Loading system and loading method

Abstract

To acquire information on the layout of a load in a loading platform of a transport vehicle by a new method in order to cause an unmanned transport vehicle to remove the load from the loading platform of the transport vehicle.SOLUTION: An unmanned transport vehicle 3 includes a traveling sensor, a traveling device, and a loading device, identifies a self-position on a work area, based on detection by the traveling sensor, and automatically travels in the work area 1. An unmanned aerial vehicle 5 includes a three-dimensional laser scanner. The unmanned aerial vehicle 5 flies in the work area 1 and scans, with the laser scanner, the inside of an open loading platform of a transport vehicle 2 stopped in a stop area 100. A load data generation unit analyzes scan data and generates load data indicating information related to the layout of a load W in the loading platform. Based on at least detection by the travel sensor and the load data, the unmanned transport vehicle 3 controls the traveling device and the loading device, travels to the loading platform 22 of the transport vehicle 2 stopped in the stop area 100, and removes the load W from the loading platform.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present application relates to a system and method for enabling an automated guided vehicle to unload cargo from a transport vehicle bed. [Background technology]

[0002] An example of a cargo handling system is one that includes a manned transport vehicle, such as a transport truck, that has a loading platform onto which cargo is loaded, and an unmanned transport vehicle, such as an unmanned forklift, in which the unmanned transport vehicle carries out the cargo loaded on the loading platform of the transport vehicle (e.g., Patent Documents 1 and 2).

[0003] In the system of Patent Document 1, a worker drives a transport vehicle, parks it in a parking area above the work area, and then opens the wings of the transport vehicle to open the loading platform, thereby allowing an automated guided vehicle to access the cargo inside the platform.

[0004] The automated guided vehicle then begins handling the cargo in the loading platform. That is, the automated guided vehicle drives to the loading platform of the parked transport vehicle, unloads the cargo from the loading platform, and transports it to the specified destination.

[0005] To achieve this, information about the layout of the luggage in the loading platform (for example, the number of luggage, the position of each luggage, the number of stacked tiers, etc.) is required. Therefore, the system of Patent Document 1 uses LiDAR (Light Detection and Ranging), as an example. When the transport vehicle is parked in a parking area and the loading platform is open, the LiDAR is fixed at a predetermined position facing the open loading platform, thereby enabling it to irradiate the inside of the loading platform with laser light.

[0006] The system of Patent Document 1 processes data obtained by LiDAR to obtain information about the layout of luggage in the loading platform. Furthermore, based on the obtained information, the system of Patent Document 1 determines control information such as the loading position in the work area where the automated guided vehicle should stop when unloading luggage from the loading platform. By being controlled based on the determined information, the automated guided vehicle can travel to the loading platform of a transport vehicle parked in the parking area and unload the luggage from the loading platform of the transport vehicle.

[0007] In the logistics industry, due to issues such as labor shortages, various configurations are being considered for automatically unloading cargo from the loading platform of a transport vehicle using an automated guided vehicle. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Patent Publication No. 2021-88440 [Patent Document 2] Japanese Patent Application Laid-Open No. 2001-88906 Summary of the Invention [Problem to be solved by the invention]

[0009] The present application aims to obtain information about the layout of cargo in the loading platform of a transport vehicle by a novel method in order to allow an automated guided vehicle to unload cargo from the loading platform of the transport vehicle. [Means for solving the problem]

[0010] The present application provides a cargo handling system for unloading cargo from a bed of a transport vehicle, The cargo handling system includes: an unmanned aerial vehicle equipped with a three-dimensional laser scanner; A luggage data creation unit; an automated guided vehicle that includes a travel sensor, a travel device, and a cargo handling device, identifies its own position in a work area based on detection by the travel sensor, and automatically travels within the work area using the travel device; The unmanned aerial vehicle flies over the work area and scans the open loading platform of the transport vehicle parked in a parking area within the work area using the three-dimensional laser scanner; the luggage data creation unit analyzes the scan data acquired by the scanning using the three-dimensional laser scanner to create luggage data indicating information about the layout of the luggage in the loading platform; The automated guided vehicle controls the traveling device and the loading device based on at least the detection by the traveling sensor and the luggage data, travels to the loading platform of the transport vehicle parked in the parking area, and unloads the luggage from the loading platform.

[0011] The luggage data creation unit may create the luggage data indicating at least the position and orientation of each piece of luggage in the loading platform.

