattern of a conveyance device in which a straight-ahead movement pattern and a turning pattern are combined.

[0032] Figure 14 is a diagram showing an example of a movement pattern of a conveyance device in which a straight-ahead movement pattern and a temporary stop are combined.

[0033] Figure 15 is a perspective view from above showing an example of a caster when a straight-ahead movement pattern is switched to a straight-ahead movement pattern after turning 90° in a turning pattern from a straight-ahead movement pattern.

[0034] Figure 16 is a perspective view from above showing an example of a trajectory of a caster after turning 90° in a turning pattern from a straight-ahead movement pattern.

[0035] Figure 17 is a perspective view from above showing an example of a trajectory of a caster when a straight-ahead movement pattern is started after turning 90° in a turning pattern.

[0036] Figure 18 is a diagram showing an example of a switching pattern of acceleration in Embodiment 1.

[0037] Figure 19 is a diagram showing an example of a switching pattern of acceleration and target speed in Embodiment 2.

[0038] Figure 20 Fig. 2 is a diagram showing an example of a switching pattern of acceleration in Example 3. DETAILED DESCRIPTION

[0039] Hereinafter, an embodiment of the present application will be described based on the drawings.

[0040]

Example 1

[0041] Figure 1 Fig. 1 is a block diagram showing an example of a structure of a transport system in Example 1. The transport system of the present embodiment is provided with a warehouse control device 100, a network 90, and a plurality of transport devices 1 connected to the warehouse control device 100 via the network 90. For example, an example is shown in which the warehouse control device 100 transmits a transport instruction designating a rack to be transported by the transport device 1 and a picking station as a transport destination to the transport device 1, and causes the transport device 1 to automatically transport.

[0042] The warehouse control device 100 is a computer including an arithmetic device 110, a storage 120, an input device 130, an output device 140, a storage device 150, and a communication interface 170.

[0043] The storage device 150 has a non-volatile storage medium, and stores a program executed by the arithmetic device 110 and data used by the program. As an example of the program, a path generation program 161, a data input / output program 162, a data analysis program 163, and a transport device control program 164 are stored in the storage device 150, and the arithmetic device 110 loads the necessary program into the storage 120 and executes it.

[0044] In addition, as an example of the data stored by the storage device 150, order information 200, inventory information 220, rack information 230, floor information 240, map information 250, device information 260, path data 270, and measurement data 280 are stored.

[0045] The path generation program 161 calculates a path in which the transport device 1 moves. The path generation program 161, for example, calculates a path in which the transport device 1 moves, based on the position of an article (or product) that is a picking object, and the position of a picking station that is a destination, and the like. The data input / output program 162 performs acceptance of order information, and acceptance of sensor data and the like from the transport device 1, and performs output of information of an article that is a picking object, and the like.

[0046] The data analysis program 163 analyzes the state of the floor of the path on which the transport device 1 moves in the case where the sensor data is an image or a video of the floor, and performs update of the floor information 240 and the like. The transport device control program 164 instructs the transportable transport device 1 of the rack and the article to be transported, and the transport destination, based on the path calculated by the path generation program 161, and the floor information 240 and the state of the transport device 1, and the like.

[0047] The order information 200 holds information of the article to be picked up in the information of the order in which the article is requested to be shipped. The stock information 220 holds information of the rack in which the article is arranged, the arrangement position in the rack, and the number, the weight, and the like, with respect to the stock of the article.

[0048] The rack information 230 holds information of the position and the weight of the rack, and the like. The floor information 240 holds information indicating the state of the floor for each area of the floor. The map information 250 holds map information in the warehouse. The device information 260 holds identification information (identifier) and the position and the operation state, and the like, with respect to each transport device 1. The path data 270 holds information of the path of each transport device 1. The measurement data 280 holds sensor data and position information, and the like, received from each transport device 1.

[0049] The input device 130 is constituted by a keyboard and a mouse or a touch panel, and the like. The output device 140 is constituted by a display, and the like. The communication interface 170 communicates with the transport device 1 and other computers via the network 90.

[0050] The transport device 1 automatically transports the rack on which the article is loaded in accordance with the instruction from the warehouse control device 100. The transport device 1 is an automatic transport device having a control device (control section) 2, a storage device 4, a drive device (drive section) 3, a sensor 5, and a communication interface 6.

[0051] The control device 2 includes an arithmetic device 21, and a memory 22. A self-position estimation program 23, a travel control program 24, a measurement program 25, and a communication program 26 are loaded into the memory 22 and executed by the arithmetic device 21. The arithmetic device 21 is constituted by a microcomputer and a processor.

[0052] The self-position estimation program 23 calculates the position of the transport device 1 based on the sensor data (for example, image data) and the like acquired from the sensor 5. The travel control program 24 controls the drive device 3 based on the current position of the transport device 1, and the path data received from the warehouse control device 100.

[0053] The measurement program 25 acquires the sensor data from the sensor 5 and outputs to the warehouse control device 100. The communication program 26 communicates with the warehouse control device 100 via the network 90.

[0054] The storage device 4 is constituted by a nonvolatile storage medium, and stores each program and data used by each program. As an example of the data, there are included route data 41, map information 42, measurement data 43, device information 44, travel actual result data 45, and floor information 46.

[0055] The route data 41 stores route data received from the warehouse control device 100. The map information 42 stores map information 250 received from the warehouse control device 100. The measurement data 43 stores sensor data acquired by the sensor 5.

[0056] The device information 44 stores an identifier (device ID) of the transport device 1 and the state of the device, information on whether a shelf is loaded, the position of the device, the remaining capacity of the battery, and the like. For example, the device information 44 can also be information equivalent to the information on the transport device 1 in the device information 260 ( Figure 10 ). In the travel actual result data 45, there are stored the history of the route in which the transport device 1 moves, and the state (vibration) of the floor of each area and the mode of movement.

[0057] The floor information 46 stores floor information 240 received from the warehouse control device 100. The control device 2 can determine the acceleration condition of the transport device 1 based on the information on the state of the floor on which the transport device 1 moves.

[0058] The drive device 3 includes a trolley 31, drive wheels 33, a table 32, auxiliary wheels (casters) 34, a motor 38 as a power source that drives the drive wheels 33 and the table 32, and a battery 39 that supplies power to the motor 38. The structure of the drive device 3 will be described later. In addition, the motor 38 that drives the drive wheels 33 and the table 32 can be constituted by independent motors.

[0059] The sensor 5 is constituted by a camera that captures the floor, an acceleration sensor that detects vibration, and the like. In a case where position information and route information are added to the floor by a marker or the like, the current position can be determined by capturing the floor with the camera as the sensor 5 and determining the marker with the own position estimation program 23. The acceleration sensor as the sensor 5 detects the vibration (acceleration) of the transport device 1, and the measurement program 25 can notify the warehouse control device 100 of the magnitude of the vibration and the like as the state of the floor.

[0060] The arithmetic device 21 functions as a functional unit that provides a prescribed function by executing processing according to each program. For example, the arithmetic device 21 functions as a travel control unit by executing processing according to the travel control program 24. The same applies to other programs. Furthermore, the arithmetic device 21 also functions as a functional unit that provides each function of a plurality of processes executed by each program.

[0061] Figure 2is a perspective view showing an example of the conveyance device 1 and the shelf 7. The conveyance device 1 is an automatic traveling device including a rectangular cuboid cart 31 capable of straight traveling and turning, and a liftable and turnable table 32 disposed on the upper surface of the cart 31. The conveyance device 1 can be, for example, an automated guided vehicle (AGV) or an autonomous mobile robot (AMR). In addition, a damper 35 is disposed on the side of the cart 31 in the advancing direction.

[0062] The shelf 7 that stores articles (or goods) is composed of a rectangular cuboid having a pair of opening portions on the side surfaces, and a bottom plate 72 supported by a foot portion 71 and one or more shelf plates 73 on which articles are placed, disposed at a predetermined height from the floor.

[0063] The conveyance device 1 lifts the shelf 7 by raising the table 32 after moving the cart 31 to the lower side of the bottom plate 72 of the shelf 7 in a state where the table 32 is lowered. The conveyance device 1 performs conveyance of the shelf 7 by traveling the cart 31 in a state where the shelf 7 is lifted by the table 32.

[0064] The table 32 is rotatable with respect to the cart 31, and when the cart 31 turns on the floor, the advancing direction of the cart 31 can be changed by relatively rotating the table 32 with respect to the cart 31 while maintaining the direction of the shelf 7.

[0065] In the illustrated example, the shelf 7 has two opening surfaces, and thus different opening portions can be provided to the picking station by rotating the table 32 by 180°. In addition, the structure of the shelf 7 is not limited to the illustrated example, and a four-surface opening portion or a box or tray provided with a hanger can be provided, as long as the bottom plate 72 that can be lifted by the table 32 is provided.

