Automatic transportation system, guiding system of traction apparatus, and logistics facility including guiding system

Abstract

To provide an AGV guiding system characterized in that a guide replacement work necessary for a guide AGV is not required, weak points such as malfunction of a guide-less AGV and a calculation time and estimation precision required for self-position estimation are overcome, and automatic operation / autonomous travel of an AGV can be achieved using a readily rewritable guide or without the necessity of the guide.SOLUTION: The present invention provides an AGV guiding system that uses plane image information, which is captured from a position where the whole of a logistics facility and a planar layout of local installations can be recognized, to identify a self-position of an AGV itself, forms a travel map of the AGV at the same time, integrates the travel map with article information in a host computer, plans a travel route within the logistics facility of the AGV, and enables automatic driving / autonomous travel of the AGV in line with an instruction of the travel route. The present invention provides an AGV guiding system characterized in that a guide AGV guiding method or an SLAM guiding method is compounded into a guiding method of a guiding system utilizing the plane image information.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to an automatic guided vehicle (AGV) capable of transporting goods, luggage, etc., unmanned in logistics facilities, manufacturing plants, etc., and a guidance system for an automatic guided towing device capable of towing a basket cart, a cart, a dolly, a hand lift, etc. In particular, the present invention relates to a guided AGV and a guidance system for an automatic guided towing device that does not require replacement of guides to accommodate changes and variations in the travel routes of these devices, and can increase the limit of travel accuracy due to the guidance method. [Background technology]

[0002] With the rapid development of computer and internet technology and the establishment of an environment in which they can be utilized, logistics facilities equipped with goods transportation and storage functions such as receiving, receiving inspection, warehousing, storage, sorting, shipping, outgoing inspection, and shipping have introduced storage equipment, sorting equipment, and transport equipment equipped with planning, statistical processing, accounting, inventory management, etc., which can grasp and control the information associated with goods. These equipment include automated warehouses, stacked shelves, mobile shelves, digital picking systems, conveyors, AGVs (Automatic Guided Vehicles), and AMRs (Autonomous Mobile Robots), and have begun to provide integrated management and control of the logistics system through information systems that combine the logistics system with information systems. Representative examples include the WMS (Warehouse Management System), which accurately grasps incoming and outgoing goods and inventory and manages goods, the WCS (Warehouse Control System), which accurately operates and monitors logistics equipment and terminal devices and controls equipment, and the WES (Warehouse Execution System), which combines both to manage goods and control equipment, and has responded to the need for higher speed, higher precision, automation, and diversification of logistics.

[0003] In logistics facilities where the host computer is centrally managing the goods, equipment, and goods flowing in the facility, what is noteworthy is that conveyors, which are the core technology for transporting goods in all industries, have reigned supreme as the core technology for transporting goods quickly, accurately, safely, inexpensively, and automatically. It is expected that conveyors will continue to hold the position as the main means of transport in the future.

[0004] However, in recent years, self-driving cars (autonomous vehicles) that can drive autonomously and safely have adopted various radars and cameras to determine travel routes, information gathering technologies such as GNSS (Global Navigation Satellite System), advanced information processing technology using AI (Artificial Intelligence), communication technologies that have evolved from 4G (Fourth Generation Mobile Communications System) to 5G (Fourth Generation Mobile Communications System) and promoted the IoT (Internet of Things), and computer control technology using ECUs (Electronic Control Units). These technologies have been applied to AGVs, which have been used as automatic guided vehicles since the 1990s, and have begun to play a part in the logistics system as transport devices equipped with advanced driving functions (which can be called equipment layout transformation functions from the perspective of a conveyor as a transport equipment) that can freely move equipment, something that was not possible with conventional conveyors, as well as robot functions that can manipulate goods.

[0005] The robot functions of such recent AGVs include a lifting function like a lifter that lifts objects, a handling function like a hand that grasps and transfers objects, and a transport function like a conveyor that moves objects continuously, but the robot function of the AGVs that is the subject of this invention is a running function, which can be broadly divided into two types of running methods, and AGVs are classified into two types according to their running methods (Non-Patent Documents 1-3).

[0006] The first driving method is a method in which the AGV reads the guides installed in the logistics facility using sensors corresponding to the guides installed on the AGV and drives along the guides. AGVs using this driving method are classified as guided driving AGVs. The second driving method is a method in which the AGV itself is located from surrounding situation data acquired by sensors such as Lidar (Light Detection and Ranging) and cameras, and at the same time a map of the AGV's surroundings is created, and the AGV drives along a driving route calculated by a route planning algorithm based on this map information and item information. This is an automatic driving / autonomous driving system that does not require a guide. AGVs equipped with this system are classified as guideless driving AGVs, and SLAM (Simultaneous Localization and Mapping) guided AGVs and automated guided vehicles called AMRs use the same driving method as guideless AGVs.

[0007] Furthermore, the guidance methods used in guided AGVs can include electromagnetic guidance, magnetic guidance, laser guidance, and image recognition guidance, depending on the type of guide and its characteristics (Non-Patent Document 1 and Patent Document 1).

[0008] The electromagnetic induction type is a guidance method in which the left and right antennas mounted on the AGV detect the leaked radio waves from an induction cable buried in the running path, and the AGV runs on the induction cable according to the difference in strength, while the magnetic induction type uses a magnetic field instead of a magnetic one, and detects the magnetic field from a magnetic bar buried in the running path or a magnetic tape attached to the running path with a magnetic sensor mounted on the AGV, and the AGV runs along the magnetic bar or magnetic tape. In particular, the magnetic induction type can use magnetic tape, which can significantly reduce the burden of construction.

[0009] Furthermore, the optical guidance type uses reflective tape instead of magnetic tape, and the light reflected from the reflective tape attached to the road is detected by an optical sensor installed on the AGV, and the AGV runs on the reflective tape, which can reduce costs compared to magnetic tape.

