Picking system, picking control device, conveyance device, conveyance system, picking control program, conveyance method, and conveyance program

Abstract

This picking system is provided with: a first trolley which is provided with a first arm and which travels on a first lane set on the outside of a storage section in which goods are stored; a second trolley which is provided with a second arm and which travels on a second lane set on the outside of the first lane; and a control unit that controls the first trolley to pick up the cargo by the first arm and transfer the cargo to the second trolley while the first trolley travels on the first lane. When the second trolley travels on the second lane, the second arm is used for receiving the cargoes picked up by the first trolley and carrying the cargoes to a preset position.

Description

Technical Field

[0001] The present disclosure relates to a picking system, a picking control device, a conveying device, a conveying system, a picking control program, a conveying method, and a conveying program. Background Art

[0002] Patent Document 1 discloses a picking device. In the picking device that conveys articles within a management area, a robot is provided. The robot cyclically moves a plurality of shelves arranged in the management area by autonomous driving based on a predetermined goods collection plan of the articles, performs goods collection and return of the articles with respect to the shelves, and conveys the articles to a predetermined picking station.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2022-068557 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] When a cart autonomously travels to pick up goods in a picking warehouse and convey them to a predetermined position, the efficiency of one cart responsible for conveying the goods from picking to the predetermined position is low. In addition, in order to enable the cart to autonomously travel (hereinafter referred to as "automatic driving"), it is very costly to mount all sensors for detecting the surrounding information of the cart in one cart.

[0008] The present disclosure is made in view of the above circumstances, and an object thereof is to obtain a picking system, a picking control device, a conveying device, a conveying system, a picking control program, a conveying method, and a conveying program that can efficiently pick and convey goods.

[0009] Means for Solving the Problems

[0010] The picking system according to the disclosed technology includes: a first cart that has a first arm and travels on a first lane set outside a housing portion that houses goods; a second cart that has a second arm and travels on a second lane set outside the first lane; and a picking control unit that controls such that the first cart picks up the goods with the first arm while traveling on the first lane and transfers them to the second cart, and the second cart receives the goods picked up by the first cart with the second arm while traveling on the second lane and conveys them to a predetermined position.

[0011] The picking control unit may control such that the first cart and the second cart travel in parallel while transferring the goods from the first cart to the second cart.

[0012] The picking system may further include a generating unit that generates a driving trajectory of the first cart based on the position of the goods that the first cart should pick up and the position of the second cart to which the first cart should transfer the picked-up goods. The picking control unit controls based on the driving trajectory such that the first cart picks up the goods with the first arm while traveling on the first lane and transfers them to the second cart, and the second cart receives the goods picked up by the first cart with the second arm while traveling on the second lane and transports them to a predetermined position. The generating unit may generate the driving trajectory based on the order of transferring the goods to the second cart. The generating unit may generate the driving trajectory based on the size of the goods.

[0013] The picking control unit may control such that a position where the speeds of the first cart and the second cart are equal and the distance between the first cart and the second cart is minimized is used as a transfer position to transfer the goods from the first cart to the second cart. The transfer position may also be a position within a range where the movement range of the first arm overlaps with the movement range of the second arm.

[0014] The second cart may further include a storage unit. The picking control unit controls such that the first cart picks up the goods with the first arm while traveling on the first lane and transfers them to the second cart, and the second cart receives the goods picked up by the first cart with the second arm while traveling on the second lane and stores them in the storage unit. When the storage quantity in the storage unit reaches a certain amount, the second cart leaves the second lane and a new second cart is replenished. In the case where multiple second carts travel on the second lane at equal intervals, the picking control unit may control such that when a new second cart cannot be replenished, the inter-vehicle distance of each of the multiple second carts is increased and they travel at equal intervals.

[0015] The picking control device related to the disclosed technology includes a picking control unit that controls a first cart having a first arm and traveling on a first lane set outside a storage unit containing goods to pick up the goods with the first arm while traveling on the first lane and transfer them to a second cart, and a second cart having a second arm and traveling on a second lane set outside the first lane to receive the goods picked up by the first cart with the second arm while traveling on the second lane and transport them to a predetermined position.

[0016] The picking control device may further include a generating unit that generates a travel trajectory of the first cart based on the position of the goods to be picked up by the first cart and the position of the second cart to which the goods picked up by the first cart are to be transferred. The picking control unit controls based on the travel trajectory such that the first cart travels on the first lane while picking up the goods with the first arm and transferring them to the second cart, and the second cart travels on the second lane while receiving the goods picked up by the first cart with the second arm and transporting them to a predetermined position.

[0017] The picking control unit may control such that the second cart having a storage unit travels on the second lane while receiving the goods picked up by the first cart with the second arm and storing them in the storage unit, and when the storage amount in the storage unit reaches a certain quantity, it leaves the second lane and a new second cart is replenished.

[0018] The handling device according to the disclosed technology includes a housing unit that houses goods, an arm that operates the goods, and a first sensor that detects external information. The handling device includes: an acquisition unit that acquires information of the first sensor mounted on another handling device; and a control unit that controls to perform autonomous driving using, in addition to the sensor information of the first sensor mounted on the present device, the acquired sensor information of the first sensor.

[0019] In the handling device, as the first sensor, any one of a variety of devices including a camera that images the outside and a lidar (LiDAR) that measures the outside may be mounted. The acquisition unit may acquire sensor information of a second sensor provided in the area where the handling device travels; the control unit may control to perform autonomous driving using, in addition to the sensor information of the first sensor, the sensor information of the second sensor. The acquisition unit may acquire sensor information of a third sensor mounted on a flying object flying in the area where the handling device travels; the control unit may control to perform autonomous driving using, in addition to the sensor information of the first sensor, the sensor information of the third sensor.

[0020] The handling system according to the disclosed technology includes a plurality of the above-mentioned handling devices. In the handling system, the plurality of handling devices include a first cart that travels on a first lane and a second cart that travels on a second lane adjacent to the first lane. The first cart picks up the goods with the arm of the first cart while traveling on the first lane, and the second cart receives and transports the goods picked up by the first cart with the arm of the second cart while traveling.

[0021] The picking control program related to the disclosed technology is a program that causes a computer to execute a process including the following steps: a first cart having a first arm and traveling on a first lane set outside a storage section that stores goods, picks up the goods with the first arm while traveling on the first lane and transfers them to a second cart, and a second cart having a second arm and traveling on a second lane set outside the first lane, receives the goods picked up by the first cart with the second arm while traveling on the second lane and transports them to a predetermined position.

[0022] The picking control program may be configured to cause a computer to execute a process including the following steps: generate a travel trajectory of the first cart based on the position of the goods that the first cart should pick up and the position of the second cart to which the first cart should transfer the picked-up goods; control based on the travel trajectory such that the first cart picks up the goods with the first arm while traveling on the first lane and transfers them to the second cart, and the second cart receives the goods picked up by the first cart with the second arm while traveling on the second lane and transports them to a predetermined position.

