Delivery system, delivery method, and computer-readable storage medium

Abstract

This disclosure provides a conveying system, a conveying method, and a computer-readable storage medium to reduce the possibility of damage to items transported within boxes. The conveying system uses a conveying robot to transport boxes containing items. The conveying system includes a first computing unit that calculates a first maximum permissible acceleration representing the maximum permissible acceleration in the width direction of the box and a second maximum permissible acceleration representing the maximum permissible acceleration in the depth direction of the box, based on the type and arrangement of the items.

Description

Technical Field

[0001] This disclosure relates to conveying systems, conveying methods, and procedures. Background Technology

[0002] International Publication No. 2021 / 241263 discloses a handling device that estimates the fragility of goods based on any one of the movement of the center of gravity of the goods, the vibration characteristics of the goods, and the sound generated accompanying the movement of the goods, and sets a handling method based on this information.

[0003] In the technology described in International Publication No. 2021 / 241263, the robot handling goods detects the characteristics of the goods being handled and changes the handling method based on the detected information. Therefore, it is impossible to prevent damage to the goods before the handling method is changed. Summary of the Invention

[0004] This disclosure was made to solve such a problem, and its purpose is to provide a conveying system, conveying method and procedure that reduces the possibility of damage to items contained in boxes during transport.

[0005] The conveying system in this embodiment is a conveying system that uses a conveying robot to transport boxes containing items, and it includes:

[0006] The first calculation unit calculates a first maximum permissible acceleration representing the maximum permissible acceleration in the width direction of the box and a second maximum permissible acceleration representing the maximum permissible acceleration in the depth direction of the box, based on the type and arrangement of the items.

[0007] The conveying method in this embodiment is a conveying method that uses a conveying robot to transport boxes containing items, and it includes the following steps:

[0008] Based on the type and arrangement of the items, a first maximum permissible acceleration representing the maximum permissible acceleration in the width direction of the box and a second maximum permissible acceleration representing the maximum permissible acceleration in the depth direction of the box are calculated.

[0009] The program in this embodiment causes the computer to execute the above-described delivery method.

[0010] According to this disclosure, a conveying system, conveying method, and procedure can be provided to reduce the possibility of damage to items transported in boxes.

[0011] The above and other objects, features and advantages of this disclosure will be more fully understood from the detailed description and accompanying drawings given below, wherein the drawings are by way of example only and should not be considered as limiting the disclosure. Attached Figure Description

[0012] Figure 1 This is a schematic diagram showing the configuration of the conveying system according to Embodiment 1.

[0013] Figure 2 This is a schematic front view of the mailbox in Implementation Method 1.

[0014] Figure 3 This is a perspective view of the box in Implementation Method 1.

[0015] Figure 4 This is a schematic front view of the shelf according to embodiment 1.

[0016] Figure 5 This is a schematic side view of the transport vehicle according to Embodiment 1.

[0017] Figure 6 This is a perspective view of the transport vehicle according to Embodiment 1.

[0018] Figure 7 This is a diagram used to illustrate the method for calculating damage risk.

[0019] Figure 8 This is a diagram used to illustrate the method for calculating damage risk.

[0020] Figure 9 This is a diagram used to illustrate the calculation method for the first and second maximum permissible accelerations.

[0021] Figure 10 This diagram illustrates the calculation methods for the third and fourth maximum permissible accelerations.

[0022] Figure 11 This is a flowchart illustrating the process of calculating the third and fourth maximum permissible accelerations.

[0023] Figure 12 It is a diagram used to illustrate methods of containing items.

[0024] Figure 13 It is a diagram used to illustrate methods of containing items.

[0025] Figure 14 It is a diagram used to illustrate methods of containing items.

[0026] Figure 15 It is a diagram used to illustrate methods of containing items.

[0027] Figure 16 It is a diagram used to illustrate methods of containing items.

[0028] Figure 17It is a diagram used to illustrate methods of containing items.

[0029] Figure 18 It is a diagram used to illustrate methods of containing items.

[0030] Figure 19 This is a flowchart illustrating the process of changing the way an item is contained. Detailed Implementation

[0031] The present invention will now be described through embodiments thereof, but the invention as described in the claims is not limited to these embodiments. Furthermore, not all configurations described in the embodiments are necessarily solutions to the problem.

[0032] Implementation Method 1

[0033] Hereinafter, the conveying system of Embodiment 1 will be described with reference to the accompanying drawings. Figure 1 This is a schematic diagram showing the configuration of the conveying system 1000 according to Embodiment 1. The conveying system 1000 includes a mailbox 100, a shelf 200, conveying robots 300a and 300b, and a management server 400. The mailbox 100, shelf 200, conveying robots 300a and 300b, and management server 400 are connected via a network N to communicate with each other. The network N can be either wired or wireless.

[0034] Mailbox 100 is configured to hold boxes containing items and is placed at the entrance of a building, etc. Shelf 200 is also configured to hold boxes containing items. Shelf 200 is placed inside a building, etc. Shelf 200 includes a sorting robot for sorting items.