[0010] On the other hand, the laser guidance system uses a ToF (Time of Flight) sensor mounted on the AGV to detect the reflected light of a laser beam that is shone on a reflector attached to a wall or the travel path, and the AGV's position is determined by triangulation or other methods based on the distance calculated from the time required for reflection and the position information of the reflector, and then drives to the destination.The image recognition guidance system uses an image recognition camera mounted on the AGV to read QR codes (registered trademark) or AR markers containing location information that are placed on the travel path or ceiling, and the AGV drives to the destination while determining its position.This system has the major feature of being able to control the position more precisely than the electromagnetic guidance system, magnetic guidance system, and optical guidance system, and being able to easily change the travel route.

[0011] However, all of the guide AGVs using the guidance method have a common problem that cables, magnetic materials, reflectors, and image information media must be installed as guides to guide the AGV, and when the layout of the buildings and equipment of the logistics facility is changed, work and construction are required to change the layout of the guides. Therefore, it is extremely difficult to realize a guide AGV that can freely run between movable storage shelves, carts, and basket cars, whose layouts are frequently changed. In addition, with the magnetic guidance type and optical guidance type, problems arise such as the tape-like media attached to the running path becoming dirty when the AGV runs, and becoming difficult to recognize due to changes over time. Therefore, the extent to which the automatic operation of the guide AGV can be incorporated into the logistics system is limited, and there is a limit to the contribution of the automation and unmanned logistics system to solving labor shortages, improving productivity, and stabilizing work quality.

[0012] A guidance method that incorporates the technology of automatic driving of automobiles is expected to fundamentally solve the problems of such guided AGVs. This is the second driving method. This is a guidance method that allows automatic driving / autonomous control without the need for a guide, and AGVs that adopt this guidance method, i.e., an automatic driving / autonomous control system, are classified as guideless AGVs, and as already explained, they are devices with the same mechanism as the automatic guided vehicle known as SLAM-guided AGV or AMR (Non-Patent Documents 2 and 3).

[0013] This automatic driving / autonomous control system is composed of the AGV's recognition of its surroundings, its decision of the driving route based on that, and the control and operation of the power source to execute that decision, and is characterized by its use of SLAM as a surrounding recognition technology to accurately grasp the AGV's current position and surrounding conditions while at the same time creating an environmental map for the AGV to drive in. According to this system, the AGV's own driving route is determined based on its surrounding recognition information, and that decision is then put into action by controlling and operating the actual AGV, allowing it to avoid obstacles and move to its destination along a rational driving route without the need for a guide.

[0014] This system basically estimates the position of the AGV itself from surrounding situation data acquired by various sensors such as cameras mounted on the AGV, while at the same time creating a map of the surroundings of the AGV while it is traveling, and based on the travel route calculated by a route planning algorithm from this map information and the AGV's destination information, the AGV's power source is controlled and driven to travel, and SLAM, a surrounding recognition technology, is the heart of this system.And based on the self-location estimation method of the AGV itself, which is the most important technology of this SLAM, it is classified into SLAM guidance type, which is a method to find absolute position, and SLAM guidance type, which is a method to find relative position.

[0015] For example, in general road traffic, a method is used to obtain absolute position by obtaining the current position from a satellite positioning system such as GNSS, but since logistics facilities are indoors and cannot receive radio waves from satellites, this system cannot be used, so methods such as landmark based SLAM, visual relocalizer SLAM, and lidar SLAM are used. Lidar SLAM is often also called LRF (Laser Range Finder) SLAM.

[0016] Landmark SLAM is a method of estimating the self-location by comparing a pre-created map that includes the positions of landmarks (feature points) such as QR codes (registered trademark) captured by a camera mounted on the AGV with the landmarks as a reference. Image relocalizer SLAM also estimates the self-location from the scenery captured by a camera mounted on the AGV and a pre-created map or data measured by a lidar (described later), but has the characteristic of not requiring landmarks.

[0017] Lidar SLAM is a method for estimating a vehicle's position by creating a highly accurate map of the environment using data acquired from a laser-based distance sensor and comparing and referencing it with a map prepared in advance. It can measure shape and distance with much higher accuracy than cameras and ToF sensors, and has the advantage of not requiring landmarks.

[0018] The relative position can be calculated using sensors such as a camera, an IMU (Inertial Measurement Unit), odometry, and a ToF sensor. In particular, a method using images captured by a camera is called Visual SLAM, and is attracting attention as a flexible autonomous control system that can detect pedestrians and white lines. Each method has its own characteristics based on its mechanism, and it is preferable to use them according to the environment and purpose in which the AGV is used. In principle, a method using a camera or a ToF sensor measures the distance to multiple specific feature points and estimates the relative self-position, while an IMU or odometry estimates the relative self-position from the direction, speed, and movement amount of the AGV.

[0019] As described above, AGVs in logistics facilities are also beginning to adopt autonomous driving technology, and as the conventional guided AGVs evolve into guideless AGVs, rational automatic and autonomous driving will be realized, leading to the advancement of unmanned operations, which is expected to help alleviate labor shortages, improve productivity, and stabilize work quality.

[0020] As such, SLAM is a technology that handles surrounding recognition and is extremely important in realizing the autonomous driving / autonomous control system that should be the foundation of guideless AGVs. However, because it is still a developing technology, there are many technical challenges to overcome, and it has been observed that AGVs may behave in unexpected ways due to misidentification of their own position or distortion of the generated map due to accumulation of errors in self-position estimation.

[0021] In addition, there is an essential issue that self-location estimation in SLAM requires at least calculation time. If the results of self-location estimation are used as is, the time required for calculation is derived as the past position, so this calculation time needs to be brought closer to real time, and image processing and point cloud processing need to be performed at high speed with a fast cycle. However, it is difficult to balance calculation time with calculation accuracy and calculation cost, so there is a need to develop technology to process on low-power, small embedded microcomputers mounted on devices such as AGVs.

[0022] Furthermore, there is a problem that the results of SLAM's surrounding recognition depend on the environment in which it is used. For example, with visual SLAM and lidar SLAM, self-location estimation in an environment with few obstacles or structures in the vicinity, or in an environment where the layout of storage shelves, luggage, etc. has been changed from a pre-created map, may result in a decrease in accuracy or misrecognition. In particular, with methods that use cameras, there is also the problem that fogging of the lens due to changes in temperature and humidity can reduce accuracy.