[0023] The picking control program may be configured to cause a computer to execute a process including the following steps: the first cart picks up the goods with the first arm while traveling on the first lane and transfers them to the second cart, and the second cart having a storage section receives the goods picked up by the first cart with the second arm while traveling on the second lane and stores them in the storage section, and when the storage amount in the storage section reaches a certain quantity, it leaves the second lane and a new second cart is replenished.

[0024] The transportation method related to the disclosed technology is a transportation method based on a transportation device, the transportation device including a storage section that stores goods, an arm that manipulates the goods, and a first sensor that detects external information, and the transportation method is a method that causes a computer to execute the following process: acquire information of the first sensor mounted on another transportation device; control to perform autonomous driving using not only the sensor information of the first sensor mounted on the present device but also the acquired information of the first sensor.

[0025] The transportation program related to the disclosed technology is a transportation program that controls a transportation device, the transportation device including a storage section that stores goods, an arm that manipulates the goods, and a first sensor that detects external information, and the transportation program is a program that causes a computer to execute the following process: acquire information of the first sensor mounted on another transportation device; control to perform autonomous driving using not only the sensor information of the first sensor mounted on the present device but also the acquired information of the first sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a floor plan of a floor of a warehouse to which a picking system is applied.

[0027] Figure 2 It is a perspective view of a cart robot.

[0028] Figure 3 It is a perspective view showing a state when a basket is transferred from a local cart to a high-speed cart.

[0029] Figure 4A It is a flowchart showing the picking control process of a basket based on a local cart.

[0030] Figure 4B It is a flowchart showing the picking control process of a basket based on a high-speed cart.

[0031] Figure 5 It is a diagram schematically showing an example of the functional configuration of a cart robot.

[0032] Figure 6 It is a schematic diagram of the hardware configuration of a picking control device.

[0033] Figure 7 It is a flowchart showing the picking control process.

[0034] Figure 8 It is a diagram schematically showing an example of the configuration for acquiring sensor information.

[0035] Figure 9 It is a diagram schematically showing an example of the functional configuration of an information processing device.

[0036] Figure 10 It is a flowchart showing the autonomous driving control of a cart robot.

[0037] Figure 11 It is a diagram schematically showing an example of the computer hardware that functions as an information processing device of a cart robot. Detailed Embodiments

[0038] Hereinafter, the present invention will be described by way of embodiments of the disclosed technology. However, the following embodiments do not limit the invention described in the claims. In addition, the combinations of features described in the embodiments are not all necessary for the solution means of the invention.

[0039] <First Embodiment>

[0040] Figure 1It is a floor plan of floor 50 of a warehouse that applies the picking system involved in this embodiment. The picking operation refers to the work of collecting (picking up) required items. Since picking staff (the cart robot 52 in this embodiment) plays an indispensable role in order to ship the items in the warehouse, it is configured in all types of warehouses. In addition, not limited to cart robots, humanoid robots can also be used.

[0041] For example, the main work is to collect specified items based on a pre-indicated list or order and hand over the aggregated items to the inspection staff or packaging staff. The larger the warehouse scale, the more types and quantities of items are stored. Therefore, multiple picking staff move within floor 50.

[0042] In Figure 1 the shown floor 50, there is a storage section (warehouse, shelves, etc.) 54 where multiple baskets 56 are stored (see Figure 3 ). The cart robot 52 moves around this storage section 54. The main role of the cart robot 52 is to deliver and receive the baskets 56, and the movement paths are classified into: the Fast Track Cart 52A (High-Speed Cart 52A) of the cart robot 52 that moves along the Fast Lane 58 (High-Speed Lane 58), and the Local Track Cart 52B (Local Cart 52B) of the cart robot 52 that moves along the Local Picking Lane 60 (Local Lane 60).

[0043] In addition, the storage section 54 is an example of the accommodation section of the present disclosure. Furthermore, the local lane 60 is an example of the first lane of the present disclosure. Also, the high-speed lane 58 is an example of the second lane of the present disclosure. In addition, the local cart 52B is an example of the first cart of the present disclosure. Also, the high-speed cart 52A is an example of the second cart of the present disclosure.

[0044] The local lane 60 is the inner lane within floor 50, in other words, it is the lane set outside the storage section 54. The local cart 52B meanders in a way that approaches and moves away from the storage section 54 and temporarily decelerates to pick up the basket 56 from the storage section 54.

[0045] As Figure 2As shown, after the local cart 52B picks up the basket 56 containing goods with the two picking arms 62 (Picking Arm) arranged on the inner side, it transfers the basket 56 to the high-speed cart 52A moving on the high-speed lane 58 with the three passing arms 64 (Passing Arm) arranged on the outer side. In addition, the picking arms 62 and the passing arms 64 are an example of the first arm. Furthermore, the local cart 52B is internally provided with a counterweight balance battery for preventing tipping over (the illustration is omitted).

[0046] The high-speed lane 58 is the outer lane within the floor 50, in other words, it is the lane set outside the local lane 60. As Figure 3 shown, for example, the high-speed cart 52A travels continuously at a speed of 20 Km per hour and receives the basket 56 from the local cart 52B moving on the local lane 60 with the three receiving arms 66 (Receving Arm). In addition, the receiving arms 66 are an example of the second arm. The high-speed cart 52A is equipped with a storage section 67 for storing the received basket 56.

[0047] As a series of operations, after the local cart 52B traveling on the local lane 60 picks up the basket 56, it travels side by side with the high-speed cart 52A in a way that relays and hands over with the outer high-speed lane 58 at a speed of 20 Km per hour, and at the same time, continuously transfers the basket 56 to the high-speed cart 52A through the three passing arms 64 (Passing Arm) of the local cart 52B and the three receiving arms 66 (Receving Arm) of the high-speed cart 52A. The high-speed cart 52A stores the received basket 56 in the storage section 67 through the three receiving arms 66.

[0048] In the floor 50, a docking station 68 (Docking Station 68) is provided corresponding to the storage section 54. In addition, the position of the docking station 68 is an example of the predetermined position of the present disclosure. The docking station 68 is the connection point between the high-speed lane 58 and the local lane 60. The docking station 68 is equipped with 20 arms and has the function of receiving the basket 56 from the high-speed lane 58. In the docking station 68, the high-speed cart 52A temporarily decelerates to, for example, 2 Km per hour, and for example, conducts the handover of the basket within 1 minute and then accelerates again.