[0035] The conveyor robot 300a is smaller than the conveyor robot 300b and is mainly used for transporting boxes inside the building. The conveyor robot 300a retrieves boxes from mailbox 100 and stores them on shelf 200. Additionally, the conveyor robot 300a retrieves boxes from shelf 200 and stores them in mailbox 100.

[0036] Conveyor robot 300b is larger than conveyor robot 300a and primarily transports boxes outside buildings. Conveyor robot 300b transports boxes from a delivery source (e.g., a warehouse) to various buildings and stores them in mailbox 100. Additionally, conveyor robot 300b can also remove boxes from mailbox 100 and transport them to their destination. Sometimes, conveyor robot 300a transports boxes from shelf 200 to mailbox 100, while conveyor robot 300b transports boxes from mailbox 100 to external locations (e.g., a warehouse). For example, boxes may be transported externally when replenishing or returning items.

[0037] The management server 400 is a server that manages the conveying system 1000. The management server 400 calculates the maximum allowable acceleration of the boxes based on the type and arrangement of the items contained within them. By having the conveying robots 300a and 300b move according to the calculation results, the possibility of damage to the items contained in the boxes can be reduced. Furthermore, the management server 400 has the function of changing the method of containing items in the boxes (e.g., the presence or absence of dividers, the orientation of the items, etc.).

[0038] Shelf 200, conveyor robots 300a and 300b, and management server 400 each possess, for example, an arithmetic unit such as a CPU (Central Processing Unit); and storage units such as RAM (Random Access Memory) and ROM (Read Only Memory) that store various control programs and data. In other words, shelf 200, conveyor robots 300a and 300b, and management server 400 all function as computers, performing processing based on the aforementioned control programs.

[0039] It should be noted that the processing performed by the management server 400 can also be performed by the shelf 200 side, the conveyor robot 300a side, and the conveyor robot 300b side. Therefore, even without the management server 400, this processing can be included in the conveyor system 1000 of Embodiment 1.

[0040] Next, refer to Figure 2 Please provide an explanation for email address 100. Figure 2 This is a sample main view of Email 100. It should be noted that, of course, Figure 2The right-handed XYZ orthogonal coordinate system shown in other figures is for ease of illustrating the positional relationships of the constituent elements. Generally, the positive Z-axis is vertically upward, and the XY plane is horizontal; this is common across the figures. The mailbox 100 includes a housing 110 and multiple pairs of tracks 120. For ease of understanding, the box 10 is shown in shaded areas.

[0041] The housing 110 includes a top plate on the positive Z-axis side, a bottom plate on the negative Z-axis side, and side plates on the positive and negative Y-axis sides. It should be noted that a door that can be opened and closed may also be provided on the front or back surface of the housing 110. In this case, the mailbox 100 may also have the function of opening / closing the door according to a request from the management server 400.

[0042] Multiple pairs of tracks 120 extend in the depth direction (X-axis) and are arranged side by side at equal intervals in the height direction (Z-axis) inside the housing 110. Multiple boxes 10 are accommodated along the multiple pairs of tracks 120.

[0043] Figure 3 This is a rough 3D diagram of box 10. (Refer to...) Figure 2 and Figure 3 The box 10 has a protrusion 11 that protrudes in the width direction (Y-axis direction). The protrusion 11 extends in the depth direction (X-axis direction) of the box 10. One side of the protrusion 11 is supported by one side of a pair of rails 120, and the other side of the protrusion 11 is supported by the other side of a pair of rails 120. It should be noted that the bottom surface of the box 10 may also be supported by the pair of rails 120. In this case, the box 10 may not have the protrusion 11.

[0044] Next, refer to Figure 4 The following describes shelf 200. Figure 4 This is a schematic front view of shelf 200. Shelf 200 includes a housing 210, multiple pairs of tracks 220, a camera 230, and a sorting robot 240.

[0045] Housing 210, like housing 110, includes a top plate on the positive Z-axis side, a bottom plate on the negative Z-axis side, and side plates on the positive and negative Y-axis sides. Housing 110 also includes guide rails 211 for mounting the sorting robot 240. Furthermore, a camera 230 is mounted on the top plate. The configuration of the multiple pairs of tracks 220 is the same as that of the multiple pairs of tracks 120, therefore, description is omitted.

[0046] Like the mailbox 100, the shelf 200 is configured to accommodate multiple boxes 10. The shelf 200 has three accommodating areas: A1, A2, and A3. Accommodating area A1 is for accommodating boxes 10a1, and accommodating area A2 is for accommodating boxes 10a2. Accommodating area A3 is the area outside of accommodating areas A1 and A2. Accommodating areas A3 accommodate boxes 10b, 10c, and 10d.