[0066] Figure 3 is a bottom view showing an example of the conveyance device 1. The bottom surface of the cart 31 has the damper 35 side as the front side, and the drive wheels 33-L and 33-R are disposed on the left and right sides of the middle of the front-rear direction of the bottom surface to straighten or turn the cart 31. In the following description, the symbol "33" is used without the "-" after the symbol when the left and right sides of the drive wheels are not specified. The same applies to the symbols of other constituent elements.

[0067] The auxiliary wheels 34-FL, 34-RL, 34-FR, and 34-RR are disposed in front of and behind the drive wheels 33-L and 33-R, respectively, to support the cart 31. Each auxiliary wheel 34 is supported by a bracket 37 so as to be rotatable about a shaft 36 provided on the bottom surface of the cart 31. In addition, each auxiliary wheel 34 is supported by a shaft supported by the bracket 37 so as to be freely rotatable on the floor.

[0068] Figure 4 is a diagram showing the conveyance of the shelf 7 by the conveyance device 1. The conveyance device 1 moves the dolly 31 between the feet 71, 71 of the shelf 7 below the floor 72 of the shelf 7 in a state where the table 32 has been lowered (A). Next, the conveyance device 1 raises the table 32 to lift the floor 72 to a prescribed height after stopping the dolly 31 in a state where the table 32 opposes the floor 72 (B). Note that the height at which the shelf 7 is lifted is such that the feet 71 of the shelf 7 do not contact the floor 80 and the dolly 31 can travel.

[0069] The conveyance device 1 moves the dolly 31 to the sorting station ST as a conveyance destination in combination with turning and straight-ahead travel of the dolly 31 in a state where the shelf 7 is lifted by the table 32, and turns the table 32 or the dolly 31 to oppose the opening of the shelf 7 to the sorting gate 8. Then, the conveyance device 1 stops and allows the worker to perform the sorting work (C).

[0070] At the sorting gate 8, the worker performs the sorting work of taking out the article to be sent from the shelf 7 and distributing it to the sorting shelf. When the sorting work is completed, the conveyance device 1 moves to a prescribed storage location where the shelf 7 is stored, and lowers the shelf 7 at the storage location. After the shelf 7 is lowered, the dolly 31 is moved to a prescribed standby position and waits for the next conveyance work.

[0071] Figure 5 is a diagram showing an example of the order information 200. In the order information 200, a serial number 201, a ticket number 202, a store name 203, a store code 204, a product name 205, a product code 206, a quantity 207, a delivery date 208, an order reception date and time 209, and a work date and time 210 are included in one record.

[0072] The serial number 201 is a unique number assigned by the warehouse control device 100. The ticket number 202 is a number assigned by the warehouse control device 100 for each order. The store name 203 indicates the destination of the article to be shipped.

[0073] In the present embodiment, an example is shown in which different serial numbers 201 are assigned even when the ticket number 202 is the same and the product name 205 and the product code 206 are different. This is because there is a possibility that the shelf 7 in which each product is stored is different when the product name 205 and the product code 206 are different.

[0074] The number 207 indicates the number of the product determined by the product name 205 and the product code 206 that is ordered in the record of the order sheet number 202. The operation date and time 210 stores the scheduled date and time of the picking operation for the product name 205 of the order sheet number 202. The operation date and time 210 is determined based on the customer's request (a request to ship the product earlier than the delivery date, etc.), and the status of the warehouse (a situation where the product is desired to be shipped earlier, etc.) in addition to the delivery date 208. The operation date and time 210 can be determined by other software (for example, a warehouse management system (WMS)) that cooperates with the warehouse control device 100, or can be set by the user.

[0075] Figure 6 Fig. 10 is a diagram showing an example of the inventory information 220. The inventory information 220 includes the serial number 221, the product name 222, the product code 223, the inventory number 224, the shelf ID 225, and the arrangement position in the shelf 226 in one record.

[0076] The shelf ID 225 stores the identifier of the shelf 7 in which the product is stored. The arrangement position in the shelf 226 stores information used when a person or a robot picks in the picking station ST, for example. In the arrangement position in the shelf 226, for example, in the record written as "U3R2", it is indicated that the target product is arranged at "the third layer from the top (U) and the second position from the right (R)" in the shelf 7.

[0077] Figure 7 Fig. 11 is a diagram showing an example of the shelf information 230. The shelf information 230 includes the serial number 231, the shelf ID 232, the storage position 233, the shelf weight 234, and the product weight 235 in one record.

[0078] The shelf ID 232 stores a unique identifier given to each shelf 7. For example, the identifier given by the warehouse control device 100 can be stored as the shelf ID 232. The storage position 233 stores information of the position of the storage shelf 7, for example, the coordinates of the map information 250. In the case of a transport shelf 7, "transporting" is stored in the storage position 233.

[0079] The shelf weight 234 stores the weight of the shelf 7 itself, and the product weight 235 stores the weight of the articles (products and containers for storing the products, etc.) loaded in the shelf 7. The weight of the transport object (shelf + product) transported by the transport device 1 is at least the sum of the "shelf weight" and the "product weight".

[0080] For example, the map information 250 can be stored in the storage position 233. Figure 6weight of the shipment (shelf + goods) is calculated. In addition, in the case where the "weight" is calculated, if the actual weight of the shipment is within the allowable range of error from the calculated value, the weight of the shelf 7 and part of the goods loaded on the shelf 7 can also be excluded from the calculation.

[0081] In addition, as another example, for example, a weight sensor that can measure the weight of the "shipment (shelf + goods) " shipped by the conveyance device 1 can be loaded, and the weight is measured when the shelf 7 after the order picking is returned to the storage location or the like. At this time, the weight measured in the conveyance device 1 can be received by the warehouse control device 100, and recorded as the "weight of the shipment (shelf + goods) " in the shelf information 230.

[0082] The warehouse control device 100 determines the storage location 233 of the shelf 7 using the information of the shelf ID 225 acquired from the inventory information 220 as a key. Figure 6 The warehouse control device 100, for example, calculates the movement path of the conveyance device 1 based on the position of the conveyance device 1 in the "standby" state that is close to the storage location of the shelf 7, the storage location 233 of the shelf 7, and the information of the order picking station ST as the conveyance destination of the shelf 7, and the like.

[0083] Figure 8 is a drawing showing an example of the floor information 240. In the floor information 240, the serial number 241, the area 242, the floor state 243, the area setting 244, and the cumulative load 245 are included in one record.

[0084] In the area 242, the state of the floor of the warehouse is managed by area (partition) units, and information identifying each area is saved. For example, (a, A) of the serial number 241 = 1 indicates the address (a, A) in the upper left in the map information 250. Figure 9

[0085] In the floor state 243, the floor state, and in particular, information indicating the damage level is saved. For example, it can be classified as "normal state", "minor damage", "moderate damage", and "major damage". In addition, with respect to the floor state 243, for example, "normal state", "minor damage", and "moderate damage" can be set as allowable for travel, and "major damage" can be set as not allowable for travel (prohibited for travel).

[0086] ​The area setting 244 is "passage area" indicates an area where the transport device 1 can travel and can also transport the shelves 7. The area setting 244 is "shelf storage area" indicates an area where the shelves 7 transported by the transport device 1 are placed, or an area that ensures a place for the placement of the shelves 7.

[0087] The transport device 1 in a state where the shelves 7 are not transported can travel through the lower ground of the shelves 7, but the transport device 1 in a state where the shelves 7 are being transported does not travel in an area where other shelves 7 exist in order to avoid collision of the shelves 7.

[0088] The area setting 244 is "no travel area" is an area where travel of the transport device 1 is restricted. For example, an area where the degree of damage is large can be set as "no travel area". In addition, an area where an obstacle that obstructs travel is detected, or an area where people and other machines are working, etc. can be set as this "no travel area". An area that satisfies a prescribed condition can be automatically set as "no travel area", or the "no travel area" can be set by the user. The cumulative load 245 is a value obtained by cumulating loads received by the floor of the area from the transport device 1. As the load, there are a load when the transport device 1 passes (number of passes and weight at the time of passing), a load when the transport device turns (number of turns and weight at the time of turning), a load when the transport device 1 accelerates or decelerates (number of accelerations and weight at the time of acceleration, number of decelerations and weight at the time of deceleration, etc.).

[0089] The cumulative load 245 can be a value calculated based on a part or all of the information of these loads. For example, it can be a total weight value obtained by cumulating the weight at the time of passing.

[0090] Figure 9 is a diagram that represents an example of map information 250. The map information 250 is information that represents the position of an "area" specified by a row number 251 and a column number 252. Each area is a rectangular area, and is set as one of "passage area", "shelf storage area", and "no travel area" in correspondence with the area setting 244 of the floor information 240 described above.