[0049] Furthermore, in the floor 50, a storage station 69 (Storage Station 69) is provided corresponding to the storage section 54. In addition, the position of the storage station 69 is the same as that of the docking station 68 and is an example of the predetermined position of the present disclosure. The storage station 69 becomes the connection point with the standby lane 59 set outside the high-speed lane 58. The storage station 69, like the docking station 68, is equipped with 20 arms and has the function of receiving the basket 56 from the standby lane 59.

[0050] On the standby lane 59, an exit lane 59A is connected. The exit lane 59A is set at a position farther from the docking station 68 and branches off from the high-speed lane 58. In addition, an entrance lane 59B that branches off from the standby lane 59 is connected to the high-speed lane 58. The exit lane 59A is a lane that detaches from the high-speed lane 58 to the standby lane 59, and the entrance lane 59B is a lane that enters the high-speed lane 58 from the standby lane 59. Additionally, multiple exit lanes 59A and entrance lanes 59B can be provided.

[0051] At the storage station 69, the high-speed cart 52A that decelerates from the exit lane 59A and detaches to the standby lane 59 conducts the handover of the cargo basket 56 within 1 minute and waits in front of the entrance lane 59B. In addition, the high-speed cart 52A whose storage unit 67 in front of the entrance lane 59B was previously emptied enters the high-speed lane 58 from the entrance lane 59B when other high-speed carts 52A detach from the exit lane 59A to the standby lane 59. Additionally, after the high-speed cart 52A passes through the vehicle body sensor group 72 described later, when the storage quantity of the cargo basket 56 in the storage unit 67 reaches a certain amount, it detaches from the standby lane 59.

[0052] In the present embodiment, as an example, before reaching the docking station 68, when the storage quantity of the cargo basket 56 in the storage unit 67 of the high-speed cart 52A reaches a certain amount, a new high-speed cart 52A is supplemented in place of the high-speed cart 52A. Thus, the high-speed cart 52A traveling on the high-speed lane 58 can always receive the cargo basket 56 from the local cart 52B, and therefore can efficiently pick up and transport goods.

[0053] In the floor 50, a warehouse internal sensor group 70 including a camera and a lidar is installed on the ceiling or the wall. These warehouse internal sensor groups 70 always function as information for measuring the inter-vehicle distance and speed of the high-speed cart 52A and the local cart 52B and synchronizing them with each other. Additionally, in the high-speed cart 52A and the local cart 52B, a vehicle body sensor group 72 including a camera and a lidar is also provided on their respective vehicle bodies (cart vehicle bodies). By controlling the inter-vehicle distance to be an equally spaced division operation of the number of carts, it is possible to predict for vacating a necessary inter-vehicle distance (for example, 3 m or more).

[0054] In addition, for example, when a high-speed car 52A detaches from the high-speed lane 58 to the standby lane 59, if a new high-speed car 52A cannot be added, the inter-vehicle distance is controlled to an equal interval of the division operation of the number of cars other than the detached high-speed car 52A. That is, the inter-vehicle distance of each high-speed car 52A traveling on the high-speed lane 58 is controlled in a manner to expand. Thus, even after the number of high-speed cars 52A decreases, a prediction can be made for vacating the necessary inter-vehicle distance. In addition, the body sensor group 72 of the high-speed car 52A also detects the storage amount of the cargo basket 56 in the storage section 67.

[0055] In the above-mentioned picking system, since the high-speed trolley and the local trolley 52B in the floor 50 operate at a completely synchronized rhythm, there will be no interference (contact or collision) and other accidents. In addition, since the picking operation is carried out uninterruptedly, the waste of time can be eliminated to the greatest extent.

[0056] Here, the carts (high-speed cart 52A and local cart 52B) of this embodiment are equipped with respective multiple arms as described above. The local cart 52B is equipped with two picking arms 62 (Picking Arm) and three passing arms 64 (Passing Arm), and the high-speed cart 52A is equipped with three receiving arms 66 (Receving Arm). Hereinafter, they are collectively referred to as arms 62, 64, 66. The arms 62, 64, 66 move in three dimensions based on operations such as picking up the cargo basket 56 and handing over the small workshop, and thus cross the monitoring area of ​​the body sensor group 72 provided on the body of the cart. With this three-dimensional movement, a blind spot is sometimes generated for any one of the body sensor groups 72. The arms 62, 64, 66 move irregularly, and in particular, the closer to the front end, the larger the movement trajectory. In addition, the blind spot of the body sensor group 72 changes in a time series.

[0057] Therefore, in this embodiment, a small camera, laser radar, or other arm sensor group 74 is installed at the front end of each arm 62, 64, 66 of each car (high-speed car 52A and local car 52B). The arm sensor group 74 at the front end of the arm 62, 64, 66 can eliminate the blind spot of the body sensor group 72 of the car body.

[0058] In addition, for example, by adding a temperature sensor or a hardness sensor as the type of the arm sensor group 74 at the front end of the arms 62, 64, 66, the holding strength when handing over (holding) the cargo basket 56 can be set. By setting the holding strength, deformation or damage of the cargo basket 56 can be prevented.

[0059] As the in-warehouse sensor group 70, the vehicle body sensor group 72, and the arm sensor group 74, the highest-performance cameras, solid-state lidars, multi-color laser coaxial displacement gauges, or various other sensor groups can be adopted. In addition, vibration meters, thermal imaging cameras, hardness testers, radars, lidars, high-pixel / long-focus / ultra-wide-angle / 360-degree / high-performance cameras, visual recognition, faint sounds, ultrasounds, vibrations, infrared rays, ultraviolet rays, electromagnetic waves, temperature, humidity, spot AI weather forecasts, high-precision multi-channel Global Positioning System (GPS), low-altitude satellite information, long-tail event AI data, etc. can also be cited.

[0060] In addition, the in-warehouse sensor group 70, the vehicle body sensor group 72, and the arm sensor group 74 detect images, distances, vibrations, heat, odors, colors, sounds, ultrasounds, ultraviolet rays, or infrared rays, etc., in addition to the above information. In addition, as the information detected by the in-warehouse sensor group 70, the vehicle body sensor group 72, and the arm sensor group 74, the center-of-gravity movement of the cart robot 52, the detection of the material of the floor where the cart robot 52 is set, the detection of the external air temperature, the detection of the external air humidity, the detection of the vertical, horizontal, and diagonal tilt angles of the floor, the detection of the moisture content, etc. can be cited. The in-warehouse sensor group 70, the vehicle body sensor group 72, and the arm sensor group 74 perform these detections, for example, every nanosecond.

[0061] In addition, in the present embodiment, a docking station 68 is provided on the floor 50 of the warehouse, but for example, there may be no docking station 68. In this case, the storage station 69 can be provided outside the position corresponding to the docking station 68. Near the storage station 69, an exit lane 59A and an entrance lane 59B are provided in the same way as the opposing side.