[0047] Collection areas A1 and A2 are areas accessible to the sorting robot 240. Source boxes are placed in one of collection areas A1 and destination boxes are placed in the other. The following describes the case where source boxes are placed in collection area A1 and destination boxes are placed in collection area A2. In this case, box 10a1 contains multiple types of items or items from multiple users. Box 10a1 may also be a box transported from outside.

[0048] On the other hand, storage area A3 is arranged with boxes for holding specified types of items and boxes for holding items belonging to specified users. For example, disaster relief supplies are stored in box 10b, kitchen utensils in box 10c, and cleaning supplies in box 10d. Alternatively, items used by the father can be stored in box 10b, items used by the mother in box 10c, and items used by the child in box 10d. When replenishing items in the boxes stored in storage area A3, the boxes are removed and stored in storage area A2, and the replenishment is performed by sorting robot 240.

[0049] Camera 230 is mounted on the top plate of housing 210, etc. Camera 230 captures images of the items contained in boxes 10a1 and 10a2.

[0050] The sorting robot 240 is mounted on guide rail 211 and can move in the Y-axis direction as shown by the arrows on both sides. The sorting robot 240 has a robotic arm and a robotic hand. The robotic hand can be either an adhesive hand or a gripping hand.

[0051] Sorting robot 240 transfers items from box 10a1 to box 10a2. Sorting robot 240 can identify items using images captured by camera 230. After the items are transferred, box 10a2 is stored in the receiving area A3 of shelf 200 by conveyor robot 300a. It should be noted that sorting robot 240 can also move box 10.

[0052] Sorting robot 240 transfers items from box 10a1 to box 10a2 according to instructions from management server 400. Furthermore, sorting robot 240, according to instructions from management server 400, changes the orientation of items contained in box 10a2 or adds dividers inside box 10a2. The specific processing performed by management server 400 will be described later.

[0053] Next, refer to Figure 5 The composition of the conveyor robot 300a will be explained. Figure 5 This is a schematic side view of the conveyor robot 300a. The conveyor robot 300a includes wheels 310, a main body 320, a top plate 330, and a support column 340. Two pairs of wheels 310 are rotatably fixed to the underside of the main body 320 and are driven by a drive source (not shown) such as a motor.

[0054] like Figure 5 As shown, the top plate 330 is connected to the main body 320 via a retractable support column 340. The top plate 330 is connected to the upper end of the support column 340. The conveying robot 300a carries the box 10 on the top plate 330 and conveys the box 10.

[0055] The support column 340, for example, has a telescopic mechanism that extends and retracts via a drive source such as a motor (not shown). As indicated by the hollow arrow, the height of the top plate 330 can be changed by altering the length of the support column 340. Thus, the conveyor robot 300a can retrieve / place boxes 10 from receiving areas at different heights. The conveyor robot 300a can use a robotic arm (not shown) to transfer boxes 10 from the mailbox 100 and the shelf 200 to the top plate 330. Furthermore, the conveyor robot 300a uses a robotic arm to transfer boxes 10 from the top plate 330 to the mailbox 100 and the shelf 200.

[0056] The conveyor robot 300a receives from the management server 400 a first maximum permissible acceleration, representing the maximum permissible acceleration in the width direction (e.g., Y-direction), and a second maximum permissible acceleration, representing the maximum permissible acceleration in the depth direction (e.g., X-direction). The conveyor robot 300a conveys the box 10, for example, in a manner where the acceleration in the Y-direction is below the first maximum permissible acceleration and the acceleration in the X-direction is below the second maximum permissible acceleration. This reduces the possibility of damage to the items contained in the box 10.

[0057] Next, refer to Figure 6 The following describes the conveyor robot 300b. The conveyor robot 300b includes wheels 310, a main body 320, a top plate 330, a support column (not shown), and a housing 350. Figure 6The image shows the column retracted. Similar to the mailbox 100 and the shelf 200, the receiving section 350 has multiple pairs of tracks (not shown) and is configured to accommodate multiple boxes 10.

[0058] The conveyor robot 300b uses a robotic arm (not shown) to transfer the box 10 from the mailbox 100 to the top plate 330, and then stores the box on the top plate 330 in the receiving section 350. The conveyor robot 300b can store the box 10 in multiple receiving areas of the receiving section 350 by changing the height of the top plate 330. In addition, the conveyor robot 300b uses a robotic arm (not shown) to remove the box 10 from the receiving section 350 and place it on the top plate 330, and then stores the box 10 on the top plate in the mailbox 100.

[0059] It should be noted that, alternatively, the conveyor robot 300a may store the box 10 in the receiving section 350 of the conveyor robot 300b and then remove the box 10 from the receiving section 350. In this case, the conveyor robot 300b may not have a robotic arm.

[0060] Figure 6 The X shown ROBOT The direction indicates the direction of travel of the conveyor robot 300b. Y ROBOT The direction indicates the width direction of the conveyor robot 300b. In Figure 6 In the middle, X ROBOT The direction is consistent with the depth direction of box 10, but it can also be Y. ROBOT The direction is consistent with the depth direction of box 10. Alternatively, the receiving part 350 can accommodate objects with a depth direction consistent with X. ROBOT Box 10 with the same orientation and depth direction as Y ROBOT Boxes facing the same direction, 10 boxes, both sides.

