Picking system, cart robot, method, and program

Abstract

A computer-implemented method includes: a moving step for moving a cart robot (52) to a battery replacement station (80) when the amount of power of a drive battery (Bat) mounted on the cart robot (52) for transporting a cargo (56) is low; and a replacement step for replacing the battery replacement station (80) by moving the cart robot (52) to the battery replacement station (80) when the amount of power of the drive battery (Bat) is low. In the replacement step, a drive battery (Bat) of the cart robot (52) is replaced with a replacement battery (81) by a replacement robot (82) located in a battery replacement station (80).

Description

Technical Field

[0001] The disclosed technical solution relates to a picking system, a cart robot, a method, and a program. Background Art

[0002] In the past, in a picking system, a cart robot has been known which autonomously travels based on a predetermined goods collection plan and picks up goods from a shelf with an arm (for example, refer to Patent Document 1).

[0003] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2022-68557.

[0004] However, in the prior art, there is room for improvement in efficiently operating a picking system. Summary of the Invention

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a picking system, a cart robot, a method, and a program capable of efficiently operating a picking system.

[0006] A method according to one aspect of the technical solution is a method executed by a computer, including a moving process and a replacement process. In the moving process, when the remaining battery level of the drive battery mounted on the cart robot is low, the cart robot is moved to a battery replacement station, and the cart robot transports goods. In the replacement process, the drive battery of the cart robot is replaced with a replacement battery by a replacement robot located at the battery replacement station.

[0007] A cart robot according to one aspect of the technical solution includes a traveling vehicle body and a fixed frame. The traveling vehicle body has a cart capable of loading goods, and the fixed frame is provided on the frame of the cart, and an arm for performing the handover of the goods is fixed inside the cart.

[0008] A picking system according to one aspect of the technical solution includes a plurality of cart robots that pick up and transport goods and arrange the goods on a shelf from which the goods are picked up by the cart robots.

[0009] A picking system according to one aspect of the technical solution includes a first cart robot that moves along a low-speed lane and a second cart robot that moves faster than the first cart robot along a high-speed lane. The first cart robot picks up goods and transfers them to the second cart robot. The picking system is characterized by including a detection unit and a recovery robot. The detection unit detects the goods dropped from the first cart robot or the second cart robot, and the recovery robot recovers the goods detected by the detection unit.

[0010] A picking system according to one aspect of the technical solution includes a cart robot and a configuration robot. The cart robot picks up goods for transportation, and the configuration robot configures the goods on a shelf from which the cart robot picks up the goods.

[0011] A method according to one aspect of the technical solution is a computer-executed control method, including a collection process and a determination process. The collection process collects information, which includes the battery levels of multiple cart robots traveling in multiple lanes to transport goods. The determination process determines the charging priorities for the multiple cart robots respectively based on the information.

[0012] A picking system according to one aspect of the technical solution includes a sensor, a cart robot, and a control device. The sensor can detect information about the site. The cart robot has a traveling vehicle body and an arm. The traveling vehicle body has a cart capable of storing goods. The arm is mounted on the traveling vehicle body to transport goods. The control device obtains the nature of the goods based on the information detected by the sensor and executes the configuration control of the goods in the cart corresponding to the obtained nature of the goods.

[0013] A cart robot according to one aspect of the technical solution includes an arm, a traveling vehicle body, and a control device. The arm takes out goods from a storage unit. The traveling vehicle body is mounted with the arm and can carry the goods taken out by the arm. The control device controls the arm and the traveling vehicle body. The control device can execute a first taking-out mode and a second taking-out mode. In the first taking-out mode, while the traveling vehicle body is traveling, the arm takes out the goods from the storage unit. In the second taking-out mode, the traveling vehicle body stops and the arm takes out the goods from the storage unit. The taking-out mode is set to the first taking-out mode or the second taking-out mode based on the size of the goods, the configuration of the goods, and the length of the arm.

[0014] A cart robot according to one aspect of the technical solution includes an arm, a traveling vehicle body, and a control device. The arm conducts the handover of goods. The traveling vehicle body is mounted with the arm and can carry the goods. In the case of an abnormality in this device, the control device controls the traveling vehicle body to return to the base.

[0015] A cart robot according to one aspect of the technical solution includes multiple arms, a traveling vehicle body, and a control device. The multiple arms conduct the handover of goods. The traveling vehicle body is mounted with the arms and can carry the goods. The control device determines the number of arms for the handover according to the goods.

[0016] A cart robot according to one aspect of the technical solution includes an arm and a control device. The arm performs the handover of goods, and the control device determines the action speed of the arm for performing the handover of the goods according to the type of the goods.

[0017] A picking system according to one aspect of the technical solution includes a first cart robot and a second cart robot. The first cart robot has a first vehicle body capable of accommodating goods and moves along a first lane. The second cart robot has a second vehicle body capable of accommodating the goods and moves along a second lane located outside the first lane. While moving, the second cart robot receives the goods from the parallel first cart robot and accommodates them in the second vehicle body. The first vehicle body has a first opening at a position facing the parallel second vehicle body and has a first side wall capable of opening and closing the first opening. The second vehicle body has a second opening at a position facing the parallel first vehicle body and has a second side wall capable of opening and closing the second opening. The first side wall and the second side wall are opened, and the goods are transferred from the first vehicle body to the second vehicle body through the first opening and the second opening.

[0018] A picking system according to one aspect of the technical solution includes a first cart robot and a second cart robot. The first cart robot has a first vehicle body capable of accommodating goods and moves along a first lane. The second cart robot has a second vehicle body capable of accommodating the goods and moves along a second lane. While moving along the second lane, the second cart robot receives the goods from the first cart robot and accommodates them in the second vehicle body. The second lane is a circular path and has a curved portion that bends outward from the circular path. The second vehicle body has an opening that opens inward to the second lane.

[0019] According to one aspect of the technical solution, the picking system can be efficiently operated. Description of the Drawings

[0020] Figure 1 It is a top view of the site of a warehouse applying the picking system of the first embodiment.

[0021] Figure 2 It is a perspective view of the cart robot of the first embodiment.

[0022] Figure 3 It is a control system block diagram of the information processing device of the first embodiment.

[0023] Figure 4 It is a control system block diagram of the control center of the first embodiment.

[0024] Figure 5 It is a control system block diagram of the robot control device of the first embodiment.

[0025] Figure 6 A flowchart for explaining the operation process related to battery replacement of the cart robot in the first embodiment.

[0026] Figure 7 A diagram schematically showing an example of the hardware configuration of a computer that functions as an information processing device.

[0027] Figure 8 A perspective view of the cart robot in the second embodiment.

[0028] Fig. 9 A schematic diagram of the cart robot in the second embodiment.

[0029] Fig.10 A schematic diagram showing an example of the configuration of the compressor in the second embodiment.

[0030] Fig.11 A perspective view showing another example of the cart robot in the second embodiment.

[0031] Fig.12 A top view of the site 50 of the warehouse applying the picking system in the third embodiment.

[0032] Fig.13 A diagram showing an example of the operation of the cart robot.

[0033] Fig.14 A flowchart for explaining the operation process of the picking system in the third embodiment.

[0034] Fig.15 A top view of the site of the warehouse applying the picking system in the fourth embodiment.

[0035] Fig.16 A perspective view of the recycling robot.

[0036] Fig.17 A flowchart showing the control program for the recycling process of the basket by the recycling robot.

[0037] Fig.18 A diagram showing an example of the operation of the recycling process of the basket by the recycling robot.

[0038] Fig.19 A diagram showing an example of the operation of the recycling process of the basket by the recycling robot.

[0039] Fig. 20 A diagram showing an example of the operation of the recycling process of the basket by the recycling robot.

[0040] Fig.21 A diagram showing an example of the situation where the recycled basket is returned to the storage unit.

[0041] Fig. 22 A diagram showing an example of a recycling robot following a second cart robot.

[0042] Fig.23 A top view of the site of a warehouse for a picking system applying the fifth embodiment.

[0043] Fig.24 A diagram showing an example of the actions of a configured robot.

[0044] Fig.25 A flowchart for explaining the action process of the picking system of the fifth embodiment.

[0045] Fig.26 A diagram showing an example of information collected by the control center of the sixth embodiment.

[0046] Fig. 27 A flowchart showing the process of controlling the charging of the cart robot of the sixth embodiment.

[0047] Fig.28 A diagram showing an example of the configuration of the basket in the cart (part 1).

[0048] Fig.29 A diagram showing an example of the configuration of the basket in the cart (part 2).

[0049] Fig.30 A diagram showing an example of the configuration of the basket in the cart (part 3).

[0050] Fig.31 A diagram showing an example of the configuration of the basket in the cart (part 4).

[0051] Fig.32 A diagram showing an example of speed control according to the nature of the goods (part 1).

[0052] Fig.33 A diagram showing an example of speed control according to the nature of the goods (part 2).

[0053] Fig.34 A diagram showing an example of speed control according to the nature of the goods (part 3).

[0054] Fig.35 A diagram showing an example of a monitoring cart for monitoring the goods collection status using a monitoring storage unit.

[0055] Fig.36 A flowchart for explaining the action process of the cart robot of the seventh embodiment.

[0056] Fig.37 A top view of the site of a warehouse for a picking system applying the eighth embodiment.

[0057] Fig.38 Flowchart for explaining the operation processing of the local cart in the eighth embodiment.

[0058] Fig.39 Top view of the site of the warehouse applying the picking system of the ninth embodiment.

[0059] Fig.40 Flowchart for explaining the operation processing of the cart robot in the ninth embodiment.

[0060] Fig.41 Stereogram of the cart robot in the tenth embodiment.

[0061] Fig.42 Flowchart for explaining the operation processing of the cart robot in the tenth embodiment.

[0062] Fig.43 Diagram showing an example of arm information.

[0063] Fig.44 Flowchart for explaining the operation processing of the cart robot in the eleventh embodiment.

[0064] Fig.45 Top view of the site of the warehouse applying the picking system of the twelfth embodiment.

[0065] Fig.46 Stereogram of the first cart robot.

[0066] Fig.47 Stereogram of the second cart robot.

[0067] Fig.48 Schematic diagram showing a configuration example of the first vehicle body.

[0068] Fig.49 Schematic diagram showing a configuration example of the second vehicle body.

[0069] Fig.50 Flowchart showing the control program for the basket picking process performed by the first cart robot.

[0070] Fig.51 Diagram showing an example of the operation of the basket handover method in the twelfth embodiment.

[0071] Fig.52 Diagram showing an example of the operation of the basket handover method in the twelfth embodiment.

[0072] Fig.53 Diagram showing an example of the operation of the basket handover method in the twelfth embodiment.

[0073] Fig.54Schematic diagram showing a configuration example of the first vehicle body according to the thirteenth embodiment.

[0074] Fig.55 Schematic diagram showing a configuration example of the first vehicle body according to the fourteenth embodiment.

[0075] Fig.56 Diagram showing a configuration example of the second vehicle body according to the fourteenth embodiment.

[0076] Fig.57 Diagram showing an operation example of the basket transfer method according to the fourteenth embodiment.

[0077] Fig.58 Diagram showing an operation example of the basket transfer method according to the fourteenth embodiment.

[0078] Fig.59 Diagram showing an operation example of the basket transfer method according to the fourteenth embodiment.

[0079] Fig.60 Diagram for explaining the opening / closing method of the second opening according to the fifteenth embodiment.

[0080] Fig.61 Schematic diagram showing a configuration example of the second vehicle body according to the sixteenth embodiment. Detailed Embodiments

[0081] Hereinafter, the present invention will be described by way of embodiments. However, the following embodiments do not limit the invention defined in the claims. In addition, the combinations of the features described in the embodiments are not necessarily all essential for the embodiments of the invention.

[0082] <First Embodiment>

[0083] Figure 1 Top view of the site 50 of the warehouse to which the picking system of the present embodiment is applied. In addition, the picking system is an example of the system of the embodiment.

[0084] The picking operation refers to the work of collecting (picking up) the required items (goods). Picking employees play an indispensable role in order to ship the items in the warehouse, and are therefore arranged in various types of warehouses. In addition, the picking employees are robots with arms. In the present embodiment, the picking employees are cart robots 52. The picking employees include humanoid robots.

[0085] For example, the main work of the picking employees is to collect the designated items based on a pre-instructed list or order and deliver the collected items to the inspector or packer. The larger the warehouse scale, the more diverse and numerous the types and quantities of the stored items, so a large number of picking employees move within the site 50.

[0086] In Figure 1The site 50 shown is provided with a control center 1. The control center 1 controls the entire site 50. The control center 1 creates a collection list of goods collected by each cart robot 52, creates a movement route, etc., and controls each cart robot 52 based on the various information created.

[0087] In addition, the site 50 is provided with a storage section (warehouse, shelves, etc.) 54 where a plurality of baskets 56 are stored. The baskets 56 are items (goods) collected through picking operations. The cart robot 52 moves around the storage section 54. The main task of the cart robot 52 is the handover of the baskets 56, and it is divided into a Fast Track Cart 52A (high-speed cart 52A) that moves along the Fast Lane 58 (high-speed lane 58) as the movement path, and a Local Track Cart 52B (local cart 52B) that moves along the Local Picking Lane 60 (local lane 60) as the movement path. In addition, the local lane 60 is a lane where the cart robot 52 travels at a lower speed compared to the high-speed lane 58. Therefore, in some cases, the local lane 60 is also referred to as the low-speed lane 60.

[0088] The cart robot 52 performs the handover of the baskets 56. The handover includes taking out the baskets 56 from the storage section 54. In addition, the cart robot 52 is driven by a driving battery Bat. The driving battery Bat is a secondary battery that can be repeatedly charged and discharged.

[0089] The local lane 60 is the inner lane within the site 50, in other words, it is a lane set outside the storage section 54. The local cart 52B picks up the baskets 56 from the storage section 54 while driving in a meandering manner to approach or move away from the storage section 54 and while temporarily decelerating or stopping. In addition, the travel of the local cart 52B is not limited to meandering travel.

[0090] The high-speed lane 58 is the outer lane within the site 50, in other words, it is a lane set outside the local lane 60. For example, it travels continuously at a speed of 20 Km / h and receives the baskets 56 from the local cart 52B moving on the local lane 60.

[0091] As a series of operations, for example, after the local cart 52B on the local lane 60 picks up the baskets 56, it hands over the baskets 56 to the high-speed cart 52A continuously while traveling parallel to the high-speed cart 52A in a baton-relay manner at a speed of 20 Km / h with the outer high-speed lane 58. In addition, the handover of the baskets 56 between the local cart 52B and the high-speed cart 52A can also be performed in a state where each cart 52 is stopped.

[0092] In the site 50, a Docking Station 68 (docking station 68) is correspondingly arranged with the storage unit 54. The docking station 68 is the convergence point of the high-speed lane 58 and the local lane 60.

[0093] In the docking station 68, for example, it is equipped with 20 arms and has the function of receiving the basket 56 from the high-speed lane 58.

[0094] In the docking station 68, the high-speed cart 52A is temporarily decelerated to, for example, a speed of 2 km / h, and after handing over the basket 56 within one minute, for example, it accelerates again.

[0095] In the site 50, a set of in-warehouse sensors 70 including cameras and LiDAR is arranged on the ceiling or wall.

[0096] These in-warehouse sensors 70 continuously measure the inter-vehicle distance and speed of the high-speed cart 52A and the local cart 52B. The in-warehouse sensors 70 include at least one of the highest-performance cameras, solid-state LiDAR (light detection and ranging), multi-color laser coaxial displacement gauges, or various other sensors. In addition, the in-warehouse sensors 70 may include vibration meters, thermal imagers, hardness meters, radars, LiDAR, high-pixel / long-focus / ultra-wide-angle / 360-degree / high-performance cameras, visual recognition, subtle sounds, ultrasounds, vibrations, infrared rays, ultraviolet rays, electromagnetic waves, temperature, humidity, fixed-point AI weather forecasts, high-precision multi-channel GPS, low-orbit satellite information, and long-tail event artificial intelligence data, etc. The in-warehouse sensors 70 may include multiple sensors.

[0097] In addition to the above information, the in-warehouse sensors 70 can also detect images, distances, vibrations, heat, odors, colors, sounds, ultrasounds, ultraviolet rays, or infrared rays, etc. In addition, as the information detected by the in-warehouse sensors 70, the detection of the center-of-gravity movement of the cart robot 52, the detection of the material of the floor where the cart robot 52 is installed, the detection of the outdoor air temperature, the detection of the outdoor humidity, the detection of the inclination angle of the floor in all directions, and the detection of the moisture content, etc. can be cited. The in-warehouse sensors 70 perform these detections, for example, every nanosecond.

[0098] Each measured piece of information is used as information for controlling the cart robot 52. For example, each measured piece of information is used as information for synchronizing the high-speed cart 52A and the local cart 52B with each other.

[0099] A battery replacement station 80 is set at the site 50. The battery replacement station 80 is a base station for replacing the driving batteries of each cart robot 52. The battery replacement station 80 has a plurality of replacement batteries 81 and a replacement robot 82.

[0100] The multiple replacement batteries 81 are batteries for replacing the driving battery of the cart robot 52. For example, the batteries charged at the battery replacement station 80. The replacement robot 82 is a robot that replaces the driving battery of each cart robot 52 that has moved to the battery replacement station 80 with a fully charged replacement battery 81.

[0101] For example, the replacement robot 82 charges the replaced driving battery at the battery replacement station 80. That is, the driving battery is utilized as the replacement battery 81 after being charged.

[0102] The cart robot 52 is as Figure 2 shown, and includes a traveling body 10, an arm 11, a sensor 12, a driving battery Bat, and an information processing device (refer to Figure 3 ). Figure 2 A perspective view of the cart robot 52 according to the embodiment. In addition, the cart robot 52 described below is applied to at least one of the high-speed cart 52A and the local cart 52B.

[0103] The traveling body 10 is formed, for example, in a box shape with an open top. The traveling body 10 can carry a basket 56. A plurality of drive wheels 10a are provided on the traveling body 10. Motors are respectively provided at each of the drive wheels 10a. The rotational speed of each drive wheel 10a is adjusted by the motor. The traveling body 10 can travel in the front-rear direction, left-right direction, and diagonal direction by adjusting the rotational speed of each drive wheel 10a. In addition, the traveling body 10 can rotate 360 degrees by adjusting the rotational speed of each drive wheel 10a.

[0104] The arm 11 is mounted on the traveling body 10. The base end portion of the arm 11 is mounted on the traveling body 10, whereby the arm 11 is fixed to the traveling body 10. One arm 11 is provided relative to the traveling body 10. That is, the cart robot 52 includes one arm 11. The arm 11 is mounted on the rear side of the traveling body 10. For example, the arm 11 is mounted at the rear end of the traveling body 10. The arm 11 is mounted near the middle in the left-right direction of the traveling body 10.

[0105] The arm 11 has a plurality of rod-shaped portions 11a and a plurality of joint portions 11b. The joint portions 11b are provided, for example, between two rod-shaped portions 11a and can relatively rotate the two rod-shaped portions 11a. Each joint portion 11b has a motor. By means of each joint portion 11b, the rod-shaped portions 11a rotate relative to each other, whereby the arm 11 can extend and retract and rotate 360 degrees.

[0106] A gripping portion 11c for gripping the basket 56 is provided at the distal end portion of the arm 11. The gripping portion 11c grips the basket 56 by suction, for example. In addition, the cart robot 52 may have a plurality of arms 11, and the gripping portion 11c may be a so-called robot arm (robot hand).

[0107] The sensor 12 is installed on the traveling vehicle body 10. The sensor 12 is provided on the front side of the traveling vehicle body 10. For example, the sensor 12 is provided at the front end of the traveling vehicle body 10. The sensor 12 is provided at the upper end of the traveling vehicle body 10. The sensor 12 may also be provided to protrude upward from the traveling vehicle body 10. The sensor 12 is installed near the middle in the left - right direction of the traveling vehicle body 10. For example, the arm 11 and the sensor 12 are arranged at opposite positions of the traveling vehicle body 10. The type of the sensor 12 is the same as that of the in - warehouse sensor group 70. The sensor 12 may include a plurality of sensors.

[0108] The drive battery Bat is a battery that serves as the power source of the cart - type robot 52. The drive battery Bat is detachably mounted on the traveling vehicle body 10. In the present embodiment, when the remaining battery level of the drive battery Bat is low, it is replaced with a replacement battery 81 that is fully charged at the battery replacement station 80. Therefore, the drive battery Bat is a relatively inexpensive low - capacity secondary battery.

[0109] The information processing device 15 (control device) as Figure 3 shown, includes an information acquisition unit 150, a control unit 152, and an information storage unit 154. Figure 3 is a control system block diagram of the information processing device 15 of the embodiment.

[0110] The information acquisition unit 150 acquires the information detected by the sensor 12. The information acquisition unit 150 acquires the information detected by the in - warehouse sensor group 70. The information acquisition unit 150 acquires the information related to the remaining battery level of the drive battery Bat. The information acquisition unit 150 acquires the signal sent from an instruction device (such as the control center 1) that indicates the operation of the cart - type robot 52, etc.

[0111] The control unit 152 controls the operations of the arm 11 and the traveling vehicle body 10 based on the signal sent from the instruction device, etc., and acquired by the information acquisition unit 150.

[0112] The control unit 152 controls the operation of the arm 11 using the information acquired by the information acquisition unit 150 and artificial intelligence. The control unit 152 controls the motors of the respective joint portions 11b of the arm 11. The control unit 152 controls the operation of the arm 11 using the information detected by the sensor 12 and the in - warehouse sensor group 70.