[0091] Figure 10 is a diagram that represents an example of device information 260. In the device information 260, a serial number 261, a device ID 262, a device state 263, whether a shelf is loaded 264, a device position 265, and a battery remaining amount 266 are included in one record.

[0092] In the device ID 262, a unique identifier given to each transport device 1 is stored. In the device state 263, information related to the state of each transport device 1 is stored. As the state, for example, "standby" or "moving", "charging", "malfunction", and the like are input. Whether the shelf 264 is loaded is information on whether the shelf 7 is loaded in the transport device 1. Whether the shelf 264 is loaded is information indicating whether the shelf 7 is loaded on the stage 32 of the transport device 1.

[0093] In addition, the warehouse control device 100 can select, for example, at the time of selecting the transport device 1 that processes a certain transport task (indicates transport), based on transport efficiency and the like. For example, even if the transport device 1 in the state of "moving", in the case where the current task is completed quickly and the next transport task (the above certain transport task) can be processed earlier than other devices, there is a possibility of selection.

[0094] In the device position 265, information related to the position of each transport device 1 is stored. For example, the transport device 1 reads information (for example, a marker) attached to a prescribed position of the floor of each area with a sensor (a camera). The information read by the transport device 1 includes information related to the position of the area, and the own position can be determined. In addition, the method of determining the own position can also be based on other methods.

[0095] The battery remaining amount 266 is information on the remaining amount of the battery 39 of each transport device 1. The transport device 1 can go to the charging station to charge when the battery remaining amount 266 becomes a prescribed battery remaining amount or less.

[0096] However, the time plan related to charging can also be determined in correspondence with the free condition (reservation condition) of the charging station, or the transport schedule plan, the battery remaining amount of each transport device 1, and the like. For example, when many transport devices 1 charge at the same time, there is a possibility that the charging station is crowded and a waiting charge occurs, and thus a time plan taking into account the transport efficiency is preferable.

[0097] Figure 11 is a flowchart indicating an example of the process performed in the warehouse control device 100. The process is executed at a prescribed period or a prescribed timing such as when an order is accepted.

[0098] In the warehouse control device 100, the route generation program 161 sorts the order information 200 in ascending order of the work date and time 210, and sequentially performs the following processing from the first record (S1). The route generation program 161 selects the order information 200, and determines whether there is the stock number 224 by searching the stock information 220 based on the item code 206. In the case where there is the stock number, the route generation program 161 acquires the shelf ID 225 and the arrangement position 226 within the shelf, and determines the storage position 233 by searching the shelf information 230 (S2).

[0099] The route generation program 161 refers to the map information 250, the area setting 244 of the floor information 240, and the device information 260, and selects the transport device 1 from the device information 260 that has the highest transport efficiency from the storage position 233 to the picking station ST as described above. In addition, as for the picking station ST that is the transport destination, it can be set in advance in correspondence with the delivery destination (the store name 203), or it can be set in advance in correspondence with the item to be subjected to the picking work and the kind of the item.

[0100] Then, the route generation program 161 calculates the transport route of the transport device 1 based on the map information 250, the area setting 244 of the floor information 240, and the information of the storage position 233 and the picking station ST (S3). In addition, as for the calculation of the transport route, a known or publicly known method can be employed.

[0101] Next, the transport device control program 164 transmits an instruction to transport the decided shelf 7 along the route information calculated above to the transport device 1 decided as described above (S4). The transport device 1 that has received the transport instruction from the warehouse control device 100 travels on the accepted route, loads the specified shelf 7, and transports it to the prescribed picking station ST.

[0102] After the picking work is completed, the transport device 1 loads the shelf 7 and transports it to the storage place, and places the shelf 7 on the floor 80. After that, the transport device 1 moves to the prescribed waiting place and ends the transport task.

[0103] In addition, as for the position where the transport device 1 places the shelf 7 back, it can be placed back to the original storage place, or it can be stored at a different position based on the frequency of use of the shelf 7 or the like. For example, if it is a shelf that is used frequently, the transport device 1 can place the shelf 7 near the picking station ST.

[0104] Figure 12 is a flowchart showing an example of the processing performed in the transport device 1. This processing shows an example in which the control device 2 executes the travel control program 24 to perform acceleration control, and is executed at the time of departure after the transport device 1 stops.

[0105] The control device 2 of the transport device 1 switches between a straight travel mode in which the drive wheels 33-L, 33-R are driven at the same speed and a turning mode in which the drive wheels 33-L, 33-R are rotated in opposite directions to move the pallet 31. In the turning mode, the direction of the shelf 7 can be maintained by rotating the table 32 in the opposite direction to the rotation of the pallet 31. In the case where the drive wheels 33-L, 33-R are driven at different speeds in the same direction, the pallet 31 can be turned while traveling.

[0106] The turning mode in which the drive wheels 33-L, 33-R are driven in opposite directions is a spin turn, for example, in which the pallet 31 is rotated about the center of the bottom surface of the pallet 31. Hereinafter, the spin turn will be referred to simply as turning.

[0107] The control device 2 determines the above-described movement mode and controls the drive wheels 33 on the basis of the path data 41 received from the warehouse control device 100 and the current position of the pallet 31 detected by the own position estimation program 23.

[0108] The control device 2 determines whether or not the shelf 7 is loaded on the table 32 (S11). As to the presence or absence of the shelf 7, for example, a sensor that detects an article such as the shelf 7 is provided on the table 32, and if the output of the sensor satisfies a prescribed condition, the control device 2 determines that the shelf 7 is loaded on the table 32 and proceeds to step S12. On the other hand, if the prescribed condition is not satisfied, the control device 2 determines that the shelf 7 is not loaded on the table 32 and proceeds to step S15.

[0109] In step S12, the control device 2 determines whether or not the movement mode before the last movement mode is the same as the next movement mode. This determination is made by comparing the movement mode before the last movement mode, which is acquired by the control device 2 from the travel actual result data 45, with the next movement mode determined on the basis of the path data 41. In the case where the movement mode before the last movement mode is the same as the next movement mode, the process proceeds to step S13, and in the case where the movement mode before the last movement mode is different from the next movement mode, the process proceeds to step S14.

[0110] In the case where the shelf 7 is not loaded in step S15, the control device 2 selects the largest acceleration A to drive the drive wheels 33 or the table 32. In the case where the shelf 7 is loaded and the movement mode is the same as before, the control device 2 selects an acceleration B smaller than the acceleration A to drive the drive wheels 33 or the table 32 in step S13. In the case where the shelf 7 is loaded and the movement mode is different from before, the control device 2 selects the smallest acceleration C smaller than the acceleration B to drive the drive wheels 33 or the table 32 in step S14.

[0111] Here, "the greatest acceleration A" indicates that, among the accelerations A, B, and C, the acceleration A is the greatest. Similarly, "the smallest acceleration C" indicates that, among the accelerations A, B, and C, the acceleration C is the smallest.

[0112] In addition, for the accelerations A to C, the acceleration at the time of straight-ahead travel and the angular acceleration at the time of turning are set in advance. For example, a prescribed acceleration Al, a prescribed acceleration Bl, and a prescribed acceleration Cl can be set in advance as the accelerations A, B, and C at the time of straight-ahead travel. In addition, a prescribed angular acceleration A2, a prescribed angular acceleration B2, and a prescribed angular acceleration C2 can be set in advance as the accelerations A, B, and C at the time of turning. The accelerations (accelerations Al, Bl, Cl) at the time of straight-ahead travel and the accelerations (angular accelerations A2, B2, C2) at the time of turning can be different.

[0113] In the above processing, the case where the transport device 1 controls the acceleration as the main body is shown, and the acceleration is determined in correspondence with the movement pattern based on the path data received from the warehouse control device 100. In addition, the previous movement pattern can be determined by the control device 2 based on the path data 41 or the travel actual result data 45. In addition, whether or not the shelf 7 is loaded can be determined by the control device 2 based on the path data received from the warehouse control device 100 or the device information 44 possessed by the transport device 1, and the acceleration can be determined.

[0114] The above shows an example in which the transport device 1 controls the acceleration, but is not limited thereto. For example, the warehouse control device 100 can determine whether or not the shelf 7 is loaded in the transport device 1 based on the path data or the device information 260 and determine the acceleration, and transmit an instruction to the transport device 1.

[0115] In the case where the warehouse control device 100 is the main body of the acceleration control, in step S4 of Figure 11 For example, the information of the acceleration at the time of movement between the regions can be included in the path data and transmitted to the transport device 1.

[0116] The information of the acceleration is not limited to the acceleration itself, but can be information that can determine the acceleration (for example, acceleration pattern A, acceleration pattern B, acceleration pattern C) or information related to the acceleration (for example, torque and rotational speed of the motor 38 of the drive device, speed at a certain time, speed at the time of passing through a certain region).