[0061] The conveyor robot 300b receives a representation Y from the management server 400. ROBOT The third maximum permissible acceleration in the direction of X represents the maximum permissible acceleration. ROBOT The fourth maximum permissible acceleration in the direction of the conveyor robot 300b. ROBOT The acceleration in the direction becomes the third maximum permissible acceleration and X ROBOT The vehicle travels at a directional acceleration below the fourth maximum permissible acceleration. The third and fourth maximum permissible accelerations are calculated based on the first and second maximum permissible accelerations of each of the multiple boxes 10 housed in the housing 350.

[0062] Next, refer to Figure 1 The functions of the management server 400 are described below. The management server 400 includes a first computing unit 410, a second computing unit 420, and a change unit 430.

[0063] The first calculation unit 410 calculates a first maximum permissible acceleration and a second maximum permissible acceleration based on the type and arrangement of the items contained in the box 10. Specifically, the first calculation unit 410 determines the risk of item breakage (referred to as the first breakage risk) if the items move along the width direction of the box 10, and calculates the first maximum permissible acceleration based on the first breakage risk. Similarly, the first calculation unit 410 determines the risk of item breakage (referred to as the second breakage risk) if the items move along the depth direction of the box 10, and calculates the second maximum permissible acceleration. The breakage risk can be the risk that at least one of the two items involved in the collision will break.

[0064] The first and second breakage risks are evaluated based on the assumed collision velocity and fragility of the two items involved in the collision. The assumed collision velocity represents the presumed speed at which the two items collide. The assumed collision velocity can also be calculated under the premise of applying a specified acceleration (e.g., unit acceleration). Specifically, the assumed collision velocity is calculated based on the rollability of each item's shape. Furthermore, fragility is evaluated based on the raw materials of the items. It should be noted that the assumed collision velocity can also be calculated based on the slipperiness of the items. In such cases, information related to the raw materials of the items can also be taken into consideration.

[0065] Next, refer to Figure 7 The methods for calculating the first and second breakage risks will be specifically explained. Box 10 contains bottles 21a and 21b, and a tissue box 22. Bottles 21a and 21b have a shape that makes them easy to roll in the width direction but difficult to roll in the depth direction. The tissue box 22 has a shape that makes it difficult to roll in both the width and depth directions of box 10. Bottles 21a and 21b are made of glass. The tissue box 22 is made of paper. Furthermore, box 10 is made of plastic. Hereinafter, the material of box 10 will be referred to as hard plastic, and the material of the plastic bag will be referred to as soft plastic.

[0066] In the width direction of box 10, bottles 21a and 21b may collide, and bottle 21b may collide with tissue box 22. In the depth direction of box 10, bottle 21a may collide with the wall of box 10, bottle 21b may collide with the wall of box 10, and tissue box 22 may collide with the wall of box 10.

[0067] When calculating the first breakage risk, the assumed collision speed and fragility of items that may collide in the width direction are considered. When calculating the second breakage risk, the assumed collision speed and fragility of items that may collide in the depth direction are considered. The assumed collision speed is calculated based on the assumed speed of each item. The assumed speed can be the relative speed as observed from box 10. The fragility is evaluated based on a table showing the fragility of the items.

[0068] For example, the assumed velocity in the width direction of bottles 21a and 21b is determined to be "10", and the assumed velocity in the depth direction is determined to be "1". Furthermore, the assumed velocity in the width direction of tissue box 22 is assumed to be "2", and the assumed velocity in the depth direction is assumed to be "2". The assumed velocity can also be the velocity assumed by taking into account a specified acceleration.

[0069] Figure 8 This is a table showing the fragility of each combination of raw materials used in an article. In this table, the fragility when glass collides with glass is "10", the fragility when glass collides with hard plastic is "5", the fragility when glass collides with paper is "1", and the fragility when glass collides with soft plastic is "0.1". Furthermore, the fragility when hard plastic collides with hard plastic is "2", the fragility when hard plastic collides with paper is "0.1", and the fragility when hard plastic collides with soft plastic is "0". Additionally, the fragility when paper collides with paper, when paper collides with soft plastic, and when soft plastic collides with soft plastic is "0".

[0070] Reference Figure 7 and Figure 8 First, let's explain the first breakage risk. Regarding the assumed collision speed when bottle 21a collides with bottle 21b, it is calculated as "20" by adding the assumed speed of bottle 21a ("10") and the assumed speed of bottle 21b ("10"). It should be noted that the assumed collision speed can also be calculated using operations other than addition. The fragility of bottles 21a and 21b is the fragility of glass-to-glass collision ("10"). Therefore, the breakage risk when bottles 21a and 21b collide is calculated as 20 × 10 = 300. Breakage risk can also be calculated using operations other than multiplication.

