Unmanned conveyance system and unmanned conveyance method

Abstract

To provide an unmanned conveyance system and an unmanned conveyance method capable of automatically making an instruction of a traveling route of an AGV with a simple operation.SOLUTION: An unmanned conveyance system 1 capable of communicating with an unmanned conveyance machine 10 for conveying a cargo 30 comprises: a storage part 211 for storing a preset prescribed mark 40 and a delivery destination associated with each other; an imaging part 120 for imaging the mark 40; a recognition part 111b for recognizing the imaged mark 40; and an operation control part 212a for performing control to move the unmanned conveyance machine 10 to the delivery destination associated with the recognized mark 40 and stored in the storage part 211.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to an unmanned transport system capable of communicating with an unmanned transport vehicle that transports luggage, and an unmanned transport method through communication with the unmanned transport vehicle. [Background technology]

[0002] Patent Document 1 describes an automatic guided vehicle (AGV) that transports luggage by estimating its current position by photographing landmarks linked to location information captured by a camera mounted on the AGV. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-205044 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the current AGV system can only set a standard route if it is preset, and if the route needs to be changed depending on the item being transported, it must be set by human instruction. When instructing the route, a human must grasp the information of the item being transported and give instructions based on that information.

[0005] An object of the present disclosure is to provide an unmanned transport system and an unmanned transport method that can automatically instruct an AGV on its travel route with a simple operation. [Means for solving the problem]

[0006] The unmanned transport system disclosed herein is an unmanned transport system capable of communicating with an unmanned transport vehicle that transports luggage, and includes a memory unit that links a predetermined mark with a delivery destination and stores the linked marks, an imaging unit that images the mark, a recognition unit that recognizes the imaged mark, and an operation control unit that controls the movement of the unmanned transport vehicle to the delivery destination stored in the memory unit in association with the recognized mark.

[0007] The unmanned transport method disclosed herein is an unmanned transport method that communicates with an unmanned transport vehicle that transports luggage, and includes a storage process that links a predetermined mark with a delivery destination and stores the linked marks, an imaging process that images the mark, a recognition process that recognizes the imaged mark, and an operation control process that controls the unmanned transport vehicle to move to the delivery destination stored in the storage process in association with the recognized mark. Effect of the Invention

[0008] According to the present disclosure, it is possible to automatically instruct an AGV on its travel route with a simple operation. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is an explanatory diagram showing a schematic configuration of an automated guided transport system 1 according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a block diagram showing a functional configuration of the automated guided transport system 1. [Figure 3A] 13 is a first example of the arrangement of the mark 40 and the reference color mark 41. [Figure 3B] 13 is a second example of the arrangement of the mark 40 and the reference color mark 41. [Figure 3C] 13 is a third example of the arrangement of the mark 40 and the reference color mark 41. [Figure 4A] This is a first example of a mark 40A integrated with a reference color mark. [Figure 4B] 13 is a second example of a mark 40A integrated with a reference color mark. [Figure 4C] 13 is a third example of a mark 40A integrated with a reference color mark. [Diagram 5] FIG. 2 is an explanatory diagram showing the flow of the automated guided transport system 1. [Figure 6] 3 is a flowchart showing a main process of the automated guided vehicle system 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present disclosure will now be described with reference to the accompanying drawings, in which the same or corresponding parts are designated by the same reference characters and will not be described repeatedly.

[0011] 1. Configuration of Automated Guided Transport System 1 Fig. 1 is an explanatory diagram showing a schematic configuration of an automated guided vehicle system 1 according to an embodiment of the present disclosure. Fig. 2 is a block diagram showing a functional configuration of the automated guided vehicle system 1.

[0012] As shown in these figures, the automated guided vehicle system 1 comprises a camera system 100 and an AGV transport system 200 that controls the operation of an automated guided vehicle (AGV) 10 that transports luggage 30. The camera system 100 comprises a camera management server 110 as a main body, at least one camera 120, and a hub 130. The AGV transport system 200 comprises a delivery management server 210 as a main body, and a wireless access point 220.