[0113] In addition, the control unit 152 controls the operation of the traveling vehicle body 10 using the information acquired by the information acquisition unit 150 and artificial intelligence. The control unit 152 controls the motors of the respective drive wheels 10a of the traveling vehicle body 10. The control unit 152 controls the operation of the traveling vehicle body 10 using the information detected by the sensor 12 and the in - warehouse sensor group 70.

[0114] In addition, the control unit 152 detects a decrease in the battery level of the drive battery Bat based on the information related to the battery level of the drive battery Bat acquired by the information acquisition unit 150. In addition, the detection of the decrease in the battery level can be performed by the control center 1.

[0115] When the control unit 152 detects a decrease in the battery level of the drive battery Bat, it causes the cart robot 52 to move toward the battery replacement station 80. In addition, regarding the movement route and the movement timing to the battery replacement station 80, it can be based on the instruction of the control center 1. Additionally, the control unit 152 can also cause the cart robot 52 to move toward the battery replacement station 80 based on the predicted battery level. For example, the control unit 152 can cause the cart robot 52 to move toward the battery replacement station 80 when a preset time has elapsed after replacing the drive battery Bat, or when a travel distance has been reached.

[0116] The information storage unit 154 is implemented by a storage medium such as a semiconductor storage element like a RAM random access memory, a flash memory, etc. The information storage unit 154 stores various programs executed by the control unit 152. The information storage unit 154 stores the information acquired by the information acquisition unit 150.

[0117] Next, Figure 4 A configuration example of the control center 1 will be described. Figure 4 It is a control system block diagram of the control center 1 of the embodiment. The control center 1 is as Figure 4 shown and includes an information acquisition unit 101, a control unit 102, and an information storage unit 103.

[0118] The information acquisition unit 101 acquires information related to the order list. The information acquisition unit 101 acquires information related to the status of each cart robot 52 from each cart robot 52. The information related to the status includes the task being executed, the battery level, etc. The information acquisition unit 101 acquires the information detected by the warehouse sensor group 70.

[0119] The control unit 102 uses the information acquired by the information acquisition unit 101 and artificial intelligence to control the actions of each cart robot 52. For example, the control unit 102 creates a picking list, creates a movement route, etc. for each cart robot 52. Additionally, the control unit 102 detects a decrease in the battery level of the cart robot 52.

[0120] When the control unit 102 detects a decrease in the battery level of the cart robot 52, it causes the cart robot 52 to move toward the battery replacement station 80. In addition, the cart robot 52 can also move autonomously toward the battery replacement station 80.

[0121] The information storage unit 103 is implemented by a storage medium such as a semiconductor storage element such as a RAM (Random Access Memory) or a flash memory. The information storage unit 154 stores various programs executed by the control unit 102. The information storage unit 103 stores the information acquired by the information acquisition unit 101.

[0122] Next, Figure 5 A control system block diagram of the replacement robot 82 will be described. Figure 5 This is a control system block diagram of the robot control device of the embodiment. The robot control device 83 that controls the replacement robot 82 is as Figure 5 shown, and includes an information acquisition unit 84, a control unit 85, and an information storage unit 86.

[0123] When the cart robot 52 arrives at the battery replacement station 80, the information acquisition unit 84 acquires an arrival notification. In addition, the information acquisition unit 84 acquires information related to the charging state of the replacement battery 81 being charged at the battery replacement station 80.

[0124] The control unit 85 controls the arm etc. of the replacement robot 82 to replace the drive battery Bat of the cart robot 52 that has arrived at the battery replacement station 80 with the replacement battery 81 that has completed charging. In addition, the control unit 85 charges the replaced drive battery Bat at the battery replacement station 80.

[0125] The information storage unit 86 is implemented by a storage medium such as a semiconductor storage element such as a RAM (Random Access Memory) or a flash memory. The information storage unit 86 stores various programs executed by the control unit 85. The information storage unit 86 stores the information acquired by the information acquisition unit 84.

[0126] Next, Figure 6 a flowchart will be used to describe a series of action processes related to the battery replacement of the embodiment. Figure 6 This is a flowchart for explaining the action process related to the battery replacement of the cart robot 52 of the embodiment.

[0127] The information processing device 15 of the cart robot 52 detects that the battery level of the drive battery Bat mounted on the cart robot 52 is low (S100). The information processing device 15 moves the cart robot 52 to the battery replacement station 80 (S101).

[0128] The robot control device 83 of the replacement robot 82 replaces the drive battery Bat with the replacement battery 81 using the replacement robot (step S102). The information processing device 15 of the cart robot 52 resumes the operation performed by the cart robot 52 (S103).

[0129] The robot control device 83 of the replacement robot 82 charges the replacement driving battery Bat (S104). In addition, the subject matter of S101 to S104 may be the control center 1.

[0130] As described above, the system of the embodiment includes the cart robot 52 and the replacement robot 82. The cart robot 52 transports goods, and when the battery level of the driving battery Bat mounted on the cart robot 52 is low, the replacement robot 82 replaces the driving battery of the cart robot 52 with a replacement battery at the battery replacement station 80. Therefore, according to the system of the embodiment, it is possible to use a small-capacity battery as the driving battery of the cart robot 52 while achieving long-term unmanned operation.

[0131] Figure 7 A diagram schematically showing an example of the hardware configuration of the computer 1200 that functions as the information processing device 15. The program installed in the computer 1200 enables the computer 1200 to function as one or more "units" of the device of the present embodiment, or enables the computer 1200 to perform operations associated with the device of the present embodiment or the one or more "units", and / or enables the computer 1200 to execute the process of the present embodiment or a stage of the process. Such a program can be executed by the CPU 1212 in order to make the computer 1200 perform specific operations associated with several or all of the blocks in the flowcharts and block diagrams described in this specification.

[0132] The computer 1200 of the present embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216, which are connected to each other through a main 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 main controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive, a DVD-RAM drive, or the like. The storage device 1224 may be a hard disk drive, a solid state drive, or the like. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0133] The CPU 1212 operates according to the programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires the image data generated by the CPU 1212 in a frame buffer or the like provided in the RAM 1214 or itself, and the image data is displayed on the display device 1218.

[0134] 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 an IC card.

[0135] The ROM 1230 stores therein a boot program and the like executed by the computer 1200 at activation and / or a program dependent on the hardware of the computer 1200. The input / output chip 1240 can also connect various input / output components to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, etc.

[0136] 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 or installed in the storage device 1224, the RAM 1214, or the ROM 1230, which are also examples of computer-readable storage media, and is executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 to achieve cooperation between the program and the above various types of hardware resources. A device or method can be constituted by performing operations or processing of information according to the use of the computer 1200.

[0137] For example, in the case of performing communication between the computer 1200 and an external device, the CPU 1212 can execute a communication program loaded in the RAM 1214 and command communication processing for the communication interface 1222 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, transmits the read transmission data to the network, or writes the received data received from the network to the reception buffer provided on the recording medium, etc.

[0138] In addition, the CPU 1212 can read all or a required part of a file or database stored in an external recording medium such as the storage device 1224, the DVD drive (DVD-ROM), the IC card, etc. in the RAM 1214 and perform various types of processing on the data on the RAM 1214. The CPU 1212 can then write the processed data back to the external recording medium.

[0139] Various types of information such as programs, data, tables, and databases are stored in a recording medium, and information processing can be accepted. The CPU 1212 can perform various types of processing on the data read from the RAM 1214 and write the results back to the RAM 1214. The above-mentioned various types of processing include various types of operations, information processing, conditional judgments, conditional branches, unconditional branches, information retrieval / replacement, etc. specified by the instruction sequence of the program described anywhere in the present disclosure. In addition, the CPU 1212 can retrieve information in files, databases, etc. in the recording medium. For example, when there are a plurality of entries in the recording medium each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 can 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 preset condition.

[0140] The above-mentioned program or software module can 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 can be used as a computer-readable storage medium, and thus the program can be provided to the computer 1200 via the network.

[0141] The blocks in the flowcharts and block diagrams in the present embodiment can represent stages of a process of performing operations or "parts" of a device having a function of performing operations. Specific stages and "parts" can be implemented by dedicated circuits, programmable circuits provided together with computer-readable instructions stored on a computer-readable storage medium, and / or processors provided together with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit can include both digital and / or analog hardware circuits and can include integrated circuits (ICs) and / or discrete circuits. The programmable circuit can include, for example, reconfigurable hardware circuits such as field programmable gate arrays (FPGAs) and programmable logic arrays (PLAs) that include logical AND, logical OR, logical XOR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, and storage elements.

[0142] A computer-readable storage medium may include any tangible device that can store instructions executable by an appropriate device. As a result, a computer-readable storage medium having instructions stored therein will embody a product that includes instructions executable to create a scheme for performing the operations specified in a 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, and the like. More specific examples of computer-readable storage media may include floppy disks (registered trademark), magnetic disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray disc (registered trademark), memory stick, integrated circuit card, and the like.

[0143] Computer-readable instructions may include either source code or object code described in any combination of one or more programming languages, including assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or object-oriented programming languages such as Smalltalk (registered trademark), JAVA (registered trademark), C++, and existing procedural programming languages such as the "C" programming language or similar programming languages.

[0144] Regarding computer-readable instructions, to enable a processor of a general-purpose computer, special-purpose computer, other programmable data processing device, or programmable circuit to generate a scheme for performing the operations specified in a flowchart or block diagram, the computer-readable instructions should be executed and can be provided to the processor or programmable circuit of the general-purpose computer, special-purpose computer, or other programmable data processing device locally or via a wide area network (WAN) such as a local area network (LAN) or the Internet. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

[0145] <Second Embodiment>

[0146] Next, the second embodiment will be described. In addition, in the second embodiment, descriptions of parts that overlap with the first embodiment will be omitted. Figure 8 It is a perspective view of the cart robot of the second embodiment. For example, the cart robot 52 operates in the site of a warehouse where a picking system is applied. As Figure 8As shown, the cart robot 52 includes a traveling vehicle body 10, an arm 11, a sensor 12, a fixed frame 20, and an information processing device 15. The traveling vehicle body 10 has, for example, a cart 10b formed in a box shape with an open top. A plurality of drive wheels 10a are provided on the traveling vehicle body 10.

[0147] The arm 11 performs the transfer of goods. The base end portion of the arm 11 is fixed to the traveling vehicle body 10 via the fixed frame. Two arms 11 are provided with respect to the traveling vehicle body 10. That is, the cart robot 52 is a dual-arm robot having two arms 11. In addition, the number of arms 11 is not limited to two.

[0148] Each joint portion 11b of the arm 11 has an actuator such as a motor. By means of each joint portion 11b, the rod-shaped portion 11a rotates relatively, whereby the arm 11 can extend and retract and rotate 360 degrees.

[0149] The gripping portion 11c for gripping goods is, for example, a suction cup and grips the goods by suction of a compressor 30 described later. In addition, the gripping portion 11c can be a so-called robot hand.

[0150] The cart robot 52 grips the goods by means of the gripping portions 11c provided on the two arms 11 respectively. That is, the cart robot 52 grips the goods at two positions, whereby the transfer of the goods can be stably performed.

[0151] However, in the past, cart robots with longer arms were operating in the warehouse. Correspondingly, the actuators for driving the arms were subject to higher loads. In addition, in the warehouse, sometimes the design of the shelves and the like is based on the operations of pickers performing picking operations, making it convenient for humans to operate. In such a warehouse, designing the cart robot according to the shelves designed for humans can achieve the efficiency of the picking operation.

[0152] Against this background, the cart robot 52 of the embodiment is designed to fix the arm 11 to the cart via the fixed frame 20. That is, the cart robot 52 can shorten the length of the arm 11 compared to the conventional arm by adjusting the height at which the arm 11 is fixed by the fixed frame 20, the width between the arms 11, and the like.

[0153] The fixed frame 20 is provided on the frame of the cart 10b and fixes the arm 11 for performing the transfer of goods to the inside of the cart. In addition, the inside of the cart means that, in a top view, the base end portion of the arm 11 is located inside compared to the outer frame of the cart 10b.

[0154] As Figure 8 shown, the fixed frame 20 is provided on the side observed from the forward direction (front) of the traveling vehicle body 10b, and fixes the arm 11 to perform the transfer of goods on the opposite side.

[0155] That is, in Figure 8 In the example shown, when observed from the forward direction (frontward) of the traveling vehicle body 10, the fixed frame 20 is provided on the right side, and the arm 11 is arranged to take out the goods from a shelf (not shown) located on the left side and place them in the cart.

[0156] That is to say, the cart robot 52 sets the fixed frame 20 on one side of the cart 10b and makes the arm 11 operate on the opposite side thereof. Thereby, it is possible to pick up and place the goods of the cart 10b without the arm 11 bearing the goods.

[0157] In addition, with such a structure, the cart robot 52 can set the arm 11 to the minimum necessary, and can efficiently carry the goods (commodities, products, etc.) on the shelf located on the side opposite to the fixed frame 20 into the cart.

[0158] In addition, since the arm 11 is fixed to the traveling vehicle body 10 via the fixed frame 20, an arm with a low market price can be used. That is to say, since there is no need to use an arm designed for the traveling vehicle body 10, the cost related to the arm 11 can be reduced.

[0159] The fixed frame 20 includes a first support column 20a, a second support column 20b, a fixing rod 20c, and a reinforcing rod 20d. The first support column 20a and the second support column 20b are rod-shaped members that support the fixing rod 20c and the arm 11 fixed to the fixing rod 20c.

[0160] The first support column 20a is fixed to the corner of the frame of the cart 10b. When observed from the forward direction of the traveling vehicle body 10, the second support column 20b is fixed to the side from the center of the frame toward the corner. In addition, the corner refers to the corner (four corners) of the frame and its periphery. That is, the first support column 20a can be fixed to the corner of the frame of the cart 10b, or can be fixed to the periphery of the corner.

[0161] In addition, the first support column 20a and the second support column 20b are fixed upward with respect to the frame of the cart in a state of being inclined to the inside of the cart 10b as described later, and the fixing rod 20c and the reinforcing rod 20d are connected to the ends.

[0162] The fixing rod 20c is a rod-shaped member for fixing the arm 11. As described above, the fixing rod 20c is supported by the first support column 20a and the second support column 20b, and its state is further reinforced by the reinforcing rod 20d.

[0163] For example, the arm 11 is fixed to the fixing rod 20c by a predetermined fixing member such as a clamp. The reinforcing rod 20d is a rod-shaped member for reinforcing the strength of the first support column 20a, the second support column 20b, and the fixing rod 20c.

[0164] The reinforcing bar 20d is horizontally arranged to fix two pairs of first struts 20a, second struts 20b, and fixing bar 20c. Thereby, even when the arm 11 holds a heavy load, the arm 11 can operate in a stable state.

[0165] In addition, in Figure 8 the example, for two pairs of first struts 20a, second struts 20b, and fixing bar 20c, a case of reinforcing with two pairs of reinforcing bars 20d is shown, but it is not limited thereto. For example, in addition to the first struts 20a and second struts 20b, the number of struts can be further increased, and the number of reinforcing bars 20d can also be increased or decreased.

[0166] For example, the first strut 20a, second strut 20b, fixing bar 20c, and reinforcing bar 20d are each a metallic rod shape, but they can also be components formed of plastic or resin. In addition, the first strut 20a and second strut 20b can be detachably fixed to the cart 10b, for example, by clamps or screw fixation, or can be fixed to the cart 10b by welding or the like. Furthermore, the fixing frame 20 can be integrally formed with the cart 10b. In addition, as described later, the reinforcing bar 20d is not necessarily required.

[0167] Next, Fig. 9 the fixing height of the fixed arm 11 and the fixing interval of the arm 11 will be described. Fig. 9 is a schematic diagram of the cart robot 52 of the embodiment. Figure 2 simplifies and shows the cart robot 52 observed from the left - right direction.

[0168] As Fig. 9 shown, in the cart robot 52, the fixing height h at which the arm 11 is fixed by the fixing frame 20 and the fixing width w of the arm 11 can be adjusted. For example, the fixing width w and the fixing height h are respectively values designed based on the average shoulder height of the operator performing the picking operation and the greatest common divisor of human shoulder widths.

[0169] More specifically, the fixing width w is a value set according to the greatest common divisor of the average shoulder widths of the operators. For example, the fixing width w is approximately 50 cm. In addition, the fixing height h is set to the greatest common divisor value of the average shoulder height of the operators. For example, when it is assumed that the operator performs the operation in a standing posture, the fixing height h is approximately 150 cm. In addition, for example, when it is assumed that the operator performs the operation in a forward - leaning posture, the fixing height h is, for example, approximately 90 cm.

[0170] In addition, when it is assumed that the operator performs the picking operation in an upright position and when it is assumed that the operator performs the picking operation in a forward - leaning posture, the fixing height h is designed to be different values.

[0171] In particular, in the case where the operator is assumed to perform the picking operation in a forward-leaning posture to design the shelf and the like, the fixed width w is designed according to the value of the operator's forward-leaning posture. That is, in this case, by fixing the frame 20, the arm 11 assumes a shape imitating the forward-leaning posture of the operator.

[0172] In particular, in an old-fashioned warehouse where a cart robot is not assumed to be introduced, the warehouse is designed according to the operator who performs the picking operation. In this regard, the cart robot 52 of the embodiment is expected to improve the operation efficiency in the old-fashioned warehouse designed according to the operator because it can operate with the same operation feeling as the operator.

[0173] As described above, the fixed frame 20 and the arm 11 of the cart robot 52 are arranged asymmetrically left and right with respect to the traveling vehicle body 10. Therefore, for example, when lifting a heavy load with the arm 11, the cart robot 52 has a risk of posture collapse.

[0174] In response to this, the cart robot 52 is provided with, for example, a gripping portion 11c as a suction cup, and the gripping portion 11c operates by means of a compressor. That is, when the suction cup is adopted for the gripping portion 11c, the compressor will be mounted on the cart robot 52, but in the cart robot 52, the compressor is used as a balancer.

[0175] Fig.10 It is a schematic diagram showing a configuration example of the compressor of the embodiment. As Fig.10 shown, the cart robot 52 arranges the compressor 30 below the fixed frame 20. That is, in this case, even when holding a heavy load with the arm 11, since the compressor 30 functions as a balancer, it is possible to prevent the cart robot 52 from tipping over and the like.

[0176] In addition, although the case where the compressor 30 is utilized as a balancer is shown, the balancer can be the battery of the cart robot 52, and in addition to this, a counterweight can also be mounted.

[0177] However, although the case where the strength of the fixed frame 20 is strengthened by the reinforcing bar 20d has been described, the above-described cart robot 52 is not limited thereto. As Fig.11 shown, the reinforcing bar 20d is not necessarily required.

[0178] Fig.11 It is a perspective view showing another example of the cart robot of the second embodiment. As Fig.11 shown, in the cart robot 52, the fixed frame 20 is fixed to the frame in the front-rear direction of the cart 10b, and the arm 11 is fixed to the end of the fixed frame 20.

[0179] The fixed frames 20 are each fixed in a state inclined toward the cart 10b. At this time, the height of the ends of the fixed frames 20 and the distance between the ends of the fixed frames 20 are designed based on, for example, the average shoulder height of the operators and the average shoulder width of the operators.

[0180] That is, in the cart robot 52, a relatively short arm 11 can also be adopted. Further, the arm 11 can be made to move in a state imitating the posture of an operator. Therefore, it is possible to reduce the load on the actuator and improve the efficiency of the picking operation.

[0181] The cart robot 52 includes a traveling vehicle body 10 and a fixed frame 20. The traveling vehicle body 10 has a cart 10b on which goods can be placed. The fixed frame 20 is provided on the frame of the cart 10b, and the arm 11 for transferring goods is fixed inside the cart 10b.

[0182] Thus, the cart robot 52 can shorten the amount of the fixed frame 20 of the arm 11, so that the load on the actuator that moves the arm 11 can be reduced. In addition, the cart robot 52 can use a highly versatile arm that does not depend on the shape of the cart 10b, so that the cost related to the arm 11 can be reduced.

[0183] In addition, the fixed frame 20 fixes a plurality of arms at intervals designed based on the shoulder width of a human, and fixes the arms at a height designed based on the shoulder height of a human. Thus, the cart robot 52 can improve the efficiency of the picking operation in a warehouse or the like.

[0184] In addition, when viewed from the advancing direction of the traveling vehicle body 10b, the fixed frame 20 is provided on one side, and the fixed arm 11 transfers goods on the opposite side. Thus, the cart robot 52 can pick up and place the goods of the cart 10b without burdening the arm 11 with the goods.

[0185] The fixed frame 20 is composed of a first support column 20a fixed to the corner of the frame and a second support column 20b fixed to a position from the center of the frame toward the corner side when viewed from the advancing direction of the traveling vehicle body 10. Thus, the cart robot 52 can mount the arm 11 with excellent balance.

[0186] In addition, the traveling vehicle body 20 mounts a compressor 30 that operates the suction cup of the arm 11 below the fixed frame. Thus, the cart robot 52 can utilize the compressor 30 as a balancer, so that tipping can be suppressed.

[0187] <Third Embodiment>

[0188] Next, the third embodiment will be described. In addition, the description of the parts overlapping with the above embodiments will be omitted. Fig.12 A plan view of the site 50 of a warehouse for a picking system to which the third embodiment is applied. As Fig.12As shown, the picking system S is equipped with a cart robot 52. The cart robot 52 is a robot configured to carry goods (basket 56) and pick up goods for transportation, and includes a plurality of first cart robots 52a and a plurality of second cart robots 52b.

[0189] In addition, the picking system S includes a storage unit 54, a docking station 68, and a plurality of in-warehouse sensor groups 70. In addition, the picking system S is equipped with a control center 3.

[0190] In Fig.12 In the site 50 shown, a storage unit 54 is provided, which stores a plurality of baskets 56. The basket 56 is an item (goods) collected through picking operations.

