Transport system

Abstract

To provide a transport system that prevents false detection of markers.SOLUTION: A transport system 1 includes shelves 2, each of which has a marker 21, and an autonomous vehicle 3 configured to be capable of docking with a shelf 2. The state of the marker 21 of the shelf 2 which is a docking target for the autonomous vehicle 3 is configured to be different from the state of the markers 21 of other shelves 2 which are not the docking target for the autonomous vehicle 3.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a transport system. [Background technology]

[0002] Patent Document 1 discloses an autonomous vehicle that docks with a shelf. By providing a marker on the shelf, the accuracy of the stopping position of the autonomous vehicle can be improved. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2022 / 085625 Summary of the Invention [Problem to be solved by the invention]

[0004] When multiple shelves are present, multiple markers will be present, and there is a risk of erroneously detecting markers provided on shelves other than the specific shelf.

[0005] The present disclosure has been made in consideration of such problems, and realizes a transport system that prevents erroneous detection of markers. [Means for solving the problem]

[0006] A conveying system according to an embodiment of the present disclosure includes: A transportation system including a shelf having a marker and an autonomous vehicle configured to be capable of docking with the shelf, The state of the marker when the shelf is a docking target for the autonomous vehicle is configured to be different from the state of the marker when the shelf is not a docking target for the autonomous vehicle. Effect of the Invention

[0007] According to the present disclosure, it is possible to realize a transport system that prevents erroneous detection of markers. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a configuration of a transport system according to a first embodiment. [Diagram 2] FIG. 2 is a diagram illustrating a detection range of the sensor according to the first embodiment. [Diagram 3] FIG. 1 is a diagram for explaining a configuration example of a transport system according to a first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, specific embodiments to which the present disclosure is applied will be described in detail with reference to the drawings. However, the present disclosure is not limited to the following embodiments. In addition, the following description and drawings are appropriately simplified for clarity of explanation.

[0010] EMBODIMENT 1 Hereinafter, a conveyance system according to the embodiment 1 will be described with reference to the drawings. Fig. 1 is a diagram illustrating the configuration of a conveyance system 1 according to the embodiment 1. The conveyance system 1 includes a plurality of shelves 2, an autonomous vehicle 3, and a management system 4.

[0011] The functions of the management system 4 may be provided in the shelf 2 or the autonomous vehicle 3. Even if the management system 4 is not included, the transport system according to the first embodiment may include the management system 4.

[0012] The shelf 2 is configured to be able to store luggage 5. The shelf 2 is provided with a marker 21. The marker 21 may be, for example, a geometric marker. The shelf 2 is configured to be able to dock with the autonomous vehicle 3. Specifically, a guide rail (not shown) extending in the vertical direction is provided on the front surface of the shelf 2, and a groove (not shown) provided in the platform 32 of the autonomous vehicle 3 fits into the guide rail.

[0013] The shelf 2 is configured to be able to communicate with the management system 4. The shelf 2 changes the state of the marker 21 (e.g., detectable state, appearance, whether or not a beacon is emitted) in response to information received from the management system 4. Therefore, the state of the marker 21 when the shelf 2 is a docking target for the autonomous vehicle 3 is different from the state of the marker 21 when the shelf 2 is not a docking target for the autonomous vehicle 3.

[0014] FIG. 1 shows a case where a door 22 is provided on the front of the shelf 2, and the detectable state of the marker 21 is switched depending on whether the door 22 is opened or closed. The door 22 may be a hinged door 221, or a vertically opening shutter 222. In the case of the shutter 222, the shelf 2 only needs to open the shutter 222 to an extent that the marker 21 is in a detectable state. This ensures the safety of the luggage 5 stored on the shelf 2. When the shelf 2 has the door 22, the shelf 2 is provided with an opening and closing mechanism (not shown) for the door 22. Also, if the reflectance of the marker 21 is configured to be electrically changeable, the detectable state of the marker 21 can be changed.

[0015] The autonomous vehicle 3 includes a movable moving unit 31, a platform 32 on which luggage 5 can be placed, a lifting mechanism (not shown) for raising and lowering the platform 32, and a sensor 33. The autonomous vehicle 3 is also configured to be able to communicate with a management system 4.

[0016] Specifically, a groove (not shown) extending in the vertical direction is formed on the side surface of the platform 32. The groove fits into a guide rail provided on the front surface of the shelf 2. This prevents the autonomous vehicle 3 from losing balance when the platform 32 is raised. When storing luggage 5 on the shelf 2 or removing luggage 5 from the shelf 2, the autonomous vehicle 3 raises the platform 32 to a desired height.

[0017] The sensor 33 is configured to be able to detect the marker 21. Specifically, the sensor 33 is a LIDAR. The sensor 33 may be a sensor such as an RGB camera. The autonomous vehicle 3 estimates its own position with high accuracy by detecting the marker 21. The autonomous vehicle 3 stops at a stopping position (e.g., a position directly below the guide rail) based on the detection result of the marker 21 in order to align the groove with the guide rail.