[0023] And for widespread practical use, there is a problem of not finding a balance between the price and accuracy of the sensor. A typical example is LIDAR, which has been used since the 1960s for topographical and meteorological observations. It does not require landmarks and can measure shape and distance with much higher accuracy than cameras or ToF sensors, but at present, LIDARs costing several tens of thousands of yen do not offer the level of accuracy one would expect, and LIDARs with high accuracy that can be used for autonomous driving are extremely expensive, costing several million yen.

[0024] As described above, SLAM has many problems, and in order to realize practical self-localization using SLAM, it is thought that it will be necessary to combine multiple SLAM techniques to complement their weaknesses. However, combining multiple techniques gives rise to a new problem in that each technique produces its own self-localization result, and a technique is required to select the correct result from among these.

[0025] Furthermore, not only the combination of SLAM technology but also the combination with the guidance method of guided AGVs may be an important solution for practical use of SLAM technology. This is based on the fact that the self-location estimation of AGVs is performed by detecting guides such as magnetic tapes and reflectors installed on the travel route with sensors in the magnetic guidance and laser guidance methods of guided AGVs, and the self-location estimation accuracy is high, whereas the self-location estimation accuracy of guideless AGVs is sometimes lower than that of magnetic guidance and laser guidance methods, because the self-location is estimated by calculating the surrounding environment information and the moving direction and distance information. In this case, too, the AGV needs to cross the travel route suitable for each guidance method and switch the guidance method, but when switching, a large error occurs in the estimation of the self-location, and a new problem occurs in that the AGV may deviate from the travel route.

[0026] At present, no clear solution has been found for these problems with SLAM technology, and the current situation is that algorithms are devised and implemented according to the usage environment and purpose, and problems are solved individually through trial and error. For example, various attempts have been made as shown in Patent Documents 1 to 9.

[0027] As mentioned above, guideless AGVs have the greatest advantage of being able to operate automatically and autonomously without the need for a guide, which is the root cause of the issues faced by guided AGVs. However, they have many inherent issues that need to be resolved, which are different from those faced by guided AGVs and are no less challenging. [Prior art documents] [Patent documents]

[0028] [Patent Document 1] Japanese Patent Application Publication No. 7-129238 [Patent Document 2] JP 2010-092147 A [Patent Document 3] JP 2011-253414 A [Patent Document 4] Patent Publication No. 2021-047670 [Patent Document 5] Patent Publication No. 2021-096731 [Patent Document 6] Patent Publication No. 2021-107994 [Patent Document 7] Patent No. 6986314 [Patent Document 8] Patent Publication No. 2022-093887 [Patent Document 9] Patent Publication No. 2022-125553 [Non-patent literature]

[0029] [Non-Patent Document 1] Nanoseed Co., Ltd., "What kind of sensors are used in AGVs? Explanation of AGV sensors by major method!", [on line], [Retrieved May 25, 2023], Internet<https: / / nanoxeed.co.jp / application / agvsensor / > . [Non-Patent Document 2] Toshiba Information Systems Corporation, "SLAM - Technology that supports autonomous driving and autonomous control systems - An easy-to-understand explanation of its mechanism and technical basics", [online], [Retrieved May 25, 2023], Internet<https: / / www.tjsys.co.jp / focuson / clms-slam / index_j.htm> . [Non-Patent Document 3] Macnica, Inc., "What is SLAM? ~SLAM technology that simultaneously identifies location and creates maps~", [on line], [Retrieved May 25, 2023], Internet<https: / / www.macnica.co.jp / business / maas / columns / 134751 / > . Summary of the Invention [Problem to be solved by the invention]

[0030] As described in the Background Art, regardless of the guidance method, guide AGVs must be equipped with cables, magnetic materials, reflectors, and image information media as guides to guide the AGV, and all guidance methods have a common problem that when the layout of buildings and equipment in a logistics facility is changed, work and construction are required to change the layout of the guides. Therefore, it is extremely difficult to realize a guide AGV that can freely travel between movable storage shelves, carts, and basket cars, whose layouts are frequently changed. Therefore, the extent to which the automatic operation of guide AGVs can be incorporated into logistics systems is limited, and there is a limit to the contribution of the automation and unmanned logistics system to solving labor shortages, improving productivity, and stabilizing work quality.

[0031] Therefore, as a technology to realize the automation and unmanned operation of guided AGVs, SLAM-guided AGVs that utilize automatic driving / autonomous control systems, i.e., guideless AGVs (AMRs) that do not require guides, have attracted attention and are being actively developed, but the following problems and obstacles stand in the way. First, since it is still a developing technology, the AGV may perform unexpected operations due to misidentification of the self-location estimation or distortion of the generated map due to accumulation of errors in the self-location estimation. Second, SLAM self-location estimation requires at least calculation time, and it is difficult to balance calculation time, calculation accuracy, and calculation cost. Third, the results of SLAM surrounding recognition depend on the environment in which it is used. In particular, in self-location estimation in an environment where the arrangement of storage shelves, luggage, etc. has been changed from the map created in advance, there are cases where accuracy is reduced or misidentification occurs, which means that it is not possible to follow the frequent changes in the arrangement that occur in logistics facilities. Fourth, it is difficult to balance the price and accuracy of the sensor. Fifth, in order to realize practical self-localization using SLAM, the combination of multiple SLAM technologies and the combination of conventional guided navigation methods and SLAM navigation methods require the development of new technologies that complement the weaknesses of both. At present, no clear solution has been found for any of these issues with SLAM technologies, and so issues are currently being resolved by devising and implementing algorithms suited to the usage environment and purpose, and by individual responses through trial and error.

[0032] In light of this situation, the present invention has an objective and task to provide an AGV guidance system that overcomes the weaknesses of guided AGVs and guideless AGVs, and enables automatic / autonomous driving of AGVs using guides that are easily rewritable, or without the need for guides. [Means for solving the problem]

[0033] The inventors came up with the idea that if a human error in picking is detected and a video is viewed to prevent recurrence, and the AGV is guided using planar image information taken from a high point of the logistics facility, i.e., a position where the planar layout of the entire logistics facility and local equipment can be recognized, the AGV can be automatically driven / autonomously driven. This is because such planar image information including the AGV can identify the AGV's own position and also form a driving map for the AGV, so that if it is integrated with the item information of a host computer that comprehensively manages item information, it is possible to plan the driving route of the AGV in the logistics facility and enable the AGV to drive autonomously according to the driving route. Based on this idea, various guidance methods were examined, and the present invention was completed.