[0012] The loading and unloading system may further include a control information determination unit that determines, based on the position and orientation of the cargo, a loading and unloading position in the work area where the automated guided vehicle will stop when unloading the cargo from the loading platform, and the orientation of the automated guided vehicle at the loading and unloading position. The automated guided vehicle may then control the traveling device to stop in the orientation determined at the unloading position determined by the control information determination unit.

[0013] For example, the cargo may include a pallet, the automated guided vehicle may be an automated forklift, and the material handling device may include forks. The package data creation unit may create the package data indicating the position and orientation of the pallet of each package.

[0014] The cargo handling system may further include an opening detection means for detecting when the wings of the cargo bed of the transport vehicle parked in the parking area are opened to open the cargo bed. Then, in response to the opening of the loading platform being detected by the opening detection means, the unmanned aerial vehicle may begin flying over the work area to scan the inside of the loading platform with the three-dimensional laser scanner.

[0015] The opening detection means may be provided on the unmanned aerial vehicle, for example. The unmanned aerial vehicle includes: an imaging device that images the parking area when the unmanned aerial vehicle is waiting at a waiting station within the work area; The vehicle may further include an openness determination unit that processes the image data acquired by the imaging device and determines whether the wings of the loading platform of the transport vehicle parked in the parking area are open.

[0016] The unmanned aerial vehicle may be equipped with the luggage data creation unit, and may transmit the luggage data to the unmanned guided vehicle directly or indirectly by wireless.

[0017] The unmanned aerial vehicle may fly at least once around the parking area and scan the inside of the loading platform with the three-dimensional laser scanner.

[0018] The present application also provides a cargo handling method for an automated guided vehicle to unload cargo from a loading platform of a transport vehicle parked in a work area, the automated guided vehicle includes a travel sensor, a travel device, and a cargo handling device, identifies its own position in the work area based on detection by the travel sensor, and automatically travels within the work area using the travel device; The loading and unloading method comprises: After the transport vehicle stops in a stopping area of ​​the work area and the loading platform is opened, flying an unmanned aerial vehicle equipped with a three-dimensional laser scanner in the work area and scanning the inside of the loading platform with the three-dimensional laser scanner; a luggage data creation unit that analyzes the scan data acquired by the scanning using the three-dimensional laser scanner and creates luggage data that indicates information about the layout of the luggage in the loading platform; and The method includes controlling the traveling device and the loading device based on at least the detection by the traveling sensor and the luggage data, causing the automated guided vehicle to travel to the loading platform of the stopped transport vehicle, and causing the automated guided vehicle to unload the luggage from the loading platform. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 shows a schematic diagram of an exemplary material handling system. [Figure 2] FIG. 2A is a side view of an exemplary transporter with the cargo bed closed, and FIG. 2B is a side view of the transporter of FIG. 2A with the cargo bed open. [Figure 3] FIG. 3 illustrates a state in which the transport vehicle of FIG. 2A is parked in a parking area with the loading platform open. [Figure 4] FIG. 4 is a side view of an exemplary automated guided vehicle. [Figure 5] FIG. 5 is a block diagram of the automated guided vehicle of FIG. [Figure 6] FIG. 6 is a block diagram of an exemplary management device. [Figure 7] FIG. 7 illustrates a schematic of an exemplary unmanned air vehicle. [Figure 8] FIG. 8 is a block diagram of the unmanned air vehicle of FIG. [Figure 9] 9A and 9B illustrate exemplary flight paths of unmanned aerial vehicles. [Figure 10] FIG. 10 illustrates steps of an exemplary material handling method. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, exemplary embodiments of the present application will be described with reference to the drawings. Note that the components shown in the drawings are not necessarily to scale or proportion, but merely represent their functions or operations.

[0021] 1 is a schematic diagram of an example of a cargo handling system. The cargo handling system includes a work area 1 (e.g., a warehouse), a transport vehicle 2, one or more automated guided vehicles 3, a management device 4, and an unmanned aerial vehicle 5.

[0022] The work area 1 is an area where the automated guided vehicle 3 performs loading and unloading operations. In the work area 1, a loading and unloading area 10 is defined where the automated guided vehicle 3 performs the operation of unloading the cargo W loaded on the transport vehicle 2. In the loading and unloading area 10, a stopping area 100 where the transport vehicle 2 stops is defined.