[0071] Similarly, regarding the assumed collision velocity when bottle 21b collides with tissue box 22, it is calculated as "12" by adding the assumed velocity of bottle 21b ("10") and the assumed velocity of tissue box 22 ("2"). The fragility of bottle 21b and tissue box 22 is the same as the fragility of glass colliding with paper ("1"). Therefore, the breakage risk when bottle 21b collides with tissue box 22 is calculated as 12 × 1 = 12.

[0072] The maximum value is calculated based on the breakage risk of bottle 21a colliding with bottle 21b, which is "200", and the breakage risk of bottle 21b colliding with tissue box 22, which is "12". Therefore, the first breakage risk is calculated as "200". It should be noted that the calculation method for the first breakage risk is not limited to the calculation of the maximum value.

[0073] Similarly, the second breakage risk is explained. Regarding the assumed collision velocity when bottle 21a collides with box 10, it is calculated as "1" by adding the assumed velocity of bottle 21a ("1") and the assumed velocity of box 10 ("0"). The fragility of bottle 21a is "5" when glass collides with hard plastic. Therefore, the breakage risk when bottle 21a collides with box 10 is calculated as 1 × 5 = 5. Although detailed explanation is omitted, the breakage risk when bottle 21b collides with box 10 is calculated as "5", and the breakage risk when tissue box 22 collides with box 10 is calculated as "0.2".

[0074] The maximum value is calculated based on the risk of breakage when bottle 21a collides with box 10, which is "5", the risk of breakage when bottle 21b collides with box 10, which is "5", and the risk of breakage when tissue box 22 collides with box 10, which is "0.2". Therefore, the second breakage risk is calculated as "5".

[0075] Next, refer to Figure 9The method for calculating a first maximum permissible acceleration based on a first failure risk (e.g., "12") and a second maximum permissible acceleration based on a second failure risk (e.g., "0.2") is explained. For example, regarding the first maximum permissible acceleration, it is calculated as "10" when the first failure risk is 0 or more and less than 10, as "5" when the first failure risk is 10 or more and less than 20, as "3" when the first failure risk is 20 or more and less than 100, as "1" when the first failure risk is 100 or more and less than 200, and as "0.3" when the first failure risk is 200 or more. The second maximum permissible acceleration is also calculated using the same method, based on the second failure risk. For example, when the first failure risk is "200", the first maximum permissible acceleration is calculated as "0.3". When the second failure risk is "5", the second maximum permissible acceleration is calculated as "10".

[0076] By using a conveyor robot 300a to convey the box 10 in a manner that sets the acceleration in the width direction of the box 10 to below a first maximum permissible acceleration and the acceleration in the depth direction of the box 10 to below a second maximum permissible acceleration, the risk of damage to the items contained in the box 10 can be reduced.

[0077] Next, refer to Figure 1 The second calculation unit 420 of the management server 400 will be described. The second calculation unit 420 calculates the maximum allowable acceleration (third maximum allowable acceleration) in the width direction and the maximum allowable acceleration (fourth maximum allowable acceleration) in the travel direction of the conveyor robot 300b. The second calculation unit 420 calculates the third maximum allowable acceleration and the fourth maximum allowable acceleration based on the first maximum allowable acceleration and the second maximum allowable acceleration of each of the plurality of boxes 10 contained in the conveyor robot 300b.

[0078] Reference Figure 6 and Figure 10 The calculation methods for the third and fourth maximum permissible accelerations are explained in detail below. Assume that the conveyor robot 300b contains boxes A to D, designated as boxes 10. The first maximum permissible acceleration for box A is set to "3.0", and the second maximum permissible acceleration is set to "3.0". The first maximum permissible acceleration for box B is set to "2.0", and the second maximum permissible acceleration is set to "2.0". The first maximum permissible acceleration for box C is set to "1.5", and the second maximum permissible acceleration is set to "2.0". The first maximum permissible acceleration for box D is set to "1.0", and the second maximum permissible acceleration is set to "2.5".

[0079] Figure 10 The vertical axis (called X)ROBOT The axis (X) indicates the direction of travel of the transport robot 300b. ROBOT The acceleration along the horizontal axis (called Y-axis). ROBOT The axis represents the width direction (Y) of the conveyor robot 300b. ROBOT (Direction) acceleration. Area 40a shows the permissible acceleration during the transport of box A, determined based on the first and second maximum permissible accelerations of box A. With the acceleration of the transport robot 300b contained within area 40a, the risk of breakage of the items contained in box A is sufficiently low.

[0080] Reference Figure 6 X ROBOT The direction is consistent with the depth direction of boxes A through D. In this case, the curve enclosing region 40a is consistent with the Y... ROBOT The intersection of the axes represents the first maximum permissible acceleration of box A, and the curve enclosing region 40a intersects with X. ROBOT The intersection of the axes represents the second maximum permissible acceleration of box A. On the other hand, in X... ROBOT When the direction is the width direction of box A, the curve of the enclosing region 40a and the Y ROBOT The intersection of the axes represents the second maximum permissible acceleration of box A, and the curve enclosing region 40a intersects with X. ROBOT The intersection of the axes represents the first maximum permissible acceleration of box A.