[0013] The AGV 10 is a device for unmanned transport of luggage 30 in a logistics warehouse, a manufacturing plant, etc. Examples of AGVs include tracked types that run along magnetic tapes attached to the floor surface, and guideless types, but this AGV 10 is a guideless type. This AGV 10 is also a hidden traction type, and after slipping under a cart 20 on which luggage 30 such as a cardboard box is placed, a hook mechanism is raised and the like to connect to the cart 20. By moving the AGV 10 after this, the luggage 30 placed on the cart 20 can be unmanned transported. However, the AGV 10 is not limited to the one exemplified here. The cart 20 is an example of a "transport platform" in this disclosure.

[0014] Each AGV 10 is managed individually and simultaneously controlled by the AGV transport system 200. The AGV 10 measures its current position in real time using an on-board distance sensor, encoder, etc. The AGV transport system 200 manages the current position of each AGV 10 by linking the measured current position with a map on the AGV transport system 200.

[0015] In this automated guided transport system 1, a predetermined mark 40 is used for each delivery destination in order to specify one of a number of delivery destinations. This makes it possible to automatically instruct the travel route of the AGV 10 with a simple operation. It is preferable that each mark 40 has an appearance (shape, size, etc.) that can be reliably identified by image analysis using the camera 120, and that the differences between each mark 40 are also clear. The marks 40 will be described in detail later.

[0016] 1.1 About the Camera Management Server 110 The camera management server 110 records and manages video data from the camera 120, and performs image analysis. The camera management server 110 includes a CPU (Central Processing Unit) 111 that controls each part, and a storage part 112. The hardware configuration of the camera management server 110 is similar to that of a general computer for a server, and therefore a detailed description will be omitted.

[0017] The CPU 111 includes a camera control unit 111a and a recognition unit 111b. The camera control unit 111a and the recognition unit 111b are realized, for example, by the CPU 111 executing software of the respective corresponding functions.

[0018] The camera control unit 111a controls the start and stop of imaging by each camera 120, the storage and management of video data in the storage unit 112, and the like.

[0019] The recognition unit 111b recognizes the captured mark 40. Specifically, the recognition unit 111b performs image analysis of the video data from the camera 120 to recognize the captured mark 40. The recognition unit 111b recognizes the mark 40 when the AGV 10 is placed in a predetermined position (for example, the basket cart placement area A2 in FIG. 5). This allows the mark 40 to be recognized at the required timing. Note that if the mark 40 is colored paper, the color of the captured mark 40 is also recognized.

[0020] The camera 120 captures an image of the mark 40. The camera 120 is capable of capturing color images, and a necessary number of cameras 120 are arranged in appropriate locations to monitor the traveling state of the AGV 10 and the mark 40. To enable a clear image of the mark 40, for example, the camera 120 may be arranged in a position where the mark 40 can be reliably captured when the cart 20 is placed in a predetermined waiting area (see cart placement area A2 in FIG. 5) in a predetermined orientation. The camera 120 is an example of an "imaging unit" in the present disclosure.

[0021] In this automated guided transport system 1, when the mark 40 is a colored sheet of paper, a color detection area is specified for the camera 120. When the color (mark 40) enters this detection area, the camera 120 starts detection and captures an image of the mark 40.

[0022] The camera management server 110 and each camera 120 are connected to a wired network via a hub 130. The hub 130 is preferably a PoE (Power over Ethernet (registered trademark)) hub that can supply power via an Ethernet (registered trademark) cable, but is not limited to this. Note that the connection is not limited to a wired connection, and wireless connections are also acceptable.

[0023] 1.2 About the Delivery Management Server 210 The delivery management server 210 manages the running and instructions of the AGV 10. The delivery management server 210 includes a storage unit 211 that stores necessary information and data, and a CPU 212 that controls each unit. Note that the hardware configuration of the delivery management server 210 is similar to that of a general computer used as a server, and therefore a detailed description thereof will be omitted.

[0024] The storage unit 211 stores a predetermined mark 40 and a delivery destination in association with each other. Prior to actual unmanned transportation by the AGV 10, for example, as shown in FIG. 2, marks of multiple colors (color A, color B, color C, ...) are stored in association with area A, area B, area C, ... as the respective delivery destinations.

[0025] The CPU 212 includes an operation control unit 212a. The operation control unit 212a is realized, for example, by the CPU 212 executing software of the corresponding functions.