[0117] Further, the above shows an example of controlling acceleration with the conveyance device 1, but is not limited thereto, and acceleration and target speed can also be controlled as acceleration conditions. For example, the conveyance device 1 accelerates with a first acceleration condition (a first acceleration and a first target speed) to move in a different movement pattern from before stopping. Thereafter, the conveyance device 1 can accelerate with a second acceleration condition (a second acceleration and a second target speed) that is smaller than the first acceleration condition.

[0118] With regard to the above acceleration conditions, it is not necessarily required to change acceleration, for example, by setting a threshold value of speed to be small, it is possible to prevent an increase in the speed deviation of the left and right wheels, and thus it is possible to prevent the load applied to the drive section and the ground from being increased by accelerating too much.

[0119] Further, in step S15 when the conveyance device 1 is not loaded with the pallet 7, the trolley 31 is accelerated at the maximum acceleration A, because when the conveyance device 1 is not loaded with the pallet 7, the load applied to the ground by the trolley 31 is small, and thus it is not necessary to accelerate slowly.

[0120] However, as another example, in a case where the load applied to the conveyance device 1 and the ground is high even though the conveyance device 1 is not loaded with the pallet 7 (for example, in a case where the ground is a material that is easily damaged, or the like), the determination step of "is the next movement pattern the same as the previous movement pattern?" is added, and in a case where it is determined to be "No" (in a case where it is a different pattern), control is performed so as to accelerate at an acceleration smaller than the acceleration A.

[0121] In addition to the above, it is also possible to control acceleration in accordance with the damage degree of the floor state 243, the cumulative load 245, and the unevenness of the ground (joints or differences in level that are provided as a design of the ground, or the like) in the floor information 240 shown in Figure 8 Specifically, in a case where the damage degree of the ground is large, or in a case where the cumulative load is high, or in a case where there is unevenness (joints or differences in level) on the ground, the acceleration can be reduced to accelerate slowly compared to a case where there is no damage.

[0122] Further, in a case where the load applied to the ground and the conveyance device 1 is particularly large, for example, in a case where the conveyance device 1 loaded with the pallet 7 moves in a different movement pattern from the previous movement pattern, by reducing the acceleration in accordance with the state of the ground to accelerate slowly, it is possible to expect the application of a highly efficient conveyance system that takes into account the load applied to the ground and the conveyance device 1 and the conveyance efficiency.

[0123] Alternatively, it is also possible to determine the acceleration based on the total value of the pallet weight 234 and the product weight 235, or the like, in the pallet information 230. Figure 7 For example, in a case where the weight is heavy, it is possible to control to accelerate more slowly compared to a case where the weight is light.

[0124] In addition, with respect to the acceleration in the case where the transport device 1 not loaded with the shelves 7 is moved from the stopped state, the control device 2 can control the drive device 3 so as to accelerate with the acceleration A (including the third acceleration or the third acceleration condition of the third target speed) in the case where it is moved in the same moving pattern as the moving pattern before the stop among the plurality of moving patterns, and control the drive device 3 so as to accelerate with the acceleration D (refer to Figure 19 ) smaller than the acceleration A or the fourth acceleration condition of the fourth target speed smaller than the third target speed in the case where it is moved in a moving pattern different from the moving pattern before the stop among the plurality of moving patterns. That is, it is possible to switch the acceleration condition in different moving patterns in the case where the transport device 1 is moved alone, regardless of the loading of the shelves 7, in accordance with the conditions of the ground or the like.

[0125] Figure 13 is a plan view showing an example of the moving pattern of the transport device 1 in which the straight-ahead moving pattern and the turning pattern are combined. In the illustrated example, the transport device 1 turns by 90° after straight-ahead movement, and then straight- ahead moves.

[0126] The transport device 1 straight- ahead moves from the area of row number 251 = "C" and column number 252 = "e" shown in Figure 9 , which is hereinafter referred to as C, e, to the area of (A, e), switches from the straight-ahead moving pattern to the turning pattern, and turns counterclockwise by 90° in the area of (A, e).

[0127] In the case where the shelves 7 are not loaded on the table 32, the transport device 1 turns with the acceleration A (angular acceleration A) to turn the dolly 31 to the left direction in the figure, regardless of the previous moving pattern. On the other hand, in the case where the shelves 7 are loaded on the table 32, because the previous moving pattern is the straight-ahead moving pattern and the next moving pattern is switched to the turning pattern, the transport device 1 turns with the minimum acceleration C (angular acceleration C) to turn the dolly 31 to the left direction in the figure.

[0128] Next, the transport device 1 straight- ahead moves from the area of (A, e) to the area of (A, c). In this case, in the case where the shelves 7 are not loaded on the table 32, the transport device 1 straight- ahead moves with the maximum acceleration A to move the dolly 31 to the left direction in the figure.

[0129] On the other hand, in the case where the shelves 7 are loaded on the table 32, because the previous moving pattern is the turning pattern and the next moving pattern is switched to the straight-ahead moving pattern, the transport device 1 accelerates with the minimum acceleration C and moves the dolly 31 to the left direction in the figure.

[0130] As described later, the friction between the auxiliary wheels 34 and the ground increases at the time of the movement mode switching, and the load of the motor 38 at the time of the start of the movement increases. Therefore, the transport device 1 starts moving (or turning) with the smallest acceleration C in the case where the movement mode is switched from the previous movement mode and the shelf 7 is loaded, whereby the driving force can be reduced to suppress the consumption of the battery 39. In addition, the load applied to the transport device 1 and the ground can be reduced. In addition, in the case where the shelf 7 is not loaded, the movement time can be shortened by starting moving (or turning) with the largest acceleration A to improve the efficiency of the transport process.

[0131] Figure 14 is a plan view showing an example of the movement mode of the transport device 1 which repeats the straight movement mode and the temporary stop. In the illustrated example, the transport device 1 straight moves and then temporarily stops, and then straight moves again. As an example in which the transport device 1 straight moves, temporarily stops, and then straight moves, for example, in the case where other transport devices 1 have passed the area of the movement destination, the transport device 1 temporarily stops in order to wait for the passage of the other transport devices 1. Or, in the case where the transport device 1 is queued and waits in the picking station ST, the transport device 1 also temporarily stops.

[0132] The transport device 1 straight moves from the area (E, c) to the area (C, c) and then temporarily stops. Then, the transport device 1 straight moves from the area (C, c) to the area (A, c). In the case where the shelf 7 is not loaded on the table 32, the transport device 1 accelerates with the largest acceleration A and moves between the areas. In the case where the shelf 7 is loaded on the table 32, the transport device 1 accelerates with the intermediate acceleration B and moves between the areas.

[0133] In the case where the shelf 7 is not loaded, the movement time can be shortened by starting moving with the largest acceleration A to improve the efficiency of the transport process.

[0134] Figure 15 is a perspective view from above showing an example of the auxiliary wheels in the case where the movement mode is switched from the straight movement mode to the turning mode and then the straight movement mode after the transport device 1 has turned counterclockwise by 90°. Figure 15 (A) to (C) of Figure 13 The movement mode of the transport device 1 shown in FIG. 8 shows the change in the movement of the auxiliary wheels 34.

[0135] First, Figure 15 In (A) of FIG. 7, the trolley 31 moves to the right direction from the left direction in the drawing in the straight movement mode. Each of the auxiliary wheels 34 is gradually rotated to the right direction in the drawing in parallel with the driving wheel 33 by the traction of the shaft 36.

[0136] Figure 15The cart 31 temporarily stops in (B), the control device 2 switches from the straight-ahead mode to the turning mode, and the cart 31 is turned counterclockwise by 90° in the figure. When the cart 31 starts to turn, each auxiliary wheel 34 moves from the position in (A) to the circle Cl in (B).

[0137] Then, during the turning, the axle 36 pulls the auxiliary wheel 34 supported by the bracket 37 as the cart 31 turns, and the auxiliary wheel 34 rotates along the circle Cl. (B) shows a state where the turning of the cart 31 is completed, and each auxiliary wheel 34 stops along the circle Cl.

[0138] Figure 15 In (C), the control device 2 switches from the turning mode to the straight-ahead mode, and the cart 31 straight- aheads upward in the figure. When the cart 31 starts to straight-ahead, each auxiliary wheel 34 moves from the circle Cl in (C) to a position parallel to the drive wheel 33.

[0139] The friction of the auxiliary wheels 34 against the ground increases when the straight-ahead mode is shifted to the turning mode and when the turning mode is shifted to the straight-ahead mode.

[0140] Figure 16 is a perspective view from above showing an example of the trajectory of the auxiliary wheels when the cart 31 is turned counterclockwise by 90° from the straight-ahead mode to the turning mode. (A) to (C) in the figure show Figure 15 part of the trajectory of the auxiliary wheels 34 from (A) to (B).