[0062] Figure 5 It is a control system block diagram of the information processing device 14 mounted on the cart robot 52. The information processing device 14 includes an information acquisition unit 140, a control unit 142, and an information storage unit 144. The information acquisition unit 140 acquires information on an object detected by the vehicle body sensor group 72 and the arm sensor group 74.

[0063] The control unit 142 uses the information acquired by the information acquisition unit 140 and AI (Artificial Intelligence) to control the rotational movements, vertical movements, and the movements of the gripping portions at their front ends of the arms 62, 64, and 66. In addition, the control unit 142 is an example of the picking control unit of the present disclosure. For example, the control unit 142 performs the following various processes.

[0064] (1) Drive the arms 62, 64, 66 and the gripping portions at their front ends in a manner capable of grasping an object.

[0065] (2) Drive up and down in a manner that matches the height of workbenches such as the storage unit 54.

[0066] (3) Maintain balance to prevent tipping over.

[0067] (4) Control the drive of the wheels during movement.

[0068] Next, the operation of this embodiment will be described according to Figure 4A the flowchart. FIG. 4 is a flowchart showing the pick-up control process of the basket 56 based on the local cart 52B. In step 100, a pick-up instruction for the basket 56 is received. In the next step 102, start moving along the local lane 60 at a normal speed towards the destination. In the next step 104, it is determined whether the target basket 56 is detected. If the determination is affirmative, the process proceeds to step 106, where the basket 56 is picked up by the picking arm 62, and then proceeds to step 108. In step 108, move at speed control (e.g., 20 Km / h), and then proceed to step 110, where it approaches the high-speed cart 52A while meandering in the direction of the high-speed lane 58. In the next step 112, the basket 56 is transferred from the local cart 52B to the high-speed cart 56 through the passing arm 64 of the local cart 52B and the receiving arm 66 of the high-speed cart 52A, and then proceeds to step 114. In step 114, the local cart 52B resumes traveling at the normal speed and waits for the next instruction, and thus this routine ends.

[0069] Next, the operation of this embodiment will be described according to Figure 4B the flowchart. Figure 4B FIG. is a flowchart showing the pick-up control process of the basket 56 based on the high-speed cart 52A. In step 200, a pick-up instruction for the basket 56 is received. In the next step 202, move along the high-speed lane 58 at a speed of 20 km per hour. In the next step 204, dock with the local cart 52B. In the next step 206, the basket 56 is transferred from the local cart 52B to the high-speed cart 52A through the receiving arm 66 of the high-speed cart 52A and the passing arm 64 of the local cart 52B, and then proceeds to step 208.

[0070] In step 208, it is determined whether the storage quantity is a certain amount. If the determination is affirmative, the process proceeds to step 210, where it decelerates and disengages to the standby lane 59. In step 212, it is determined whether a new high-speed cart 52A can be replenished, that is, a high-speed cart 52A to replace the disengaged high-speed cart 52A. If the determination is affirmative, the process proceeds to step 214, where the new high-speed cart 52A enters the high-speed lane 58. In step S216, the high-speed carts 52A maintain an equal inter-vehicle distance, perform speed control (20 Km / h), and travel on the high-speed lane 58.

[0071] On the other hand, in step 208, if the determination is negative, the process proceeds to step 218 to determine whether it can be docked with the docking station 68. If the determination is affirmative, the process proceeds to step 220 to dock with the docking station 68, and then proceeds to step 216. In addition, the high-speed cart 52A takes out the basket 56 in the storage unit 67 by docking with the docking station 68.

[0072] On the other hand, if the determination in step S212 is negative, that is, if a new high-speed cart 52A cannot be replenished, the process proceeds to step 222 to widen the inter-vehicle distance of the high-speed carts 52A and maintain an equal inter-vehicle distance, perform speed control (20 Km / h), and travel on the high-speed lane 58. The high-speed cart 52A waits for the next instruction, and thus this routine ends.

[0073] In addition, the arms 62, 64, and 66 perform three-dimensional movement based on operations such as picking up the basket 56 and handing over between carts, so sometimes they cross the monitoring area of the vehicle body sensor group 72 provided on the cart body, creating a blind spot for any one of the vehicle body sensor groups 72. However, in the present embodiment, the blind spot of the vehicle body sensor group 72 of the cart body can be eliminated by the arm sensor group 74 at the front ends of the arms 62, 64, and 66. When the arm sensor group 74 at the front ends of the arms 62, 64, and 66 is a temperature sensor or a hardness sensor, etc., when handing over (grasping) the basket 56, the grasping strength can be adjusted, etc., and deformation or damage of the basket 56 can be prevented.

[0074] <Second Embodiment>

[0075] The second embodiment will be described. In addition, the same reference numerals are given to the same parts as those in the first embodiment, and detailed descriptions are omitted. In the second embodiment, the case where the sorting control device performs overall control on the cart 52, etc. will be described. Figure 6 It is a block diagram showing the hardware configuration of the sorting control device 40 according to the second embodiment. As Figure 6 shown, the sorting control device 40 includes a controller 42.

[0076] The controller 42 includes a CPU (Central Processing Unit) 42A, a ROM (Read Only Memory) 42B, a RAM (Random Access Memory) 42C, and an input / output interface (I / O) 42D. The CPU 42A, the ROM 42B, the RAM 42C, and the I / O 42D are respectively connected via a bus 42E. The bus 42E includes a control bus, an address bus, and a data bus. A communication unit 44 and a storage unit 46 are connected to the I / O 42D. Additionally, the CPU 42A is an example of a generation unit and a picking control unit. The communication unit 44 is an interface for data communication with external devices such as a high-speed cart 52A, a local cart 52B, a warehouse internal sensor group 70, a vehicle body sensor group 72, an arm sensor group 74, and a superior device (not shown). The storage unit 46 is constituted by, for example, a non-volatile memory. As Figure 6 shown, the storage unit 46 stores a picking control program 46A and the like.

[0077] The CPU 42A is an example of a processor. The processor mentioned here refers to a processor in a broad sense, including a general-purpose processor (such as a CPU) or a dedicated processor (such as a graphics processing unit (GPU: Graphics Processing Unit), an application specific integrated circuit (ASIC: Application Specific Integrated Circle), a field programmable gate array (FPGA: Field Programmable Gate Array), a programmable logic device, etc.). Additionally, the picking control program 46A can also be stored in a non-volatile non-transitory recording medium, or distributed via a network and appropriately installed in the picking control device 40. Examples of non-volatile non-transitory recording media include a compact disc read only memory (CD-ROM, Compact Disc Read Only Memory), an optical disk, an HDD (hard disk drive), a digital versatile disc read only memory (DVD-ROM, Digital Versatile Disc Read Only Memory), a flash memory, a memory card, etc.