[0034] First, the present invention provides an AGV guidance system in a logistics facility operated under a host computer that can comprehensively manage item information and comprehensively control logistics equipment, the system comprising: an image information capturing means for capturing and collecting planar image information of equipment layout including AGVs; a first travel path generating means for planning a travel path for the AGV from this planar image information and item information from the host computer; a travel guide forming means for displaying a first travel guide which is an image information medium as a travel guide for guiding the AGV in accordance with instructions from the first travel path generating means; an information communication means, a travel means, and an image detection means for recognizing the first travel guide; a first travel control means for managing the operation of the travel means in accordance with instructions from the image detection means; and an AGV equipped with at least an item placement means.

[0035] Here, the image information capturing means may collect images that two-dimensionally recognize the facility layout including the AGV, and the capturing means, the installation position, and the installation method are not particularly limited. The capturing means may use a normal camera, and the position where the capturing means is deployed is preferably higher than the facility such as the ceiling or side wall, and multiple cameras are installed as necessary. It is more preferable to install cameras that are fixed to a two-dimensionally movable electric slider equipped with an adapter for mounting the camera, can be freely moved so as to cover the entire facility or the area that divides the facility, and are at least equal to the number of areas that divide the facility. In addition, from the viewpoint of being able to reduce the number of cameras and being able to freely select the location and height of the image to be captured, it is more preferable to install an electric slider equipped with an adapter for mounting the camera on the AGV that can be raised and lowered. Furthermore, for the same reason, it is even more preferable to mount the camera on a drone.

[0036] The traveling guide forming means for projecting the first traveling guide, which is an image information medium as a traveling guide for guiding the AGV, is preferably an LED (Light Emitting Diode) light capable of forming image information that is easily identifiable on the traveling road surface, and is preferably a color with a wavelength suitable for the image detection means for recognizing the first traveling guide. In terms of visibility to the human eye, green is preferable. Examples of such LED lights that can be used include an LED drawing light manufactured by Koito Manufacturing Co., Ltd., HOLOLIGHT (registered trademark) manufactured by Pi Photonics Co., Ltd., and Pattern Light (registered trademark) manufactured by Dai Nippon Printing Co., Ltd.

[0037] Furthermore, in order to project the first traveling guide from an appropriate position according to the instruction of the first traveling path generating means, it is preferable to install a plurality of traveling guide forming means as necessary at a position higher than the equipment such as the ceiling or side wall, just like the image information capturing means, and it is more preferable to install traveling guide forming means that can be fixed to a two-dimensionally movable electric slider and can be freely moved to cover the entire equipment or the area that divides the equipment, and that are at least equal to the number of areas that divide the equipment. Also, from the viewpoint of being able to reduce the number of traveling guide forming means and being able to freely select the location and height of the projection, it is more preferable to fix and install an ascending / descending electric slider equipped with an adapter to which the traveling guide forming means is attached to the AGV, and it is even more preferable to mount it on a drone.

[0038] It is preferable that the first traveling guide displayed by such a traveling guide forming means not only displays the straight lines and curves that define the route along which the AGV travels, but also displays image information media such as AR markers for controlling the traveling direction and distance of the AGV, as necessary.

[0039] Although a general automated guided vehicle can be used as the AGV, it is preferable that the AGV is equipped with driving wheels and driven wheels that can rotate on the spot, which increases the degree of freedom of movement. Also, it is preferable that the article placement means for transporting articles has a conveyor function that makes it easy to transfer articles, and it is even more preferable that the article placement means has a lifter that raises and lowers it.

[0040] Secondly, the present invention provides an AGV guidance system in a logistics facility operated under a host computer that can comprehensively manage item information and comprehensively control logistics equipment, comprising: an image information capturing means for capturing and collecting planar image information of equipment layout including AGVs; a second driving path generating means for planning a driving path for the AGV based on this planar image information and item information from the host computer; an information communication means, a driving means, an ECU control means which is an embedded computer that manages the operation of the driving means in accordance with instructions from the second driving path generating means; and an AGV equipped with at least an item loading means.

[0041] The ECU control means of the present invention utilizes electronic control systems used in automobiles and autonomous driving technologies, and it is preferable that at least the motor of the drive wheels of the AGV, the steering, and the vehicle posture are controlled in accordance with the instructions of the driving path generated by the second driving path generation means.

[0042] Thirdly, the present invention provides a logistics facility operated under a host computer capable of comprehensively managing item information and comprehensively controlling logistics facilities, comprising: an image information photographing means for photographing and collecting planar image information of facility layout including AGVs; a first travel route generating means for planning a travel route for the AGV from the planar image information and item information from the host computer; a travel guide forming means for displaying a first travel guide which is an image information medium as a travel guide for guiding the AGV in accordance with an instruction from the first travel route generating means; and a travel guide for moving the AGV between facilities not equipped with a moving means, the first travel guide being a ferromagnetic material, a light reflector, a two-dimensional code, or the like. The present invention provides an AGV guidance system comprising: an AGV equipped with at least an item placement means; a second running guide selected from a navigation system, a navigation means, an image detection means for recognizing the first running guide, a guide detection means for recognizing the second running guide, a first running control means for managing the operation of the running means in accordance with instructions from the guide detection means for recognizing the second running guide; and a detection switching means for switching between the image detection means for recognizing the first running guide and the guide detection means for recognizing the second running guide.

[0043] The photographing means for collecting image information, the position and method for installing it, the traveling guide forming means for displaying the first traveling guide and the first traveling guide and AGV displayed by it have already been explained, so the explanation of the same contents will be omitted below.

[0044] This invention adopts a guidance method that has been used in conventional guided AGVs for guiding AGVs between equipment in a logistics facility that does not undergo rearrangement, since the frequency of guide replacement is extremely low. In areas where equipment that is regularly rearranged, such as movable storage shelves, trolleys, carts, and dollies, is located, the AGV is guided by a first traveling guide that is displayed based on planar image information of the equipment layout including the AGV described in paragraph 0033.