[0141] In a state where the straight-ahead mode is completed, as shown in (A), each auxiliary wheel 34 stops with the axle 36 at a position parallel to the drive wheel 33. When the cart 31 starts to turn counterclockwise, as shown in (B), each auxiliary wheel 34 starts to move toward the circle Cl with the rotation of the axle 36. In addition, PO, PI, P2 in the figure show the positions of the axle 36.

[0142] At the start of the turning, the motion of each auxiliary wheel 34 is different, and the friction of the left auxiliary wheels 34-FL, 34-RL against the ground is greater than that of the right auxiliary wheels 34-FR, 34-RR.

[0143] First, the auxiliary wheel 34-FR as the right front wheel moves from the position PO in the figure where it stops in the straight-ahead mode to the position P2 along the circle Cl while turning counterclockwise around the axle 36 and rotating on the ground. In this case, the auxiliary wheel 34-FR turns around the axle 36 only slightly while rotating, and thus the friction against the ground is small.

[0144] The auxiliary wheel 34-RR as the right rear wheel is slightly turned around the axis 36 clockwise from the position P0 where it stops in the straight-ahead mode to the position P2 along the circle Cl while rotating on the ground. In this case, the auxiliary wheel 34-RR is slightly turned around the axis 36 while rotating, so the friction with the ground is small.

[0145] On the other hand, the auxiliary wheel 34-FL as the left front wheel is moved to the inside of the circle Cl in a manner pushed by the axis 36 in correspondence with the rotation of the axis 36 along the circle Cl from the position P0 where it stops in the straight-ahead mode, while being turned around the axis 36 clockwise, in the radial direction of the circle Cl at the position Pl.

[0146] Further, the auxiliary wheel 34-FL is turned around the axis 36 clockwise in a manner pulled by the axis 36 from the position Pl while rotating. Then, the auxiliary wheel 34-FL is gradually rotated on the circle Cl when the axis 36 is rotated on the circle Cl to the position P2.

[0147] Thus, the auxiliary wheel 34-FL is turned around the axis 36 clockwise in a manner pushed by the axis 36 from the position P0 to the position Pl and is pushed to the inside of the circle Cl, and is turned around the axis 36 clockwise in a manner pulled by the axis 36 from the position Pl to the position P2. Therefore, the auxiliary wheel 34-FL is turned on the ground without rotating almost, so the friction with the ground is large.

[0148] The auxiliary wheel 34-RL as the left rear wheel is moved to the outside of the circle Cl in a manner pushed by the axis 36 in correspondence with the rotation of the axis 36 along the circle Cl from the position P0 where it stops in the straight-ahead mode, while being turned around the axis 36 clockwise. Then, the auxiliary wheel 34-RL is turned around the axis 36 clockwise in a manner pulled by the axis 36 toward the circle Cl after being moved in the radial direction of the circle Cl at the position Pl.

[0149] Further, the auxiliary wheel 34-RL is rotated while being turned around the axis 36 clockwise in a manner pulled by the axis 36 from the position Pl. Then, the auxiliary wheel 34-RL is rotated along the circle Cl when the axis 36 is turned on the circle Cl to the position P2.

[0150] Thus, the auxiliary wheel 34-RL is pushed by the axis 36 from the position P0 to the vicinity of the position Pl, is turned around the axis 36 clockwise while being moved to the outside of the circle Cl, and is rotated while being turned around the axis 36 clockwise in a manner pulled by the axis 36 from the vicinity of the position Pl to the position P2. Therefore, the auxiliary wheel 34-RL is rotated after being turned on the ground, so the friction with the ground is large.

[0151] When the cart 31 starts to turn from the straight-ahead mode to the turning mode, the friction of the auxiliary wheels 34-FL, 34-RL in the turning direction against the ground increases. Therefore, when the cart 31 is loaded with the shelf 7, the control device 2 switches to the minimum acceleration C (angular acceleration C), whereby the increase in driving force corresponding to the increase in friction can be suppressed, and the load on the motor 38 and the consumption of the battery 39 can be suppressed. In addition, the load applied to the transport device 1 and the ground can be reduced.

[0152] Figure 17 is a perspective view from above showing an example of the trajectory of the auxiliary wheels in the case where the cart 31 is straight ahead in the straight-ahead mode. (A) to (C) in the figure show a part of the trajectory of the auxiliary wheels 34 of (B) to (C). Figure 15

[0153] In the state where the turning mode has been completed, as shown in (A), each of the auxiliary wheels 34 stops at a position along the circle Cl. When the cart 31 starts to be straight ahead in the figure, as shown in (B), each of the auxiliary wheels 34 is pulled by the shaft 36 and starts to move away from the circle Cl.

[0154] When the cart 31 starts to be straight ahead, the motion of each of the auxiliary wheels 34 is different, and the friction of the left auxiliary wheels 34-FL, 34-RL against the ground is greater than that of the right auxiliary wheels 34-FR, 34-RR.

[0155] First, the auxiliary wheel 34-FR as the right front wheel is pulled by the shaft 36 from the position P0 in the figure where it stops in the turning mode, turns slightly clockwise around the shaft 36 while rotating on the ground, toward the inside of the cart 31. The auxiliary wheel 34-FR is pulled by the shaft 36 from the position Pl to the position P2 while gradually becoming parallel to the driving wheel 33. The auxiliary wheel 34-FR turns slightly around the shaft 36 while rotating, and therefore the friction against the ground is small.

[0156] The auxiliary wheel 34-RR as the right rear wheel turns slightly counterclockwise around the shaft 36 while rotating on the ground, from the position P0 where it stops in the straight-ahead mode, toward the outside of the cart 31, and is pulled by the shaft 36 to the positions Pl, P2. In this case, the auxiliary wheel 34-RR turns slightly around the shaft 36 while rotating, and therefore the friction against the ground is small.

[0157] On the other hand, the auxiliary wheel 34-FL as the left front wheel moves toward the inside of the cart 31 while turning counterclockwise around the shaft 36, in a manner pushed by the shaft 36, from the position P0 in the figure where it stops in the straight-ahead mode, corresponding to the straight-ahead movement of the shaft 36 in the figure, and is orthogonal to the straight-ahead direction at the position Pl.

[0158] ​Further, the auxiliary wheel 34-FL is turned counterclockwise around the shaft 36 by being pushed by the shaft 36 from the position PI and is gradually turned toward the inner side of the pallet 31 by being pulled by the shaft 36 when the shaft 36 is linearly advanced to the vicinity of the position P2. Then, the auxiliary wheel 34-FL is rotated in parallel with the drive wheel 33 at the position P2.

[0159] Thus, the auxiliary wheel 34-FL is turned counterclockwise around the shaft 36 by being pushed by the shaft 36 from the position PO to the position PI and is turned counterclockwise around the shaft 36 by being pulled by the shaft 36 from the position PI to the position P2. Therefore, the auxiliary wheel 34-FL is hardly rotated while turning on the ground, and the friction between the auxiliary wheel 34-FL and the ground is large.

[0160] The auxiliary wheel 34-RL as the left rear wheel is moved to the outer side of the pallet 31 by being pushed by the shaft 36 while being turned counterclockwise around the shaft 36 from the position PO in the drawing at which the auxiliary wheel 34-RL stops in the turning mode in response to the linear advancement of the shaft 36 upward in the drawing. Then, the auxiliary wheel 34-RL is turned counterclockwise around the shaft 36 by being pulled by the shaft 36 after the position PI at which the linear advancement direction is substantially orthogonal to the position PO.

[0161] Further, the auxiliary wheel 34-RL is turned counterclockwise around the shaft 36 by being pulled by the shaft 36 from the position PI and is gradually turned toward the inner side of the pallet 31 by being rotated. Then, the auxiliary wheel 34-RL is turned counterclockwise around the shaft 36 by being pulled by the shaft 36 when the shaft 36 is linearly advanced to the position P2.

[0162] Thus, the auxiliary wheel 34-RL is turned counterclockwise around the shaft 36 by being pushed by the shaft 36 from the position PO to the vicinity of the position PI and is turned counterclockwise around the shaft 36 by being pulled by the shaft 36 from the vicinity of the position PI to the position P2 while being rotated to turn toward the inner side of the pallet 31. Therefore, the auxiliary wheel 34-RL starts to rotate after turning on the ground, and the friction between the auxiliary wheel 34-RL and the ground is large.

[0163] As described above, when the turning mode is switched to the linear advancement mode and the linear advancement of the pallet 31 is started, the friction of the auxiliary wheels 34-FL, 34-RL on one side of the turning with the ground increases. Therefore, in the case where the pallet 31 is loaded with the shelf 7, the control device 2 switches to the smallest acceleration C, whereby the increase in the driving force corresponding to the increase in the friction can be suppressed, the load on the motor 38 and the consumption of the battery 39 can be suppressed, and the load applied to the transport device 1 and the ground can be reduced.