[0191] The storage unit 54 includes a warehouse section 55x and a shelf 55. The warehouse section 55x houses the baskets 56 arranged in front of the shelf 55. The shelf 55 houses the baskets 56 picked up by the cart robot 52. The shelf 55 can accommodate a plurality of baskets 56. In addition, there are a plurality of (for example, six) shelves 55 in the site 50. Hereinafter, there are cases where the six shelves 55 are described as "first shelf 55a", "second shelf 55b", "third shelf 55c", "fourth shelf 55d", "fifth shelf 55e", and "sixth shelf 55f". In addition, when not particularly distinguishing the first to sixth shelves 55a to 55f for description, there are cases where it is described as "shelf 55".

[0192] The cart robot 52 moves around the above-mentioned storage unit 54. The first cart robot 52a and the second cart robot 52b perform the handover of the basket 56. The handover includes taking out (picking up) the basket 56 from the shelf 55 of the storage unit 54.

[0193] The first cart robot 52a is a cart robot that moves on the local lane 60. While moving on the local lane 60, the first cart robot 52a picks up and arranges the basket 56. The second cart robot 52b is a cart robot that moves at a higher speed than the first cart robot 52a and moves on the high-speed lane 58.

[0194] Fig.12 An example of a situation where a plurality of second cart robots 52b move along the same high-speed lane 58 is shown, but the plurality of second cart robots 52b may also move along different high-speed lanes 58 respectively.

[0195] The local lane 60 is set outside the storage unit 54 and inside the high-speed lane 58. That is to say, the local lane 60 is set between the storage unit 54 and the high-speed lane 58. The first cart robot 52a moves along the local lane 60 in a certain direction. The first cart robot 52a meanders in such a way that it approaches the shelf 55 to pick up the basket 56 or arranges the basket 56, then leaves the shelf 55, then approaches the high-speed lane 58, hands over the basket 56 to the second cart robot 52b, and then leaves the high-speed lane 58.

[0196] In addition, the first cart robot 52a temporarily decelerates or stops in the picking section and picks up the basket 56 from the shelf 55 of the storage unit 54. In addition, the first cart robot 52a transfers the basket 56 to the second cart robot 52b while running in parallel with the second cart robot 52b.

[0197] As a series of operations performed by the first cart robot 52a and the second cart robot 52b, the first cart robot 52a on the local lane 60 picks up the basket 56 from the shelf 55. At this time, the first cart robot 52a can arrange the basket 56. After that, the first cart robot 52a runs in parallel with the second cart robot 52b at a speed of 20 Km / h and hands over the basket 56 to the second cart robot 52b continuously in a way similar to a relay baton handover with the outer high-speed lane 58. In addition, the handover of the basket 56 between the first cart robot 52a and the second cart robot 52b can also be performed when each cart robot 52 stops.

[0198] However, the basket 56 before being picked up by the first cart robot 52a is arranged on the shelf 55 of the storage unit 54. Among them, regarding the operation of arranging the basket 56 on the shelf 55, it can be considered to be performed by an operator, but it cannot be said to be efficient in terms of the time and labor required for the manual arrangement operation. Therefore, in the present embodiment, it is configured to be able to arrange the basket 56 on the shelf 55 efficiently.

[0199] In the picking system S, the cart robot 52 arranges the basket 56 on the shelf 55 from which the cart robot 52 picks up the basket 56. That is, the cart robot 52 of the picking system S not only picks up the basket 56 from the shelf 55 but also performs the arrangement operation of arranging the basket 56 on the shelf 55. In addition, the cart robot 52 performing the arrangement operation is not limited to a specific cart robot 52, and all cart robots 52 can perform the arrangement operation.

[0200] In this way, the picking system S arranges the basket 56 on the shelf 55 through the cart robot 52. For example, compared with the case where an operator performs the arrangement operation, the operation time or labor can be reduced, and the basket 56 can be arranged on the shelf 55 efficiently.

[0201] In addition, as described above, the first cart robot 52a arranges the basket 56 on the shelf 55 from which the basket 56 is picked up by the first cart robot 52a. Thus, the first cart robot 52a can efficiently arrange the basket 56 on the shelf for the first cart robot 52a.

[0202] In addition, after the first cart robot 52a that makes the arrangement has collected the baskets 56 that it should collect, it can arrange the baskets 56 that other first cart robots 52a should collect on the shelves 55 corresponding to the other first cart robots 52a. Further, before the first cart robot 52a that makes the arrangement collects the baskets 56 that it should collect, it can arrange the baskets 56 that other first cart robots 52a should collect on the shelves 55 corresponding to the other first cart robots 52a. Additionally, the first cart robot 52a that makes the arrangement can arrange the baskets 56 that other first cart robots 52a should collect on the shelves 55 corresponding to the other first cart robots 52a regardless of its own collection.

[0203] In addition, the cart robot 52 is controlled based on the above-described arrangement plan information created by the control center 3. For example, the control unit 102 creates arrangement plan information that includes a list of baskets 56 to be arranged on the shelf 55 by the cart robot 52 and the movement route of the cart robot 52 within the storage unit 54. In the list, for example, it may include the identification information of the shelf 55 on which the basket 56 should be arranged, the identification information of the basket 56 to be arranged on the shelf 55, the arrangement order of the baskets 56, etc. Further, the arrangement plan information may include information such as the time point when the cart robot 52 arranges the basket 56 on the shelf 55.

[0204] The control center 3 sends the created arrangement plan information to the cart robot 52. Then, the cart robot 52 controls the traveling vehicle body 10 or the arm 11 according to the received arrangement plan information.

[0205] Among them, with reference to Fig.13 An example of the operation of the cart robot 52 will be described. Fig.13 It is a diagram showing an example of the operation of the cart robot 52. In Fig.13 this example, there are a first shelf 55a and a second shelf 55b, and it is assumed that the first cart robot 52a is traveling near the first shelf 55a. Additionally, it is assumed that the baskets 56 in the warehouse section 55x are the baskets 56 that the first cart robot 52a should collect.

[0206] In the above case, the first cart robot 52ah for configuration configures the basket 56 in the first shelf 55a and the second shelf 55b in the first shelf 55a near the first cart robot 52a. Specifically, the first cart robot 52ah for configuration takes out the basket 56 from the warehouse section 55x, transports the taken-out basket 56, and configures it in the first shelf 55a (refer to the single dotted arrow) existing near the first cart robot 52a. In addition, Fig.13 The basket 56 taken out from the warehouse section 55x is shown by a dotted line.

[0207] In this way, the first cart robot 52a of the present embodiment configures the basket 56 in the shelf 55 (here, the first shelf 55a) near other first cart robots 52a among the plurality of shelves 55 (here, the first shelf 55a and the second shelf 55b). Thereby, the first cart robot 52a can collect (pick up) the basket 56 that should be collected as early as possible, and thus the goods collection efficiency can be improved.

[0208] While referring to Fig.12 , the operation example of the first cart robot 52a will be continued to be described. In the present embodiment, each of the plurality of shelves 55 is set to correspond to one or more than two of the plurality of first cart robots 52a.

[0209] As an example, the first shelf 55a is set to correspond to the first cart robot 52a1. In other words, the first shelf 55a is a shelf for the first cart robot 52a1, and the first cart robot 52a1 picks up the basket 56. The second shelf 55b and the third shelf 55c are set to correspond to the first cart robot 52a2. In addition, the fourth shelf 55d is set to correspond to the first cart robot 52a2 and the first cart robot 52a3. The fifth shelf 55e and the sixth shelf 55f are set to correspond to the first cart robot 52a4. In addition, the corresponding relationship between the above-mentioned shelf 55 and the first cart robot 52a is merely an example and is not limited content.

[0210] And, the first cart robot 52a for configuration configures the basket 56 picked up by other first cart robots 52a in the shelf 55 corresponding to the first cart robot 52a.

[0211] For example, the first cart robot 52a2 configures the basket 56 that the subsequent first cart robot 52a1 should collect in the first shelf 55a corresponding to the first cart robot 52a1. In this way, the first cart robot 52a configures the basket that the subsequent first cart robot 52a should collect in the first shelf 55 corresponding to the subsequent first cart robot 52a.

[0212] Accordingly, the first cart robot 52a can collect (pick up) the basket 56 to be collected as early as possible, thereby further improving the goods collection efficiency.

[0213] In addition, when the basket 56 to be collected is stacked, the first cart robot 52a arranges the goods on another shelf. For example, when the basket 56 to be collected by another first cart robot 52a is stacked, the basket 56 to be collected by the other first cart robot 52 is arranged on the first shelf 55 corresponding to the other first cart robot 52a.

[0214] Accordingly, the first cart robot 52a can collect earlier without moving the baskets that are not the objects to be collected during goods collection, thereby improving the goods collection efficiency.

[0215] In addition, in the above, although multiple shelves 55 and multiple first cart robots 52a are pre-corresponded, this is not limiting, and the shelf 55 corresponding to the first cart robot 52a can also be changed.

[0216] For example, the first cart robot 52a can change the number of shelves 55 for arranging the basket 56 according to the quantity of the basket 56 picked up by other first cart robots 52a. As an example, when the number of baskets 56 to be collected by the first cart robot 52a1 exceeds the number that can be accommodated by the corresponding first shelf 55a, in addition to the first shelf 55a, the second shelf 55b is set as the shelf corresponding to the first cart robot 52a1. Accordingly, the first cart robot 52a can arrange the baskets 56 that exceed the number that can be accommodated by the first shelf 55a on the second shelf 55b.

[0217] Accordingly, in this embodiment, the number of shelves 55 corresponding to the quantity of the basket 56 picked up by the first cart robot 52a can be set.

[0218] Among them, the charging of the first cart robot 52a will be described. As Fig.12 shown, in the site 50, there is a charging station 90 for charging the driving battery Bat of the first cart robot 52a. As the charging station 90, a non-contact charging area that can charge the driving battery Bat of the first cart robot 52a in a non-contact manner can be used, but this is not limiting, and it can also be a contact charging area.

[0219] Moreover, the first cart robot 52a performs a charging process for charging the mounted driving battery Bat when at least one of picking up the basket 56 from the shelf 55 and arranging the basket 56 on the shelf 55.

[0220] Thus, the first cart robot 52a can effectively utilize the standby time generated during the time of picking up the basket 56 from the shelf 55 or placing the basket 56 on the shelf 55 as charging time.

[0221] Next, use Fig.14 to describe the operation process of the picking system S of the embodiment. Fig.14 FIG. is a flowchart for explaining the operation process of the picking system S of the third embodiment. The following steps S201 to S209 can also be executed in a different order. In addition, some processes may be omitted in the following steps S201 to S209.

[0222] As Fig.14 shown, the control center 3 sends the configuration plan information and the goods collection plan information to the first cart robot 52a, and sends the goods collection plan information to the second cart robot 52b (step S201).

[0223] When the first cart robot 52a performing the configuration operation receives the configuration plan information and the goods collection plan information, it determines whether there is a goods collection object for this machine (step S202). When the first cart robot 52a performing the configuration operation has a basket with a goods collection object (step S202 "Yes"), it picks up the basket 56 of the goods collection object (step S203).

[0224] After that, the first cart robot 52a performing the configuration operation configures the basket 56 on the shelf 55 based on the received configuration plan information (step S204). On the other hand, when it is determined that there is no goods collection object (step S202 "No"), similarly, the first cart robot 52a performing the configuration operation configures the basket 56 on the shelf 55 based on the received configuration plan information (step S204).

[0225] Next, the first cart robot 52a performing the configuration operation determines whether there is a basket 56 that has not been configured yet (step S205). When the first cart robot 52a performing the configuration operation determines that there is a basket 56 that has not been configured yet (step S205 "Yes"), it returns to the process of step S204.

[0226] On the other hand, when the first cart robot 52a performing the configuration operation determines that there is no basket 56 that has not been configured yet (step S205 "No"), the first cart robot 52a moves along the local lane 60 at the first moving speed (for example, 5 Km / h) to the shelf 55 as the destination and picks up the basket 56 (step S206).

[0227] Next, the first cart robot 52a (hereinafter including the first cart robot 52a performing the configuration operation) moves toward the parallel section of the high-speed lane 58 at a second moving speed (e.g., 20 Km / h) and docks (in parallel) with the second cart robot 52b in the parallel section (step S207).

[0228] Next, the basket is transferred from the first cart robot 52a to the second cart robot 52b (step S208). After that, the second cart robot 52b moves toward the docking station 68 and receives the basket from the second cart robot 52b (step S209).

[0229] As described above, the picking system S of the present embodiment includes a plurality of cart robots 52. The plurality of cart robots 52 pick up and carry the baskets 56 (an example of goods) and arrange the baskets 56 on the shelf 55 from which the cart robots 52 pick up the baskets 56. Thus, the baskets 56 can be efficiently arranged on the shelf 55.

[0230] <Fourth Embodiment>

[0231] Next, the fourth embodiment will be described. In addition, the description of the parts overlapping with the above-described embodiments will be omitted. Fig.15 FIG. is a top view of the site 50 of the warehouse to which the picking system S of the fourth embodiment is applied. As Fig.15 shown, the picking system S is different from the above-described embodiments in that it includes a plurality of recovery robots 53.

[0232] In the picking system S, when transferring the basket 56 from the first cart robot 51 to the second cart robot 52, there is a case where the basket 56 may fall. In this case, for example, consider the case where an operator recovers the dropped goods, but it cannot be said to be efficient in terms of the time and labor required for the manual recovery operation.

[0233] In addition, as a case where the basket 56 has a risk of falling, it is not limited to the transfer from the first cart robot 51 to the second cart robot 52. For example, when the first cart robot 51 takes out the basket 56 from the storage unit 54 or when the second cart robot 52 transfers the basket 56 at the docking station 68, the basket 56 may fall.

[0234] Therefore, the picking system S of the present embodiment includes, in addition to the first cart robot 51 and the second cart robot 52, a recovery robot 53 for recovering the dropped basket 56.

[0235] Fig.16 FIG. is a perspective view of the recovery robot 53. As Fig.16As shown, the recycling robot 53 includes a traveling vehicle body B, a plurality (here, two) of recycling arms 67, a plurality (here, five) of vehicle body sensor groups 72, and a plurality (here, two) of arm sensor groups 74.

[0236] One of the plurality of vehicle body sensor groups 72 included in the recycling robot 53 can be provided, for example, at the front end of the traveling vehicle body B. The vehicle body sensor group 72 provided at the front end of the traveling vehicle body B includes, for example, a camera that captures the ground in front of the advancing direction of the recycling robot 53. The vehicle body sensor group 72 provided at the front end of the traveling vehicle body B is an example of a detection unit. The information acquisition unit 150 of the information processing device 15 or the control unit 102 of the control center 3 included in the recycling robot 53 detects the basket 56 dropped on the site 50 based on the image captured by the vehicle body sensor group 72. In addition, the vehicle body sensor group 72 may include, for example, an ultrasonic sensor in addition to or instead of the camera.

[0237] As described later, the recycling robot 53 is located behind the first cart robot 51 and moves following the first cart robot 51. Therefore, for example, when the first cart robot 51 drops the basket 56, the basket 56 will drop in front of the recycling robot 53. Therefore, by providing a detection unit (vehicle body sensor group 72) at the front end of the traveling vehicle body B of the recycling robot 53, the dropped basket 56 can be detected with high precision and quickly.

[0238] The detection unit for detecting the basket 56 dropped on the site 50 may be another vehicle body sensor group 72 provided at the front end of the traveling vehicle body B of the recycling robot 53, or may be the vehicle body sensor group 72 included in the recycling robot 53. In addition, the detection unit for detecting the basket 56 dropped on the site 50 may be the vehicle body sensor group 72 or the arm sensor group 74 included in the first cart robot 51 and the second cart robot 52, or may be the warehouse internal sensor group 70.

[0239] The plurality of recycling arms 67 are arms for picking up the basket 56 dropped on the site 50 and placing it on the traveling vehicle body B. The above-mentioned recycling arms 67 are provided, for example, at the front end of the traveling vehicle body B. By setting the recycling arms 67 at the above position, the basket 56 dropped in front of the recycling robot 53 can be efficiently recycled. In addition, since the recycling operation can be performed while confirming the detection result (image, etc.) of the vehicle body sensor group 72 provided at the front end of the traveling vehicle body B, the recycling operation can be performed with high precision.

[0240] The plurality of recycling arms 67 may also be provided at a position lower than the upper end of the traveling vehicle body B and higher than the lower end of the traveling vehicle body B. By setting the structure as above, the basket 56 dropped on the site 50 can be efficiently picked up, and the picked-up basket 56 can be efficiently placed on the traveling vehicle body B.

[0241] Fig.17 This is a flowchart showing the control program for the recycling process of the basket 56 by the recycling robot 53. Additionally, Figures 18 to 20 This is a diagram showing an example of the operation of the recycling process of the basket 56 by the recycling robot 53. Fig.17 Each of the steps shown is executed according to the control performed by, for example, the control unit 152 of the recycling robot 53. Additionally, Fig.17 Each of the steps shown can also be executed according to the control performed by the control unit 102 of the control center 3.

[0242] As Fig.17 shown, the recycling robot 53 moves following the first cart robot 51 behind the first cart robot 51 (step S301). That is, the recycling robot 53 moves along the local lane 60.

[0243] The first cart robot 51 paired with the recycling robot 53 can be determined in advance. In this case, when the first cart robot 51 in the pair starts the picking process, the recycling robot 53 can start moving synchronously with the first cart robot 51. Additionally, not limited to this, the first cart robot 51 paired with the recycling robot 53 can be specified by, for example, the control unit 102 of the control center 3 each time.

[0244] Next, the recycling robot 53 determines whether the dropped basket 56 is detected (step S302). For example, the recycling robot 53 uses the vehicle body sensor group 72 provided at the front end of the traveling vehicle body B to detect the dropped basket 56 (refer to Fig.18 ). Additionally, Fig.18 shows a situation where the basket 56 drops during the handover from the first cart robot 51 to the second cart robot 52 in the parallel section 61. Since the dropping of the basket 56 occurs in front of the recycling robot 53, a detection unit is provided at the front end of the advancing direction of the recycling robot 53 so as to be able to detect the dropped basket 56 with high precision and quickly.

[0245] In step S302, when it is determined that the dropped basket 56 is detected (step S302, YES), the recycling robot 53 temporarily releases the action of following the first cart robot 51 and moves to the location of the dropped basket 56 (step S303). At this time, it is okay for the recycling robot 53 to deviate from the local lane 60.

[0246] Next, the recycling robot 53 picks up the dropped basket 56 using one or more recycling arms 67 (step S304). Additionally, the recycling robot 53 places the picked-up basket 56 on the traveling vehicle body B (refer to Fig.19 ).

[0247] Next, after the recovery robot 53 moves at a speed higher than the moving speed (first moving speed) of the first cart robot 51 and approaches the first cart robot 51, it docks (in parallel) with the first cart robot 51 (step S305). Next, the recovery robot 53 transfers the dropped basket 56 to the first cart robot 51 (step S306). For example, the recovery robot 53 takes out the basket 56 from the traveling vehicle body B using the recovery arm 67 and hands it to the first cart robot 51. The first cart robot 51 uses the picking arm 62 and the transfer arm A1 to receive the basket 56 handed out from the recovery robot 53, and places the received basket 56 on the traveling vehicle body B (refer to Fig. 20 ).

[0248] In this way, by transferring the recovered basket 56 to the first cart robot 51, the recovery robot 53 can minimize the deviation from the original goods collection plan.

[0249] In addition, by performing the handover of the basket 56 along the same forward direction as the first cart robot 51 and the recovery robot 53, the handover of the dropped basket 56 can be performed more efficiently. Furthermore, not limited to this, the recovery robot 53 can also perform the handover of the basket 56 from the side of the first cart robot 51.

[0250] When the process of step S306 ends, or when no dropped basket is detected in step S302 (step S302, NO), the recovery robot 53 determines whether a series of operations of the first cart robot 51 based on the goods collection plan is completed (step S307). In this process, when the operation of the first cart robot 51 is not completed (step S307, NO), the recovery robot 53 returns the process to step S301 and continues the process starting from step S301. On the other hand, when it is determined in step S307 that the operation of the first cart robot 51 is completed (step S307, YES), the recovery robot 53 completes a series of recovery processes.

[0251] In this way, the picking system S of the present embodiment includes a detection unit and a recovery robot 53. The detection unit detects the basket 56 dropped from the first cart robot 51 or the second cart robot 52, and the recovery robot recovers the basket 56 detected by the detection unit. Thus, the picking system S of the present embodiment can efficiently recover the dropped goods.

[0252] The first cart robot 51 that receives the basket 56 from the recovery robot 53 can transfer the basket 56 received from the recovery robot 53 to the second cart robot 52, for example, in the next parallel section 61.

[0253] <Other Embodiments>

[0254] Fig.21 This is a diagram showing an example of the case where the emptied basket 56 is returned to the storage unit 54. In the above-described embodiment, an example of the case where the retrieved basket 56 is transferred to the first cart robot 51 has been described. However, the destination for transporting the retrieved basket 56 does not necessarily have to be the first cart robot 51.

[0255] For example, as Fig.21 shown, the retrieval robot 53 can return the retrieved basket 56 to the storage unit 54. Specifically, the retrieval robot 53 can place the retrieved basket 56 at the location where it was placed in the storage unit 54 before being picked up by the first cart robot 51.

[0256] In addition, the retrieval robot 53 can place the retrieved basket 56 above a certain basket 56 that is placed in the storage unit 54 and is scheduled to be picked up by the first cart robot 51.