[0045] According to this invention, the AGV can be guided without the problems of the guide AGV described in the background art becoming apparent, and in areas where the environment in which the AGV travels changes frequently, the AGV can be guided by the first traveling guide that is displayed based on planar image information updated every time the environment changes. This first traveling guide is an image information medium formed of an LED or the like that is easily rewritable, and unlike the conventional guide, i.e., the second traveling guide, which is a ferromagnetic material, a light reflector, a two-dimensional code, and an AR marker, no work is required for replacement, so that the self-position can be accurately identified even in a changing environment, and highly accurate guidance of the AGV is possible. In addition, it is possible to solve the deterioration in accuracy and misrecognition of surrounding recognition that depends on the environment in which SLAM is used, as described in paragraph 0022. Furthermore, the conventional guidance method can be used as it is, and the burden of switching the guidance method can be reduced.

[0046] Fourthly, the present invention provides an AGV guidance system in a logistics facility operated under a host computer that can comprehensively manage item information and comprehensively control logistics equipment, the system comprising: an image information photographing means for photographing and collecting planar image information of equipment layout including AGVs; a second travel path generating means for planning a travel path for the AGV from this planar image information and item information from the host computer; a second travel guide for movement of the AGV between equipment not equipped with a moving means, the second travel guide being any one selected from a ferromagnetic material, a light reflector, a two-dimensional code, and an AR marker; an information communication means, the traveling means, a guide detection means for recognizing the second traveling guide; a second travel control means for managing the operation of the traveling means in accordance with instructions from the guide detection means for recognizing the second traveling guide; an ECU control means which is an embedded computer that manages the operation of the traveling means in accordance with instructions from the second travel path generating means; and an AGV equipped with at least an item placement means; and a first control instruction switching means for switching between the guide detection means for recognizing the second traveling guide and the second travel path generating means.

[0047] In this invention, in the invention described in paragraph 0041, the guidance of the AGV in an area where equipment whose rearrangement is routinely changed, such as movable storage shelves, trolleys, carts, and dollies, is located, is performed by an ECU control means which follows instructions generated by a second travel path generation means based on planar image information of the equipment layout including the AGV described in paragraph 0039.

[0048] As described in paragraph 0044, this invention also does not cause problems with the guide AGV to become apparent, and in areas where the environment in which the AGV travels changes frequently, the AGV is guided by ECU control based on planar image information that is updated each time the environment changes, thereby solving the problem of reduced accuracy and misrecognition in surrounding recognition that depends on the environment in which SLAM is used, as described in paragraph 0022.

[0049] Fifthly, the present invention provides a logistics facility operated under a host computer capable of comprehensively managing item information and comprehensively controlling logistics facilities, comprising: an image information photographing means for photographing and collecting planar image information of a facility layout including an AGV; a first travel route generating means for planning a travel route for the AGV from the planar image information and item information from the host computer; a travel guide forming means for displaying a first travel guide which is an image information medium as a travel guide for guiding the AGV in accordance with an instruction from the first travel route generating means; and a communication means, a travel means, a first travel guide, and a communication device for communicating with the information communication means, the travel means, the first travel guide, and a communication device for communicating with the information communication means, the information communication means, the communication device ... The present invention provides an AGV guidance system comprising: an AGV equipped with at least an image detection means for recognizing a guide, a first travel control means for managing the operation of the travel means in accordance with instructions from the image detection means for recognizing the first travel guide, a surroundings recognition means, and an item placement means; a third travel route generation means for planning a travel route for the AGV based on the surroundings recognition means and item information; a third travel control means for managing the operation of the travel means in accordance with instructions from the third travel route generation means; and a second control instruction switching means for switching between the image detection means for recognizing the first travel guide and the third travel route generation means.

[0050] This invention is characterized by the use of an automatic driving / autonomous control system that guides an AGV using SLAM technology, i.e., a SLAM-guided AGV (AMR), as a surrounding recognition means responsible for self-position estimation and surrounding map generation, and an automatic driving / autonomous control system that guides the AGV using a first traveling guide displayed based on planar image information of the equipment layout including the AGV described in paragraph 0033, depending on the AGV's traveling environment. This is because the SLAM guidance method estimates the self-position by calculating the surrounding environment information and the information such as the moving direction and distance, and therefore the self-position estimation of the AGV is less accurate than the self-position estimation based on the planar image information of the facility layout including the AGV, and as explained in paragraph 0022, the accuracy of the surrounding recognition may be reduced or misrecognition may occur depending on the environment in which SLAM is used. Therefore, in a logistics facility, the guidance of the AGV between facilities where the layout is not changed is performed by utilizing the SLAM technology, and the guidance of the AGV in an area where the equipment such as movable storage shelves, carts, basket carts, and dollies, which are changed in layout on a daily basis, are arranged at narrow intervals and are not necessarily arranged regularly, and where highly accurate guidance is required, is performed by guiding the AGV with the first traveling guide displayed based on the planar image information of the facility layout including the AGV as explained in paragraph 0033. In addition, since the two combined guidance methods are completely different in that one of them uses planar image information, if a switching interval such as a temporary stop is set, the AGV will not run abnormally when switching the guidance method due to the combination of these. Therefore, by combining such guidance methods, efficient automatic / autonomous driving of guideless AGVs can be realized.

[0051] Sixthly, the present invention provides an AGV guidance system in a logistics facility operated under a host computer capable of comprehensively managing item information and comprehensively controlling logistics equipment, the system comprising: an image information capturing means for capturing and collecting planar image information of equipment layout including AGVs; a second driving path generating means for planning a driving path for the AGV from the planar image information and item information from the host computer; an AGV equipped with at least an information communication means, a driving path, an ECU control means which is an embedded computer for managing the operation of the driving path in accordance with instructions from the second driving path generating means, a surroundings recognition means, and an item placement means; a third driving path generating means for planning a driving path for the AGV from the surroundings recognition means and item information from the host computer; a third driving control means for managing the operation of the driving path in accordance with instructions from the third driving path generating means; and a third control instruction switching means for switching between the second driving path generating means and the third driving path generating means.