[0078] Figure 7 is a flowchart of the picking control process executed by the CPU 42A. For example, when an instruction to execute the picking control process is received from a superior device (not shown), the CPU 42A reads in the picking control program 46A and executes it, thereby executing the Figure 7 shown picking control process.

[0079] In step 300, the CPU 42A starts the travel control of the high-speed carriage 52A and the local carriage 52B. Specifically, the CPU 42A performs the following control: while maintaining a certain inter-vehicle distance, multiple high-speed carriages 52A travel on the high-speed lane 58 at a predetermined speed in the Figure 1 clockwise direction in. In addition, the CPU 42A performs the following control: while maintaining a certain inter-vehicle distance, multiple local carriages 52B travel on the local lane 60 that meanders in a way that approaches and leaves the storage unit 54 at a predetermined speed in the Figure 1 right-turn direction in. Additionally, the high-speed lane 58 and the local lane 60 are not physical travel lanes, but represent the trajectories along which the carriages 52 travel. That is, the CPU 42A controls the high-speed carriages 52A to travel along the trajectory of the high-speed lane 58 and controls the local carriages 52B to travel along the trajectory of the local lane 60.

[0080] In step 301, the CPU 42A determines whether a pick-up instruction for the basket 56 is received from a higher-level device (not shown). The pick-up instruction includes information such as the position and size of the basket 56 to be picked up. In addition, the local carriage 52B can accommodate multiple baskets 56 according to the size of the basket 56. Therefore, sometimes it is instructed from the higher-level device to pick up multiple baskets 56. In this case, the pick-up instruction includes information such as the positions and sizes of the multiple baskets 56. Then, in the case of receiving a pick-up instruction for the basket 56 from the higher-level device, it transfers to step S302, and in the case of not receiving the pick-up instruction, it stands by until the pick-up instruction is received.

[0081] In step 302, the CPU 42A selects the local carriage 52B that picks up the basket 56 and the high-speed carriage 52A that should receive the basket 56. For example, based on signals from the in-warehouse sensor group 70 and the vehicle body sensor group 72, the positions and travel speeds of each high-speed carriage 52A and each local carriage 52B are calculated, and based on the calculation results, from among the multiple local carriages 52B, the local carriage 52B that can pick up the basket 56 to be picked up in the shortest time is selected. In addition, based on the above calculation results, from among the multiple high-speed carriages 52A, the high-speed carriage 52A that can receive the basket 56 from the selected local carriage 52B in the shortest time is selected. Additionally, hereinafter, the selected local carriage 52B is referred to as the selected local carriage 52B, and the selected high-speed carriage 52A is referred to as the selected high-speed carriage 52A. In addition, in the case of instructing to pick up multiple baskets 56, a high-speed carriage 52A is selected for each of the multiple baskets 56.

[0082] In step 303, the CPU 42A generates a travel trajectory of the selected local cart 52B. Specifically, based on the position of the basket 56 to be picked up by the selected local cart 52B and the position of the selected high-speed cart 52A to which the basket 56 picked up by the selected local cart 52B should be transferred, a travel trajectory of the selected local cart 52B is generated. For example, it moves to the position of the basket 56 to be picked up and picks up the basket 56, and generates a travel trajectory with the shortest time to transfer to the selected high-speed cart 52A. In addition, in the case of instructing to pick up multiple baskets 56, since the multiple baskets 56 are sequentially transferred to multiple selected high-speed carts 52A, a travel trajectory of the selected local cart 52B is generated based on the order of transferring the multiple baskets 56 to the multiple selected high-speed carts 52A. Furthermore, since the position to which the basket 56 is transferred to the selected high-speed cart 52A is different according to the size of the basket 56, a travel trajectory of the selected local cart 52B is generated based on the size of the basket 56.

[0083] In step 304, the CPU 42A controls the selected local cart 52B so that the selected local cart 52B travels along the travel trajectory generated in step 303 and picks up the basket 56. Specifically, it controls the selected local cart 52B to use the picking arm 62 to pick up the basket 56.

[0084] In step 305, the CPU 42A controls the selected local cart 52B and the high-speed cart 52A so that the selected local cart 52B travels according to the travel trajectory generated in step 303 and transfers the picked-up basket 56 to the selected high-speed cart 52A. Specifically, it controls the picking arm 62 and the transfer arm 64 of the selected local cart 52B, and controls the receiving arm 66 of the selected local cart 52B so that the local cart 52B switches the basket 56 picked up by the picking arm 62 to the transfer arm 64 for gripping and transfers it to the receiving arm 66 of the high-speed cart 52A.

[0085] At this time, the CPU 42A controls such that the position where the speed of the selected local cart 52B is equal to the speed of the selected high-speed cart 52A and the distance between the selected local cart 52B and the selected high-speed cart 52A is the smallest is used as the transfer position to transfer the basket 56 from the selected local cart 52B to the selected high-speed cart 52A. In addition, the transfer position is a position within the overlapping range of the movement range of the transfer arm 64 of the selected local cart 52B and the movement range of the receiving arm 66 of the selected high-speed cart 52A.

[0086] In step 306, the CPU 42A controls the selected high-speed cart 52A such that the selected high-speed cart 52A that has received the bin 56 hands over the bin 56 to the docking station 68. In step 307, the CPU 42A determines whether to end the picking control of the bin 56. Specifically, it determines whether there is an instruction to end the picking control from a higher-level device (not shown). Then, in the case where there is an instruction to end the picking control, it transfers to step 308, and in the case where there is no instruction to end the picking control, it returns to step 301 and repeats the same processing as above. In step 308, the CPU 42A stops the travel control of the high-speed cart 52A and the local cart 52B, and stops the high-speed cart 52A and the local cart 52B.

[0087] Thus, in the present embodiment, the picking control device 40 controls the travel of the high-speed cart 52A and the local cart 52B. Furthermore, the following control is performed: Based on the position of the bin 56 that the selected local cart 52B should pick up and the position of the selected high-speed cart 52A that should receive the bin 56 picked up by the selected local cart 52B, a travel trajectory of the selected local cart 52B is generated, and based on the generated travel trajectory, while the selected local cart 52B travels on the local lane 60, it picks up the bin 56 with the picking arm 62 and hands it over to the selected high-speed cart 52A. While the selected high-speed cart 52A travels on the high-speed lane 58, it receives the bin 56 picked up by the selected local cart 52B with the receiving arm 66 and transports it to the docking station 68. Thereby, the bin 56 can be efficiently picked up and transported to the docking station 68.

[0088] <Third Embodiment>

[0089] Figure 8 It is a schematic diagram of an example of the structure of a transport system according to the third embodiment of the disclosed technology. The transport system according to the present embodiment is characterized in that the cart robot 52 travels by acquiring sensor information of other cart robots 52 around it, sensor information of the floor 50, and sensor information from the drone 80. Hereinafter, the differences from the first embodiment will be described. In addition, the same reference numerals are given to the same structures, and their detailed descriptions are omitted.