[0257] In addition, the destination for transporting the retrieved basket 56 can be the second cart robot 52. That is, the retrieval robot 53 can transfer the retrieved basket 56 to the second cart robot 52.

[0258] In addition, the destination for transporting the retrieved basket 56 can be the docking station 68. That is, the retrieval robot 53 can transfer the retrieved basket 56 to the docking station 68.

[0259] Fig. 22 This is a diagram showing an example of the case where the retrieval robot 53 follows the second cart robot 52. In the above-described embodiment, an example of the case where the retrieval robot 53 follows the first cart robot 51 has been described. However, the object that the retrieval robot 53 follows does not necessarily have to be the first cart robot 51.

[0260] For example, as Fig. 22 shown, the retrieval robot 53 can also be located behind the second cart robot 52 and move following the second cart robot 52. In other words, the retrieval robot 53 can travel around the high-speed lane 58 together with the second cart robot 52.

[0261] In addition, when the retrieval robot 53 follows the first cart robot 51 or the second cart robot 52, it does not necessarily have to move along the local lane 60 or the high-speed lane 58. For example, the retrieval robot 53 can move along a retrieval lane that is equidistant from and extends parallel to the local lane 60 or the high-speed lane 58. This retrieval lane can be located inside the local lane 60, outside the high-speed lane 58, or between the local lane 60 and the high-speed lane 58.

[0262] In addition, the recycling robot 53 does not necessarily have to follow the first cart robot 51 or the second cart robot 52. For example, the recycling robot 53 can standby at a predetermined standby location under normal circumstances and start the recycling operation when receiving a recycling instruction from the control unit 102 of the control center 3.

[0263] In the above-described embodiment, an example in which the recycling robot 53 has a cart-shaped traveling vehicle body B has been described, but the recycling robot 53 does not necessarily have to have a cart. That is, the recycling robot 53 can hold the recycled basket 56 with the recycling arm 67 and move it to a handling destination (the first cart robot 51, the second cart robot 52, the storage unit 54, etc.).

[0264] As described above, the picking system of the embodiment includes a first cart robot (e.g., the first cart robot 51) that moves along a low-speed lane (e.g., the low-speed lane 60) and a second cart robot (e.g., the second cart robot 52) that moves faster than the first cart robot along a high-speed lane (e.g., the high-speed lane 58). The first cart robot picks up goods (e.g., the basket 56) and transfers them to the second cart robot. It includes a detection unit (e.g., at least one of the vehicle body sensor group 72, the arm sensor group 74, and the in-warehouse sensor group 70) that detects goods dropped from the first cart robot or the second cart robot, and a recycling robot (e.g., the traveling vehicle body B) that recycles the goods detected by the detection unit.

[0265] Therefore, according to the picking system of the embodiment, dropped goods can be recycled efficiently.

[0266] <Fifth Embodiment>

[0267] Next, the fifth embodiment will be described. In addition, the description of parts that overlap with the above-described embodiment will be omitted. Fig.23 It is a top view of the site 50 of the warehouse to which the picking system S of the fifth embodiment is applied. As Fig.23 shown, the picking system S is different from the above-described embodiment in that it includes a configuration robot 57. In addition, Fig.23 an example in which there is 1 configuration robot 57 is shown, but it is not limited thereto, and there may be multiple ones.

[0268] The basket 56 before being picked up by the first cart robot 52a is arranged on the shelf 55 of the storage unit 54 as described above. Among them, regarding the operation of arranging the basket 56 on the shelf 55, for example, it can be considered to be performed by an operator, but the manual arrangement operation is not efficient in terms of time and labor. Therefore, in the present embodiment, it is configured to be able to arrange the basket 56 on the shelf 55 efficiently.

[0269] Specifically, the picking system S, in addition to having the cart robot 52, also has a configuration robot 57. The configuration robot 57 configures the basket 56 on the shelf 55 of the basket 56 picked up by the cart robot 52 (the first cart robot 52a). That is, the picking system S has a configuration robot 57 dedicated to the configuration operation of configuring the basket 56 on the shelf 55.

[0270] In this way, the picking system S of the present embodiment has a configuration robot 57, so that, for example, compared with the case where an operator performs the configuration operation, the operation time or labor can be reduced, and thus the basket 56 can be efficiently configured on the shelf 55.

[0271] In addition, as described above, the configuration robot 57 is configured to configure the basket 56 on the shelf 55 of the basket 56 picked up by the first cart robot 52a. Thus, the configuration robot 57 can efficiently configure the basket 56 on the shelf 55 for the first cart machine 52a.

[0272] In addition, the configuration robot 57 is controlled based on the above-mentioned configuration plan information made by the control center 3. For example, the control center 3 makes configuration plan information, which includes a configuration list of the basket 56 that the configuration robot 57 should configure on the shelf 55 and the movement route of the configuration robot 57 in the storage unit 54. In the configuration list, for example, it may include the identification information of the shelf 55 where the basket 56 should be configured, the identification information of the basket 56 that should be configured on the shelf 55, the configuration order of the basket 56, etc. In addition, the configuration plan information may include information such as the time point when the configuration robot 57 configures the basket 56 on the shelf 55.

[0273] The control center 3 sends the made configuration plan information to the configuration robot 57. Then, the configuration robot 57 controls the traveling vehicle body 10 or the arm 11 according to the received configuration plan information.

[0274] Among them, refer to Fig.24 An example of the operation of the configuration robot 57 and the like will be described. Fig.24 It is a diagram showing an example of the operation of the configuration robot 57. Fig.24 In the example of, there are a first shelf 55a and a second shelf 55b. It is assumed that the first cart robot 52a is traveling near the first shelf 55a. In addition, it is assumed that the basket 56 in the warehouse section 55x is the basket 56 that the first cart robot 52a should collect.

[0275] The arranging robot 57 arranges the basket 56 on the first shelf 55a near the first cart robot 52a among the first shelf 55a and the second shelf 55b. Specifically, the arranging robot 57 takes out the basket 56 from the warehouse section 55x, transports the taken-out basket 56, and arranges it on the first shelf 55a existing near the first cart robot 52a (refer to the single-dot chain line arrow). In addition, Fig.24 The basket 56 taken out from the warehouse section 55x is shown by a dashed line.

[0276] In this way, the arranging cart robot 57 arranges the basket 56 on the shelf 55 (here, the first shelf 55a) near the first cart robot 52a among the plurality of shelves 55 (here, the first shelf 55a and the second shelf 55b). Thereby, the first cart robot 52a can collect (pick up) the basket 56 to be collected as early as possible, and thus the goods collection efficiency can be improved.

[0277] In addition, as the shelf 55 near the first cart robot 52a described above, although it is preferably the shelf 55 closest to the first cart robot 52a in the forward direction, it is not limited thereto. For example, it can be the shelf 55 that the first cart robot 52a can reach earlier. In addition, the shelf 55 near the first cart robot 52a described above can be selected based on, for example, the positions, moving speeds, or moving routes of the first cart robot 52a and the arranging robot 57. For example, at the time point when the arrangement of the basket 56 on the shelf 55 by the arranging robot 57 is completed, the control unit 102 selects the shelf 55 (here, the first shelf 55a) that is estimated to be traveled by the first cart robot 52a near it from among the plurality of shelves 55, and creates arrangement plan information for arranging the basket 56 on the selected shelf 55. The arranging robot 57 executes the distribution operation based on the above arrangement plan information, so that the first cart robot 52a can collect (pick up) as early as possible after the basket 56 is arranged, and thus the goods collection efficiency can be improved.

[0278] Referring to Fig.23 while, the operation examples of the arranging robot 57 and the like will be further described. In the present embodiment, each of the plurality of shelves 55 is set to correspond to one or more of the plurality of cart robots 52 (accurately, the first cart robot 52a).

[0279] As an example, the first shelf 55a is set to correspond to the first cart robot 52a1. In other words, the first shelf 55a is the shelf for the first cart robot 52a1, and the first cart robot 52a1 picks up the basket 56. The second shelf 55b and the third shelf 55c are set to correspond to the first cart robot 52a2. In addition, the fourth shelf 55d is set to correspond to the first cart robot 52a2 and the first cart robot 52a3. The fifth shelf 55e and the sixth shelf 55f are set to correspond to the first cart robot 52a4. In addition, the corresponding relationship between the above-mentioned shelves 55 and the first cart robot 52a is only an example and is not limited content.

[0280] And, the configuration robot 57 configures the basket 56 to be picked up by the first cart robot 52a on the shelf 55 corresponding to the first cart robot 52a.

[0281] For example, the configuration robot 57 configures the basket 56 that the first cart robot 52a1 should collect on the first shelf 55a corresponding to the first cart robot 52a1. Similarly, the configuration robot 57 configures the basket 56 that the first cart robot 52a2 should collect on one of the second shelf 55b to the fourth shelf 55d corresponding to the first cart robot 52a2. In addition, the configuration robot 57 configures the basket 56 that the first cart robot 52a3 should collect on the fourth shelf 55d corresponding to the first cart robot 52a3. In addition, the configuration robot 57 configures the basket 56 that the first cart robot 52a4 should collect on the fifth shelf 55e or the sixth shelf 55f corresponding to the first cart robot 52a4.

[0282] Thereby, the first cart robot 52a can collect (pick up) the basket 56 that should be collected from the shelf 55 corresponding to itself as early as possible, thereby further improving the goods collection efficiency.

[0283] In addition, when the shelf 55 corresponding to the first cart robot 52a is set, the travel of the first cart robot 52a is not limited to Fig.23 the meandering travel shown, and can also be, for example, a reciprocating travel between the shelf 55 (accurately speaking, the shelf 55 corresponding to itself) and the high-speed lane 58, etc.

[0284] In addition, in the above, although multiple shelves 55 and multiple first cart robots 52a are pre-corresponded, this is not limited thereto, and the shelf 55 corresponding to the first cart robot 52a can also be changed.

[0285] For example, the configuration robot 57 can change the number of shelves 55 for configuring the baskets 56 according to the quantity of the baskets 56 picked up by the first cart robot 52a. As an example, when the quantity of the baskets 56 that the first cart robot 52a1 should collect exceeds the number that the corresponding first shelf 55a can accommodate, in addition to the first shelf 55a, the second shelf 55b is also set as the shelf corresponding to the first cart robot 52a1. Thereby, the configuration robot 57 can configure the baskets 56 that exceed the number that the first shelf 55a can accommodate on the second shelf 55b.

[0286] Thereby, the number of shelves 55 corresponding to the quantity of the baskets 56 picked up by the first cart robot 52a can be set, that is, the number of shelves 55 can be appropriately set, and the baskets 56 can be efficiently configured.

[0287] Next, Fig.25 the operation process of the picking system S of the fifth embodiment will be described. Fig.25 FIG. is a flowchart for explaining the operation process of the picking system S of the fifth embodiment.

[0288] As Fig.25 shown, the control center 3 sends the configuration plan information to the configuration robot 57 and sends the goods collection plan information to the first cart robot 52a or the second cart robot 52b (step S501).

[0289] When the configuration robot 57 receives the configuration plan information, it configures the baskets 56 on the shelves 55 based on the configuration plan information (step S502). Next, the configuration robot 57 determines whether there are still unconfigured baskets 56 (step S503). When the configuration robot 57 determines that there are still unconfigured baskets 56 (step S503, "Yes"), it returns to the process of step S502.

[0290] On the other hand, when it is determined by means of the configuration robot 57 that there are no longer unconfigured baskets 56 (step S503, "No"), the first cart robot 52a moves along the local lane 60 at the first moving speed (for example, 5 Km / h) to the shelf 55 as the destination and picks up the baskets 56 (step S504).

[0291] Next, the first cart robot 52a moves to the parallel section of the high-speed lane 58 at the second moving speed (for example, 20 Km / h) and docks (parallels) with the second cart robot 52b in the parallel section (step S505).

[0292] Next, the baskets are transferred from the first cart robot 52a to the second cart robot 52b (step S506). After that, the second cart robot 52b moves to the docking station 68 and receives the baskets from the second cart robot 52b (step S507).

[0293] As described above, the picking system S of the present embodiment includes a cart robot 52 and a placement robot 57. The cart robot 52 picks up a basket 56 (an example of goods) and transports it, and the placement robot 57 places the basket 56 on a shelf 55 from which the cart robot 52 picks up the basket 56. Thus, the basket 56 can be efficiently placed on the shelf 55.

[0294] <Sixth Embodiment>

[0295] Next, the sixth embodiment will be described. In addition, the description of parts repeated with the above embodiments will be omitted. The picking system of the sixth embodiment is provided with a charging station (charging device). The charging station is a base station for charging the driving battery of each cart robot 52. The charging station has an interface, which is connected to the charging port of the cart robot 52.

[0296] The charging station receives power supply from a warehouse or the like. Further, the charging station supplies the supplied power to the cart robot 52. Thus, the driving battery of the cart robot 52 is charged.

[0297] In addition, when the cart robot 52 receives power supply from the charging station, the charging port moves to a position where it can be connected to the interface. The interface only needs to be electrically connected to the charging port, and it does not necessarily have to be mechanically connected to the charging port.

[0298] The charging station supplies power to the cart robot 52 wirelessly. For example, the charging station uses existing wireless power supply technology (contactless charging) to charge the cart robot 52.

[0299] In addition, the charging station can also be mechanically connected to the charging port and supply power through a wire. In this case, the interface and the charging port are connected by, for example, a cable. The connection of the cable can be carried out by a person or automatically by a device.

[0300] The cart robot 52 performs the following operations according to the control of the control center 1. That is, the cart robot 52 moves from the lane (high-speed lane 58 or local lane 60) on which it is traveling to the charging station. At this time, the cart robot 52 stops its original operation (for example, the handover of the basket 56).

[0301] And, the cart robot 52 adjusts its position and orientation so that the charging port and the interface can be connected. When the adjustment of the position and orientation is completed, the cart robot 52 receives power supply from the charging station. After that, when the conditions are met, the cart robot 52 completes charging and returns to the designated lane to start operating again.

[0302] In this way, due to charging, there will be a period during which the trolley robot 52 cannot operate. The control center 1 considers the overall business efficiency of the picking system and controls the charging operation of the trolley robot 52.

[0303] The control center 1 obtains information related to the order list. The control center 1 obtains information related to the status of each trolley robot 52 from each trolley robot 52. The information related to the status includes the task in progress, the battery remaining amount, etc. The control center 1 obtains the information detected by the sensor group 70 in the warehouse.

[0304] When a trigger occurs, the control center 1 starts the processing flow for charging. The trigger is a situation where the battery remaining amount of a certain trolley robot 52 is lower than the threshold (for example, 15%), a situation where the processing flow for charging is required to start from a certain trolley robot 52, a situation where a pre-determined time has arrived, etc. In addition, the control center 1 can start the processing flow at a certain time period (for example, a 30-minute period).

[0305] In the processing flow, the control center 1 collects information including the battery remaining amount. And the control center 1 calculates the charging priority for each trolley robot 52 based on the collected information. The control center 1 uses the information as shown in Fig.26 for priority calculation. Fig.26 A diagram showing an example of the information collected by the control center in the embodiment. In addition, Fig.26 the information shown includes the information obtained through the control center 1 and the information stored in the information storage unit.

[0306] Fig.26 The "ID" is information for identifying the trolley robot 52. The "lane" is information indicating the lane on which the trolley robot 52 is traveling. "High-speed" corresponds to the high-speed lane 58. In addition, "local" corresponds to the local lane 60.

[0307] The "battery remaining amount" is the battery remaining amount of the driving battery of each trolley robot 52. The "goods collection scheduled" is the weight and quantity of the baskets 56 that each trolley robot 52 is scheduled to transfer within a specific time period. For example, the specific time period is the time period from the current moment to 30 minutes later. In addition, the "goods collection scheduled" is obtained from the goods collection list made by the control unit 102.

[0308] For example, in Fig.26 , the trolley robot 52 identified as "C011" is shown to be traveling on the high-speed lane 58, with a battery remaining amount of "60%", and is scheduled to transfer 3 baskets 56 of 5 kg.

[0309] For example, in Fig.26Among them, the cart robot 52 identified as "C013" is shown as traveling in the local lane 60, with a battery remaining capacity of "25%", and is scheduled to transfer one 10-kg basket 56.

[0310] (Lane-based priority)

[0311] The control center 1, as shown in the "lane" of Fig.26 , collects information on the number of cart robots 52 traveling in each of the multiple lanes. And for each of the multiple cart robots 52, the more lanes it travels in, the higher the priority set by the control center 1.

[0312] The control center 1, based on the information of Fig.26 , separately counts the number of cart robots 52 traveling in the high-speed lane 58 and the number of cart robots 52 traveling in the local lane 60. And it raises the priority of the cart robots 52 traveling in the lane with a larger number.

[0313] This is because in the lane where there are more cart robots 52 traveling, it is easier to supplement the cart robots 52 that stop running due to charging with other cart robots 52.

[0314] Fig.26 In the example of

[0315] , the number of cart robots 52 traveling in the high-speed lane 58 is 6, and the number of cart robots 52 traveling in the local lane 60 is 3. Thus, the control center 1 raises the priority of the cart robots 52 traveling in the high-speed lane 58 to be higher than the priority of the cart robots 52 traveling in the local lane 60.

[0316] In this case, Fig.26 in the example of

[0317] (Battery remaining capacity-based priority)

[0318] The control center 1, based on the information of Fig.26 , the smaller the battery remaining capacity, the higher the priority. This is because in order to prevent the battery from running out of power, the cart robot 52 with a smaller battery remaining capacity needs more urgent charging.

[0319] In addition, when the remaining battery capacity exceeds the upper limit value (e.g., 50%), the control center 1 can set a certain priority. In addition, when the remaining battery capacity is lower than the lower limit value (e.g., 20%), the control unit 102 can increase the priority to further increase the degree. Thus, when the control unit 102 calculates the final priority by combining the priority based on the remaining battery capacity and other priorities through addition or multiplication, the influence of the priority based on the remaining battery capacity can be enhanced.

[0320] For example, when the remaining battery capacity is between 100% and 50%, the control center 1 sets a fixed value (e.g., 1) for the priority. Next, when the remaining battery capacity is between 50% and 20%, the control center 1 makes the priority inversely proportional to the remaining battery capacity (e.g., when the remaining battery capacity is 25%, the priority is the reciprocal of 25 / 100, which is 4). Further, when the remaining battery capacity is between 20% and 0%, the control center 102 makes the priority inversely proportional to the square of the remaining battery capacity (e.g., when the remaining battery capacity is 10%, the priority is the reciprocal of the square of (10 / 100), which is 100).

[0321] (Priority based on collection reservation)

[0322] The control center 1, as shown in the "collection reservation" of Fig.26 , collects information including the weight and quantity of the goods that each of the multiple trolley robots 52 is scheduled to carry. For each of the multiple trolley robots 52, the greater the load based on the weight and quantity of the goods scheduled to be carried, the higher the priority set by the control center 102. This is because the greater the load, the more rapidly the remaining battery capacity decreases.

[0323] The control center 1 calculates the total weight obtained by multiplying the weight and quantity of the basket 56 of each trolley robot 52 based on the "collection reservation" as the load. And the greater the total weight, the higher the priority set by the control unit 102.

[0324] For example, for the trolley robot 52 identified as "C013", the control unit 102 calculates the total weight as 5 kg × 3 = 15 kg. In addition, for the trolley robot 52 identified as "C012", the control unit 102 calculates the total weight as 0 kg. In addition, for the trolley robot 52 identified as "C014", the control unit 102 calculates the total weight as 2 kg × 4 + 5 kg × 1 = 13 kg.

[0325] The control center 1 calculates the final priority by combining one or more of the lane-based priority, battery-remaining-capacity-based priority, and collection-reservation-based priority described so far.

[0326] Moreover, the control center 1 causes the trolley robots 52 among the top several (1 or more) in priority among the multiple trolley robots 52 to stop carrying goods and perform charging.

[0327] In addition, as charging progresses, the operation of the trolley robot 52 stops, and thus the business is considered unable to be carried out normally. In this case, in order to be able to carry out the business normally, the control center 1 can re-create (update) the goods collection list and the movement route of the trolley robots 52 that do not perform charging.

[0328] Next, use Fig. 27 the flowchart to illustrate the charging process of the trolley robot 52 in the control implementation mode. Fig. 27 It is a flowchart showing the processing flow of charging the trolley robot in the sixth control embodiment. In addition, Fig. 27 the processing after step S502 is equivalent to the processing flow for charging.

[0329] The control center 1 waits until a trigger occurs (step S501, no). When the trigger occurs (step S501, yes), the control center 1 advances to step S502 and starts the processing flow for charging. The trigger is a situation where the battery level of a certain trolley robot 52 is lower than the threshold value or the like.

[0330] The control center 1 collects information including the battery levels of the multiple trolley robots 52 (step S502). For example, the control center 1 collects information as Fig.26 shown.

[0331] Next, the control center 1 calculates the charging priority of each trolley robot 52 based on the collected information (step S503). The control center 1 can calculate one of the aforementioned priorities or multiple priorities.

[0332] Next, the control center 1 determines the trolley robots to be charged based on the priority (step S504). Then, the control center 1 causes the determined trolley robots 52 to perform charging (step S505).

[0333] Furthermore, as charging progresses, the control center 1 determines whether it is necessary to update the goods collection list and the movement route (step S506). When the control center 1 determines that it is necessary to update the goods collection list and the movement route (step S506, yes), it updates the goods collection list and the movement route of the trolley robots 52 that do not perform charging (step S507) and ends the processing flow.

[0334] When the control center 1 determines that it is not necessary to update the goods collection list and the movement route (step S506, no), it ends the processing flow.