[0023] Generally, in a cargo handling system, a worker drives a transport vehicle 2 loaded with cargo W into a loading and unloading area 10 of a work area 1 and stops the transport vehicle 2 in a stopping area 100. Then, an automated guided vehicle 3 travels to the transport vehicle 2 stopped in the stopping area 100, unloads the cargo W from the transport vehicle 2, and transports it to the destination.

[0024] 2A shows a transport vehicle 2 according to an example. The transport vehicle 2 is manned and is used to load and transport cargo W into the work area 1. In this example, the transport vehicle 2 is a truck, and includes a cab 20 including a driver's seat, wheels 21 for traveling, and a loading platform 22 provided behind the cab 20.

[0025] The loading platform 22 is where luggage W is loaded. The loading platform 22 is of a wing body type and includes a wing 220, a gate panel 221, a rear door 222, a floor panel 223, and a front panel 224. These components enclose a storage space 225 (FIG. 2B), and as shown in FIG. 2A, the loading platform 22 is closed.

[0026] The wing 220 is configured to be able to rotate up and down by an actuator (not shown). The gate plate 221 is also configured to be able to rotate up and down. As shown in Fig. 2B, the gate plate 221 is rotated downward to hang down and the wing 220 is rotated upward to open, thereby widening the side of the loading platform 22.

[0027] FIG. 3 shows the transport vehicle 2 parked in the parking area 100 (FIG. 1). By opening the loading platform 22 in this manner, the automated guided vehicle 3 can access the cargo W in the loading platform 22 and can take (unload) the cargo W from the loading platform 22. In the example shown in FIG. 3, the wings 220 and the gate plates 221 are provided on both sides of the vehicle, and the transport vehicle 2 can open the loading platform 22 on both sides. Therefore, the automated guided vehicle 3 can also take the cargo W from the opposite side. Note that the cargo W refers to a unit consisting of a pallet P and an object placed on the pallet P.

[0028] 4 shows an example of an automated guided vehicle 3. The automated guided vehicle 3 includes a vehicle body 30, a traveling device 31, a loading device 32, a traveling sensor 33, and a positioning sensor .

[0029] The traveling device 31 includes traveling wheels 310 provided on the vehicle body 30 and a drive device for steering and driving the traveling wheels 310. The AGV 3 in this example is an unmanned forklift, and the cargo handling device 32 includes forks 320 that are inserted into a pallet P of cargo W to support the cargo W, a lift mechanism for raising and lowering the forks 320, and a reach mechanism for moving the forks 320 back and forth. The traveling sensor 33 is used to identify the position of the AGV 3 and for automatic traveling based on that position. The positioning sensor 34 is used to accurately position the forks 320 and the pallet P of cargo W.

[0030] 5, the automated guided vehicle 3 includes a control unit 35, a storage medium 36, and a transceiver 37. The control unit 35 includes a position identification unit 350, a travel control unit 351, a cargo handling control unit 352, and a control information determination unit 353. The storage medium 36 stores environmental information (e.g., an environmental map) of the work area 1, and also stores information related to cargo handling work received from the management device 4.

[0031] The position identification unit 350 identifies its own position and orientation (posture) based on detection by the travel sensor 33. The travel control unit 351 controls the driving of the travel device 31 by referring to the identified current position and orientation of the automated guided vehicle 3, thereby causing the automated guided vehicle 3 to automatically travel within the work area 1. This allows the automated guided vehicle 3 to travel to and stop at a loading / unloading position where it should stop to unload the load W from the loading platform 22, and also to transport the load W unloaded from the loading platform 22 to its destination.

[0032] A laser guidance system using reflectors may be adopted for such automatic travel. In this case, the travel sensor 33 is a laser scanner that projects laser light around itself while rotating 360 degrees horizontally, and receives light reflected by a plurality of reflectors (not shown) appropriately arranged in the work area 1. The position identification unit 350 uses the detection by the travel sensor 33 and the position information of the reflectors to determine its current position and orientation within the work area 1.

[0033] Alternatively, a SLAM guidance method may be adopted for autonomous driving. In this case, the driving sensor 33 is a distance measurement sensor (e.g., a laser range finder (LRF), a stereo camera, or a depth camera) that measures the distance to surrounding objects, and the position identification unit 350 identifies (estimates) its own position and orientation using SLAM technology based on the detection of the distance measurement sensor. Any other arbitrary position identification method and an autonomous driving method based on the same may also be used.