[0081] Similarly, region 40b represents the allowable acceleration during the transport of box B, region 40c represents the allowable acceleration during the transport of box C, and region 40d represents the allowable acceleration during the transport of box D.

[0082] Zone 40e shows the permissible acceleration of the conveyor robot 300b. Zone 40e is a common part of zones 40a, 40b, 40c, 40d, and 40e. With the acceleration of the conveyor robot 300b included in zone 40e, the risk of breakage of the items contained in boxes A through D is sufficiently low.

[0083] In X ROBOT When the direction is consistent with the depth direction of boxes A to D, the curve of the enclosing region 40e and the Y ROBOT The intersection of the axes represents the third maximum permissible acceleration, and the curve enclosing the region 40e intersects with X. ROBOTThe intersection of the axes represents the fourth maximum permissible acceleration. Therefore, based on the minimum values ​​of the first maximum permissible accelerations "3.0", "2.0", "1.5", and "1.0" for boxes A through D respectively, the third maximum permissible acceleration becomes "1.0". Based on the minimum values ​​of the second maximum permissible accelerations "3.0", "2.0", "2.0", and "2.5" for boxes A through D respectively, the fourth maximum permissible acceleration becomes "2.0".

[0084] Next, refer to Figure 11 The process of the conveying method implemented by the conveying robot 300b is described below. First, the first maximum permissible acceleration and the second maximum permissible acceleration of each of the multiple boxes contained in the conveying robot 300b are obtained (step S101).

[0085] Next, the maximum permissible acceleration in the width direction (third maximum permissible acceleration) and the maximum permissible acceleration in the travel direction (fourth maximum permissible acceleration) of the conveyor robot 300b are calculated (step S102).

[0086] Next, the conveyor robot 300b transports multiple boxes 10 (step S103). When the conveyor robot 300b reaches its destination, it removes a box 10 from the conveyor robot 300b or stores a new box 10 in the conveyor robot 300b (step S104). For example, it removes box D from boxes A to D, or stores a new box E.

[0087] Next, the information related to the box 10 housed in the conveyor robot 300b (referred to as loading information) is updated (step S105), and the process returns to step S101. For example, if box D from boxes A to D has been removed, the third and fourth maximum permissible accelerations are updated based on the first and second maximum permissible accelerations of boxes A to C. If box E has been housed, the third and fourth maximum permissible accelerations are updated based on the first and second maximum permissible accelerations of boxes A to E.

[0088] Thus, the conveying robot 300b, which transports multiple boxes 10, can prevent damage to the items and transport them quickly.

[0089] Reference Figure 1The modification unit 430 of the management server 400 will be described. When the first maximum permissible acceleration is small, the modification unit 430 changes the method of accommodating the item in a way that increases the first maximum permissible acceleration; when the second maximum permissible acceleration is small, it changes the method of accommodating the item in a way that increases the second maximum permissible acceleration. Specifically, when the first maximum permissible acceleration is smaller than a first reference value, the method of accommodating the item is changed in a way that increases the first maximum permissible acceleration; when the second maximum permissible acceleration is smaller than a second reference value, the method of accommodating the item is changed in a way that increases the second maximum permissible acceleration. The first reference value and the second reference value can be different.

[0090] The modification unit 430 may add, for example, partitions (e.g., blocks, bars) or cushioning elements to the box 10 to restrict the movement of items. Cushioning elements are not limited to specialized items; they can also be other items (e.g., food placed in a packaged container) or plastic bags. Furthermore, the modification unit 430 can also change the orientation in which the items are arranged. By changing the orientation of the items, the assumed velocities in each direction can be changed. Therefore, the first maximum permissible acceleration and the second maximum permissible acceleration can be changed. The modification unit 430 can acquire information related to the raw materials and shape of the items contained in the box 10 based on images captured by the camera 230, and modify the containing method based on the acquired results.

[0091] The modification unit 430 outputs information related to the modified containment method to the sorting robot 240. The sorting robot 240 contains the items in the boxes according to the modified containment method obtained by the modification unit 430. The sorting robot 240 may also arrange separators inside the boxes 10.

[0092] Next, refer to Figures 12 to 18 The method for housing items in box 10 by increasing the first maximum permissible acceleration and the second maximum permissible acceleration is specifically explained. Figure 12 In the box 10, a plate 101 with multiple holes H is arranged at the bottom. A block 31 and a rod-shaped member 32 that engages with the holes H are used as separators, wherein the block 31 has a protrusion that engages with the holes H. The sorting robot 240 can accommodate items after the plate 101 is arranged in the box 10. It should be noted that holes and protrusions can also be formed directly on the bottom of the box 10.