[0335] In addition, the processing flow for charging can be executed not by means of the control center 1 but by means of other devices. For example, the information processing device 15 provided in the cart robot 52 can execute the processing flow for charging. In this case, the cart robot 52 can collect Fig.26 the information shown.

[0336] <Seventh Embodiment>

[0337] Next, the seventh embodiment will be described. In addition, the description of the parts overlapping with the above embodiments will be omitted. Among goods, each good has various properties such as being difficult to damage, easy to damage, warm, cold, etc. For these goods with different properties, for example, when treating perishable goods that are easy to damage and general goods that are difficult to damage equally and mixing them and loading them in the cart 16, there is a risk of damage to the perishable goods. Similarly, for example, when treating warm high-temperature goods and cold low-temperature goods equally and mixing them and loading them in the cart 16, there is a risk that their respective temperature states cannot be maintained.

[0338] For goods with such different properties, for example, if they are separately stored in the cart 16 and the cart robot 52 separately transports them at different transport speeds, it is preferable to perform processing according to various properties.

[0339] Therefore, the picking system S of the embodiment acquires the properties of the goods and executes the configuration control of the goods corresponding to the properties of the goods. In addition, the picking system S also executes various speed controls corresponding to the properties of the goods.

[0340] First, the configuration control of the goods will be described. Figure 28 to Figure 31 Figs. (1) to (4) are diagrams showing an example of the configuration of the baskets 56 in the cart 16.

[0341] When the picking system S mixes and loads goods with different properties on the cart 16, as Fig.28 shown, for example, on the basis of dividing several partitions in the cart 16, it is possible to separately store goods with different properties in different partitions.

[0342] Fig.28 shows an example in which the cart 16 is formed into four partitions 16a, 16b, 16c, and 16d by means of partition plates P1 and P2. In addition, an example is shown in which the basket 56A for storing general goods is stored in the partition 16a, the basket 56B for storing perishable goods is stored in the partition 16b, the basket 56C for storing low-temperature goods is stored in the partition 16c, and the basket 56D for storing high-temperature goods is stored in the partition 16d. General goods and perishable goods are equivalent to goods that are difficult to damage.

[0343] The cart robot 52 obtains the properties of these goods based on information from sensors or cameras provided on the cart robot 52 and the control center 3. For example, the differences in the properties of general items or fragile items can be obtained based on information from the control center 3. Alternatively, the differences in the properties of general items or fragile items can be obtained by, for example, using AI to identify labels such as "Fragile", "Fragile Items", "Do Not Invert", "Handle with Care", "Precision Instruments", etc. attached to the goods.

[0344] In addition, the differences in the properties of low-temperature or high-temperature items can be obtained based on information from the control center 1. Alternatively, the differences in the properties of low-temperature or high-temperature items can be obtained by, for example, using AI to identify labels such as "Cold", "Hot", "Frozen", "Warm", "Caution High Temperature", etc. attached to the goods.

[0345] And, the cart robot 52 classifies and stores the goods into the respective pre-divided zones 16a to 16d according to the obtained properties of the goods. In addition, at this time, for example, for the basket 56B for fragile items, the cart robot 52 Fig.29 pushes it to the corner of the cart 16 as shown while storing the basket 56B. Thereby, the stability of the storage state of the basket 56B in the cart 16 can be improved, and for example, the influence caused by vibrations during the travel of the cart robot 52 can be reduced.

[0346] In addition, for example, in the zone 16b for fragile items, buffer materials (not shown) can be provided on the inner wall. In addition, for example, in the zones 16c and 16d for low-temperature or high-temperature items, heat-insulating materials can be provided on the inner wall.

[0347] In addition, as Fig.29 shown, the cart 16 does not necessarily have to be divided by Fig.28 the partition plates P1 and P2. In this case, the cart robot 52 stores each good into the zones 16a to 16d that divide their respective properties, and arranges the goods with different properties at intervals so that the goods with different properties do not contact each other. For example, as Fig.29 shown, the cart robot 52 pushes each good with different properties to the corner of the cart 16 while storing the respective baskets 56A to 56D. Thereby, it is possible to prevent, for example, damage to the goods or a change in the temperature state due to contact between the goods with different properties.

[0348] In addition, regarding the property of temperature, for example, as Fig.30 shown, the cart 16 can be divided into a zone 16c for low-temperature items, a zone 16d for high-temperature items, and a zone 16e for medium-temperature items, and the zone 16e can be provided between the zones 16c and 16d.

[0349] Thus, even assuming that there is an influence on the temperature caused by the goods in adjacent compartments, since the medium-temperature goods function as buffers, it is possible to, for example, mitigate the temperature rise of the low-temperature goods or the temperature drop of the high-temperature goods.

[0350] In addition, as Fig.31 shown, when the cart robot 52 loads the fragile goods or general goods onto the cart 16, for example, the baskets 56 can be loaded in such a way that the more fragile the goods are, the higher they are placed. Thus, it is possible to prevent the fragile goods from being damaged due to the weight of the goods loaded on top of them.

[0351] In addition, although in the description of using Figure 28 to Figure 31 the configuration examples of the baskets 56 in the cart 16 have been described, goods with different properties can also be transported separately by different cart robots 52. In this case, only the basket 56A for transporting general goods is stored in the cart 16 of a certain cart robot 52, and only the basket 56B for transporting fragile goods is stored in the cart 16 of the other cart robots 52. Sorting of the cart robots 52 corresponding to the properties of the goods is performed by the control center 3, for example.

[0352] Next, various speed controls corresponding to the properties of the goods will be described using Figure 32 to Figure 34 . Figure 32 to Figure 34 Figs. (1) to (3) thereof are diagrams showing examples of speed controls corresponding to the properties of the goods.

[0353] As Fig.32 shown, for example, when the local cart 52B picks up the basket 56A of general goods from the storage unit 54 and when picking up the basket 56B of fragile goods, etc., the transport speed of the arm 11 can be controlled to be different. Fig.32 shows an example in which the local cart 52B is controlled in speed so that the relationship between the transport speed a of the basket 56A of general goods and the transport speed b of the basket 56B of fragile goods becomes "transport speed a > transport speed b". Thus, the risk of the fragile goods being damaged due to the transport by the arm can be reduced.

[0354] In addition, as Fig.33 shown, for example, when the local cart 52B travels while loading the basket 56A of general goods and when traveling while loading the basket 56B of fragile goods, etc., the traveling speed of the local cart 52B can be controlled to be different. Fig.33 shows an example in which the local cart 52B is controlled in speed so that the relationship between the traveling speed c of the local cart 52B loading the basket 56A of general goods and the traveling speed d of the local cart 52B loading the basket 56B of fragile goods becomes "traveling speed c > traveling speed d". Thus, the risk of the fragile goods being damaged due to the traveling of the local cart 52B can be reduced.

[0355] In addition, although Fig.32 and Fig.33 show an example of the local cart 52B, the same applies to the high-speed cart 52A.

[0356] In addition, as Fig.34 shown, for example, in the case of transferring the basket 56A of general items between the local cart 52B and the high-speed cart 52A and in the case of transferring the basket 56B of fragile items, the parallel speeds can be controlled to be different. Fig.34 shows an example where the speeds of the local cart 52B and the high-speed cart 52A are controlled such that the relationship between the parallel speed e in the case of transferring the basket 56A of general items and the parallel speed f in the case of transferring the basket 56B of fragile items becomes "parallel speed e > parallel speed f". Thus, the risk of breakage of fragile items during the transfer between the local cart 52B and the high-speed cart 52A can be reduced. In addition, Figure 32 to Figure 34 the examples shown can be combined as appropriate.

[0357] However, the picking system S monitors the goods collection status in the storage unit 54, and according to the nature of the goods, dedicated cart robots 52 for appropriately distinguishing the baskets 56 can be provided in the storage unit 54.

[0358] Fig.35 is a diagram showing an example of using the monitoring cart 52C that monitors the goods collection status in the storage unit 54. The monitoring cart 52C is a cart robot 52 that continuously monitors the goods collection status in the storage unit 54 and appropriately distinguishes the baskets 56 in the storage unit 54 according to the nature of the goods.

[0359] As Fig.35 shown, the monitoring cart 52C is, for example, set to move along the dedicated lane L around the storage unit 54. The dedicated lane L is provided along the storage unit 54 closer to the inside than the local lane 60. In addition, the dedicated lane L does not physically restrict the movement of the monitoring cart 52C.

[0360] The monitoring cart 52C continuously circulates around the storage unit 54 periodically or at any point in time to monitor the goods collection status in the storage unit 54. In addition, as Fig.35 shown, for example, in the case where goods of different natures are scattered everywhere in the storage unit 54, the monitoring cart 52C moves the basket 56 while using the arm 11 to concentrate goods of the same nature so that they are each concentrated and distributed.

[0361] Fig.35 shows an example where the monitoring cart 52C is used to distinguish and distribute the scattered baskets 56A of general items or baskets 56B of fragile items such that the baskets 56A are concentrated with each other or the baskets 56B are concentrated with each other. Thus, the local cart 52B can achieve efficiency when picking up goods from the storage unit 54.

[0362] Next, Fig.36 the operation processing of the cart robot 52 of the embodiment will be described. Fig.36 FIG. is a flowchart for explaining the operation processing of the cart robot 52 of the seventh embodiment. In addition, among them, the information processing device 15 serves as a device for controlling this operation processing.

[0363] The cart robot 52 acquires the properties of the goods based on the information detected by the sensor (step S601).

[0364] And, the cart robot 52 executes the arrangement control of the goods in the cart 16 corresponding to the acquired properties of the goods (step S602). For example, the cart robot 52 executes the arrangement control so that Figure 28 to Figure 31 the arrangements corresponding to the properties of the goods in each of the described arrangement examples are carried out.

[0365] And, the cart robot 52 executes various speed controls of the cart robot 52 corresponding to the acquired properties of the goods (step S603). For example, the cart robot 52 executes the speed control so that Figure 32 to Figure 34 the various speed controls corresponding to the properties of the goods in each of the described speed control examples are carried out.

[0366] In addition, in the description so far, as examples of the properties of the goods, examples of being difficult to damage, easy to damage, warm, and cold have been listed, but this is just one example. That is, it is also possible to perform arrangement control and / or speed control corresponding to the properties of various other goods such as long, short, heavy, and light.

[0367] <Eighth Embodiment>

[0368] Next, the eighth embodiment will be described. In addition, the description of the parts repeated with the above embodiments will be omitted. Fig.37 FIG. is a top view of the site 50 of the warehouse of the picking system to which the eighth embodiment is applied.

[0369] The cart robot 52 is divided into a high-speed cart 52A traveling on the high-speed lane 58 and a local cart 52B traveling on the local lane 60.

[0370] While the local cart 52B moves along the local lane 60, it takes out the basket 56 from the storage unit 54. As the taking-out mode, the local cart 52B has a first taking-out mode and a second taking-out mode.

[0371] The first extraction mode is a mode in which the traveling vehicle body 10 travels and the basket 56 is extracted from the storage unit 54 by means of the arm 11. When the extraction mode is the first extraction mode, the local cart 52B travels at a predetermined speed and extracts the basket 56 from the storage unit 54 by means of the arm 11. The predetermined speed is a preset speed.

[0372] The second extraction mode is a mode in which the traveling vehicle body 10 stops and the basket 56 is extracted from the storage unit 54 by means of the arm 11. When the extraction mode is the second extraction mode, the local cart 52B stops the traveling vehicle body 10 and extracts the basket 56 from the storage unit 54 by means of the arm 11.

[0373] The local cart 52B sets the extraction mode to the first extraction mode or the second extraction mode based on the size of the basket 56, the configuration of the basket 56, and the length of the arm 11. That is, the local cart 52B switches the extraction mode to the first extraction mode or the second extraction mode according to the size of the basket 56, etc., controls the traveling vehicle body 10 and the arm 11, and extracts the basket 56 from the storage unit 54.

[0374] The size of the basket 56 includes the weight of the basket 56. The length of the arm 11 is, for example, the length of the arm 11 when it is extended to the longest. The length of the arm 11 can be a length set for each extracted basket 56.

[0375] The configuration of the basket 56 is the position of the basket 56 placed in the storage unit 54. That is, the configuration of the basket 56 includes information related to the height at which the basket 56 is placed and information related to the position of the basket 56 relative to the local lane 60. For example, the configuration of the basket 56 is the position information of the three-dimensional rectangular coordinates of the site 50 of the warehouse. The rectangular coordinates include, for example, the Z-axis with the vertically upward direction as the positive direction, the Y-axis orthogonal to the Z-axis, and the X-axis orthogonal to the Z-axis and the Y-axis.

[0376] The local cart 52B obtains information related to the size of the basket 56 extracted from the storage unit 54 and the configuration of the basket 56 extracted from the storage unit 54 from a control center or the like, and records it in the internal recording unit.

[0377] The local cart 52B records mode switching data preset for the size of the basket 56, the configuration of the basket 56, and the length of the arm 11. When the local cart 52B extracts the basket 56 from the storage unit 54, the mode switching data is data for setting the extraction mode to the first extraction mode or the second extraction mode.

[0378] The mode switching data is preset according to the configuration of the basket 56 in the storage unit 54, the size of the basket 56, and the length of the arm 11, and is recorded in the local cart 52B. When the configuration of the basket 56 in the storage unit 54, etc. is changed, the mode switching data is updated. The mode switching data is, for example, sent from the control center to the information processing device 15.

[0379] When the local cart 52B takes out the basket 56 from the storage unit 54, the mode switching data is set so that the posture of the local cart 52B is stable. When the local cart 52B takes out the basket 56 from the storage unit 54, the mode switching data is set so that the local cart 52B does not tip over. The mode switching data is created based on experimental results and simulation results, for example.

[0380] For example, when the local cart 52B takes out the basket 56 from the storage unit 54 while traveling and the posture of the local cart 52B is unstable and there is a risk of tipping over, the mode switching data is set to correspond to the first take-out mode. When the local cart 52B takes out the basket 56 from the storage unit 54 while traveling and the posture of the local cart 52B is stable and there is no risk of tipping over, the mode switching data is set to correspond to the second take-out mode.

[0381] That is, for the size of the basket 56, the configuration of the basket 56, and the length of the arm 11, the mode switching data is associated with the information of the first take-out mode and the information of the second take-out mode and is recorded in the information storage unit 154 of the local cart 52B.

[0382] The control unit 152 of the local cart 52B sets the take-out mode to the first take-out mode or the second take-out mode based on the size of the basket 56 taken out from the storage unit 54, the configuration of the basket 56 taken out from the storage unit 54, and the length of the arm 11.

[0383] The control unit 152 of the local cart 52B takes out the basket 56 from the storage unit 54 according to the set take-out mode.

[0384] Next, with reference to Fig.38 the flowchart, the operation processing of the local cart 52B according to the embodiment will be described. Fig.38 The flowchart for explaining the operation processing of the local cart 52B according to the eighth embodiment. The operation processing described below is executed by the information processing device 15 of the local cart 52B.

[0385] The information processing device 15 acquires the information of the basket 56 taken out from the storage unit 54 (S700). The information processing device 15 sets the take-out mode based on the acquired information of the basket 56 and the length of the arm 11 (S701). The information processing device 15 sets the take-out mode to the first take-out mode or the second take-out mode based on the size of the basket 56 taken out from the storage unit 54, the configuration of the basket 56 in the storage unit 54, and the length of the arm 11.

[0386] The information processing device 15 controls the traveling vehicle body 10 and the arm 11 through the set take-out mode so as to take out the basket 56 from the storage unit 54 (S702).

[0387] In addition, the information processing device 15 can control the operation of the arm 11 and the operation of the traveling vehicle body 10 using the information detected by the sensor group 70 in the warehouse.

[0388] The local cart 52B includes an arm 11, a traveling vehicle body 10, and an information processing device 15. The arm 11 takes out the basket 56 from the storage unit 54. The traveling vehicle body 10 is equipped with the arm 11 and can carry the basket 56 taken out by the arm 11. The information processing device 15 controls the arm 11 and the traveling vehicle body 10. The information processing device 15 can execute a first take-out mode and a second take-out mode. In the first take-out mode, while the traveling vehicle body 10 travels, the basket 56 is taken out from the storage unit 54 by the arm 11. In the second take-out mode, the traveling vehicle body 10 stops, and the basket 56 is taken out from the storage unit 54 by the arm 11. The information processing device 15 sets the take-out mode to the first take-out mode or the second take-out mode based on the size of the basket 56, the configuration of the basket 56, and the length of the arm 11.

[0389] Thus, when the posture of the local cart 52B can be stabilized even while taking out the basket 56 from the storage unit 54 while the traveling vehicle body 10 is traveling, the local cart 52B takes out the basket 56 from the storage unit 54 while the traveling vehicle body 10 is traveling. Therefore, the local cart 52B can quickly gather the baskets 56, and the work efficiency in the case of taking out the baskets 56 from the storage unit 54 can be improved.

[0390] The local cart 52B can stabilize itself and take out the basket 56 from the storage unit 54. For example, when taking out the basket while traveling, if there is a risk that the posture of the local cart 52B is unstable, the local cart 52B stops the traveling vehicle body 10 and takes out the basket 56 from the storage unit 54. Thus, when the local cart 52B takes out the basket 56 from the storage unit 54, the local cart 52B can be prevented from tipping over. That is, the safety when the local cart 52B takes out the basket 56 from the storage unit 54 can be improved.

[0391] In addition, when taking out a plurality of baskets 56 from the storage unit 54 and the distance between the baskets 56 taken out from the storage unit 54 above the local cart 60 is equal to or less than a predetermined distance, the information processing device 15 of the local cart 52B sets the take-out mode to the second take-out mode.

[0392] The predetermined distance is a preset distance, which is the distance at which it is impossible to take out a plurality of baskets 56 in one pass through the local lane 60 while the traveling vehicle body 10 is traveling. For example, when the distance between two baskets 56 is equal to or less than the predetermined distance and the traveling vehicle body 10 takes out two baskets 56 from the storage unit 54 while traveling, the local cart 52B cannot take out two baskets 56 from the storage unit 54 in one pass through the local lane 60.

[0393] In this case, the local cart 52B first travels on the local lane 60 for the first time, causing the traveling vehicle body 10 to travel while taking out the first basket 56 from the storage unit 54. Next, the local cart 52B travels on the local lane 60 for the second time, causing the traveling vehicle body 10 to travel while taking out the second basket 56 from the storage unit 54. That is, the local cart 52B must travel around the local lane 60 twice in order to take out two baskets 56.

[0394] In this case, the information processing device 15 of the local cart 52B sets the take-out mode to the second take-out mode. Thereby, when the local cart 52B travels on the local lane 60 once, the traveling vehicle body 10 is stopped, and two baskets 56 are taken out from the storage unit 54 by means of the arm 11. For example, the local cart 52B stops at a position where two baskets 56 can be taken out by means of the arm 11, and takes out two baskets 56.

[0395] In addition, the multiple baskets 56 taken out from the storage unit 54 as described as an example above are not limited to two. The multiple baskets 56 can also be three or more.

[0396] Thereby, when the local cart 52B takes out multiple baskets 56 from the storage unit 54, the time required to take out multiple baskets 56 can be shortened, and the work efficiency can be improved.

[0397] <Ninth Embodiment>

[0398] Next, the ninth embodiment will be described. In addition, the description of the parts overlapping with the above embodiments will be omitted. Fig.39 It is a top view of the site 50 of the warehouse of the picking system to which the ninth embodiment is applied.

[0399] The site 50 has a base 100 for performing maintenance work on the cart robot 52. For example, the necessary equipment for maintenance is stored in the base 100, and the operators for performing maintenance are stationed. The maintenance work of the cart robot 52 returning to the base 100 is performed at the site 50. In addition, the maintenance work of the cart robot 52 can be performed by a robot.

[0400] At the base 100, a cart robot 52 that is prepared to replace the cart robot 52 in the maintenance work can be made to standby in advance. In addition, the prepared cart robot 52 can be made to continuously patrol the site 50. In this case, for example, when the goods fall from the cart robot 52 during the work, the prepared cart robot 52 can be a robot that picks up the goods in place of the cart robot 52.

[0401] In addition, as described later, when an abnormality occurs in this device, the cart robot 52 returns to the base 100 on its own. Thus, the operator can standby at the base 100, and therefore the efficiency of the operation can be improved. In addition, there can be multiple bases 100 within the site 50, or the base 100 can be set outside the site 50.

[0402] When an abnormality occurs in this device, the cart robot 52 controls the traveling vehicle body 10 to return to the base 100. The abnormalities of this device include failures of the traveling vehicle body 10 and the arm 11.

[0403] For example, the cart robot 52 detects the abnormality of this device based on the images of this device captured by various cameras. The control unit 152 detects the abnormality of this device using images and AI. In addition, at this time, the cart robot 52 can detect the abnormality of this device based on the images captured by other cart robots 52.

[0404] For example, other cart robots 52 can be the cart robots 52 in operation, or the cart robots 52 that patrol within the site 50 for photographing each cart robot 52.

[0405] In addition, the cart robot 52 can detect the abnormality of this device based on sound, for example. For example, the cart robot 52 detects the abnormality of this device based on the presence or absence of abnormal sounds from motors and the like. In addition, the above-mentioned abnormality detection process can be performed at a control center (not shown).

[0406] When detecting the abnormality of this device, the cart robot 52 controls the traveling vehicle body 10 to make the cart robot 52 return to the base 100. At this time, the control unit 152 can make it return to the base 100 after the current task is completed, or can interrupt the task to make it return to the base 100.

[0407] In addition, when the cart robot 52 returns to the base 100, it notifies the base 100 or the control center, etc. of its return situation. For example, the above-mentioned notification includes information related to the reservation of maintenance or the content of the abnormality. Thus, maintenance can be carried out at the base 100 as soon as possible.