[0164] Figure 18 is a graph showing the relationship between the speed and the time, which is an example of the mode of switching the acceleration (acceleration condition) by the control device 2. The control device 2 switches the acceleration as shown in the graph when the transport device 1 is in the turning mode. Figure 12As shown, the trolley 31 is accelerated to the target speed Vt with the maximum acceleration A (αA in the figure) without the load of the shelves 7.

[0165] The control device 2 accelerates the trolley 31 to the target speed Vt with the intermediate acceleration B (αB in the figure) without the change in the previous movement pattern with the load of the shelves 7. Also, the control device 2 accelerates the trolley 31 to the target speed Vt with the minimum acceleration C (αC in the figure) with the load of the shelves 7 and the change in the previous movement pattern from the next movement pattern. In addition, in the turning pattern, the target speed Vt is replaced with the target angular speed.

[0166] As described above, the conveyance device 1 of the present embodiment can reduce the driving force at the start and suppress the load of the motor 38 and the consumption of the battery 39 by suppressing the acceleration at the start of the conveyance device 1 after the movement pattern is switched. In addition, the load applied to the conveyance device 1 and the ground can be reduced.

[0167] In addition, the control device 2 of the conveyance device 1 can estimate the state of the ground for each region from the vibration (acceleration) of the travel actual result data 45, and suppress the acceleration to the minimum acceleration C in the case of starting or turning in the region where the magnitude of the vibration is equal to or greater than a prescribed threshold value even if there is no switching of the movement pattern.

[0168] In addition, the control device 2 of the conveyance device 1 can acquire the floor information 240 from the warehouse control device 100, and suppress the acceleration to the minimum acceleration C (acceleration condition) in the case of starting or turning in the region where the state 243 of the floor satisfies a prescribed condition such as "minor damage" or "moderate damage" even if there is no switching of the movement pattern.

[0169] In addition, the warehouse control device 100 can update the cumulative load 245 of the floor information 240 according to the path of each conveyance device 1, and instruct the acceleration to be switched to the acceleration C in the case where the conveyance device 1 starts or turns in the region where the value of the cumulative load 245 exceeds a prescribed threshold value. The instruction to switch the acceleration can be attached to the path data 270.

[0170] [Embodiment 2]

[0171] Figure 19 Embodiment 2 is a graph showing the relationship between the speed and the time, which shows an example of the switching pattern of the acceleration by the control device 2. In Embodiment 1 described above, an example of switching the acceleration up to the target speed (or the target angular speed) according to the presence or absence of the shelves 7 and the switching of the movement pattern is shown. In the present embodiment, an example of switching the target speed (the target angular speed) in addition to the acceleration is shown. In addition, the other structures are the same as those of Embodiment 1 described above.

[0172] The control device 2 accelerates the pallet truck 31 at the maximum acceleration A (αA in the figure) to the maximum target speed Vt1 without the load of the shelves 7.

[0173] The control device 2 accelerates the pallet truck 31 at the second acceleration B (αB in the figure) to the second target speed Vt2 with the load of the shelves 7 without a change from the previous movement pattern. Also, the control device 2 accelerates the pallet truck 31 at the small acceleration C (αC in the figure) to the lower target speed Vt3 with the load of the shelves 7 with a change from the previous movement pattern to the next movement pattern.

[0174] The acceleration B and the target speed Vt2 with the load of the shelves 7 can be set as the first acceleration condition, the acceleration C and the target speed Vt3 with a change from the previous movement pattern to the next movement pattern can be set as the second acceleration condition, and the acceleration A and the target speed Vt1 without the load of the shelves 7 can be set as the third acceleration condition.

[0175] Further, the transport device 1 can not accelerate at the second acceleration condition (the acceleration B, the target speed Vt3) when accelerating on a ground with a damage, but instead control the drive device 3 so as to accelerate at an acceleration condition including an acceleration smaller than the acceleration C or a target speed smaller than the target speed Vt3. Also, in the turning pattern, the target speed is replaced with a target angular speed. Also, the acceleration smaller than the acceleration C can be set as an acceleration D of αD in the figure, for example. Also, as the target speed smaller than the target speed Vt3, a target speed Vt4 in the figure can be set, for example. The acceleration D is the smallest acceleration among the acceleration A, the acceleration B, the acceleration C, and the acceleration D, and is sometimes referred to as "the smallest acceleration D" in the following description.

[0176] According to the above, the transport device 1 can set the target speed also to be higher in the case of a larger acceleration to shorten the movement time of the pallet truck 31 and improve the transport efficiency, and set the target speed to be lower in the case of a smaller acceleration to suppress the increase in the driving force due to the friction of the auxiliary wheels 34 and the vibration in the area with a poor floor state. Also, the load applied to the transport device 1 and the ground can be reduced.

[0177] Also, the control device 2 can change the speed and the target speed in accordance with the movement distance between the areas, in addition to the above. For example, Figure 9 In the case of moving to only the adjacent area, the acceleration and the deceleration can be slow, and the target speed can be set to be lower. On the other hand, the control device 2 can move at a faster speed in the case of a sufficiently long movement distance between the areas (in the case of moving a prescribed distance or more, or a prescribed number of grids or more).

[0178] In addition, the subject that controls the acceleration and the target speed is not limited to the conveyance device 1, and the acceleration and the target speed can be determined by the warehouse control device 100, and the command can be issued with the path data attached.

[0179] In addition, the conveyance device 1 can acquire the damaged state of the ground from the floor information 46 (or the floor information 240), but can also consider that there is a damaged ground in the case where the cumulative travel actual result (cumulative load 245) exceeds the prescribed reference on the ground, or the ground where there is a bump, and instead of accelerating with the second acceleration condition, control the acceleration condition to include an acceleration smaller than the acceleration B or a target speed smaller than the target speed Vt.

[0180] [Embodiment 3]

[0181] Figure 20 Embodiment 2 is a graph showing the relationship between the speed and the time, which shows an example of the switching pattern of the acceleration by the control device 2.

[0182] In the above-described Embodiment 1, an example of switching the acceleration up to the target speed (or the target angular speed) depending on whether there is a shelf 7, and whether the moving pattern is switched, is shown. In this embodiment, an example of increasing the acceleration after starting the movement (or the turning) with the smallest acceleration C, and shortening the time to reach the target speed (the target angular speed), is shown. In addition, the other structures are the same as those of the above-described Embodiment 1. In addition, the maximum acceleration A and the intermediate acceleration B are the same as those of the above-described Embodiment 1, and thus the repeated description is omitted.

[0183] The conveyance device 1 selects the smallest acceleration C (αC in the figure) to drive the trolley 31 in the case where the shelf 7 is loaded, and the straight-ahead movement pattern is different from the next moving pattern. The conveyance device 1 accelerates with the smallest acceleration C up to the prescribed time tl, and increases the acceleration at the prescribed time tl. The conveyance device 1, for example, increases the acceleration from the acceleration C to the intermediate acceleration B, and can shorten the time for the trolley 31 to reach the target speed Vt.

[0184] The time tl is set, for example, as the time for the axle 36 to pass the position P2 with the smallest acceleration C, and the like, as shown in Figure 16 Figure 17 By this, in the conveyance device 1, the acceleration is increased to the acceleration B after the friction of the auxiliary wheel 34 against the ground is reduced, and thus the load applied to the conveyance device 1 and the ground can be reduced, and the speed of the trolley 31 can be smoothly increased.

[0185] ​In addition, it is possible to control to slowly accelerate and set the target speed to be slower in a section in which acceleration causes a large load from the start of straight forward movement from a stopped state (determined by the moving distance, the number of moving areas, the time, etc.), and to increase the acceleration and set the target speed to be higher if the load caused by acceleration decreases after passing through the section.

[0186] <summary>

[0187] As described above, the conveyance device 1 of the above-described Embodiments 1 to 3 can adopt a structure as described below.

[0188] (1) A conveyance device (1) that conveys an article, characterized by having a drive section (drive device 3) that loads the article and moves, and a control section (control device 2) that controls the drive section (3), the conveyance device (1) being capable of moving in a plurality of moving modes including a moving mode (straight forward moving mode) in which the conveyance device (1) moves straight forward in a prescribed direction, and a moving mode (turning moving mode) in which the conveyance device (1) moves while rotating in different directions, the control section (2) controlling the drive section (3) so that it accelerates in a first acceleration condition including a first acceleration (acceleration B) or a first target speed (Vt2) in the case where the conveyance device (1) loaded with the article moves from a stopped state, and so that it accelerates in a second acceleration condition including a second acceleration (acceleration C) that is smaller than the first acceleration (B) or a second target speed (Vt3) that is smaller than the first target speed (Vt2) in the case where the conveyance device (1) moves in a moving mode that is different from the moving mode before the stop among the plurality of moving modes.

[0189] With the above structure, the conveyance device 1 suppresses the acceleration at the time of departure of the trolley 31 after the moving mode is switched, whereby it is possible to reduce the driving force at the time of departure and reduce the load applied to the conveyance device 1 and the ground.