[0026] The operation control unit 212a controls the AGV 10 to move to the delivery destination associated with the mark 40 recognized by the recognition unit 111b and stored in the storage unit 211. With such a configuration of the present embodiment, it is possible to automatically instruct the travel route of the AGV 10 with a simple operation.

[0027] A wireless access point 220 is connected to the delivery management server 210 via a wired network. This enables the unmanned transport system 1 equipped with the AGV transport system 200 to wirelessly communicate with each AGV 10. This wireless communication is based on the Wi-Fi (registered trademark) system, but is not limited to this system.

[0028] 2 About Mark 40 The marks 40 can be, for example, colored objects that are colored in predetermined colors corresponding to a plurality of delivery destinations. Therefore, it is only necessary to color-code the same objects used as the marks 40. As a result, it is easy to prepare the required number of marks 40, and it is also easy for workers to distinguish between the delivery destinations.

[0029] Specifically, the colored object may be colored paper (colored paper). As a result, each mark 40 can be reliably identified by image analysis, and it is easy for the worker to distinguish the delivery destination. However, the delivery destination may be written in characters or the like for the worker's convenience.

[0030] When color paper is to be used repeatedly, thick paper or cardboard having a certain degree of strength may be used from the viewpoint of durability, etc. Alternatively, a thin board such as polystyrene foam, plastic, or wood may be used, or if durability is important, a thin and lightweight metal plate material may be used, but the present invention is not limited to these examples.

[0031] To enhance the distinctiveness of each mark 40, a certain size is necessary. For example, the mark may be about the same size as the luggage 30. Also, differences may be made not only in color but also in shape, for example. Specific examples of various shapes include rectangles, circles, triangles, diamonds, and stars. If a color with sufficiently high distinctiveness is used, the marks 40 may all be unified in that color and only the shapes may be different.

[0032] For example, depending on the lighting source and its light color, the color of the mark 40 captured by the camera 120 may not be recognized accurately. Therefore, a reference color mark 41 colored in a reference color for color correction may also be placed. This reduces the influence of the lighting source and its light color. As a result, the color of the mark 40 can be recognized more accurately. The reference color mark 41 is an example of a "reference colored object" in this disclosure.

[0033] 3A to 3C are first to third arrangement examples of the mark 40 and the reference color mark 41. As shown in these figures, the mark 40 and the reference color mark 41 may be arranged side by side. For example, as shown in FIG. 3A, the mark 40 and the reference color mark 41 of the same shape and size may be attached to the basket cart 20 side by side. As shown in FIG. 3B, the reference color mark 41 may be smaller in size but have almost the same shape, and be attached to the basket cart 20 side by side with the mark 40. Alternatively, as shown in FIG. 3C, the reference color mark 41 may be smaller in height but have the same width, and be attached to the basket cart 20 side by side with the mark 40.

[0034] 4A to 4C show first to third examples of the mark 40A integrated with the reference color mark. As shown in these figures, the mark 40A integrated with the reference color mark may be affixed to the basket cart 20. That is, a part of the mark 40A is colored in the reference color. For example, as shown in FIG. 4A, the right half area may be colored in the reference color. As shown in FIG. 4B, a part of the lower area may be colored in the reference color. Or, as shown in FIG. 4C, the surrounding area may be colored in the reference color.

[0035] The mark 40 is placed near the AGV 10. For example, the mark 40 is directly attached to the luggage 30 or attached to the cart 20 on which the luggage 30 is placed, but the method of attachment is not limited to these. In this way, the correspondence between the luggage 30 and the mark 40 becomes clear. Specific examples of the "method of attachment" include pasting and attachment. Alternatively, the mark 40 with a hole may be hung on a hook or the like provided on the cart 20. However, the method is not limited to these examples.

[0036] 3. Main processes and work procedures of the automated guided transport system 1 Fig. 5 is an explanatory diagram showing the flow of the automated guided vehicle system 1. Fig. 6 is a flowchart showing the main processing of the automated guided vehicle system 1. Prior to the following processing, the color of the mark 40 and the delivery destination are associated with each other and stored in the storage unit 211. This process is an example of the "storage process" of the present disclosure.

[0037] As shown in these figures, in step S1, a worker first selects one of the multiple basket cars 20 stored in the empty basket car storage area A1. The worker loads and unloads baggage 30 onto and from that basket car 20, and when that is complete, the process proceeds to the next step.