[0408] In addition, when the cart robot 52 interrupts the task and returns to the base 100, it can transfer the task to a standby cart robot 52 or other cart robots 52 at the base 100. The transfer of the task here includes the handover of goods between the cart robots 52.

[0409] After that, when the abnormality at the base 100 is eliminated, the cart robot 52 resumes the operation within the site 50. At this time, the cart robot 52 can resume the operation from the interrupted task, or can start a new task.

[0410] In addition, in the case where an omen of an abnormality is detected, the cart robot 52 can also return to the base 100. For example, the cart robot 52 uses an AI that has learned the omen of an abnormality to detect the omen of an abnormality.

[0411] That is to say, in this case, since maintenance can be received before the occurrence of an abnormality, it can be achieved. It is possible to prevent an abnormality of the cart robot 52 in advance.

[0412] Next, Fig.40 The flowchart of Fig.40 is used to explain the operation processing of the cart robot 52 of the embodiment. Fig.40 It is a flowchart for explaining the operation processing of the cart robot 52 of the ninth embodiment.

[0413] The information processing device 15 acquires various information related to the abnormality detection of the present device (S800). The information processing device 15 makes an abnormality determination based on the acquired various information (S801). The information processing device 15 determines the result of the abnormality determination, whether there is an abnormality (S802).

[0414] When the information processing device 15 determines that there is an abnormality (S802; Yes), it returns to the base 100 (S803). In addition, when the information processing device 15 determines that there is no abnormality (S802; No), it transfers to the process of S800.

[0415] In addition, the processes of S800 to S802 can be performed in the control center. In this case, the information detected by each cart robot 52 and the in-warehouse sensor group 70, etc. is sent to the control center. When an abnormality of each cart robot 52 is detected in the control center, a return instruction is sent from the control center to the cart robot 52.

[0416] In addition, the information processing device 15 can control the operation of the arm 11 and the operation of the traveling vehicle body 10 using the information detected by the in-warehouse sensor group 70.

[0417] The cart robot 52 includes an arm 11, a traveling vehicle body, and an information processing device 15 (an example of a control device). The arm 11 performs the handing over of goods. The traveling vehicle body is mounted with the arm and can carry goods. When an abnormality occurs in the present device, the information processing device 15 controls the traveling vehicle body 10 to return to the base 100.

[0418] In addition, when the information processing device 15 returns the present device to the base 100, it makes a maintenance request. In addition, when the information processing device 15 detects an abnormality of the present device from the captured image of the present device, it returns it to the base 100.

[0419] In addition, when the information processing device 15 detects an abnormality of this device from the captured image captured by this device or the captured image captured by another cart robot, it causes this device to return to the base 100. In addition, when a precursor related to the abnormality of this device occurs, the information processing device 15 causes this device to return to the base 100. In addition, when the information processing device 15 causes this device to return to the base 100, it hands over the current task to another cart robot.

[0420] As a result, the cart robot 52 can perform the operation of the arm 11 with high precision.

[0421] <Tenth Embodiment>

[0422] Next, the tenth embodiment will be described. In addition, the description of the parts overlapping with the above embodiments will be omitted. Fig.41 It is a perspective view of the cart robot of the tenth embodiment. The cart robot 52 is as Fig.41 shown and includes a traveling vehicle body 10, a plurality of arms 11, a sensor 12, and an information processing device 15.

[0423] The traveling vehicle body 10 is formed, for example, in a box shape with an open top. The traveling vehicle body 10 can carry a basket. A plurality of drive wheels 10a are provided in the traveling vehicle body 10. A motor is provided in each of the drive wheels 10a.

[0424] The arm 11 is attached to the traveling vehicle body 10. The base end portion of the arm 11 is attached to the traveling vehicle body 10, whereby the arm 11 is fixed to the traveling vehicle body 10. For example, the base end portion of the arm 11 is attached to the upper end of the traveling vehicle body 10. A plurality of arms 11 are provided with respect to the traveling vehicle body 10.

[0425] The arm 11 has a plurality of rod-shaped portions 11a and a plurality of joint portions 11b. The joint portion 11b is provided, for example, between two rod-shaped portions 11a and can relatively rotate the two rod-shaped portions 11a. By means of each joint portion 11b, the rod-shaped portion 11a relatively rotates, whereby the arm 11 can expand and contract and rotate 360 degrees.

[0426] The sensor 12 is attached to the traveling vehicle body 10. The sensor 12 is provided on the front side of the traveling vehicle body 10. For example, the sensor 12 is provided at the front end of the traveling vehicle body 10. The sensor 12 is provided at the upper end of the traveling vehicle body 10. The sensor 12 may be provided to protrude upward from the traveling vehicle body 10. The sensor 12 is attached near the middle in the left-right direction of the traveling vehicle body 10. For example, the arm 11 and the sensor 12 are provided at opposite positions of the traveling vehicle body 10.

[0427] The information processing device 15 (control device) determines the number of arms 11 for performing the handover according to the goods. Specifically, the control unit 152 determines the number of arms 11 according to the weight, volume, number, etc. of the goods to be handed over.

[0428] For example, the information processing device 15 determines the number of arms 11 based on a comparison between the weight of the goods and a threshold value. For example, when the control unit 152 uses the load capacity of each arm 11 as the threshold value and the weight of the goods is less than the threshold value, the information processing device 15 determines that the number of arms 11 is one.

[0429] In addition, when the weight of the goods exceeds the threshold value, the information processing device 15 determines that the number of arms 11 is two or more. That is to say, the information processing device 15 uses the minimum number of arms 11 to transfer the goods according to the weight of the goods.

[0430] Thereby, compared with the case of always using multiple arms 11 to transfer the goods, power consumption can be reduced. In addition, according to such a configuration, for example, other goods can be transferred simultaneously using other arms 11.

[0431] Thereby, the cart robot 52 can efficiently transfer the goods. In addition, regarding the weight of the goods, the information processing device 15 can obtain it in advance according to an order or the like, or can use the value detected by the weight sensor of the traveling vehicle body 10.

[0432] In addition, the information processing device 15 determines the number of arms 11 according to the size of the goods. That is to say, in this case, when the information processing device 15 transports the goods with one arm and there is a risk of the goods falling, multiple arms 11 are used to transfer the goods.

[0433] In addition, the information processing device 15 can determine the number of arms 11 according to the number of goods transferred at one time. For example, as the number of goods increases, the control unit 152 increases the number of arms 11.

[0434] In addition, the information processing device 15 can determine the number of arms 11 according to the type of goods. For example, when the goods are fragile items or precision instruments, etc., which have a risk of being damaged by the impact when dropped, the information processing device 15 can leave some room in the number of arms 11.

[0435] In addition, when transferring goods with other cart robots 52, the information processing device 15 can determine the number of arms 11 according to the arms 11 used by other cart robots 52 for goods transfer.

[0436] That is to say, the information processing device 15 expands the decision-making process related to the number of the above-mentioned arms 11 to other cart robots 52 to determine the number of arms 11. In addition, regarding the case of coordinating with other cart robots 52 to transfer goods, the number of arms 11 can be determined according to the instructions of the control center.

[0437] In addition, after determining the number of arms 11, the information processing device 15 can use the arms 11 that can perform cargo transfer more efficiently to transfer the cargo. In this case, the control unit 152 can use the arm 11 closest to the cargo among the multiple arms 11 for the transfer.

[0438] Next, the Fig.42 flowchart is used to explain the operation processing of the cart robot 52 of the embodiment. Fig.42 It is a flowchart for explaining the operation processing of the cart robot 52 of the tenth embodiment.

[0439] The information processing device 15 starts the preparation for cargo transfer (S900). The information processing device 15 identifies the cargo to be transferred (S901). The information processing device 15 determines the number of arms 11 for the transfer based on the identified cargo (S902).

[0440] The information processing device 15 uses the arms 11 with the determined number to transfer the cargo (S903). In addition, the information processing device 15 can perform these series of processes based on an instruction from a control center (not shown).

[0441] Moreover, the information processing device 15 moves the traveling vehicle body 10 to the determined position of the traveling vehicle body 10. The information processing device 15 moves the arm 11 to the determined position of the arm 11 as the traveling vehicle body 10 moves. The information processing device 15 controls the actions of the traveling vehicle body 10 and the arm 11 according to the configuration of the storage unit 54, the position of the basket 56, and the presence or absence of other local carts 52B.

[0442] The cart robot 52 includes a plurality of arms 11, a traveling vehicle body 10, and an information processing device 15 (an example of a control device). The plurality of arms 11 perform cargo transfer. The traveling vehicle body 10 is equipped with the arms 11 and can carry the cargo. The information processing device 15 determines the number of arms for the transfer according to the cargo.

[0443] In addition, the information processing device 15 determines the number of arms 11 according to the weight of the cargo. In addition, the information processing device 15 determines the number of arms 11 according to the size of the cargo. In addition, the information processing device 15 determines the number of arms 11 according to the number of the cargo.

[0444] Thereby, the cart robot 52 can efficiently perform cargo transfer.

[0445] <Eleventh Embodiment>

[0446] Next, the eleventh embodiment will be described. In addition, the description of the parts repeated with the above embodiments will be omitted. In the eleventh embodiment, the cart robot 52 determines the operation speed of the arm 11 according to the type of the cargo. For example, the cart robot 52 is based on Fig.43The information of the arm shown determines the operating speed of arm 11. Fig.43 This is a diagram showing an example of arm information.

[0447] As Fig.43 shown, in the arm information 154a, items such as "arm information ID", "type of goods", "priority of stability", "operating speed of the arm", and "type of holding part" are included, and the data of each item is associated with each other (correlated). In addition, although the information of each item included in "type of goods", "priority of stability", "operating speed of the arm", and "type of holding part" is pre-set information, it is not limited to this.

[0448] The "arm information ID" is information for identifying the arm information. The "type of goods" is information indicating the type of the basket (goods) 56. In the "type of goods", for example, information such as electronic devices, precision instruments, household appliances, clothing, food, books, etc. is given, but these are examples and are not limited. In addition, in Figure 4 the example shown, for convenience, the "type of goods" is abstractly recorded as "B01", but specific information is recorded in "B01". There are also cases where other information is abstractly recorded as follows.

[0449] In the present embodiment, the operating speed of arm 11 is determined according to the type of the above-mentioned basket (goods) 56, so that the handover of the basket 56 can be appropriately performed in the cart robot 52. This will be described later.

[0450] The "priority of stability" is information indicating the degree of priority of stability when the corresponding basket (goods) 56 is carried by means of handover or the like. The "priority of stability" is, for example, set stagewise as high, medium, low, etc. In addition, in Fig.43 an example in which the "priority of stability" has three stages is shown, but it is not limited to this, and it may also be two stages or four stages or more.

[0451] Specifically, in the "type of goods", electronic devices, precision instruments, household appliances, etc. are liable to be affected by vibrations during handling due to the nature of the goods. Therefore, it is preferable that electronic devices, etc. are less affected by vibrations during handling, and thus the stability during handling is prioritized. In other words, rather than the speed during handling, electronic devices, etc. prioritize stability. Therefore, the corresponding "priority of stability" for the "type of goods" being electronic devices, etc. is set to be higher.

[0452] In addition, goods such as clothing, food, and books in the "type of goods" are more resistant to vibrations during handling than electronic devices, etc. Therefore, speed is prioritized over stability during handling. In other words, while ensuring a certain degree of stability during handling, clothing, etc. prioritize speed. Therefore, the corresponding "priority of stability" for "type of goods" being clothing, etc. is set to a medium level or lowered. In other words, the corresponding "priority of stability" for "type of goods" being clothing, etc. is set lower than the corresponding "priority of stability" for electronic devices, etc.

[0453] In addition, the above-mentioned electronic devices, precision instruments, household appliances, etc. are an example of goods of a given type. In addition, the above-mentioned clothing, food, books, etc. are an example of other types of goods different from the given type. Therefore, goods of a given type (here electronic devices, etc.) are goods that prioritize stability during handling more than other types of goods (here clothing, etc.).

[0454] "The movement speed of the arm" is information indicating the movement speed of the arm 11. Specifically, "the movement speed of the arm" is the action speed when the arm 11 transfers the basket 56, in other words, it is information indicating the action speed when the arm 11 holds the basket 56 for handling.

[0455] "The action speed of the arm" is set, for example, to high speed, medium speed, low speed, etc. in stages. Specifically, the "action speed of the arm" corresponding to the "type of goods" with a high priority of stability is set to low speed. Specifically, the "action speed of the arm" corresponding to the "type of goods" with a medium priority of stability is set to medium speed, which is faster than low speed. Specifically, the "action speed of the arm" corresponding to the "type of goods" with a low priority of stability is set to high speed, which is faster than low speed or medium speed. In addition, Fig.43 an example where the "action speed of the arm" is three stages is shown, but it is not limited to this, and it can also be two stages or four stages or more.

[0456] "The type of holding part" is information indicating the type of the holding part 12c of the arm 11 that performs the transfer of the basket 56. "The type of holding part" includes the above-mentioned gripping part, suction holding part, magnetic holding part, etc. In addition, in the "type of holding part", the type of the holding part 12c installed on the arm 11 is set.

[0457] As an example, the type of the "holding part" corresponding to the "type of goods" with a higher priority of stability is set to the type of the holding part 12c (for example, a gripping part) that can stably hold the basket 56 for transportation. In addition, the type of the "holding part" corresponding to the "type of goods" with a medium or lower priority of stability (in other words, the "type of goods" that prioritizes speed) is set to the type of the holding part 12c (for example, a suction holding part or a magnetic holding part) that can hold the basket 56 relatively quickly for transportation at a medium or high speed. In addition, in the above, although the type of the holding part 12c corresponding to the "type of goods" is specifically shown, this is an example and is not limited.

[0458] Fig.43 In the example shown, it is shown that the arm information with the arm information ID identified as "A01" has the type of goods as "B01", the priority of stability as "high", the movement speed of the arm as "low speed", and the type of the holding part as "C01". In addition, it is shown that the arm information with the arm information ID identified as "A02" has the type of goods as "B02", the priority of stability as "medium", the movement speed of the arm as "medium speed", and the type of the holding part as "C02". In addition, it is shown that the arm information with the arm information ID identified as "A03" has the type of goods as "B03", the priority of stability as "low", the movement speed of the arm as "high speed", and the type of the holding part as "C03".

[0459] The information processing device 15 controls the movement of the arm 11 based on the information indicating the type of the basket 56 and the above-mentioned arm information. Specifically, the information processing device 15 determines the movement speed of the arm 11 for handing over the basket 56 according to the type of the basket 56. In other words, the information processing device 15 determines the movement speed of the arm 11 after the arm 11 holds the basket 56 until the basket 56 is transferred or placed on the traveling vehicle body 10 according to the type of the basket 56. That is, the information processing device 15 determines the movement speed of the arm 11 after holding the basket 56 according to the type of the basket 56.

[0460] Thus, the information processing device 15 of the present embodiment can determine the movement speed of the arm 11 to a value that conforms to the type of the basket 56 to be handed over, so that the basket 56 can be appropriately handed over by the cart robot 52.

[0461] Specifically, the information processing device 15 makes the operating speed of the arm 11 for handing over the basket 56 (goods of a predetermined type), such as an electronic device, different from the operating speed of the arm 11 for handing over the basket 56 (goods of other types), such as clothing. Specifically, when the type of the basket 56 to be handed over has a higher priority for stability during the handling of electronic devices or the like, the information processing device 15 makes the operating speed of the arm 11 different from when the type of the basket 56 to be handed over has a lower priority for stability during the handling of clothing or the like than that of electronic devices or the like.

[0462] In this way, the information processing device 15 makes the operating speed of the arm 11 different according to the type of the basket 56 to be handed over. Thereby, the operating speed of the arm 11 that matches the type of the basket 56 can be determined, and the basket 56 can be handed over more appropriately by the cart robot 52.

[0463] If described more specifically, when the type of the basket 56 to be handed over is a basket 56 with a higher priority for stability during the handling of electronic devices or the like than that of clothing or the like, the information processing device 15 makes the operating speed of the arm 11 for handing over the basket 56 (goods of a predetermined type), such as an electronic device, lower than the operating speed of the arm 11 for handing over clothing or the like (goods of other types). In other words, the information processing device 15 sets the operating speed of the arm 11 to a low speed.

[0464] Thus, in the present embodiment, since the basket 56 (goods of a predetermined type), such as an electronic device, is stably handed over and carried by the arm 11 at a lower speed, vibrations or drops of the basket 56 are less likely to occur, and the basket 56 can be handed over more appropriately.

[0465] In addition, when the type of the basket 56 to be handed over is a basket 56 with a higher priority for speed during the handling of clothing or the like than that of electronic devices or the like, the information processing device 15 increases the operating speed of the arm 11 for handing over the basket 56 (goods of other types), such as clothing, compared to the operating speed of the arm 11 for handing over electronic devices or the like (goods of a predetermined type). In other words, the information processing device 15 sets the operating speed of the arm 11 to a medium speed or a high speed.

[0466] Thus, since the basket 56 (goods of other types), such as clothing, is handed over and carried by the arm 11 at a medium speed or a high speed as soon as possible while ensuring stability, the basket 56 can be handed over more appropriately.

[0467] In this way, in the present embodiment, the operating speed of the arm 11 is determined according to the type of the basket 56 to be handed over, so that both stability and speed during handling can be achieved.

[0468] In addition, the information processing device 15 can set the operating speed of the arm 11 when the arm 11 is not holding the basket 56 to a preset initial speed (e.g., high speed). Specifically, before the arm 11 holds the basket 56 or after transferring the basket 56, the information processing device 15 can set the operating speed of the arm 11 after placing the basket 56 on the traveling vehicle body 10, etc. to the initial speed (e.g., high speed). In addition, the information processing device 15 can determine the operating speed of the arm 11 before holding the basket 56 according to the type of the basket 56.

[0469] In addition, the information processing device 15 changes the type of the holding part 12c of the arm 11 that performs the transfer of the basket 56 according to the type of the basket (cargo) 56. Thus, in the present embodiment, the basket 56 can be appropriately held by the arm 56, and thus the transfer of the basket 56 can be further appropriately performed.

[0470] Specifically, the information processing device 15 makes the holding part 12c of the arm 11 that performs the transfer of the basket 56 (goods of a certain type) such as electronic devices different from the holding part 12c that performs the transfer of the basket 56 (other types of goods) such as clothes. In detail, the information processing device 15 makes the holding part 12c of the arm 11 different when the type of the basket 56 to be transferred is such that the priority of stability during the handling of electronic devices, etc. is relatively high, and the holding part 12c of the arm 11 different when the type of the basket 56 to be transferred is such that the priority of stability during the handling of clothes, etc. is lower than that of electronic devices, etc.

[0471] More specifically, when the type of the basket 56 to be transferred is a basket 56 whose stability during handling is more prioritized than that of clothes, etc. for electronic devices, etc., the information processing device 15 uses a holding part 12c (e.g., a gripping part) that can stably hold and transfer the basket 56 as the holding part 12c of the arm 11 that performs the transfer of the basket 56 (goods of a certain type) such as electronic devices.

[0472] Thus, since the basket 56 (goods of a certain type) such as electronic devices is stably held by the arm 11 and transferred while being held, vibrations or drops of the basket 56 are less likely to occur, and the transfer of the basket 56 can be further appropriately performed.

[0473] In addition, when the type of the basket 56 to be transferred is a basket 56 whose speed is more prioritized than that of electronic devices, etc. for clothes, etc., the information processing device 15 uses a holding part 12c (e.g., a suction holding part or a magnetic holding part) that can hold the basket 56 relatively quickly and transfer the basket 56 at a medium speed or a high speed as the holding part 12c of the arm 11 that performs the transfer of the basket 56 (other types of goods) such as clothes.

[0474] Accordingly, since the basket 56 (other types of goods) such as clothing is held by the arm 11 at medium or high speed while ensuring stability and transferred as soon as possible, the transfer of the basket 56 can be further appropriately performed. In this way, by changing the type of the holding portion 12c of the arm 11 according to the type of the basket 56 to be transferred, it is possible to achieve both stability and speed during transfer.

[0475] Next, Fig.44 the operation processing of the cart robot 52 of the embodiment will be described. Fig.44 FIG. is a flowchart for explaining the operation processing of the cart robot 52 of the eleventh embodiment.

[0476] As Fig.44 shown, the information processing device 15 starts the preparation for the transfer of the basket 56 (step S1000) based on signals and the like sent from a control center or the like that indicates the operation of the cart robot 52. Next, the information processing device 15 identifies the type of the basket 56 to be transferred by the arm 11 (step S1001). For example, the information processing device 15 identifies the type of the basket 56 based on signals sent from a control center or the like or information related to the basket 56 detected by the sensor 13 or the in-warehouse sensor group 70.

[0477] Next, the information processing device 15 determines the operation speed of the arm 11 according to the identified type of the basket 56 (step S1002). The information processing device 15 determines the type of the holding portion 12c of the arm 11 according to the type of the basket 56 (step S1003). In addition, Fig.44 in the example of, the description is given in the order of step 1002 and step 1003, but the processing may be performed in the order of step S1003 and step S1002, or the processing of step S1002 and step S1003 may be performed in parallel.

[0478] Next, the information processing device 15 transfers the basket 56 by means of the arm 11 for which the determined operation speed and the type of the holding portion 12c are applied (step S1004). In addition, the information processing device 15 may perform these series of processes based on an instruction from a control center (not shown).

[0479] As described above, the cart robot 52 of the present embodiment includes an arm 11 and an information processing device 15 (an example of a control device). The arm 11 transfers the basket 56. The information processing device 15 determines the operation speed of the arm 11 for transferring the basket 56 according to the type of the basket 56. Accordingly, the transfer of the basket 56 can be appropriately performed according to the type of the basket 56.