[0090] The cart robot 52 of the present embodiment includes a camera-only cart that only mounts a camera as a sensor for acquiring the external environment in the vehicle body sensor group 72, and a lidar-only cart that only mounts a lidar as a sensor for acquiring the external environment. The camera-only cart has, for example, Figure 1The high-speed vehicle 52A equipped only with a visible light camera shown, i.e., the camera dedicated vehicle 52A1, the partial vehicle 52B equipped only with a visible light camera, i.e., the camera dedicated vehicle 52B1, or the high-speed vehicle 52A equipped only with an IR camera, i.e., the camera dedicated vehicle 52A3, the partial vehicle 52B equipped only with an IR camera, i.e., the camera dedicated vehicle 52B3. Examples of the lidar dedicated vehicle include Figure 1 The high-speed vehicle 52A equipped only with a lidar shown, i.e., the lidar dedicated vehicle 52A2, the partial vehicle 52B equipped only with a lidar, i.e., the lidar dedicated vehicle 52B2.

[0091] In addition, the vehicle robot 52 of the present embodiment can also obtain Figure 1 The sensor information of the in-warehouse sensor group 70 on the floor 50 shown. Specifically, the in-warehouse sensor group 70 is provided on the wall or ceiling of the warehouse where the vehicle robot 52 travels, and the vehicle robot 52 obtains the sensor information of the floor 50 detected by the in-warehouse sensor group 70.

[0092] In addition, the vehicle robot 52 of the present embodiment can also obtain the sensor information from the sensor 82 mounted on the unmanned aerial vehicle 80. Specifically, the unmanned aerial vehicle 80 is composed of a main body, a flight device, a sensor 82 as a detection device (see Figure 8 ), and a control device, and can formulate a travel plan by the control device and perform autonomous flight using the sensor information obtained by the sensor 82. In addition, the unmanned aerial vehicle 80 can send the sensor information of the sensor 82 it has obtained to the vehicle robot 52. The vehicle robot 52 can also travel using the sensor information of the sensor 82 received from the unmanned aerial vehicle 80. Here, the unmanned aerial vehicle 80 is an example of a flying body.

[0093] Figure 9 is a functional block diagram of the information processing device 14 according to the second embodiment. The information processing device 14 is mounted on the vehicle robot 52. The information processing device 14 of the present embodiment further has an autonomous driving control unit 146 in addition to the information acquisition unit 140, the picking control unit 142, and the information storage unit 144.

[0094] The automatic driving control unit 146 formulates a driving plan for the cart robot 52 and executes automatic driving using the sensor information acquired by the information acquisition unit 140. Specifically, in addition to acquiring the sensor information of its own cart robot 52, the information acquisition unit 140 also acquires the sensor information of other cart robots 52 existing near the cart robot 52. Here, the existence near the cart robot 52 is not limited to the case of being adjacent to the cart robot 52, but also includes the case of existing on the same floor, the case of existing within a predetermined range, and the like. The automatic driving control unit 146 controls the autonomous driving of the cart robot 52 based on the acquired sensor information according to the driving plan of the cart robot 52. Since the cart robot 52 can also acquire the sensor information of other cart robots 52 existing nearby, the sensors mounted on the cart robot 52 itself are suppressed to the minimum. In addition, the automatic driving control unit 146 can also use the sensor information of the floor 50 acquired by the information acquisition unit 140. Thereby, in the automatic driving of the cart robot 52, finer movements can be controlled. Further, the automatic driving control unit 146 can also use the sensor information of the sensor 82 from the unmanned aerial vehicle 80 acquired by the information acquisition unit 140. Thereby, in the automatic driving of the cart robot 52, dead angles can be eliminated.

[0095] Hereinafter, the operation of the information processing apparatus 14 according to the present embodiment will be described. In the information processing apparatus 14, the Figure 10 automatic driving control process shown is executed. The process in the information processing apparatus 14 is executed by the CPU 1212 functioning as the information acquisition unit 140, the picking control unit 142, the information storage unit 144, and the automatic driving control unit 146. Figure 10 is a flowchart showing the automatic driving control process of the cart robot 52. In this flowchart, the case of the camera - dedicated cart 52B1 is illustrated as the cart robot 52.

[0096] In step 400, the CPU 1212 formulates a driving plan for the camera - dedicated cart 52B1. In step 402, the CPU 1212 acquires the sensor information of the camera - dedicated cart 52B1. Specifically, the camera - dedicated cart 52B1 acquires sensor information from the visible - light camera mounted on itself. In addition, the sensor information of the in - warehouse sensor group 70 on the floor 50 and the sensor information from the sensor 82 mounted on the unmanned aerial vehicle 80 can also be acquired. Further, the detection of the sensor information is performed, for example, every nanosecond.

[0097] In step 404, the CPU 1212 receives the sensor information of other carts. The other carts specifically refer to other cart robots 52 existing near the camera - dedicated cart 52B1. For example, as Figure 8As shown, it is the dedicated vehicle 52B2 for lidar or the dedicated vehicle 52B3 for camera. In addition, other vehicles existing nearby are the same as the dedicated vehicle 52B1 for camera, and can be vehicles equipped with visible light cameras, for example, vehicles equipped with visible light cameras with higher accuracy than the dedicated vehicle 52B1 for camera. Additionally, for example, a high-precision visible light camera can be installed on the dedicated vehicle 52B1 for camera, and visible light cameras with lower accuracy than it can be installed on other nearby vehicles. In this way, since the sensor information of other vehicle robots 52 existing near its own vehicle can also be received, the sensors installed on its own vehicle can be minimized.

[0098] In step 406, the CPU 1212 performs autonomous driving based on the sensor information according to the driving plan of the dedicated vehicle 52B1 for camera. For example, the dedicated vehicle 52B1 for camera adjusts its driving speed according to the actions of the high-speed vehicle 52A driving in parallel. In step 408, the CPU 1212 determines whether the driving of the dedicated vehicle 52B1 for camera has ended. When the CPU 1212 determines that the driving of the dedicated vehicle 52B1 for camera has not ended (step 408: No), the process transfers to step 402. On the other hand, when the CPU 1212 determines that the driving of the dedicated vehicle 52B1 for camera has ended (step 408: Yes), the process ends. In addition, the situation where the CPU 1212 determines that the driving has ended refers to the situation where the dedicated vehicle 52B1 for camera ends its driving according to the formulated driving plan, or the situation where the charging of the dedicated vehicle 52B1 for camera is interrupted, etc.