[0034] The cargo handling control unit 352 controls the cargo handling device 32 to pick up or place a cargo. Specifically, when the automated guided vehicle 3 arrives at the unloading position, the cargo handling control unit 352 controls the cargo handling device 32 to move the forks 320, and the forks 320 pick up the cargo W from the loading platform 22, and when the automated guided vehicle 3 arrives at the destination, the forks 320 deliver the cargo W to a specified position. The cargo handling control unit 352 may use detection by the positioning sensor 34 to accurately position the forks 320 and the pallet P.

[0035] The control information determination unit 353 determines the control information required for the automatic guided vehicle 3 to unload the cargo from the loading platform 22, as will be described later.

[0036] The automated guided vehicle 3 further includes a transceiver 37. The transceiver 37 enables the automated guided vehicle 3 to communicate wirelessly with the management device 4 via an appropriate communication network, and also wirelessly with the unmanned aerial vehicle 5, either directly or indirectly via the management device 4.

[0037] The management device 4 is a server of the cargo handling system, and includes a user interface 40, a control unit 41, a storage medium 42, and a transceiver 43, as shown in FIG.

[0038] The user interface 40 is composed of at least one of a mouse, keyboard, touch panel, etc., and is operated by the manager of the cargo handling system to configure various settings for the cargo handling system. The control unit 41 manages the entire cargo handling operation. The storage medium 42 stores information necessary for the cargo handling operation, such as environmental information (e.g., an environmental map) of the work area 1, and also stores scan data and baggage data acquired as described below.

[0039] The transceiver 43 allows the management device 4 to communicate wirelessly with the automated guided vehicle 3 and the automated air vehicle 5 via a communication network.

[0040] The unmanned aerial vehicle 5 is a drone programmed to fly autonomously along a predetermined route. As shown in Fig. 7, the unmanned aerial vehicle 5 comprises a body 50, four arms 51 extending from the body 50, a motor 52 provided at the tip of each arm 51, a rotor 53 connected to the motor 52, and two skids 54. The unmanned aerial vehicle 5 flies using a battery (not shown) built into the body 50 as a power source.

[0041] Furthermore, the unmanned aerial vehicle 5 further includes an imaging device 55 and a three-dimensional laser scanner 56 (hereinafter simply referred to as a laser scanner) supported on the airframe 50. The imaging device 55 is a camera and is used at least for the flight of the unmanned aerial vehicle 5.

[0042] The laser scanner 56 is used to three-dimensionally scan the inside of the loading platform 22. The laser scanner 56 is a 3D-LiDAR (Light Detection and Ranging) that irradiates an object with pulsed laser light (for example, infrared light) and receives the reflected light, thereby acquiring three-dimensional point cloud data (scan data) that represents the surface shape of the object.

[0043] 8, the unmanned aerial vehicle 5 further includes a control unit 57, a storage medium 58, and a transceiver 59. The control unit 57 includes a release determination unit 570, a position identification unit 571, a flight control unit 572, a scan data acquisition unit 573, and a baggage data creation unit 574. The storage medium 58 stores environmental information (e.g., an environmental map) of the work area 1, a program for autonomous flight, etc., and also stores scan data and baggage data acquired as described below.

[0044] In this embodiment, the imaging device 55 and the opening determination unit 570 constitute an opening detection means, which detects that the wings 220 of the transport vehicle 2 parked in the parking area 100 are opened as shown in Figure 3 and the loading platform 22 is open.

[0045] The unmanned aerial vehicle 5 is waiting, for example, at a waiting station 12 (Figure 1) in the work area 1 while charging its battery. When the unmanned aerial vehicle 5 is at the waiting station 12, the imaging device 55 captures images of the parking area 100. The open determination unit 570 performs image processing on the imaging data acquired by the imaging device 55 to determine whether the wing 220 is open or closed, i.e., whether the loading platform 22 of the transport vehicle 2 parked in the parking area 100 is open or not.

[0046] The position identification unit 571 identifies the position (including altitude) of the unmanned aerial vehicle 5 during flight. For example, multiple markers (e.g., AR markers) (not shown) are provided at predetermined positions on walls, pillars, or ceilings within the work area 1. The position identification unit 571 determines the position and orientation of the unmanned aerial vehicle 5 (itself) by recognizing the markers that enter the imaging area of ​​the imaging device 55 during flight through image processing, and also by using detection from various sensors such as an altitude sensor as necessary. The position identification unit 571 may determine its own position using GPS if the work area 1 is a GPS environment, or may determine its own position using other technology such as SLAM technology.