[0480] <Twelfth Embodiment>

[0481] Next, the twelfth embodiment will be described. In addition, the description of the parts that overlap with the above embodiments will be omitted. Fig.45 This is a top view of the site 50 of the warehouse for the picking system S of the twelfth embodiment. As Fig.45 shown, the picking system S includes a plurality of first cart robots 51 and a plurality of second cart robots 52.

[0482] In Figure 1 the shown site 50, a storage section (warehouse, shelf, etc.) 54 is provided, and a plurality of baskets 56 are stored. The baskets 56 are items (goods) collected through picking operations. The first cart robots 51 and the second cart robots 52 move around the storage section 54.

[0483] The first cart robot 51 is a cart robot that moves along the local lane 60 (an example of the first lane). The second cart robot 52 is a cart robot that moves at a higher speed than the first cart robot 51 and moves along the high-speed lane 58 (an example of the second lane).

[0484] The local lane 60 includes a picking section 59 close to the storage section 54 and a parallel section 61 close to the high-speed lane 58 and parallel to the high-speed lane 58. The first cart robot 51 moves in a serpentine manner between the storage section 54 and the high-speed lane 58.

[0485] The first cart robot 51 temporarily decelerates or stops in the picking section 59 and picks up the basket 56 from the storage section 54. In addition, the first cart robot 51 transfers the basket 56 to the second cart robot 52 in the parallel section 61.

[0486] The first cart robot 51 and the second cart robot 52 perform the handover of the basket 56. The handover includes taking out the basket 56 from the storage section 54.

[0487] Next, with reference to Fig.46 and Fig.47 an example of the configurations of the first cart robot 51 and the second cart robot 52 will be described. Fig.46 This is a perspective view of the first cart robot 51. Fig.47 This is a perspective view of the second cart robot 52.

[0488] As Fig.46 shown, the first cart robot 51 includes a first vehicle body 63 capable of carrying a plurality of baskets 56. The first vehicle body 63 is formed, for example, in a box shape with an open top. The first vehicle body 63 is provided with a plurality of drive wheels 63a.

[0489] In addition, the first cart robot 51 includes a plurality of picking arms 62. The plurality of picking arms 62 are mounted on the first vehicle body 63. The proximal ends of the plurality of picking arms 62 are fixed to the first vehicle body 63.

[0490] The multiple picking arms 62 are arms for the operation of taking out the baskets 56 from the storage unit 54 and placing them on the first vehicle body 63. In a state where the first cart robot 51 is located in the picking section 59, the multiple picking arms 62 are provided on the side of the first vehicle body 63 of the first cart robot 51 that faces the storage unit 54 among both sides.

[0491] The picking arm 62 has a plurality of arm parts and a plurality of joint parts. The joint parts are provided, for example, between two arm parts and rotatably connect the two arm parts relative to each other. Each joint part has a motor. By means of each joint part, the arm parts rotate relative to each other, whereby the picking arm 62 can extend and contract and rotate 360 degrees.

[0492] A holding part 65 for holding the basket 56 is provided at the end part of the picking arm 62. The holding part 65 can be a suction hand for holding the basket 56, a gripping hand for holding the basket 56, or a magnetic hand for holding the metal part provided on the basket 56 by means of magnetism.

[0493] As Fig.47 shown, the second cart robot 52 includes a second vehicle body 63B capable of placing a plurality of baskets 56. The second vehicle body 64 is formed, for example, in a box shape with an open top. A plurality of drive wheels 64a are provided on the second vehicle body 64. Motors are respectively provided at each of the drive wheels 64a. The second vehicle body 64 can rotate 360 degrees by adjusting the rotation speeds of the respective drive wheels 64a.

[0494] A plurality of vehicle body sensor groups 72 including cameras and LiDAR are provided on the second vehicle body 64. The plurality of vehicle body sensor groups 72 are provided, for example, at the four corners of the upper side of the second vehicle body 64.

[0495] Next, with reference to Fig.48 a configuration example of the first vehicle body 63 included in the first cart robot 51 will be described. Fig.48 It is a schematic diagram showing a configuration example of the first vehicle body 63. As Fig.48 shown, the first vehicle body 63 of the first cart robot 51 has a first opening 631 and a first side wall 632. The first opening 631 is provided at a position facing the second vehicle body 64 of the second cart robot 52 that is parallel in the parallel section 61 (refer to Fig.45 ). The first opening 631 can be formed to a size capable of inserting at least one basket 56.

[0496] The first side wall 632 is a side wall that can open and close the first opening 631. Specifically, the first side wall 632 can open and close the first opening 631 by rotating around a rotation axis 633 provided at the lower end. The first side wall 632 is in a vertically standing state so as to be able to close the first opening 631. In addition, the first side wall 632 tilts outward from the vertically standing state with respect to the first vehicle body 63, so as to be able to open the first opening 631. The first side wall 632 can open at an angle of more than 90 degrees with reference to the first opening 631.

[0497] When the first side wall 632 is in a state of closing the first opening 631, a fence 634 is provided on the wall surface facing the inside of the first vehicle body 63. The fence is provided at the rear end in the advancing direction of the first vehicle body 63 on the above-mentioned wall surface of the first side wall 632.

[0498] In addition, the first vehicle body 63 includes a first bottom 635 for placing the basket 56. In the first embodiment, the first bottom 635 includes a plurality of rollers 636. The plurality of rollers 636 rotate around a rotation axis extending along the advancing direction of the first vehicle body 63.

[0499] In addition, the first vehicle body 63 includes a pushing portion 637 for pushing out the basket 56 stored in the first vehicle body 65 toward the first opening 631. In the first embodiment, the pushing portion 637 includes, for example, a contact body 637a and a telescopic mechanism 637b. One end of the telescopic mechanism 637b is mounted on the wall surface opposite to the first opening 631, and the other end is mounted on the contact body 637a. The above-mentioned pushing portion 637 advances and retracts the contact body 637a with the telescopic mechanism 637b, so as to be able to push out the basket 56 toward the first opening 631.

[0500] Next, refer to Fig.49 A configuration example of the second vehicle body 64 included in the second cart robot 52 will be described. Fig.49 It is a schematic diagram showing a configuration example of the second vehicle body 64.

[0501] As Fig.49 shown, the second vehicle body 64 of the second cart robot 52 has a second opening 641 and a second side wall 642. The second opening 641 is provided at a position facing the first vehicle body 63 of the first cart robot 51 that is parallel in the parallel section 61 (refer to Fig.45 ). The second opening 641 can be formed to a size that can allow at least one basket 56 to be inserted therethrough.

[0502] The second side wall 642 is a side wall capable of opening and closing the second opening 641. Specifically, the second side wall 642 can open and close the second opening 641 by rotating about a rotation axis 643 provided at the lower end. The second side wall 642 is in a vertically standing state so as to be able to close the second opening 641. In addition, the second side wall 642 tilts outward from the vertically standing state to the second vehicle body 64, so as to be able to open the second opening 641.

[0503] In addition, the second vehicle body 64 is provided with a second bottom 645 on which the basket 56 is placed. The second bottom 645 slopes downward from the second opening 641.

[0504] Fig.50 It is a flowchart showing a control program for the picking process of the basket 56 by the first cart robot 51.

[0505] As Fig.50 shown, when the first cart robot 51 receives the goods collection plan information from the control center 3 (step S1010), it starts moving toward the destination along the local lane 60 at the first moving speed (for example, 5 km / h) (step S1011).

[0506] Next, the first cart robot 51 determines whether the target basket 56 is detected based on the detection results of the vehicle body sensor group 72 or the arm sensor group 74 (step S1012). In this process, when the first cart robot 51 detects the target basket 56 (step S1012, YES), it picks up the basket 56 with the picking arm 62 and places it on the first vehicle body 63 (step S1013).

[0507] Next, the first cart robot 51 moves toward the parallel section 61 at the second moving speed (for example, 20 km / h) (step S1014) and docks (parallels) with the second cart robot 52 in the parallel section 61 (step S1015).

[0508] Next, the basket 56 is transferred from the first cart robot 51 to the second cart robot 52 (step S1016). The method of transferring the basket 56 from the first cart robot 51 to the second cart robot 52 will be described later.

[0509] After that, the moving speed of the first cart robot 51 returns to the first moving speed, waits for the next instruction, and thus ends this process.

[0510] Next, with reference to Figure 51 to Figure 53 an example of the method of transferring the basket 56 from the first cart robot 51 to the second cart robot 52 will be described. Figure 51 to Figure 53 It is an operation example showing the method of transferring the basket 56 according to the twelfth embodiment.

[0511] First, as shown in Fig.51 While the first cart robot 51 and the second cart robot 52 are running in parallel, open the first side wall 632 of the first vehicle body 63 and the second side wall 642 of the second vehicle body 64. Specifically, after opening the second side wall 642, open the first side wall 632. In the state where the first side wall 632 and the second side wall 642 are open, the end of the first side wall 632 is located inside the second vehicle body 64, and the end of the second side wall 642 is located inside the first vehicle body 63.

[0512] The first bottom 635 of the first vehicle body 63 is provided at a position higher than the second bottom 645 of the second vehicle body 63B. In addition, as described above, the first side wall 632 can be opened at an angle of more than 90 degrees with respect to the first opening 631. Thus, by opening the first side wall 632 and the second side wall 642, the first vehicle body 63 and the second vehicle body 64 are connected via the first side wall 632 that slopes downward from the first opening 631 of the first vehicle body 63 toward the second opening 641 of the second vehicle body 63B.

[0513] Next, as shown in Fig.52 Use the pushing part 637 of the first vehicle body 63 to push the basket 56 stored in the first vehicle body 63 toward the first opening 631. Thus, the basket 56 is pushed out of the first vehicle body 63 via the first opening 631. Since the first bottom 635 of the first vehicle body 63 has a plurality of rollers 636, the basket 56 can be smoothly pushed out. The basket 56 pushed out of the first vehicle body 63 moves downward along the first side wall 632 toward the second opening 641 of the second vehicle body 64. Since the first side wall 632 is provided with a fence 634, the basket 56 can be appropriately prevented from falling from the first side wall 632.

[0514] After that, as shown in Fig.53 The basket 56 is received inside the second vehicle body 64 via the second opening 641. Since the second bottom 645 of the second vehicle body 64 slopes downward from the second opening 641, the basket 56 can be appropriately prevented from flying out of the second vehicle body 64 from the second opening 641.

[0515] After that, close the first side wall 632 and close the second side wall 642. Thus, the transfer of the basket 56 from the first cart robot 51 to the second cart robot 52 is completed.

[0516] In this way, the picking system S of the tenth embodiment transfers the basket 56 from the first vehicle body 63 to the second vehicle body 64 via the first opening 631 of the first vehicle body 63 and the second opening 641 of the second vehicle body 64. According to the above transfer method, since there is no need to transfer the basket 56 across the side wall, for example, compared with the case of transferring the basket 56 through the upper opening of the first vehicle body 63 and the second vehicle body 64, the transfer of the basket 56 can be carried out efficiently. Therefore, according to the picking system S of the tenth embodiment, the basket 56 can be picked efficiently and transported to a predetermined position.

[0517] Among them, although an example in which the first bottom 635 of the first vehicle body 63 is provided with a plurality of rollers 636 is shown, the first bottom 635 does not necessarily have to be provided with a plurality of rollers 636. For example, the first bottom 635 may also be provided with a conveyor belt having a drive source such as a motor. In this case, the first vehicle body 63 can take out the basket 56 from the first vehicle body 63 without using the pushing portion 637, for example.

[0518] In addition, although an example in which the pushing portion 637 is provided with the contact body 637a and the telescopic mechanism 637b is shown, the configuration of the pushing portion 637 is not limited to the above example. For example, the pushing portion 637 may be a structure that pushes the basket 56 by sending compressed gas to the basket 56 and using air pressure. In addition, the pushing portion 637 may be an arm like the picking arm 62, for example.

[0519] <The thirteenth embodiment>

[0520] Next, the thirteenth embodiment will be described. In addition, the description of the parts that overlap with the above embodiments will be omitted. Fig.54 It is a schematic diagram showing a configuration example of the first vehicle body 63 of the thirteenth embodiment. As Fig.54 shown, the first vehicle body 63 may be provided with an angle adjustment portion 639 that changes the inclination angle of the first bottom 635. Specifically, the angle adjustment portion 639 can adjust the angle of the first bottom 635 (a plurality of rollers 636) between a horizontal state and an inclined state that is inclined downward toward the first opening 631.

[0521] When transferring the basket 56 from the first cart robot 51 to the second cart robot 52 in the parallel section 61, after opening the first side wall 632 and the fence 634, the picking system S tilts the first bottom 635 with the angle adjustment portion 639. As a result, the basket 56 slides down on the plurality of rollers 63 and moves from the first opening 631 to the outside of the first cart robot 51 (the first side wall 632).

[0522] In this way, the first bottom 635 can be inclined downward toward the first opening 631. According to the above configuration, for example, the basket 56 can be taken out from the first vehicle body 63 without using the pushing portion 637.

[0523] In addition, among them, although an example in which the first bottom 635 is configured to be able to adjust the angle by means of the angle adjustment portion 639 is shown, the first vehicle body 63 does not necessarily have to be provided with the angle adjustment portion 639. That is, the first bottom 635 may always be in a state of being inclined downward toward the first opening 631. In this case, since the first side wall 632 is opened, the basket 56 can roll along the roller 636 from the inside of the first vehicle body 63 and move toward the first side wall 632.

[0524] <The Fourteenth Embodiment>

[0525] Next, with reference to Fig.55 and Fig.56 a configuration example of the first vehicle body 63 and the second vehicle body 64 of the fourteenth embodiment will be described. Fig.55 FIG. is a schematic diagram showing a configuration example of the first vehicle body 63 of the fourteenth embodiment. Fig.56 FIG. is a schematic diagram showing a configuration example of the second vehicle body 64 of the fourteenth embodiment.

[0526] As Fig.55 shown, the first vehicle body 63 includes a first side wall 632 that can be lifted. Specifically, the first side wall 632 can open the first opening 631 by rising and close the first opening 631 by descending.

[0527] In addition, the first vehicle body 63 includes a moving portion 651 that horizontally moves the first bottom 632 toward the second vehicle body 64. Specifically, the moving portion 651 can horizontally move the first bottom 635 between a transfer position outside the first vehicle body 63 and a storage position inside the first vehicle body 63.

[0528] The first bottom 635 includes a conveyor belt 652 that conveys the placed basket 56 to the second opening 641 of the second cart robot 52. The conveyor belt 652 is, for example, a leather conveyor belt and can convey the basket 56 by a drive source such as a motor.

[0529] As Fig.56 shown, the second vehicle body 64 includes a second side wall 642 that can be lifted. Specifically, the second side wall 642 can open the second opening 641 by rising and close the second opening 641 by descending.

[0530] Next, with reference to Figure 57 to Figure 59 a method for transferring the basket 56 in the fourteenth embodiment will be described. Figure 57 to Figure 59 FIG. is a diagram showing an operation example of a method for transferring the basket 56 in the fourteenth embodiment.

[0531] First, as Fig.57As shown, with the first cart robot 51 and the second cart robot 52 running in parallel, the first side wall 632 of the first vehicle body 63 and the second side wall 642 of the second vehicle body 64 are opened.

[0532] Next, as Fig.58 shown, by horizontally moving the first bottom 635 with the moving part 651, the first bottom 635 is moved into the interior of the second vehicle body 64. After that, as Fig.59 shown, the basket 56 is moved towards the second vehicle body 64 by the conveyor belt 652. Thus, the basket 56 is transferred to the second vehicle body 64.

[0533] Among them, although an example of the case where the first bottom 635 is provided with the conveyor belt 652 is shown, the first bottom 635 does not necessarily have to be provided with the conveyor belt 652. For example, the first bottom 635 can have a configuration with a plurality of rollers 636 as described in the first embodiment. In this case, the first vehicle body 63 can be provided with the above-mentioned pushing part 637, for example.

[0534] <The Fifteenth Embodiment>

[0535] Next, the fifteenth embodiment will be described. In addition, the description of the parts that overlap with the above embodiments will be omitted. Fig.60 It is a diagram for explaining the opening and closing method of the second opening 641 of the fifteenth embodiment. As described above, since the second cart robot 52 circulates on the high-speed lane 58 in a certain direction, when the second cart robot 52 travels in the curved part 601, the direction of the centrifugal force received by the basket 56 in the second cart robot 52 is constant. Specifically, the basket 56 is constantly subjected to the centrifugal force towards the outside of the high-speed lane 58. Therefore, it is difficult for the basket 56 to fall from the second opening 641 that opens towards the inside of the high-speed lane 58.

[0536] Therefore, as Fig.60 shown, when the second cart robot 52 is traveling in the curved part 601, the second side wall 642 can be maintained in the open state. Thus, when transferring the basket 56 from the first cart robot 51 to the second cart robot 52, the time required to open the second side wall 642 can be omitted, so that the transfer of the basket 56 can be performed more efficiently.

[0537] In addition, as described above, since the second bottom 645 of the second cart robot 52 slopes downward from the second opening 641, it is possible to more appropriately prevent the basket 56 from falling from the second side wall 642.

[0538] On the other hand, as Fig.60In the case of the high-speed lane 58 shown, when there is a straight portion 602 with a straight extension, the basket 56 is not affected by the centrifugal force towards the outside of the high-speed lane 58 at the straight portion 602. Therefore, when the second cart robot 52 is traveling on the straight portion 602, the second opening 641 can be blocked by the second side wall 642. Thus, it is possible to appropriately prevent the basket 56 from falling at the straight portion 602.

[0539] <Sixteenth Embodiment>

[0540] Next, the sixteenth embodiment will be described. In addition, the description of the parts that overlap with the above-described embodiments will be omitted. Fig.61 It is a schematic diagram showing a configuration example of the second vehicle body 64 of the sixteenth embodiment. As Fig.61 shown, the second vehicle body 64 does not necessarily have to include the second side wall 642. For example, when the top view of the high-speed lane 58 is circular or elliptical, the basket 56 stored inside the second vehicle body 64 is constantly affected by the centrifugal force towards the outside of the high-speed lane 58 during the period when the second cart robot 52 is traveling in a circle. Thus, in the case of not having the second side wall 642, that is, even if the second opening 641 is always in an open state, it is possible to prevent the basket 56 from falling from the second opening 641.

[0541] As described above, the picking system (for example, the picking system S) of the embodiment has a first vehicle body (for example, the first vehicle body 63) capable of storing goods (for example, the basket 56), a first cart robot (for example, the first cart robot 51) moving along the first lane (for example, the local lane 60), and a second vehicle body (for example, the second vehicle body 64) capable of storing goods. It includes a second cart robot (for example, the second cart robot 52) that moves along the second lane (for example, the high-speed lane 58) located outside the first lane and collects goods from the parallel first cart robot and stores them in the second vehicle body. The first vehicle body has a first opening (for example, the first opening 631) at a position facing the parallel second vehicle body, and has a first side wall (for example, the first side wall 632) capable of opening and closing the first opening. The second vehicle body has a second opening (for example, the second opening 641) at a position facing the parallel first vehicle body, and has a second side wall (for example, the second side wall 642) capable of opening and closing the second opening. The picking system of the embodiment opens the first side wall and the second side wall, and transfers goods from the first vehicle body to the second vehicle body via the first opening and the second opening.

[0542] Therefore, according to the picking system of the embodiment, the goods are transferred through the openings facing each other by the first cart robot and the second cart robot, so that the goods can be efficiently picked and transported to a predetermined position.

[0543] The first side wall can be opened and closed by rotating about a rotation axis (e.g., rotation axis 633) provided at the lower end portion to open and close the first opening. The picking system of the embodiment opens the first side wall, connects the first vehicle body and the second vehicle body via the first side wall, and thus can transfer goods from the first vehicle body to the second vehicle body through the first opening, the first side wall, and the second side wall. Thereby, goods can be efficiently transferred from the first cart robot to the second cart robot.

[0544] The first vehicle body may include a pushing portion (e.g., pushing portion 637) that pushes the goods stored in the first vehicle body toward the first opening. The picking system of the embodiment opens the first side wall, and after connecting the first vehicle body and the second vehicle body via the first side wall, can use the pushing portion to push the goods stored in the first vehicle body toward the first opening, thereby transferring the goods from the first vehicle body to the second vehicle body. Thereby, goods can be efficiently transferred from the first cart robot to the second cart robot.

[0545] The first vehicle body may include a first bottom on which goods are placed. The first bottom may include rollers. Thereby, goods can be efficiently transferred from the first cart robot to the second cart robot.

[0546] The first side wall may be inclined downward toward the second opening. Thereby, goods can be efficiently transferred from the first cart robot to the second cart robot.

[0547] The second vehicle body may include a second bottom on which goods are placed. The second bottom may be inclined downward from the second opening. Thereby, it is possible to appropriately prevent goods from falling from the second opening.

[0548] The first vehicle body may include a first bottom on which goods are placed and a moving portion that moves the first bottom toward the second vehicle body. The picking system of the embodiment uses the moving portion to move the first bottom into the interior of the second vehicle body, thereby enabling the goods to move from the first vehicle body to the second vehicle body. Thereby, goods can be efficiently transferred from the first cart robot to the second cart robot.

[0549] The first bottom may include a conveyor belt. The picking system of the embodiment can transfer the goods to the second vehicle body by using the conveyor belt after moving the first bottom into the interior of the second vehicle body by using the moving portion. Thereby, goods can be efficiently transferred from the first cart robot to the second cart robot.

[0550] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. For those skilled in the art, various changes or improvements can obviously be made in the above embodiments. It is clear from the description of the claims that embodiments with such changes or improvements can also be included in the technical scope of the present invention.