[0052] The gist of this invention is as described in paragraph 0049, except that the guidance of an AGV in an area where equipment whose layout is changed on a daily basis is located, is closely spaced and not necessarily regularly arranged, and where highly accurate guidance is required, is performed by an ECU control means which follows instructions generated by a second driving path generation means based on planar image information of the equipment layout including the AGV as described in paragraph 0039.

[0053] All of the AGV guidance systems described above are not limited to AGVs that transport general goods, but can also be applied to towing vehicles that tow goods transport vehicles that do not have driving means, such as movable storage shelves, carts, basket carts, and dollies. For this purpose, the AGV must further be equipped with a connection means that tows goods transport vehicles that do not have driving means, a connection detection means that recognizes this connection means, and a connection control means that manages the connection and removal of the connection means according to the instructions of the connection detection means. However, an AGV that is equipped with a device necessary for such towing, which can be called an automatic cart towing vehicle, also falls under the category of AGVs because it shares the same guidance method.

[0054] In particular, it is preferable that the connecting means for towing the article transport vehicle is provided with a function for raising and lowering the article transport vehicle in the forward or backward direction. With this function, one side of the article transport vehicle can be raised to essentially tow a two-wheeled vehicle, so that the article transport vehicle can be moved backward as well as forward, increasing the degree of freedom of towing, and in particular making it easier to align carts, basket cars, dollies, etc. Furthermore, if a mechanism for locking the article transport vehicle is provided to the elevator that realizes this raising and lowering function, the elevator will bear the load of the article transport vehicle, thereby ensuring a reliable connection between the automatic cart towing vehicle and the article transport vehicle. Effect of the Invention

[0055] The rational guidance system of the present invention solves the problems of conventional AGV guidance systems, and thus has the effect of greatly contributing to the elimination of labor shortages through the automation and unmanned implementation of logistics systems, improving productivity, and stabilizing work quality.

[0056] Specifically, the present invention eliminates the need for labor-intensive construction work required for replacing guides in guided AGVs, and allows for frequent guide changes.

[0057] Furthermore, the present invention solves the problems that are inherent to guideless AGVs, such as AGV malfunction due to misidentification of self-location estimation or distortion of the generated map due to accumulation of self-location estimation errors, the conflict between SLAM calculation time, calculation accuracy, and calculation cost, the environmental dependence of SLAM's surrounding recognition, the conflict between sensor price and accuracy, and inconsistencies in the combination of SLAM technology and the combination of guide guidance methods and SLAM guidance methods to realize practical self-location estimation using SLAM, thereby making it possible to efficiently guide the AGB. [Brief description of the drawings]

[0058] [Figure 1] FIG. 1 is a schematic plan view of a representative logistics facility in which the AGV guidance system of the present invention, which enables automatic driving / autonomous running of AGVs based on planar image information, can be implemented. [Diagram 2]Fig. 1 is a schematic diagram of an automated guided vehicle (AGV) having a representative liftable and rotatable conveyor function that can be applied to the AGV guidance system of the present invention. Figs. (a) to (d) are a schematic plan view, a schematic front view of Fig. (a), a schematic plan view of the conveyor of Fig. (a) rotated 90 degrees, and a schematic front view of Fig. (c), respectively. [Diagram 3] 1A is a schematic plan view of an automatic carriage tractor having a representative traction mechanism that can be applied to the AGV guidance system of the present invention, and FIG. 1B is a schematic side view of the same. [Figure 4] 4A and 4B are a plan view and a side view, respectively, showing a state in which the automatic cart towing vehicle shown in FIG. 3 lifts up the front of the six-wheel cart and tows it. [Diagram 5] This is a functional configuration diagram of an AGV guidance system in one embodiment of the present invention, in a logistics facility operated under a host computer that can comprehensively manage item information and comprehensively control logistics equipment. Planar image information of the equipment layout including AGVs is captured, and easily rewritable traveling guides for guiding the AGV are displayed on the travel path according to a travel route planned from this planar image information and item information from the host computer, and the AGV detects the traveling guides and drives automatically / autonomously. [Figure 6] This is a schematic perspective view of a vertical cross section of a logistics facility, showing a state in which a traveling guide that serves as a guide is formed using LED lights in an AGV guidance system that uses a traveling guide that can be easily rewritten from two-dimensional image information, according to one embodiment of the present invention. [Figure 7] FIG. 6 is a schematic plan view illustrating the concept of the AGV guidance system shown in FIG. 5 according to one embodiment of the present invention, using AGVs traveling in a receiving area, a warehousing area, a picking area, and a shipping preparation area. [Figure 8]This is a functional configuration diagram of an AGV guidance system in one embodiment of the present invention, in a logistics facility operated under a host computer that can comprehensively manage item information and comprehensively control logistics equipment. Planar image information of the equipment layout including AGVs is captured, and the AGVs are automatically driven / autonomous by an ECU, which is an embedded computer, according to a travel route planned from this planar image information and item information from the host computer. [Figure 9] FIG. 9 is a schematic plan view illustrating the concept of the AGV guidance system shown in FIG. 8 according to one embodiment of the present invention, using AGVs traveling in a receiving area, a warehousing area, a picking area, and a shipping preparation area. [Figure 10] This is a schematic plan view of a typical logistics facility in which the AGV guidance system of the present invention can be implemented, combining a guidance method for automatic / autonomous driving of AGVs based on planar image information and an image recognition guidance method for guide AGVs. [Figure 11] This is a functional configuration diagram of an automatic / autonomous AGV guidance system that combines an image recognition guidance system for guide AGVs and a guidance system in which, in a logistics facility operated under a host computer that can comprehensively manage item information and comprehensively control logistics equipment, one embodiment of the present invention, a guide AGV's image recognition guidance system and a guidance system in which planar image information of the facility layout including the AGV is captured, and easily rewritable traveling guides for guiding the AGV are displayed on the travel path according to a travel route planned from this planar image information and item information from the host computer, and the AGV detects the traveling guides and travels accordingly. [Figure 12] FIG. 12 is a schematic plan view illustrating the concept of the AGV guidance system shown in FIG. 11 using an automated traction vehicle traveling in a shipping preparation area according to an embodiment of the present invention. [Figure 13] FIG. 12 is a schematic plan view illustrating the concept of the AGV guidance system shown in FIG. 11 according to one embodiment of the present invention, using an automated traction vehicle traveling from a shipping preparation area to a shipping area. [Figure 14] FIG. 12 is a schematic plan view illustrating the concept of the AGV guidance system shown in FIG. 11 using an automated traction vehicle traveling in a shipping area according to one embodiment of the present invention. [Figure 15] FIG. 12 is a schematic plan view illustrating the concept of the AGV guidance system shown in FIG. 11 according to one embodiment of the present invention, using an automated traction vehicle traveling from a shipping area to a shipping preparation area. [Figure 16] FIG. 14 is a schematic plan view illustrating the concept of the AGV guidance system shown in FIGS. 12 and 13 according to one embodiment of the present invention, using a traveling guide that guides an automatic trolley towing vehicle traveling in a shipping area and a shipping preparation area. [Figure 17] This is a functional configuration diagram of an automatic / autonomous AGV guidance system that combines an image recognition guidance system for guide AGVs and a guidance system in which planar image information of the facility layout including the AGV is captured, and the AGV travels according to a travel route planned from this planar image information and the item information from the host computer, in a logistics facility operated under a host computer that can comprehensively manage item information and comprehensively control logistics equipment, according to one embodiment of the present invention. The system is an automatic / autonomous AGV guidance system that combines an image recognition guidance system for guide AGVs and a guidance system in which the AGV travels according to a travel route planned from this planar image information and the item information from the host computer, using an ECU, which is an embedded computer. [Figure 18] FIG. 18 is a schematic plan view illustrating the concept of the AGV guidance system shown in FIG. 17 according to one embodiment of the present invention, using AGVs and an automatic trolley tractor that run in the receiving area, storage area, picking / outgoing area, and outgoing preparation area. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0059] The present invention will be described in more detail below using the embodiments shown in the drawings. However, the present invention is not limited to these embodiments and can be implemented in various modifications within the scope that does not deviate from the gist of the present invention, and is limited only by the technical ideas described in the claims.