[0093] Reference Figure 13 Block 31 is arranged to restrict the rotational movement of bottle 21. Furthermore, block 31 is arranged to restrict the movement of can 23. By using plate 101, block 31 can be arranged at any position on the bottom surface of box 10.

[0094] Reference Figure 14Multiple rod-shaped members 32 are arranged to restrict the rotational movement of bottle 21. Furthermore, multiple rod-shaped members 32 are arranged to restrict the movement of small bottle 24. By using plate 101, the rod-shaped members 32 can be arranged at any position on the bottom surface of box 10.

[0095] It should be noted that the separator can also be installed without plate 101. (See reference...) Figure 15 The small bottle 24 is placed upright in the box 10, and the divider 33 is arranged to surround the small bottle 24. This restricts the movement of the small bottle 24.

[0096] In addition, refer to Figure 16 In addition to the divider 33, a buffer 34 is also provided. The buffer 34 can also be other items contained in the box 10 (e.g., food placed in a packaged container). This prevents the bottle 21 from rolling in the width direction of the box 10 and thus preventing the bottle 21 from colliding with the box 10.

[0097] Reference Figure 17 A plate 102 is arranged at the bottom of the box 10. On the upper surface of the plate 102, protrusions 1021 and recesses 1022 extending in the depth direction of the box 10 are alternately and repeatedly formed in the width direction. (Refer to...) Figure 18 Bottle 21 is arranged along the recess 1022 of plate 102. This prevents bottle 21 from rolling in the width direction of box 10.

[0098] When conveying items such as bottles 21 that are prone to rolling in one direction, the items are arranged so that the direction of conveying the box 10 is consistent with the direction in which the items are less likely to roll (e.g., the longitudinal direction of the bottle 21). In this case, there is a risk of breakage due to lateral movement of the items (in a direction orthogonal to the conveying direction). By using the pallet 102, the risk of breakage due to lateral movement of the items can be reduced. The sorting robot 240 can accommodate the items after the pallet 102 is placed on the box 10.

[0099] By modifying the containment method through the modification unit 430 of the management server 400, the first maximum permissible acceleration and the second maximum permissible acceleration can be increased. This helps to suppress item breakage and enables the conveyor robots 300a and 300b to efficiently transport items.

[0100] Next, refer to Figure 19 The process for handling changes in the way items are contained is explained. First, the camera 230 takes pictures of the items contained in the box 10, performs image recognition, and obtains information about each item in the box 10 (e.g., raw materials, shape, posture) (step S201).

[0101] Next, the positional relationship between each item contained in the box 10 and the surrounding items is determined (step S202). Specifically, this may involve determining the items adjacent in the width direction of the box 10 and the items adjacent in the depth direction of the box 10.

[0102] Next, the first calculation unit 410 of the management server 400 determines the breakage risk for each combination of items (step S203). Specifically, the first calculation unit 410 determines the breakage risk of each combination of items that may collide in the width direction of the box 10. Then, the first calculation unit 410 determines the breakage risk of each combination of items that may collide in the depth direction of the box 10.

[0103] Next, the first calculation unit 410 calculates the first breakage risk and the second breakage risk (step S204). Specifically, the first calculation unit 410 calculates the maximum value of the breakage risk of each combination of items that may collide in the width direction of the box 10 as the first breakage risk. Then, the first calculation unit 410 calculates the maximum value of the breakage risk of each combination of items that may collide in the depth direction of the box 10 as the second breakage risk.

[0104] Next, the first calculation unit 410 calculates the first maximum permissible acceleration based on the first damage risk, and calculates the second maximum permissible acceleration based on the second damage risk (step S205).

[0105] Next, the first calculation unit 410 determines whether the first maximum permissible acceleration is greater than or equal to a first reference value, and whether the second maximum permissible acceleration is greater than or equal to a second reference value (step S206). The first reference value and the second reference value can be different values. By increasing the reference value of the maximum permissible acceleration in the conveying direction, items can be conveyed more quickly. The minimum acceleration required for using the conveying robots 300a and 300b is set as the first reference value and the second reference value. If the determination result is true (yes in step S206), the process ends.

[0106] If the determination result is false (No in step S206), the modification unit 430 modifies the method of storing the items in the box 10 (step S207). This can be achieved by the modification unit 430 adding a divider to restrict the movement of the items, or by changing the arrangement of the items, such that the first maximum permissible acceleration becomes a first reference value or higher and the second maximum permissible acceleration becomes a second reference value or higher. By changing the arrangement of the items, the adjacent items change, thus altering the risk of breakage and the maximum permissible acceleration. After step S207, the process can return to the determination in step S206.

[0107] Through the above processing, the first maximum permissible acceleration and the second maximum permissible acceleration can be further increased, thus preventing damage to the items and transporting them more quickly.