[0551] It should be noted that regarding the execution order of each process such as actions, processes, steps, and stages in the devices, systems, programs, and methods shown in the claims, the specification, and the drawings, as long as it is not specifically stated as "before", "prior to", etc., and the output of the previous process is not used for the subsequent process, it can be implemented in any order. Regarding the action flow in the claims, the specification, and the drawings, even if it is described using "firstly", "next", etc. for convenience, it does not mean that it must be implemented in that order.

[0552] Explanation of Reference Numerals

[0553] 1. Control Center

[0554] 15. Information Processing Device

[0555] 50. Site

[0556] 52. Cart Robot

[0557] 58. High-Speed Lane

[0558] 59. Pickup Section

[0559] 60. Local Lane (Low-Speed Lane)

[0560] 82. Replacement Robot

[0561] 83. Robot Control Device

[0562] S. Sorting System

Claims

1. A computer-executed method, characterized in that, it includes a moving process and a replacement process, in the case where the battery level of the drive battery carried by the cart robot for transporting goods is low, the moving process moves the cart robot to a battery replacement station, the replacement process replaces the drive battery of the cart robot with a replacement battery by means of a replacement robot located at the battery replacement station.

2. The method according to claim 1, characterized in that, it includes a charging process, and the charging process charges the replaced drive battery by the replacement robot.

3. The method according to claim 1, characterized in that, it includes a detection process, and the detection process detects the low battery level of the cart robot.

4. A picking system, characterized in that, it includes a cart robot and a replacement robot, the cart robot transports goods, in the case where the battery level of the drive battery carried by the cart robot is low, the replacement robot replaces the drive battery of the cart robot with a replacement battery at a battery replacement station.

5. A program, characterized in that, it causes a computer to execute a moving step and a replacement step, in the case where the battery level of the drive battery carried by the cart robot for transporting goods is low, the moving step moves the cart robot to a battery replacement station, the replacement step replaces the drive battery of the cart robot with a replacement battery by a replacement robot located at the battery replacement station.

6. A cart robot, characterized in that, it includes a traveling vehicle body and a fixed frame, the traveling vehicle body has a cart capable of loading goods, the fixed frame is provided on the frame of the cart, and an arm for performing the handover of the goods is fixed inside the cart.

7. The cart robot according to claim 6, characterized in that, the fixed frame fixes a plurality of the arms at intervals designed based on the shoulder width of a human.

8. The cart robot according to claim 6, characterized in that, the fixed frame fixes the arm at a height designed based on the height of a human shoulder.

9. The cart robot according to claim 6, characterized in that, the fixed frame is provided on one side when viewed from the advancing direction of the traveling vehicle body, and the arm is fixed so that the handover of the goods is performed on the opposite side.

10. The cart robot according to claim 9, characterized in that, the fixed frame is composed of a first pillar and a second pillar. The first pillar is fixed to the corner of the frame, and the second pillar is fixed to a position from the center of the frame toward the corner side when viewed from the advancing direction of the traveling vehicle body, and the arm is fixed to the end sides of the first pillar and the second pillar.

11. The cart robot according to claim 9, characterized in that, the traveling vehicle body mounts a compressor on the lower side of the fixed frame, and the compressor adsorbs the goods by means of the arm.

12. A picking system, characterized in that, it includes a plurality of cart robots, and the plurality of cart robots pick up goods for transportation and arrange the goods on a shelf from which the goods are picked up by the cart robots.

13. The picking system according to claim 12, characterized in that when the goods are stacked on the cart robot, the goods are arranged on another shelf.

14. The picking system according to claim 12, characterized in that the cart robot includes a first cart robot moving in a low-speed lane and a second cart robot moving at a higher speed than the first cart robot in a high-speed lane, the first cart robot arranges the goods on the shelf from which the first cart robot picks up the goods, the first cart robot transfers the goods picked up from the shelf to the second cart robot.

15. The picking system according to claim 12, characterized in that there are multiple shelves, the cart robot arranges the goods on the shelf near other cart robots among the multiple shelves.

16. The picking system according to claim 12, characterized in that there are multiple shelves, the cart robot changes the number of shelves for arranging the goods according to the quantity of the picked goods.

17. The picking system according to claim 12, characterized in that the cart robot and the shelf are respectively multiple, each of the multiple shelves corresponds to one or more of the multiple cart robots, the cart robot arranges the goods picked up by the cart robot on the shelf corresponding to the cart robot.

18. The picking system according to claim 12, characterized in that at least one of when the cart robot picks up the goods from the shelf and when the cart robot arranges the goods on the shelf, a charging process for charging the mounted driving battery is performed.

19. A program, characterized in that it causes a computer to execute a handling step and an arranging step, the handling step is to pick up goods with a cart robot for handling, the arranging step is to arrange the goods on the shelf from which the cart robot picks up the goods with the cart robot.

20. A picking system includes a first cart robot moving along a low-speed lane and a second cart robot moving at a higher speed than the first cart robot along a high-speed lane. The first cart robot picks up goods and transfers them to the second cart robot. The picking system is characterized in that it includes a detection unit and a recovery robot, the detection unit detects the goods dropped from the first cart robot or the second cart robot, the recovery robot recovers the goods detected by the detection unit.

21. The picking system according to claim 20, characterized in that the high-speed lane is a circular road, the low-speed lane is located inside the high-speed lane and has a parallel section parallel to the high-speed lane, the first cart robot and the second cart robot perform the handover of the goods while moving in the parallel section.

22. The picking system according to claim 21, characterized in that The recycling robot is located behind the first cart robot or the second cart robot and moves following the first cart robot or the second cart robot.

23. The picking system according to claim 22, wherein The recycling robot transfers the recycled goods to the first cart robot or the second cart robot.

24. The picking system according to claim 22, wherein There is a storage unit located inside the high-speed lane and capable of placing a plurality of goods, The recycling robot places the recycled goods on the storage unit.

25. The picking system according to claim 22, wherein The detection unit is provided on the recycling robot.

26. The picking system according to any one of claims 21 to 25, wherein The first cart robot includes a first cart, a picking arm, and a transfer arm, The first cart is capable of placing the goods, The picking arm holds the goods and places them on the first cart, The transfer arm holds the goods placed on the first cart and transfers them to the second cart robot, The second cart robot includes a second cart and a receiving arm, The second cart is capable of placing the goods, The receiving arm receives the goods from the transfer arm and places them on the second cart, The recycling robot includes a recycling arm that holds the goods detected by the detection unit.

27. A program, wherein It causes a computer to execute a picking step, a detection step, and a recycling step, The picking step controls a first cart robot moving along a low-speed lane and a second cart robot moving along a high-speed lane at a higher speed than the first cart robot, picks up goods with the first cart robot, and transfers them to the second cart robot, The detection step uses a detection unit to detect the goods dropped from the first cart robot or the second cart robot, The recycling step controls a recycling robot to recycle the goods detected by the detection unit.

28. A picking system, wherein It includes a cart robot and a configuration robot, The cart robot picks up goods for transportation, The configuration robot configures the goods on a shelf from which the cart robot picks up the goods.

29. The picking system according to claim 28, wherein The cart robot includes a first cart robot moving along a low-speed lane and a second cart robot moving along a high-speed lane at a higher speed than the first cart robot, The configuration robot configures the goods on the shelf from which the first cart robot picks up the goods, The first cart robot transfers the goods picked up from the shelf to the second cart robot.

30. The picking system according to claim 28, wherein There are a plurality of shelves, The configuration robot configures the goods on the shelf near the cart robot among the plurality of shelves.

31. The picking system according to claim 28, wherein The cart robot and the shelves are respectively plural, Each of the plurality of shelves corresponds to one or more than two of the plurality of cart robots. The configuration robot configures the goods picked up by the cart robot on the shelf corresponding to the cart robot.

32. The picking system according to claim 28, wherein There are a plurality of the shelves. The configuration robot changes the number of the shelves for configuring the goods according to the quantity of the goods picked up by the cart robot.

33. The picking system according to claim 28, wherein During at least one of the time when the cart robot picks up the goods from the shelf and the time when the configuration robot configures the goods on the shelf, a charging process for charging the driving battery mounted is performed.

34. A program, wherein The computer is caused to execute a handling step and a configuration step. In the handling step, a cart robot picks up goods for handling. In the configuration step, a configuration robot configures the goods on the shelf from which the cart robot picks up the goods.

35. A method executed by a computer, wherein It includes a collection process and a determination process. In the collection process, information is collected, and the information includes the remaining battery levels of the respective multiple cart robots traveling in a certain one of the multiple lanes to carry goods. In the determination process, priorities for charging are determined for the respective multiple cart robots based on the information.

36. The method according to claim 35, wherein In the collection process, information is collected, and the information includes the number of cart robots traveling in each of the multiple lanes. In the determination process, for each of the multiple cart robots, the greater the number of the lanes traveled, the higher the priority.

37. The method according to claim 35, wherein In the determination process, for each of the multiple cart robots, the smaller the remaining battery level, the higher the priority.

38. The method according to claim 35, wherein In the collection process, information is collected, and the information includes the weight and quantity of the goods that the respective multiple cart robots are scheduled to carry. In the determination process, for each of the multiple cart robots, the greater the load based on the weight and quantity of the goods scheduled to be carried, the higher the priority.

39. The method according to claim 35, wherein It further includes a charging control process, and the charging control process causes the cart robots among the multiple cart robots with the top several priorities to stop carrying goods and perform charging.

40. A picking system having a plurality of cart robots, a control device, and a charging device, wherein the plurality of cart robots travel on a certain one of the multiple lanes to carry goods, the control device controls the plurality of cart robots, and the charging device charges the plurality of cart robots. The picking system is characterized in that The control device collects information, and the information includes the remaining battery levels of the respective multiple cart robots, and determines priorities for charging for the respective multiple cart robots based on the information.

41. A program, characterized in that it causes a computer to execute a collection step and a determination step, the collection step collects information, and the information includes the battery remaining amount of each of a plurality of cart robots traveling on a certain one of a plurality of lanes to carry goods, the determination step determines, based on the information, the priority of charging for each of the plurality of cart robots.

42. A picking system, characterized in that it includes a sensor, a cart robot, and a control device, the sensor can detect information about the site, the cart robot has a traveling vehicle body and an arm, the traveling vehicle body has a cart capable of storing goods, and the arm is mounted on the traveling vehicle body to carry goods, the control device obtains the nature of the goods based on the information detected by the sensor, and executes the configuration control of the goods in the cart corresponding to the nature of the obtained goods.

43. The picking system according to claim 42, characterized in that the control device controls the cart robot so that fragile goods and general goods other than the fragile goods are separately configured in the cart.

44. The picking system according to claim 43, characterized in that the control device controls the cart robot so that the more fragile the goods in the cart are, the higher they are configured.

45. The picking system according to claim 42, characterized in that the control device controls the cart robot so that high-temperature goods and low-temperature goods are separately configured in the cart.

46. The picking system according to claim 42, characterized in that the control device executes speed control corresponding to the nature of the obtained goods.

47. A program, characterized in that it causes a computer to execute: a detection step of detecting information about the site; a control step of controlling a cart robot, the cart robot having a traveling vehicle body and an arm, the traveling vehicle body having a cart capable of storing goods, and the arm being mounted on the traveling vehicle body to carry goods; an acquisition step of obtaining the nature of the goods based on the information detected by the detection step; an execution step of executing the configuration control of the goods in the cart corresponding to the nature of the obtained goods.

48. A cart robot, characterized in that it includes an arm, a traveling vehicle body, and a control device, the arm takes out goods from a storage unit, the traveling vehicle body mounts the arm and can carry the goods taken out by the arm, the control device controls the arm and the traveling vehicle body, the control device can execute a first taking-out mode and a second taking-out mode. In the first taking-out mode, while the traveling vehicle body travels, the arm takes out the goods from the storage unit. In the second taking-out mode, the traveling vehicle body stops and the arm takes out the goods from the storage unit, and sets the taking-out mode to the first taking-out mode or the second taking-out mode based on the size of the goods, the configuration of the goods, and the length of the arm.

49. The cart robot according to claim 48, characterized in that When the distance between a plurality of the goods taken out from the storage unit and the goods taken out from the storage unit on the traveling route of the traveling vehicle body is equal to or less than a predetermined distance, the control device sets the taking-out mode to the second taking-out mode.

50. The cart robot according to claim 49, characterized in that the predetermined distance is a distance at which it is impossible to take out a plurality of the goods by traveling on the traveling route once while the traveling vehicle body is traveling.

51. A method for a cart robot, the cart robot having an arm and a traveling vehicle body, the arm taking out goods from a storage unit, and the traveling vehicle body being capable of carrying the goods taken out by the arm, the method for the cart robot being characterized in that based on the size of the goods, the arrangement of the goods, and the length of the arm, the taking-out mode is set to a first taking-out mode or a second taking-out mode, the first taking-out mode is a mode in which the goods are taken out from the storage unit by the arm while the traveling vehicle body is traveling, the second taking-out mode is a mode in which the traveling vehicle body stops and the goods are taken out from the storage unit by the arm.

52. A program for controlling a cart robot, the cart robot having an arm and a traveling vehicle body, the arm taking out goods from a storage unit, and the traveling vehicle body being capable of carrying the goods taken out by the arm, the program being characterized in that causing a computer to execute a setting step of setting the taking-out mode to a first taking-out mode or a second taking-out mode based on the size of the goods, the arrangement of the goods, and the length of the arm, the first taking-out mode is a mode in which the goods are taken out from the storage unit by the arm while the traveling vehicle body is traveling, the second taking-out mode is a mode in which the traveling vehicle body stops and the goods are taken out from the storage unit by the arm.

53. A cart robot, characterized in that it includes an arm, a traveling vehicle body, and a control device, the arm performs the handing-over of goods, the traveling vehicle body mounts the arm and is capable of carrying the goods, in the case where an abnormality occurs in the present device, the control device controls the traveling vehicle body to return to the base.

54. The cart robot according to claim 53, characterized in that when the control device returns the present device to the base, it makes a reservation for maintenance.

55. The cart robot according to claim 53, characterized in that when the control device detects an abnormality of the present device from a captured image of the present device, it returns it to the base.

56. The cart robot according to claim 55, characterized in that when the control device detects an abnormality of the present device from a captured image captured by the present device or a captured image captured by another cart robot, it returns it to the base.

57. The cart robot according to claim 53, characterized in that when the control device detects a precursor related to an abnormality of the present device, it returns it to the base.

58. The cart robot according to claim 53, characterized in that when the control device makes the present device return to the base, the current task is handed over to other cart robots.

59. A program for controlling a cart robot, characterized in that it causes a computer to execute a return step, the return step controls an arm and a traveling vehicle body, the arm performs the handover of goods, the traveling vehicle body mounts the arm and can carry the goods, in the case of an abnormality occurring in the present device, it controls the traveling vehicle body to return to the base.

60. A cart robot, characterized in that it includes a plurality of arms, a traveling vehicle body and a control device, the plurality of arms perform the handover of goods, the traveling vehicle body mounts the arm and can carry the goods, the control device determines the number of the arms for performing the handover according to the goods.

61. The cart robot according to claim 60, characterized in that the control device determines the number of the arms according to the weight of the goods.

62. The cart robot according to claim 60, characterized in that the control device determines the number of the arms according to the size of the goods.

63. The cart robot according to claim 60, characterized in that the control device determines the number of the arms according to the number of the goods.

64. The cart robot according to claim 60, characterized in that when the control device performs the handover of the goods with other cart robots, it determines the number of the arms according to the number of the arms of the other cart robots for performing the handover of the goods.

65. A program for controlling a cart robot, characterized in that it causes a computer to execute a determination step, the determination step controls a plurality of arms and a traveling vehicle body, the plurality of arms perform the handover of goods, the traveling vehicle body mounts the arm and can carry the goods, and determines the number of the arms for performing the handover according to the goods.

66. A cart robot, characterized in that it includes an arm and a control device, the arm performs the handover of goods, the control device determines the action speed of the arm for performing the handover of the goods according to the type of the goods.

67. The cart robot according to claim 66, characterized in that the goods include the goods of a preset established type and the goods of other types different from the established type, the control device makes the action speed of the arm for performing the handover of the goods of the established type different from the action speed of the arm for performing the handover of the goods of the other types.

68. The cart robot according to claim 67, characterized in that the goods of the established type are the goods for which the stability during handling is more prioritized than the goods of the other types, the control device makes the action speed of the arm for performing the handover of the goods of the established type lower than the action speed of the arm for performing the handover of the goods of the other types.

69. The cart robot according to claim 66, characterized in that the arm is plural, the plurality of arms respectively include a holding part for holding the goods The control device changes the type of the holding part of the arm for handing over the goods according to the type of the goods.

70. The trolley robot according to claim 69, characterized in that The holding part includes at least one of a holding part for holding the goods, a suction holding part for holding the goods by suction, and a magnetic holding part for holding the goods by magnetic adsorption.

71. A program for controlling a trolley robot, characterized in that The computer is caused to execute a control step and a determination step, The control step controls the arm for handing over the goods, The determination step determines the operation speed of the arm for handing over the goods according to the type of the goods.

72. A picking system, characterized in that It includes a first trolley robot and a second trolley robot, The first trolley robot has a first vehicle body capable of accommodating goods and moves along a first lane, The second trolley robot has a second vehicle body capable of accommodating the goods, moves along a second lane located outside the first lane, and receives the goods from the parallel first trolley robot and accommodates them in the second vehicle body, The first vehicle body has a first opening at a position facing the parallel second vehicle body, and has a first side wall capable of opening and closing the first opening, The second vehicle body has a second opening at a position facing the parallel first vehicle body, and has a second side wall capable of opening and closing the second opening, The first side wall and the second side wall are opened, and the goods are transferred from the first vehicle body to the second vehicle body via the first opening and the second opening.

73. The picking system according to claim 72, characterized in that The first side wall opens and closes the first opening by rotating around a rotation axis provided at the lower end, The first side wall is opened, the first vehicle body and the second vehicle body are connected via the first side wall, and the goods are transferred from the first vehicle body to the second vehicle body via the first opening, the first side wall and the second side wall.

74. The picking system according to claim 73, characterized in that The first vehicle body is provided with a pushing part for pushing the goods accommodated in the first vehicle body toward the first opening, The first side wall is opened, after the first vehicle body and the second vehicle body are connected via the first side wall, the goods accommodated in the first vehicle body are pushed toward the first opening by the pushing part, so as to transfer the goods from the first vehicle body to the second vehicle body.

75. The picking system according to claim 74, characterized in that The first vehicle body is provided with a first bottom for placing the goods, The first bottom is provided with rollers.

76. The picking system according to claim 75, characterized in that The first side wall slopes downward toward the second opening.

77. The picking system according to claim 76, characterized in that The second vehicle body is provided with a second bottom for placing the goods, The second bottom slopes downward from the second opening.

78. The picking system according to claim 72, characterized in that The first vehicle body includes a first bottom for placing the goods and a moving part for moving the first bottom towards the second vehicle body. The moving part is used to move the first bottom into the interior of the second vehicle body, so that the goods are moved from the first vehicle body to the second vehicle body.

79. The picking system according to claim 78, characterized in that the first bottom is provided with a conveyor belt. After the moving part is used to move the first bottom into the interior of the second vehicle body, the conveyor belt is used to transfer the goods to the second vehicle body.

80. A program, characterized in that it causes a computer to execute a picking step and a transfer step. In the picking step, a first cart robot having a first vehicle body capable of accommodating goods is controlled to pick up the goods, and the first cart robot moves along a first lane. In the transfer step, a second cart robot and the first cart robot are controlled to transfer the goods accommodated in the first vehicle body to the second vehicle body while the first cart robot and the second cart robot are parallel. The second cart robot has a second vehicle body capable of accommodating the goods and moves along a second lane located outside the first lane. The first vehicle body has a first opening at a position facing the parallel second vehicle body, and has a first side wall capable of opening and closing the first opening. The second vehicle body has a second opening at a position facing the parallel first vehicle body, and has a second side wall capable of opening and closing the second opening. In the transfer step, the first side wall and the second side wall are opened, and the goods are transferred from the first vehicle body to the second vehicle body through the first opening and the second opening.

81. A picking system, characterized in that it includes a first cart robot and a second cart robot. The first cart robot has a first vehicle body capable of accommodating goods and moves along a first lane. The second cart robot has a second vehicle body capable of accommodating the goods, and while moving along a second lane, receives the goods from the first cart robot and accommodates them in the second vehicle body. The second lane is a circular path and has a curved portion that bends towards the outside of the circular path. The second vehicle body has an opening that opens towards the inside of the second lane.

82. The picking system according to claim 81, characterized in that the second vehicle body includes a bottom for placing the goods. The bottom slopes downward from the opening.

83. The picking system according to claim 81, characterized in that the second vehicle body has a side wall capable of opening and closing the opening.

84. The picking system according to claim 83, characterized in that the second lane has a straight portion that extends straight. When the second cart robot travels in the straight portion, the side wall is used to block the opening.

85. A program, characterized in that it causes a computer to execute a picking step and a transfer step. In the picking step, a first cart robot having a first vehicle body capable of accommodating goods is controlled to pick up the goods, and the first cart robot moves along a first lane. The transfer step controls the second cart robot and the first cart robot to transfer the goods stored in the first vehicle body to the second vehicle body while the first cart robot and the second cart robot move in parallel. The second cart robot has a second vehicle body capable of storing the goods and moves along a second lane. The second lane is a circular road and has a curved portion that curves outward from the circular road. The second vehicle body has an opening that opens inward to the second lane. The transfer step transfers the goods from the first vehicle body to the second vehicle body through the opening.

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