[0047] The flight control unit 572 controls the rotation speed of each motor 52 while referring to the position and orientation identified by the position identification unit 571 and based on the output of various sensors such as a gyro sensor (not shown), thereby flying the unmanned aerial vehicle 5 while controlling the position, orientation, and speed of the unmanned aerial vehicle 5.

[0048] The flight control unit 572 starts the flight of the unmanned aerial vehicle 5 in response to the detection of the opening of the loading platform 22 by the above-mentioned opening detection means (the opening determination unit 570 determines that the wings 220 are opened). The flight control unit 572 causes the unmanned aerial vehicle 5 to fly along a predetermined flight path so that the unmanned aerial vehicle 5 moves from the waiting station 12 toward the stopping area 100 (and therefore the transport vehicle 2), moves within or near the stopping area 100 so that the inside of the loading platform 22 is scanned by the laser scanner 56 as described below, and then returns to the waiting station 12.

[0049] The scan data acquisition unit 573 refers to the position and orientation identified by the position identification unit 571, and while the unmanned aerial vehicle 5 is flying at a substantially constant speed along a predetermined route portion of its flight path (hereinafter referred to as the scan path) via the flight control unit 572, activates the laser scanner 56 so that laser light is irradiated from the flying unmanned aerial vehicle 5 onto the transport vehicle 2 in the parking area 100 (at least the portion exposed to the outside within the loading platform 22), and then acquires data by receiving the reflected light.

[0050] 9A, this scan path SP may circle the parking area 100, as exemplified by the two-dot chain line, and the unmanned aerial vehicle 5 may scan the entire circumference of the transport vehicle 2 by irradiating it with laser light from the laser scanner 56 while flying along the scan path SP. Also, the scan path SP may circle the parking area 100 multiple times at different altitudes, and the unmanned aerial vehicle 5 may fly around the transport vehicle 2 at different altitudes while irradiating the transport vehicle 2 with laser light from the laser scanner 56.

[0051] As shown in Figure 9B, if the platform 22 has a structure in which only one side is open, the scan path SP may be along the open side of the platform 22 as shown by the two-dot chain line, and laser light may be irradiated from the laser scanner 56 into the platform 22 while the unmanned aerial vehicle 5 flies along this scan path SP. The scan path may also include path portions along the platform 22 at multiple different heights, as shown in Figure 5B. How the scan path is set is determined by the structure of the platform 22 and the performance of the laser scanner 56, among other factors.

[0052] The scan data acquired in this way becomes three-dimensional point cloud data that represents at least the surface shape of the portion of the luggage W that is exposed to the outside in the loading platform 22. The scan data acquisition unit 573 stores the scan data acquired in this way in the storage medium 58.

[0053] The package data creation unit 574 analyzes the scan data and creates package data indicating information related to the layout of the packages W in the loading platform 22. Here, the information related to the layout includes the number of packages W, the position (including height) of each package W, the orientation (packaging style) of each package W, whether the packages W are stacked, and the type of each package (distinguished by package size such as height and width). The position and orientation of the packages W may be the position and orientation of the pallet P of the packages W.

[0054] The package data creation unit 574 extracts the surface shape of the package W from the scan data (three-dimensional point cloud data) and determines information related to the layout. More specifically, the package data creation unit 574 extracts the surface shape of the package W as a whole as well as the surface shape of the pallet P of the package W (the shape of the side surface of the pallet P with the two insertion holes), and thereby determines the above-mentioned information related to the layout by calculation.

[0055] Here, the unmanned aerial vehicle 5 flies over the work area 1 along a predetermined flight path to scan the transport vehicle 2 (inside the loading platform 22), so the scan region for the work area 1 is determined in advance. Therefore, the package data creation unit 574 determines the position (coordinates) and orientation of each package W (pallet P) in the work area 1.

[0056] Alternatively, the unmanned aerial vehicle 5 may fly so as to scan a positioning member (not shown) of a specific shape that has been installed in advance at a predetermined position in the work area 1, such as the parking area 100. The baggage data creation unit 574 may then extract the positioning member from the scan data. Since the position (coordinates) of this positioning member on the work area 1 is known, the baggage data creation unit 574 may more accurately determine the position and orientation of each baggage W on the work area 1 from the relative positional relationship between the positioning member and the baggage W.