[0060] FIG. 1 is a schematic plan view of a representative first logistics facility 100 to which the AGV guidance system of the present invention, which automatically drives / autonomously travels an AGV based on planar image information, is applied. As is clear from the figure, this logistics facility 1 is composed of an arrival area 110, a storage / storage area 120, a picking / outlet area 130, a shipping preparation area 140, and a shipping area 150, and the AGV 300 and the automatic trolley towing vehicle 400 are arranged so that they can operate according to each work process in each area, and an AI camera is also arranged to collect planar image information that is the source for guiding the AGV 300 and the automatic trolley towing vehicle 400 of the present invention. That is, the first logistics facility 100 shown in FIG. 1 is an unmanned logistics facility in which logistics is carried out by the automatic driving / autonomous travel of the AGV 300 and the automatic trolley towing vehicle 400 in each work process. Note that FIG. 1 is merely a schematic plan view for understanding the concept that the AGV guidance system of the present invention can be applied to various work processes, and does not show an embodiment.

[0061] The AGV 300 and the automatic cart towing vehicle 400 are shown as standby AGV 310 and operating AGV 320, and standby AGV 410 and operating AGV 420, and AGV waiting areas 114, 136 and automatic cart towing vehicle waiting areas 136, 145 are provided where these AGVs can wait and be charged. In addition, the six-wheeled cart 500 towed by the automatic cart towing vehicle 400 is shown as a standby empty cart 510 and a cart waiting for shipment 520, and an empty cart waiting area 146 and a cart waiting for shipment waiting area 151 are provided.

[0062] The AI ​​cameras are shown in each area as wall-mounted AI cameras 115, 127, 137, 147, and 154, and ceiling-mounted AI cameras 116, 128, 138, 148, and 155. These are examples of cameras installed at a higher position than the equipment on the wall or ceiling, but in order to capture every corner of each area, it is preferable to use an electric slider or the like so that they can be moved in two dimensions.

[0063] Based on the planar image information collected from these cameras, a plurality of LED lights 117, 129, 139, 149, 156 are provided in each area to project a traveling guide 700 made up of an easily rewritable guide line 710 and a rewritable AR marker 720 for guiding the AGV 300. In order to realize highly accurate localized driving of the AGV 300, it is preferable that the LED lights can move two-dimensionally, and more preferably, three-dimensionally, so that the traveling guide 700 can be projected on all road surfaces on which the AGV 300 in each area may run.

[0064] In the receiving area 110, the receiving / storage area 120, and the picking / shipping area 130, it is assumed that goods will be transported by AGVs 310 and 320. Therefore, the picking process in the picking / shipping area 130 in particular is not a line type, but rather a picking station 131 is provided where the AGVs 310 and 320 stop and pick up goods. However, the shuttle cart type case automated warehouse 121 for storing goods, the flow rack 132 for replenishing goods, and the flow rack automatic goods replenishing device 133 for replenishing goods, which are necessary for this picking work, are generally used facilities.

[0065] On the other hand, in the shipping preparation area 140 and the shipping area 150, automatic cart towing vehicles 410, 420 tow six-wheeled carts 610, 620, and it is assumed that the article transport in these processes will be automated / unmanned as cart towing vehicles 610, 620. Other equipment that has not been explained is equipment that has been commonly used.

[0066] 2 is a schematic diagram of an AGV 300 having a representative liftable and rotatable conveyor function that can be applied to the AGV guidance system of the present invention. Figures (a) to (d) respectively show a schematic plan view, a schematic front view of Figure (a), a schematic plan view of the conveyor of Figure (a) rotated 90 degrees, and a schematic front view of Figure (c).

[0067] In order to improve the article transport function of the AGV 300, a conveyor 308 and a lifter 309 are provided, so that articles can be automatically transferred from the AGV 300 to other logistics equipment without damaging the articles. For the same reason, it is preferable that the lifter 309 has a rotation function, as can be seen from Figures 2(a) and (b) and Figures 2(c) and (d). Furthermore, in order to travel in narrow spaces, the vehicle is of an opposed two-wheel type (two-wheel differential drive) in which two drive wheels 306 are arranged facing each other on the side, and can rotate 90 degrees and 180 degrees.