[0190] (2) The conveyance device (1) described in (1) above, characterized in that the drive section (3) has a drive wheel (33) connected to a power source (motor 38), and an auxiliary wheel (34) that supports the conveyance device (1).

[0191] With the above structure, in the conveyance device 1, in the case where the direction of the auxiliary wheel 34 is oriented in a direction different from the moving direction at the time of departure of the trolley 31 after the moving mode is switched, the friction between the ground and the auxiliary wheel 34 increases, and a higher load is applied to the auxiliary wheel 34 and the ground. In this case, the conveyance device 1 suppresses the acceleration, whereby it is possible to reduce the driving force at the time of departure and reduce the load applied to the conveyance device 1 and the ground.

[0192] (3) The transport device (1) according to the above (1), characterized in that the drive section (3) is capable of loading a shelf (7) that stores the article, and the control section (2) controls the drive section (3) so as to accelerate at a third acceleration condition including a third acceleration (acceleration A) greater than the first acceleration (B) or a third target speed (Vtl) greater than the first target speed (Vt2) in the case where the transport device (1) that does not load the article moves from a stopped state regardless of the movement pattern before the stop.

[0193] With the above structure, the transport device 1 is capable of moving the trolley 31 at the maximum acceleration A regardless of the switching of the movement pattern in the case where the shelf 7 is not loaded, and is capable of effectively reducing the load applied to the transport device 1 and the ground while taking into consideration the transport efficiency of the transport system.

[0194] (4) The transport device (1) according to the above (1), characterized in that the control section (2) controls the drive section (3) so as to accelerate at a third acceleration condition including a third acceleration (acceleration A) greater than the first acceleration (B) or a third target speed (Vtl) greater than the first target speed (Vt2) in the case where the transport device (1) that does not load the article (7) moves from a stopped state, and controls the drive section (3) so as to accelerate at an acceleration condition including a fourth acceleration condition including a fourth acceleration (D) smaller than the third acceleration (A) or a fourth target speed (Vt4) smaller than the third target speed (Vtl) in the case where the transport device (1) moves in a movement pattern different from the movement pattern before the stop among the plurality of movement patterns.

[0195] With the above structure, in the case where the acceleration condition is switched at different movement patterns in the case where the transport device 1 moves alone regardless of the loading of the shelf 7 depending on the conditions of the transport device 1 and the ground and the like, it is possible to reduce the load applied to the transport device 1 and the ground.

[0196] (5) The transport device (1) according to the above (1), characterized in that the first target speed (Vt2) is set in the first acceleration condition, and the second target speed (Vt3) is set in the second acceleration condition, and the control section (2) controls the drive section (3) so that the acceleration set in the acceleration condition reaches the target speed.

[0197] With the above structure, the conveyance device 1 can suppress an increase in driving force due to friction of the auxiliary wheels 34 and reduce a load applied to the conveyance device 1 and the ground by setting a target speed during acceleration to be low when the moving mode is switched.

[0198] (6) The conveyance device (1) according to the above (1), characterized in that a first acceleration (B) is set in the first acceleration condition and a second acceleration (C) is set in the second acceleration condition, and the control section (2) controls the driving section (3) so as to reach a prescribed target speed.

[0199] With the above structure, the conveyance device 1 can suppress an increase in driving force due to friction of the auxiliary wheels 34 and reduce a load applied to the conveyance device 1 and the ground by setting an acceleration during acceleration to be low when the moving mode is switched.

[0200] (7) The conveyance device (1) according to the above (1), characterized in that the first acceleration condition is acceleration to a first target speed (Vt2) with the first acceleration (B) and the second acceleration condition is acceleration to a second target speed (Vt3) with the second acceleration (C).

[0201] With the above structure, the conveyance device 1 can suppress an increase in driving force due to friction of the auxiliary wheels 34 and reduce a load applied to the conveyance device 1 and the ground by setting both the acceleration and the target speed during acceleration to be low when the moving mode is switched.

[0202] (8) The conveyance device (1) according to the above (1), characterized in that the control section (2) switches to a prescribed acceleration greater than the second acceleration (C) after a prescribed time (tl) from the start of movement with the second acceleration (C).

[0203] With the above structure, the conveyance device 1 sets the prescribed time tl to be the time for the shaft 36 to pass the position P2 with the minimum acceleration C, and the like. Thus, in the conveyance device 1, the acceleration of the auxiliary wheels 34 is increased to the acceleration B after the friction of the auxiliary wheels 34 with the ground is reduced, and thus a load applied to the conveyance device 1 and the ground can be reduced and the speed of the pallet 31 can be smoothly increased.

[0204] (9) The conveyance device (1) according to the above (1), characterized in that it further has a storage section (storage device 4) that stores information on a state of a ground on which the conveyance device (1) moves, and the control section (2) determines an acceleration condition of the conveyance device (1) based on the information on the state of the ground (floor information 46).

[0205] With the above structure, in the case where the transport device 1 starts moving in a region of the floor where damage has occurred, the acceleration condition is changed, whereby the load applied to the floor can be reduced.

[0206] (10) The transport device (1) according to the above (9), characterized in that the information on the state of the floor includes information on whether or not damage is present on the floor (floor information 46), and the control section (2) controls the drive section (3) so as to accelerate at a fourth acceleration condition including an acceleration smaller than the second acceleration (C) or a target speed smaller than the second target speed (Vt3) in the case where the transport device (1) loaded with the article moves on the floor where damage is present at an acceleration in the case where the transport device (1) loaded with the article moves at a movement pattern different from the movement pattern before the stop among the plurality of movement patterns from a stopped state.

[0207] With the above structure, in the case where the transport device 1 starts moving in a region of the floor where damage has occurred, for example, starts at the minimum acceleration D, whereby the load applied to the floor can be reduced.

[0208] (11) The transport device (1) according to the above (9), characterized in that the information on the state of the floor (46) includes information on the cumulative travel actual result (cumulative load 245) of the transport device (1) traveling on the floor, and the control section (2) controls the drive section (3) so as to accelerate at an acceleration condition including an acceleration smaller than the second acceleration (C) or a target speed smaller than the second target speed (Vt3) in the case where the transport device (1) loaded with the article moves on the floor where the cumulative travel actual result (245) exceeds a prescribed reference in the case where the transport device (1) loaded with the article moves at a movement pattern different from the movement pattern before the stop among the plurality of movement patterns from a stopped state.

[0209] With the above structure, in the case where the transport device 1 starts moving in a region of the floor where damage has occurred, for example, starts at the minimum acceleration D, whereby the load applied to the floor can be reduced.

[0210] (12) The transport device (1) according to (9) described above, characterized in that the information (47) on the state of the floor includes information (243) on whether or not there is unevenness on the floor, and the control section (2) controls the drive section (3) so as to accelerate at the second acceleration (C) or the second target speed (Vt3) in the case where the transport device (1) loaded with the article (7) is accelerated on the floor having unevenness in the case where the acceleration condition is met in the case where the transport device (1) loaded with the article (7) is moved from a stopped state at a different moving mode from the moving mode before the stop.

[0211] With the above structure, in the case where the transport device 1 switches the moving mode and starts moving in the area on the floor where there is unevenness, for example, starts at the minimum acceleration D, whereby it is possible to reduce the load applied to the floor.

[0212] (13) The transport device (1) according to (1) described above, characterized by further comprising a storage section that stores transport article information (shelf information 230) including information (article weight 235) on the weight of the article loaded on the transport device (1), wherein the second acceleration (C) and the second target speed (Vt3) are set based on at least the transport article information (230).

[0213] With the above structure, in the case where the weight of the article loaded on the shelf 7 is heavy, for example, starts at the smaller acceleration C, whereby it is possible to reduce the load applied to the floor.

[0214] Further, the present application is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiments are contents that are described in detail in order to more easily understand the present application, and are not limited to having all the structures described. In addition, a part of the structure of an embodiment can be replaced with the structure of another embodiment, and in addition, the structure of an embodiment can be added with the structure of another embodiment. In addition, any one of addition, deletion, or replacement of a part of the structure of each embodiment with another structure can be performed alone, or they can be applied in combination.

[0215] In addition, a part or all of each structure, function, processing section, and processing method described above, for example, can be realized by hardware by designing with an integrated circuit or the like. In addition, each structure and function described above, and the like, can be realized by software by a processor interpreting and executing a program that realizes each function. Information of the program, table, file, and the like that realize each function can be stored in a storage, or a recording device such as a hard disk, an SSD (Solid State Drive), or the like, or a recording medium such as an IC card, an SD card, a DVD, or the like.

[0216] In addition, the control lines and information lines are shown as needed to illustrate the above, and do not necessarily represent all of the control lines or information lines that are necessary on the product. In fact, it should be considered that almost all of the structures are interconnected.