[0038] In step S2, the worker places the basket cart 20 loaded with the baggage 30 in a designated location. That is, the worker moves the basket cart 20 to the basket cart placement area A2.

[0039] In step S3, the worker attaches a colored sheet of paper indicating the delivery destination information to the basket cart 20 that has been moved to the basket cart placement area A2.

[0040] In step S4, the camera management server 110 monitoring the basket cart placement area A2 recognizes that the basket cart 20 has been moved. The camera management server 110 captures an image of the basket cart 20 by the camera 120, including the mark 40 affixed to the basket cart 20. Note that step S4 is an example of an "imaging process" in the present disclosure.

[0041] In step S5, the recognition unit 111b of the camera management server 110 performs image analysis of the video data from the camera 120 to recognize the captured mark 40 and determine its color. Note that step S5 is an example of the "recognition step" of the present disclosure.

[0042] In step S6, the camera management server 110 transmits the color information (indicating the delivery destination) determined by the recognition unit 111b to the delivery management server 210 of the AGV transport system 200.

[0043] In step S7, when the delivery management server 210 receives the color information from the camera management server 110, the operation control unit 212a selects a delivery destination stored in the storage unit 211 in association with the color information.

[0044] In step S8, the delivery management server 210 transmits the delivery destination information selected by the operation control unit 212a to the leading AGV 10 in the AGV waiting area A3. Note that this step S8 is an example of the "operation control step" of the present disclosure.

[0045] In step S9, the AGV 10 that has received the delivery destination information from the delivery management server 210 couples with the basket cart 20 and moves to the delivery destination that corresponds to the color of the mark 40 affixed to the basket cart 20. For example, as shown in Fig. 5, if the mark 40 affixed to the basket cart 20 is color B, the basket cart moves to area B.

[0046] When towing of the basket car 20 to the delivery destination is completed, the AGV 10 releases the connection with the basket car 20 and moves to the end of the AGV waiting area A3.

[0047] In the above-described embodiment, the automated guided transport system 1 includes the camera system 100 and the AGV transport system 200, but is not limited to this configuration. For example, the camera 120 may be connected to the delivery management server 210, and the functions of the camera management server 110 may be added to the delivery management server 210. This allows the automated guided transport system 1 to be configured with only one server computer. [Industrial Applicability]

[0048] The present disclosure can be used in an unmanned transport system capable of communicating with an unmanned transport vehicle that transports luggage, and an unmanned transport method using communication with an unmanned transport vehicle. [Explanation of symbols]

[0049] 1. Automated guided transport system 10 AGV 20 Cage cart 30 Luggage 40 marks 40A Mark 41 Standard color mark 100 Camera System 110 Camera Management Server 111 CPU 112 Storage section 120 Camera 130 Hub 200 AGV transport system 210 Delivery Management Server 211 Storage section 212 CPU 220 Wireless Access Point

Claims

1. An automated guided vehicle system capable of communicating with an automated guided vehicle that transports luggage, A storage unit that stores a predetermined mark and a delivery destination in association with each other; an imaging unit that images the mark; a recognition unit that recognizes the imaged mark; an operation control unit that controls the automatic guided vehicle to move to the delivery destination that is stored in the storage unit in association with the recognized mark; An unmanned transport system comprising:

2. The automated guided vehicle system according to claim 1 , wherein the mark is a colored object.

3. 3. The automated guided vehicle system according to claim 2, wherein the mark is a colored paper.

4. The automated guided vehicle system according to claim 1 or 2, wherein the mark is arranged together with a reference colored object that is colored in a reference color.

5. 3. The automated guided vehicle system according to claim 1, wherein the recognition unit recognizes the mark when the automated guided vehicle is placed at a predetermined position.

6. 3. The automated guided vehicle system according to claim 1, wherein the mark is attached to the package or to a carrier platform on which the package is placed.

7. An unmanned transport method by communication with an unmanned transport vehicle that transports luggage, comprising: a storage step of storing a predetermined mark and a delivery destination in association with each other; an imaging step of imaging the mark; a recognition step of recognizing the imaged mark; a transport control step of controlling the unmanned transport vehicle to move to the delivery destination stored in the storage step in association with the recognized mark; An unmanned transport method comprising:

Images