[0099] (Embodiment of the information processing device 14 of the vehicle robot 52)

[0100] Figure 11 An example of the hardware configuration of the computer 1200 that functions as the information processing device 14 is schematically shown. The program installed in the computer 1200 enables the computer 1200 to function as one or more "parts" of the device involved in this embodiment, or enables the computer 1200 to perform operations associated with the device involved in this embodiment or the one or more "parts", and / or enables the computer 1200 to execute the process involved in this embodiment or a stage of the process. Such a program can be executed by the CPU 1212 to enable the computer 1200 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.

[0101] The computer 1200 according to the present embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216 that are interconnected via a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive can be a DVD-ROM drive, a DVD-RAM drive, etc. The storage device 1224 can be a hard disk drive, a solid state drive, etc. The computer 1200 also includes a ROM 1230 and input / output units such as a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0102] The CPU 1212 operates according to programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 from a frame buffer or the like provided in the RAM 1214 or within itself, and causes the image data to be displayed on the display device 1218.

[0103] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 within the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to the IC card.

[0104] The ROM 1230 stores therein a boot program executed by the computer 1200 at startup, etc., and / or a program dependent on the hardware of the computer 1200. The input / output chip 1240 can also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, etc.

[0105] The program is provided by a computer-readable storage medium such as a DVD-ROM or an IC card. The program is read from the computer-readable storage medium, installed in the storage device 1224, the RAM 1214, or the ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200, and causes cooperation between the programs and the various types of hardware resources described above. The apparatus or method can be configured by operating or processing information according to the use of the computer 1200.

[0106] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into the RAM 1214 and command the communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in the transmission buffer provided in a recording medium such as the RAM 1214, the storage device 1224, the DVD-ROM, or the IC card, and transmits the read transmission data to the network, or writes the reception data received from the network into the reception buffer provided on the recording medium and the like.

[0107] In addition, the CPU 1212 may cause all or a necessary part of a file or a database stored in an external recording medium such as the storage device 1224, the DVD drive (DVD-ROM), the IC card, etc. to be read into the RAM 1214, and perform various types of processing on the data on the RAM 1214. Next, the CPU 1212 may write the processed data back to the external recording medium.

[0108] Various types of information such as various types of programs, data, tables, and databases may be stored in the recording medium to undergo information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214 and write the result back to the RAM 1214. The various types of processing include various types of operations, information processing, conditional judgment, conditional branch, unconditional branch, information retrieval / replacement, etc. described throughout this disclosure and specified by the instruction sequence of the program. In addition, the CPU 1212 may retrieve information in files, databases, etc. within the recording medium. For example, in the case where a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 1212 may retrieve an entry that matches the condition specifying the attribute value of the first attribute from the plurality of entries, and read the attribute value of the second attribute stored in the entry, thereby obtaining the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0109] The programs or software modules described above may be stored in a computer-readable storage medium on or near the computer 1200. In addition, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet may be used as the computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0110] The blocks in the flowcharts and block diagrams in the above-described embodiments may represent stages of a process of performing operations or "parts" of a device having the function of performing operations. Specific stages and "parts" may be implemented by dedicated circuits, programmable circuits supplied with computer-readable instructions stored on a computer-readable storage medium, and / or processors supplied with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuits may include digital and / or analog hardware circuits, and may also include integrated circuits (ICs) and / or discrete circuits. The programmable circuits may include reconfigurable hardware circuits such as, for example, field programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, logical exclusive OR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, and storage elements.

[0111] A computer-readable storage medium may include any tangible device capable of storing instructions executable by an appropriate device. As a result, a computer-readable storage medium having instructions stored therein has a product including the instructions that can be executed to generate a unit for performing the operations specified in the flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy (registered trademark) disks, magnetic disks, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disc read-only memories (CD-ROMs), digital versatile discs (DVDs), Blu-ray (registered trademark) disks, memory sticks, integrated circuit cards, etc.

[0112] Computer-readable instructions can include any one of assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or source code or object code described in any combination of one or more programming languages, the one or more programming languages including object-oriented programming languages such as Smalltalk (registered trademark), JAVA (registered trademark), C++, etc. and traditional procedural programming languages such as the "C" programming language or similar programming languages.

[0113] The computer-readable instructions can be provided locally or via a local area network (LAN), a wide area network (WAN) such as the Internet, etc. to the processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, causing the processor or programmable circuit of the general-purpose computer, special-purpose computer, or other programmable data processing device to execute the computer-readable instructions to generate units for performing the operations specified in the flowchart or block diagram. Examples of the processor include a computer processor, a processing unit, a microprocessor, a digital signal processor, a controller, a microcontroller, etc.

[0114] As described above, the technology of the present disclosure has been described using embodiments, but the technical scope of the present disclosure is not limited to the scope described in the above embodiments. Those skilled in the art should understand that various changes or improvements can be made to the above embodiments. As can be seen from the claims, embodiments with such changes or improvements can also be included in the technical scope of the present disclosure.

[0115] It should be noted that the execution order of each process such as the actions, sequences, steps, and stages in the devices, systems, programs, and methods shown in the claims, the specification, and the drawings is not particularly specified as "before...", "earlier than...", etc., or as long as the output of the previous process is not used in the subsequent process, it can be implemented in any order. Regarding the action flowcharts in the claims, the specification, and the drawings, even if they are described using "first", "then", etc. for convenience, it does not mean that they must be implemented in that order.

[0116] It should be noted that the disclosures of the following Japanese patent applications are hereby incorporated by reference in their entirety into this specification. In addition, all documents, patent applications, and technical standards described herein are incorporated by reference herein to the same extent as if each individual document, patent application, and technical standard were specifically and individually described as being incorporated by reference.

[0117] Japanese Patent Application No. 2022-168242, filing date: October 20, 2022; Japanese Patent Application No. 2022-188746, filing date: November 25, 2022; Japanese Patent Application No. 2022-188747, filing date: November 25, 2022; Japanese Patent Application No. 2022-193778, filing date: December 2, 2022; Japanese Patent Application No. 2022-212507, filing date: December 28, 2022

[0118] Description of Reference Numerals

[0119] 14 Information processing device; 50 Floor; 52 Cart robot; 54 Storage section; 52A High-speed cart; 52B Local cart; 56 Basket; 58 High-speed lane; 59 Standby lane; 60 Local lane; 62 Picking arm; 64 Transfer arm; 66 Receiving arm; 67 Storage section; 68 Docking station; 70 In-warehouse sensor group; 72 Vehicle body sensor group; 74 Arm sensor group; 80 Drone; 82 Sensor; 1200 Computer; 1210 Host controller; 1212 CPU; 1214 RAM; 1216 Graphics controller; 1218 Display device; 1220 Input / output controller; 1222 Communication interface; 1224 Storage device; 1230 ROM; 1240 Input / output chip.