Claims

1. A transport device for transporting an article, characterized in that having: a drive section capable of loading the article and moving; and a control section that controls the drive section, the conveyance device is capable of moving in a plurality of movement modes including a movement mode in which the conveyance device moves straight ahead in a prescribed direction and a movement mode in which the conveyance device moves while rotating in different directions, the control section, for an acceleration condition in the case where the conveyance device loaded with the article moves from a stopped state, in the case where the conveyance device moves in the same movement mode as the movement mode before stopping among the plurality of movement modes, the control section controls the drive section so as to accelerate at a first acceleration condition including a first acceleration or a first target speed, in the case where the conveyance device moves in a movement mode different from the movement mode before stopping among the plurality of movement modes, the control section controls the drive section so as to accelerate at a second acceleration condition including a second acceleration smaller than the first acceleration or a second target speed smaller than the first target speed, the drive section is capable of loading a shelf that houses the article, the control section, for an acceleration condition in the case where the conveyance device not loaded with the article moves from a stopped state, regardless of the movement mode before stopping, the control section controls the drive section so as to accelerate at a third acceleration condition including a third acceleration larger than the first acceleration or a third target speed larger than the first target speed.

2. The conveyance device according to claim 1, wherein: the drive section has a drive wheel connected to a power source and an auxiliary wheel that supports the conveyance device.

3. The conveyance device according to claim 1, wherein: the first target speed is set in the first acceleration condition, and the second target speed is set in the second acceleration condition, the control section controls the drive section so as to reach a target speed at an acceleration set in the acceleration condition.

4. The conveyance device according to claim 1, wherein: the first acceleration is set in the first acceleration condition, and the second acceleration is set in the second acceleration condition, the control section controls the drive section so as to reach a prescribed target speed.

5. The conveyance device according to claim 1, wherein: the first acceleration condition is a condition in which the first target speed is reached by accelerating at the first acceleration, the second acceleration condition is a condition in which the second target speed is reached by accelerating at the second acceleration.

6. The conveyance device according to claim 1, wherein: the control section switches to a prescribed acceleration larger than the second acceleration after a prescribed time from the start of movement at the second acceleration.

7. The transport apparatus of claim 1, wherein ； further having a storage section that stores information on a state of a floor on which the conveyance device moves, the control section decides an acceleration condition of the conveyance device based on the information on the state of the floor.

8. The conveyance device according to claim 7, wherein: the information on the state of the floor includes information on whether or not the floor has a damage, the control section, for an acceleration condition in the case where the conveyance device loaded with the article moves from a stopped state, in the case where the acceleration is performed on the ground where the damage exists, instead of accelerating at the second acceleration condition, the drive section is controlled so as to accelerate at an acceleration condition including an acceleration smaller than the second acceleration or a target speed smaller than the second target speed.

9. The transport apparatus according to claim 7, wherein: the information on the state of the ground includes information on a cumulative travel actual result of the transport apparatus that has traveled on the ground, the acceleration condition in the case where the transport apparatus loaded with the article moves from a stopped state, in the case where the acceleration is performed on the ground where the damage exists, instead of accelerating at the second acceleration condition, the drive section is controlled so as to accelerate at an acceleration condition including an acceleration smaller than the second acceleration or a target speed smaller than the second target speed.

10. The transport apparatus according to claim 7, wherein: the information on the state of the ground includes information on whether or not unevenness exists on the ground, the acceleration condition in the case where the transport apparatus loaded with the article moves from a stopped state, in the case where the acceleration is performed on the ground where the damage exists, instead of accelerating at the second acceleration condition, the drive section is controlled so as to accelerate at an acceleration condition including an acceleration smaller than the second acceleration or a target speed smaller than the second target speed.

11. The transport apparatus according to claim 1, wherein: the storage section further stores transport article information including information on a weight of the article loaded by the transport apparatus, the second acceleration and the second target speed are set based on at least the transport article information. having: a drive section capable of loading the article and moving; and a control section that controls the drive section, 12. A transport device for transporting an article, characterized in that the transport apparatus is capable of moving in a plurality of movement modes including a movement mode in which the transport apparatus moves straight in a prescribed direction and a movement mode in which the transport apparatus moves while rotating in different directions, the control section, the acceleration condition in the case where the transport apparatus loaded with the article moves from a stopped state, in the case where the transport apparatus moves in the same movement mode as the movement mode before the stop among the plurality of movement modes, the drive section is controlled so as to accelerate at a first acceleration condition including a first acceleration or a first target speed, in the case where the acceleration is performed on the ground where the damage exists, instead of accelerating at the second acceleration condition, the drive section is controlled so as to accelerate at an acceleration condition including an acceleration smaller than the second acceleration or a target speed smaller than the second target speed. the acceleration condition in the case where the transport apparatus loaded with the article moves from a stopped state, ​ ​ ​ in the case where the conveyance device moves in the same movement mode as the movement mode before the stop among the plurality of movement modes, the drive section is controlled to accelerate at a first acceleration condition including a first acceleration greater than the first acceleration or a first target speed greater than the first target speed, in the case where the conveyance device moves in a movement mode different from the movement mode before the stop among the plurality of movement modes, the drive section is controlled to accelerate at an acceleration condition including a fourth acceleration condition including a fourth acceleration smaller than the third acceleration or a fourth target speed smaller than the third target speed.

13. A conveyance system having a conveyance device capable of conveying an article and a control device that controls travel of the conveyance device, the conveyance system characterized by: the conveyance device is capable of moving in a plurality of movement modes including a movement mode in which the conveyance device moves straight in a prescribed direction and a movement mode in which the conveyance device moves while rotating in different directions, the control device, for an acceleration condition in the case where the conveyance device loaded with the article moves from a stopped state, in the case where the conveyance device moves in the same movement mode as the movement mode before the stop among the plurality of movement modes, the conveyance device is controlled to accelerate at a first acceleration condition including a first acceleration or a first target speed, in the case where the conveyance device moves in a movement mode different from the movement mode before the stop among the plurality of movement modes, the conveyance device is controlled to accelerate at a second acceleration condition including a second acceleration smaller than the first acceleration or a second target speed smaller than the first target speed, for an acceleration condition in the case where the conveyance device not loaded with the article moves from a stopped state, regardless of the movement mode before the stop, the conveyance device is controlled to accelerate at a third acceleration condition including a third acceleration greater than the first acceleration or a third target speed greater than the first target speed.

14. A conveyance system having a conveyance device capable of conveying an article and a control device that controls travel of the conveyance device, the conveyance system characterized by: the conveyance device is capable of moving in a plurality of movement modes including a movement mode in which the conveyance device moves straight in a prescribed direction and a movement mode in which the conveyance device moves while rotating in different directions, the control device, for an acceleration condition in the case where the conveyance device loaded with the article moves from a stopped state, in the case where the conveyance device moves in the same movement mode as the movement mode before the stop among the plurality of movement modes, the conveyance device is controlled to accelerate at a first acceleration condition including a first acceleration or a first target speed, in the case where the conveyance device moves in a movement mode different from the movement mode before the stop among the plurality of movement modes, the conveyance device is controlled to accelerate at a second acceleration condition including a second acceleration smaller than the first acceleration or a second target speed smaller than the first target speed, for an acceleration condition in the case where the conveyance device not loaded with the article moves from a stopped state, regardless of the movement mode before the stop, the conveyance device is controlled to accelerate at a third acceleration condition including a third acceleration greater than the first acceleration or a third target speed greater than the first target speed. In a case where the conveyance device moves in the same movement mode as the movement mode before the stop among the plurality of movement modes, the conveyance device is controlled to accelerate at a first acceleration condition including a first acceleration or a first target speed that is greater than the first acceleration or the first target speed, In a case where the conveyance device moves in a movement mode different from the movement mode before the stop among the plurality of movement modes, the conveyance device is controlled to accelerate at an acceleration condition including a fourth acceleration condition including a fourth acceleration or a fourth target speed that is smaller than the third acceleration or the third target speed.

15. A control method of a transport device, characterized by, Comprise: In a case where the conveyance device moves from a stopped state, it is determined whether the conveyance device moves in the same movement mode as the movement mode before the stop among a plurality of movement modes including a movement mode in which the conveyance device moves straight in a prescribed direction and a movement mode in which the conveyance device moves while rotating in a different direction; And In a case where the conveyance device moves in the same movement mode as the movement mode before the stop among the plurality of movement modes, the conveyance device is controlled to accelerate at a first acceleration condition including a first acceleration or a first target speed that is greater than the first acceleration or the first target speed, In a case where the conveyance device moves in a movement mode different from the movement mode before the stop among the plurality of movement modes, the conveyance device is controlled to accelerate at an acceleration condition including a fourth acceleration condition including a fourth acceleration or a fourth target speed that is smaller than the third acceleration or the third target speed.

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