[0057] The luggage data creation unit 574 may determine whether multiple luggage W are stacked, and if so, calculate the number of stacked layers (the number of luggage W stacked). This is because when stacked luggage W is to be unloaded, it is to be unloaded in order starting from the top luggage W. If the horizontal coordinates (X, Y coordinates) of the extracted multiple luggage W (pallets P) are within a range that can be considered to be substantially the same, the luggage data creation unit 574 determines that luggage W is stacked, and sets the number of luggage W as the number of stacked layers.

[0058] The luggage data creation unit 574 may determine the type of luggage W based on the width and height of the exposed surface of the extracted luggage W. This is done when luggage of different types (sizes) is loaded on the loading platform 22 in the cargo handling system, as shown in FIG. 2B, and each type of luggage W has a different destination.

[0059] Once the luggage data creation unit 574 has digitized information regarding the layout of the luggage W on the loading platform 22 in this manner, the unmanned aerial vehicle 5 uses the transceiver 59 to transmit the luggage data to the management device 4, and also transmits it to the unmanned guided vehicle 3 directly or indirectly via the management device 4.

[0060] When the unmanned guided vehicle 3 receives the luggage data, it controls the traveling device 31 and the loading device 32 based on the luggage data, detection by the traveling sensor 33, environmental information about the work area 1, and information about the destination of the luggage W, to travel to the loading platform 22 of the parked transport vehicle 2, unload the luggage W from the loading platform 22, and transport the luggage W to the specified destination.

[0061] To this end, first, the control information determination unit 353 of the automated guided vehicle 3 determines control information related to the control of the automated guided vehicle 3 necessary to perform the cargo handling operation, based on the baggage data and environmental information of the work area 1. More specifically, based on the position and orientation of the baggage W (pallet P) determined as described above, the control information determination unit 353 determines the unloading position (coordinates) in the work area 1 where the automated guided vehicle 3 should stop to unload the baggage W from the loading platform 22, and the orientation of the automated guided vehicle 3 at that unloading position. This orientation of the automated guided vehicle 3 is such that the forks 320 and the insertion opening of the pallet P face each other. Then, the control information determination unit 353 determines the travel route to the unloading position and the travel route from the unloading position to the destination. In this embodiment, the destination information is determined according to the type of baggage W and is known because it is transmitted in advance from the management device 4.

[0062] Then, in accordance with the package data and control information, the travel control unit 351 controls the travel device 31 to cause the automated guided vehicle 1 to travel to the determined unloading position and stop at the unloading position in the determined orientation. Next, the package handling control unit 352 controls the package handling device 32 to insert the forks 320 into the pallet P and remove the package W from the loading platform 22. The height of the pallet P is included in the package data. A positioning sensor 34 may be used to accurately align the pallet P and the forks 320.

[0063] Thereafter, the automatic guided vehicle 3 transports the luggage W to a destination according to its type, and places the luggage W at that location.

[0064] By repeating the same process, all the luggage W are unloaded from the loading platform 22, transported to destinations according to the type of luggage W, and sorted. In this embodiment, the automated guided vehicle 3 unloads and transports the luggage W in order, starting with the highest one (having the largest Z coordinate) among the multiple luggage W on the loading platform 22.

[0065] Therefore, the exemplary cargo handling method 6 using the above exemplary cargo handling system includes steps S1 to S4 as shown in FIG.

[0066] Step S1 is a step of detecting that the wings 220 of the transport vehicle 2 parked in the parking area 100 have been opened and the loading platform 22 has been opened. As described above, this is performed by the opening detection means (the imaging device 55 and the opening determination unit 570).

[0067] Step S2 is a step in which, in response to detecting the opening of the loading platform 22 in step S1, the unmanned aerial vehicle 5 is flown and the laser scanner 56 mounted on the unmanned aerial vehicle 5 performs a three-dimensional scan of the interior of the loading platform 22 to obtain scan data. As described above, this is performed by the unmanned aerial vehicle 5, more specifically, by the laser scanner 56, position identification unit 571, flight control unit 572, and scan data acquisition unit 573.

[0068] Step S3 is a step of analyzing the scan data and creating package data that indicates information about the layout of the packages W in the loading platform 22. This is performed by the package data creation unit 574, as described above.