Claims

1. A picking system, wherein, the picking system includes: a first cart, which has a first arm and travels on a first lane set outside a storage section containing goods; a second cart, which has a second arm and travels on a second lane set outside the first lane; and a picking control unit, which controls the first cart to pick up the goods with the first arm while traveling on the first lane and hand them over to the second cart, and the second cart to receive the goods picked up by the first cart with the second arm while traveling on the second lane and transport them to a predetermined position.

2. The picking system according to claim 1, wherein, the picking control unit controls the first cart and the second cart to travel in parallel while transferring the goods from the first cart to the second cart.

3. The picking system according to claim 1 or 2, wherein, the picking system further includes a generating unit, which generates a travel trajectory of the first cart based on the position of the goods to be picked up by the first cart and the position of the second cart to which the first cart should hand over the picked-up goods; the picking control unit controls based on the travel trajectory such that the first cart picks up the goods with the first arm while traveling on the first lane and hands them over to the second cart, and the second cart receives the goods picked up by the first cart with the second arm while traveling on the second lane and transports them to a predetermined position.

4. The picking system according to claim 3, wherein, the generating unit generates the travel trajectory based on the order of handing over the goods to the second cart.

5. The picking system according to claim 3, wherein, the generating unit generates the travel trajectory based on the size of the goods.

6. The picking system according to claim 2, wherein, the picking control unit controls such that a position where the speeds of the first cart and the second cart are equal and the distance between the first cart and the second cart is minimized is used as a handover position to transfer the goods from the first cart to the second cart.

7. The picking system according to claim 6, wherein, the handover position is a position within a range where the moving ranges of the first arm and the second arm overlap.

8. The picking system according to claim 1, wherein, the second cart has a storage section; the picking control unit controls the first cart to pick up the goods with the first arm while traveling on the first lane and hand them over to the second cart, and the second cart to receive the goods picked up by the first cart with the second arm while traveling on the second lane and store them in the storage section, and when the storage quantity in the storage section reaches a certain amount, the second cart leaves the second lane and a new second cart is replenished.

9. The picking system according to claim 8, wherein, multiple second carts travel on the second lane at equal intervals; The picking control unit controls to increase the inter-vehicle distance of multiple second carts and drive at equal intervals when the new second cart cannot be replenished.

10. A picking control device, wherein, the picking control device includes: a picking control unit that controls a first cart having a first arm and traveling on a first lane set outside a storage unit containing goods to pick up the goods with the first arm while traveling on the first lane and transfer them to a second cart, and a second cart having a second arm and traveling on a second lane set outside the first lane to receive the goods picked up by the first cart with the second arm while traveling on the second lane and transport them to a predetermined position.

11. The picking control device according to claim 10, wherein, it further includes a generation unit that generates a travel trajectory of the first cart based on the position of the goods to be picked up by the first cart and the position of the second cart to which the first cart should transfer the picked-up goods; the picking control unit controls based on the travel trajectory such that the first cart picks up the goods with the first arm while traveling on the first lane and transfers them to the second cart, and the second cart receives the goods picked up by the first cart with the second arm while traveling on the second lane and transports them to a predetermined position.

12. The picking control device according to claim 10, wherein, the picking control unit controls such that a second cart having a storage unit receives the goods picked up by the first cart with the second arm while traveling on the second lane and stores them in the storage unit, and when the storage quantity in the storage unit reaches a certain amount, it leaves the second lane and a new second cart is replenished.

13. A handling device, wherein, the handling device includes a storage unit for storing goods, an arm for operating the goods, and a first sensor for detecting external information, the handling device includes: an acquisition unit that acquires information of the first sensor mounted on other handling devices; and a control unit that controls to perform autonomous driving using the sensor information of the first sensor acquired in addition to the sensor information of the first sensor mounted on this device.

14. The handling device according to claim 13, wherein, as the first sensor, any one of a variety of devices including a camera for photographing the outside and a lidar for measuring the outside is mounted.

15. The handling device according to claim 13, wherein, the acquisition unit acquires sensor information of a second sensor provided in the area where the handling device travels; the control unit controls to perform autonomous driving using the sensor information of the second sensor in addition to the sensor information of the first sensor.

16. The handling device according to claim 13, wherein, the acquisition unit acquires sensor information of a third sensor mounted on a flying object flying in the area where the handling device travels; The control unit controls to perform autonomous driving using the sensor information of the third sensor in addition to the sensor information of the first sensor.

17. A handling system wherein the handling system includes a plurality of handling devices according to any one of claims 13 to 16, the handling device includes: a first cart traveling on a first lane and a second cart traveling on a second lane adjacent to the first lane, while the first cart travels on the first lane, the first cart picks up the goods with the arm of the first cart; while the second cart travels, the second cart receives and transports the goods picked up by the first cart with the arm of the second cart.

18. A picking control program wherein the picking control program causes a computer to execute a process including the following steps: A first cart having a first arm and traveling on a first lane set outside a housing portion containing goods picks up the goods with the first arm while traveling on the first lane and transfers them to a second cart. A second cart having a second arm and traveling on a second lane set outside the first lane receives the goods picked up by the first cart with the second arm while traveling on the second lane and transports them to a predetermined position.

19. The picking control program according to claim 18 wherein causes a computer to execute a process including the following steps: Based on the position of the goods to be picked up by the first cart and the position of the second cart to which the first cart should transfer the picked-up goods, generate a travel trajectory of the first cart; Based on the travel trajectory, control such that the first cart picks up the goods with the first arm while traveling on the first lane and transfers them to the second cart, and the second cart receives the goods picked up by the first cart with the second arm while traveling on the second lane and transports them to a predetermined position.

20. The picking control program according to claim 18 wherein causes a computer to execute a process including the following steps: The first cart picks up the goods with the first arm while traveling on the first lane and transfers them to the second cart. The second cart having a storage portion receives the goods picked up by the first cart with the second arm while traveling on the second lane and stores them in the storage portion. When the storage quantity in the storage portion reaches a certain amount, the second cart leaves the second lane and a new second cart is replenished.

21. A handling method wherein the handling method is a handling method based on a handling device, the handling device includes a housing portion for accommodating goods, an arm for operating the goods, and a first sensor for detecting external information, and the handling method causes a computer to execute the following process: Obtain the information of the first sensor mounted on another handling device; Control to perform autonomous driving using the sensor information of the first sensor obtained in addition to the sensor information of the first sensor mounted on the present device.

22. A handling program wherein The handling program is a handling program for controlling a handling device, the handling device including a housing portion for housing goods, an arm for operating the goods, and a first sensor for detecting external information, and the handling program causes a computer to perform the following processes: Obtain information of the first sensor mounted on another handling device; Control to perform autonomous driving using the sensor information of the first sensor obtained in addition to the sensor information of the first sensor mounted on the present device.

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