[0108] In the examples above, the program includes a group of instructions (or software code) that, when read by a computer, cause the computer to perform one or more functions as described in the implementation. The program may also be stored on a non-transitory computer-readable medium or a physical storage medium. By way of example, and not limitation, a computer-readable medium or a physical storage medium includes: RAM (random-access memory), ROM (read-only memory), flash memory, SSD (solid-state drive) or other memory technologies, CD-ROM (compactdisc read-only memory), DVD (digital versatile disc), Blu-ray discs or other optical disc storage, magnetic cartridges, magnetic tape, disk storage, or other magnetic storage devices. The program may also be transmitted on a transient computer-readable medium or a communication medium. By way of example, and not limitation, a transient computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0109] It should be noted that the present invention is not limited to the above embodiments, and appropriate modifications can be made within the scope of the main idea.

[0110] Based on the foregoing description, it is obvious that embodiments of this disclosure can be varied in many ways. Such variations should not be considered as departing from the concept and scope of this disclosure, and it will be apparent to those skilled in the art that all such modifications are intended to be included within the scope of the appended claims.

Claims

1. A conveying system that conveys boxes in which articles are accommodated by a conveying robot, wherein the conveying system acquires information on kinds and arrangement of the articles accommodated in the boxes from a captured image of the articles, and has: a first calculation unit that calculates a first maximum allowable acceleration that represents a maximum value of allowable acceleration of a first direction of the box and a second maximum allowable acceleration that represents a maximum value of allowable acceleration of a second direction of the box that is orthogonal to the first direction, based on the kinds and arrangement of the articles, the first calculation unit determines a first breakage risk that represents a risk of breakage of the articles due to collision in a case where the articles move in the first direction of the box and a second breakage risk that represents a risk of breakage of the articles due to collision in a case where the articles move in the second direction of the box, based on the kinds and arrangement of the articles, sets the first maximum allowable acceleration according to a value of the first breakage risk, and sets the second maximum allowable acceleration according to a value of the second breakage risk.

2. The conveying system according to claim 1, wherein the conveying robot conveys a plurality of boxes, the conveying system further has: a second calculation unit that calculates a third maximum allowable acceleration that is allowable acceleration in a lateral direction of the conveying robot and a fourth maximum allowable acceleration that is allowable acceleration in a traveling direction of the conveying robot, based on the first maximum allowable acceleration and the second maximum allowable acceleration of the plurality of boxes respectively.

3. The conveying system according to claim 1, further having: a change unit that changes an accommodation method of the articles in a manner that makes the first maximum allowable acceleration larger in a case where the first maximum allowable acceleration is small, and changes the accommodation method of the articles in a manner that makes the second maximum allowable acceleration larger in a case where the second maximum allowable acceleration is small.

4. The conveying system according to claim 3, wherein the change unit changes the accommodation method of the articles in a manner that makes the first maximum allowable acceleration be equal to or larger than a first reference value and makes the second maximum allowable acceleration be equal to or larger than a second reference value that is different from the first reference value.

5. The conveying system according to claim 4, wherein the change unit changes the accommodation method of the articles based on information related to a shape and a raw material of the articles.

6. The conveying system according to claim 5, wherein the change unit arranges other articles or a partition member that restricts movement of the articles in the box, or changes an orientation in which the articles are arranged.

7. The conveying system according to claim 4, further having: a rack that accommodates the boxes, the rack has a sorting robot that accommodates the articles in the boxes in an accommodation method changed by the change unit.

8. A conveying method that conveys boxes in which articles are accommodated by a conveying robot, wherein the conveying method acquires information on kinds and arrangement of the articles accommodated in the boxes from a captured image of the articles, and includes a calculation step of: calculating a first maximum allowable acceleration that represents a maximum value of allowable acceleration of a first direction of the box and a second maximum allowable acceleration that represents a maximum value of allowable acceleration of a second direction of the box that is orthogonal to the first direction, based on the kinds and arrangement of the articles, determining a first breakage risk that represents a risk of breakage of the articles due to collision in a case where the articles move in the first direction of the box and a second breakage risk that represents a risk of breakage of the articles due to collision in a case where the articles move in the second direction of the box, based on the kinds and arrangement of the articles, setting the first maximum allowable acceleration according to a value of the first breakage risk, and setting the second maximum allowable acceleration according to a value of the second breakage risk. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 8. A conveying method of conveying a box containing an article by a conveying robot, wherein ​ calculating a first maximum allowable acceleration representing a maximum value of an allowable acceleration in a first direction of the case and a second maximum allowable acceleration representing a maximum value of an allowable acceleration in a second direction of the case orthogonal to the first direction, based on the kind and arrangement of the articles, in the calculating step, determining a first breakage risk representing a risk of breakage of the articles due to a collision in a case where the articles move in the first direction of the case and a second breakage risk representing a risk of breakage of the articles due to a collision in a case where the articles move in the second direction of the case, based on the kind and arrangement of the articles, setting the first maximum allowable acceleration according to a value of the first breakage risk, and setting the second maximum allowable acceleration according to a value of the second breakage risk.

9. A computer readable storage medium, wherein, The computer-readable storage medium stores a program for causing a computer to execute the transport method according to claim 8.

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