[0069] Step S4 is a step in which the automated guided vehicle 3 (traveling device 31 and cargo handling device 32) is controlled using the luggage data created in step S3 to drive the automated guided vehicle 3 to the loading platform 22 of the transport vehicle 2 parked in the parking area 100, and the automated guided vehicle 3 is caused to unload the luggage W from the loading platform 22. As described above, this is performed by the control unit 35 (its functional units 350-353) of the automated guided vehicle 3 using the detection by the travel sensor 33, the luggage data, environmental information about the work area, information about the destination, etc.

[0070] As described above, the present application realizes unloading of cargo from the loading platform 22 of a transport vehicle 2 by an unmanned guided vehicle 3 by using a novel method of flying an unmanned aerial vehicle 5 equipped with a laser scanner 56 to scan the inside of the loading platform 22.

[0071] In Patent Document 1, a laser scanner (LiDAR) installed at a fixed point is used to recognize the state inside the loading platform, but the laser scanner must be installed at a fixed point far away from the stopping area of ​​the transport vehicle so as not to interfere with the travel and operation of the automated guided vehicle, and scanning must be performed from a position far away from the loading platform. On the other hand, in the present application, the unmanned aerial vehicle 5 is equipped with a laser scanner 56, so it is possible to scan the inside of the loading platform 22 from a position close to the loading platform 22. This contributes to improving the accuracy of the information contained in the baggage data, and ultimately to improving the stopping accuracy of the automated guided vehicle 3 relative to the loading platform 22.

[0072] In the case of a transport vehicle whose loading platform is open from both sides, in Patent Document 1, laser scanners must be placed on both sides of the parking area (see, for example, reference numeral 2 in Figure 5 of Patent Document 1). In contrast, in the present application, an unmanned aerial vehicle 5 is used, which has the advantage that the inside of the loading platform 22 can be scanned from both open sides with a single laser scanner 56, as exemplified by the scan path SP in Figure 9A.

[0073] As described above, the present application aims to unload cargo from the loading platform 22 using an automated guided vehicle 3, so it is sufficient to scan the inside of the loading platform 22 to the extent that layout information of the parts of the loading platform 22 that are exposed to the outside can be obtained.

[0074] The present application has the following modifications, for example.

[0075] In the above embodiment, the unmanned aerial vehicle 5 is equipped with a luggage data creation unit 574 and the unmanned guided vehicle 3 is equipped with a control information determination unit 353, but instead, the control unit 41 of the management device 4 may be equipped with a luggage data creation unit and a control information determination unit.

[0076] In this modification, when the management device 4 receives scan data from the unmanned aerial vehicle 5, its baggage data creation unit creates baggage data, and its control information determination unit determines the drop-off position and orientation at the drop-off position for each baggage W. The management device 4 (its control unit 41) then assigns each baggage W on the loading platform 22 to each automated guided vehicle 3, and transmits information such as the position of the baggage W, the destination of the baggage W, the drop-off position and orientation to the automated guided vehicle 3 in charge of that baggage via the transceiver 43. The automated guided vehicle 3 performs automatic driving and cargo handling operations in accordance with the received information.

[0077] In another variant, the automated guided vehicle 3 may be equipped with a baggage data creation unit that receives scan data from the unmanned aerial vehicle 5 and creates baggage data.

[0078] In the above embodiment, the opening detection means is composed of the imaging device 55 of the unmanned aerial vehicle 5 and the opening determination unit 570. The opening detection means in a modified example may be composed of an imaging device installed in the work area 1 (e.g., the ceiling) and an opening determination unit provided in the control unit 41 of the management device 4. In this modified example, when the opening determination unit of the management device 4 determines that the loading platform 22 is open, it wirelessly transmits a flight instruction to the unmanned aerial vehicle 5, and when the flight control unit 572 receives the flight instruction, it starts flying the unmanned aerial vehicle 5.

[0079] Furthermore, with regard to the timing for the unmanned aerial vehicle 5 to start flying, for example, an administrator may visually confirm that the loading platform 22 has been opened in the parking area 100, and then operate the user interface 40 to send flight instructions to the unmanned aerial vehicle 5. Alternatively, the driver of the transport vehicle 2 may open the loading platform 22 and confirm safety, and then operate a mobile terminal such as a smartphone to send flight instructions directly to the unmanned aerial vehicle 5, or indirectly via the management device 4.