[0018] 2 is a diagram illustrating the detection range 6 of the sensor 33. The detection range 6 is set to include multiple shelves 2. For example, when a marker 21 provided on the second shelf 2 from the left is visible, the marker 21 is detected by the sensor 33. When multiple shelves 2 are grouped, the detection range 6 is set to a size that includes one group but does not overlap with adjacent groups.

[0019] Returning to FIG. 1, the management system 4 is configured to be able to communicate with each of the shelves 2 and the autonomous vehicle 3. The management system 4 transmits information to the shelves 2 to which the autonomous vehicle 3 is to be docked, instructing them to change the state of the markers 21. The management system 4 includes a processor and memory (not shown), and can transmit information to a specific shelf 2 by loading a program (not shown) into the memory and executing it.

[0020] Next, the operation of the conveyance system 1 will be described. First, the autonomous vehicle 3 moves toward the multiple shelves 2 in order to store the luggage 5 on any of the shelves 2 or to remove the luggage 5 from any of the shelves 2. Then, the autonomous vehicle 3 notifies the management system 4 that it has arrived near the multiple shelves 2. The autonomous vehicle 3 may also notify when it has arrived at a specified waiting position.

[0021] The management system 4 transmits information for changing the state of the marker 21 to the shelf 2 that is the docking target of the autonomous vehicle 3. The shelf 2 that is the docking target is a shelf on which the autonomous vehicle 3 stores luggage 5, or a shelf 2 from which the autonomous vehicle 3 retrieves luggage 5. If the autonomous vehicle 3 holds information about the shelf 2 that is the docking target, the autonomous vehicle 3 may transmit the information to the shelf 2 that is the docking target.

[0022] In response to the reception of the information, the shelf 2 changes the state of the marker 21. For example, the shelf 2 opens the door 22 to make the state of the marker 21 detectable.

[0023] The autonomous vehicle 3 detects the marker 21 and moves to a position based on the detected marker 21. The autonomous vehicle 3 then raises the platform 32 to align the groove with the guide rail, and raises the platform 32 to a desired height along the guide rail. After loading and unloading the luggage 5, the autonomous vehicle 3 lowers the platform 32 and moves to a destination such as a delivery destination or a warehouse.

[0024] The transport system according to the first embodiment can change the state of the marker 21 of the shelf 2 that is a docking target for the autonomous vehicle 3. This can prevent the autonomous vehicle 3 from erroneously docking with the shelf 2 that is not a docking target.

[0025] FIG. 3 is a diagram for explaining a configuration example of the shelf 2. The shelf 2a is configured so that the shape of the marker 21a can be changed. In this case, the autonomous vehicle 3 moves to a position based on the detection result of the marker 21 having a predetermined shape. The shelf 2b is provided with an actuator 23 that moves the marker 21 in the vertical direction. When the shelf 2b is a docking target for the autonomous vehicle 3, the shelf 2b raises the marker 21 to make the marker 21 visible. The shelf 2c is provided with a display that can display a QR code (registered trademark) 21c. When the shelf 2c is a docking target, the shelf 2c changes the QR code (registered trademark) 21c displayed on the display to a predetermined pattern. When the shelf 2d is a docking target, the shelf 2d transmits an infrared beacon from the periphery of the marker 21d. The multiple shelves 2e1 and 2e2 are provided with a mechanism (not shown) that slides the marker 21 in the horizontal direction. When the shelf 2e1 is a docking target, the marker 21 moves into the shelf 2e1. When shelf 2e2 is the docking target, marker 21 moves into shelf 2e2.

[0026] Furthermore, an LED (Light Emitting Diode) may be provided around the marker 21, and the lighting state of the LED may be changed. The movement of the marker 21 is not limited to a sliding movement, and may be a rotational movement.

[0027] If the shelf 2 does not have a door 22, the marker 21 of the shelf 2 that is not a docking target may also be detectable by the sensor 33. In this case, the autonomous vehicle 3 can use the marker 21 of the shelf 2 that is not a docking target as a landmark. This can reduce the time required to search for the marker 21.

[0028] The transport system according to the first embodiment can prevent the autonomous vehicle 3 from docking with the wrong shelf 2. Moreover, the transport system according to the first embodiment can tolerate a large odometry error. Moreover, when the markers are made invisible, the design can be improved.

[0029] The above-mentioned programs include instructions (or software codes) that, when loaded into a computer, cause the computer to perform one or more functions. The programs may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray® disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The programs may be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, transitory computer-readable medium or a communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0030] The present disclosure is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit and scope of the present disclosure. [Explanation of symbols]

[0031] 1. Transport system 2, 2a, 2b, 2c, 2d, 2e1, 2e2 shelves 21, 21a, 21d markers 21c QR Code (registered trademark) 22 Door 221 Swing Door 222 Shutter 23 Actuator 3. Autonomous Vehicles 31 Mobile Division 32 Placement table 33 Sensors 5. Luggage 6 Detection range

Claims

[Claim 1] A transportation system including a shelf having a marker and an autonomous vehicle configured to be capable of docking with the shelf, A state of the marker when the shelf is a docking target for the autonomous vehicle is configured to be different from a state of the marker when the shelf is not a docking target for the autonomous vehicle. Conveying system.

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