[0080] The above embodiment uses forks 320 and a pallet P. The cargo handling system of the present application can also be used in a case where the cargo handling device 32 is provided with an attachment, such as a clamper, instead of the forks 320, and the clamper grips the cargo W from both sides. [Explanation of symbols]

[0081] 1. Work area 100 parking area 2 Transport vehicles 22 Cargo bed 220 Wing 3. Automated guided vehicles 31 Running gear 32 Cargo handling equipment 320 Fork 33 Driving sensor 353 Control Information Determination Unit 4 Management device 5 Unmanned Aerial Vehicles 55 Imaging device 56 3D laser scanner 574 Baggage Data Creation Department 6. Loading and unloading methods Double Luggage P Palette

Claims

1. A loading and unloading system for unloading a cargo from a loading platform of a transport vehicle, an unmanned aerial vehicle equipped with a three-dimensional laser scanner; A luggage data creation unit; an automated guided vehicle that includes a travel sensor, a travel device, and a loading device, and that identifies its own position in a work area based on detection by the travel sensor and automatically travels within the work area using the travel device; The unmanned aerial vehicle flies over the work area and scans the open loading platform of the transport vehicle parked in a parking area within the work area using the three-dimensional laser scanner; the luggage data creation unit analyzes the scan data acquired by the scanning by the three-dimensional laser scanner to create luggage data indicating information regarding the layout of the luggage in the loading platform; The automated guided vehicle controls the traveling device and the loading device based on at least the detection by the traveling sensor and the baggage data, travels to the loading platform of the transport vehicle parked in the parking area, and unloads the baggage from the loading platform. Cargo handling system.

2. the luggage data creation unit creates the luggage data indicating at least a position and an orientation of each luggage in the loading platform; A cargo handling system according to claim 1.

3. The loading system further comprises: a control information determination unit that determines a loading position in the working area where the automated guided vehicle will stop when unloading the load from the loading platform and a direction of the automated guided vehicle at the loading position, based on the position and direction of the load; The automated guided vehicle controls the traveling device to stop in the orientation determined at the unloading position determined by the control information determination unit. A cargo handling system according to claim 2.

4. the package includes a pallet; The automated guided vehicle is an automated forklift, The loading device includes a fork, the package data creation unit creates the package data indicating a position and an orientation of the pallet of each package. A cargo handling system according to claim 2 or 3.

5. The loading system further comprises: an opening detection means for detecting when the wings of the loading platform of the transport vehicle parked in the parking area are opened and the loading platform is opened; In response to detection of the opening of the loading platform by the opening detection means, the unmanned aerial vehicle begins to fly over the work area to scan the inside of the loading platform with the three-dimensional laser scanner. The system of claim 1 .

6. The unmanned aerial vehicle includes the following as the opening detection means: an imaging device that images the parking area when the unmanned aerial vehicle is waiting at a waiting station in the work area; and an opening determination unit that processes the imaging data acquired by the imaging device and determines whether or not a wing of the loading platform of the transport vehicle parked in the parking area is open. The system of claim 5.

7. The unmanned aerial vehicle includes the baggage data creation unit, and transmits the baggage data to the unmanned guided vehicle directly or indirectly by wireless. A cargo handling system according to claim 1.

8. The unmanned aerial vehicle flies at least once around the parking area and scans the inside of the loading platform with the three-dimensional laser scanner. A cargo handling system according to claim 1.

9. A loading and unloading method for an automated guided vehicle to unload a load from a loading platform of a transport vehicle parked in a work area, comprising the steps of: the automated guided vehicle includes a travel sensor, a travel device, and a loading device, and identifies its own position in the work area based on detection by the travel sensor and automatically travels in the work area by the travel device; The loading and unloading method comprises: After the transport vehicle stops in a stopping area of ​​the work area and the loading platform is opened, flying an unmanned aerial vehicle equipped with a three-dimensional laser scanner in the work area to scan the inside of the loading platform with the three-dimensional laser scanner; A luggage data creation unit analyzes the scan data acquired by the scanning using the three-dimensional laser scanner to create luggage data indicating information regarding the layout of the luggage in the loading platform; and and controlling the traveling device and the loading device based on at least the detection by the traveling sensor and the baggage data, to cause the automated guided vehicle to travel to the loading platform of the stopped transport vehicle, and to cause the automated guided vehicle to unload the baggage from the loading platform. Loading method.

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