[0068] On the other hand, the control system and the sensor system need to be modified and equipped in accordance with the guidance method as follows. In FIG. 2 illustrating the AGV 300, the camera 304 detects the traveling guide 700 displayed based on the planar image information, and the driving and operation control unit 302 controls the power, communication, and battery system devices, and the ECU 302 controls the power, communication, and battery system devices based on the planar image information are illustrated in one control unit, but in reality, the equipment required for the AGV guidance method to be used is selected and equipped. Furthermore, as described later, in order to make the AGV 300 compatible with the AGV guidance method that combines the image recognition guidance method of the conventional guide AGV and either of the above two methods, the driving and operation control unit that detects the fixed AR marker 900, which is a fixed guide, by the camera 304 and controls the power, communication, and battery system devices needs to be installed together with or separately from the driving and operation control unit 302 or the ECU 302, or installed inside them. In addition, if an electromagnetic induction type, magnetic induction type, laser induction type, etc. used in conventional guide AGVs is adopted instead of the image recognition induction type, a sensor corresponding to each fixed induction type must be separately installed.

[0069] Fig. 3 shows an automatic cart tugging vehicle 400 having a representative towing mechanism that can be applied to the AGV guidance system of the present invention. Fig. 3(a) is a schematic plan view, and Fig. 3(b) is a schematic side view thereof, and the automatic cart tugging vehicle 400 is an example of an automatic cart tugging vehicle that is composed of a control / drive unit 401 that corresponds to the AGV 300 in Fig. 2, and a towing unit 402 that raises and lowers the cart to pull it.

[0070] The control and drive unit 401 has the same functions as the AGV 300 having the control system and sensor system described in paragraph 0067, except for the conveyor 308, the lifter 309 having a rotating function, and the rotating connecting shaft 4018 that pulls the towing unit 402. However, the operation control unit of the towing unit 402 is not shown, and needs to be installed together with or separately from the traveling and operation control unit 4012, or installed inside them.

[0071] The towing unit 402 includes, as connection means, a carriage coupling part 4021, an extendable carriage support part 4022, a running auxiliary wheel 4023, a lifter 4024, and a rear camera 4025. As connection means, in addition to the carriage coupling part 4021, it is preferable that the tip of the lifter 4024 is engaged with the carriage. For example, in the case of a six-wheel carriage 500 described later, the connection can be ensured by inserting the lifter 4024 into the cavity of the support pipe 502.

[0072] The rear camera 402 provided on the extendable dolly support part 4022 of the towing part 402 is a sensor part for transmitting information such as the positional relationship and distance with respect to the connected dolly to the operation control part of the towing part and the running / operation control part 4012 (not shown) and for attaching and detaching the dolly by raising and lowering the lifter 4024. The extendable dolly support part 4022 is designed to be capable of controlling the position of the automatic dolly towing vehicle 400 that recognizes the position of the dolly and to control the stability of the automatic dolly towing vehicle 400 when the dolly is lifted.

[0073] Fig. 4 shows a state in which the motor vehicle towing vehicle 400 shown in Fig. 3 lifts up the front of the six-wheeled vehicle 500 and tows it. Fig. 4(a) is a schematic plan view, and Fig. 4(b) is a schematic side view. As is clear from the figure, the tip of the lifter 4024 is inserted into a cavity of a support pipe 502 in a front base frame 501 of the six-wheeled vehicle 500 and rises, and the front swivel wheel 503 of the six-wheeled vehicle 500 lifts up, whereby the six-wheeled vehicle 500 is connected to the motor vehicle towing vehicle 400 via the vehicle connecting part 4021 and the rotating connecting shaft 4018 and is towed.

[0074] Figure 5 is a functional configuration diagram of an AGV guidance system according to one embodiment of the present invention, for example, in the first logistics facility shown in Figure 1, which is operated under a host computer that can comprehensively manage item information and comprehensively control logistics equipment. Planar image information of the equipment layout including AGVs is captured, and a traveling guide that can be easily rewritten to guide the AGV is displayed on the traveling path according to a traveling route planned from this planar image information and item information from the host computer, and the AGV detects the traveling guide and drives automatically / autonomously.

[0075] Planar image information captured by image capture devices installed in the logistics facility (in the first logistics facility in FIG. 1, exemplified as wall-mounted AI cameras 115, 127, 137, 147, 154 and ceiling-mounted AI cameras 116, 128, 138, 148, 155) is transmitted to an equipment layout data collection unit of the automated guided vehicle control device, which is a subordinate system of the warehouse control system, and a traffic line map creation unit creates an environmental map in which the AGV 300 can travel. This is then sent to an item information collection unit to which item information related to the travel of the AGV 300 from the warehouse management system is transmitted, and a travel route generation unit plans the travel route of the AGV 300. According to this planned travel route, the traveling guide forming device (illustrated as LED lights 117, 129, 139, 149, 156 in the first logistics facility in FIG. 1) projects a traveling guide 700 consisting of an easily rewritable guide line 710 and a rewritable AR marker 720 on the traveling guide forming road surface 730 along which the AGV 300 should travel. When there are multiple fixed traveling guide forming devices, the traveling guide forming device to be used is selected according to instructions from the traveling route generating unit, and when it is movable, it is moved to an appropriate location according to instructions from the traveling route generating unit. The traveling guide 700 is detected by the guide recognition unit (illustrated as camera 304 in FIG. 2) equipped in the AGV 300, and the power / communication / battery system devices are controlled and driven to travel. If the work process is one of the destinations of this travel, for example picking at picking station 131, the warehouse control system controls and drives the indicator of flow rack 132 and the conveyor of the picking station in conjunction with the travel of AGV 300 to perform picking. This series of operations may be controlled and managed for each purpose, or may be collectively controlled and managed for multiple destinations.

[0076] FIG. 6 is a schematic perspective view of a vertical cross section of an AGV guidance system according to one embodiment of the present invention shown in FIG. 5, in which a traveling guide 700 (guide) consisting of an easily rewritable guidance line 710 serving as a traveling guide and a rewritable AR marker 720 is projected onto a traveling guide formation road surface 730 using, for example, LED lights 139 in a picking / delivery area 130.

[0077] The LED lights 139 are provided on the ceiling 1393 of the picking / delivery area 130, and it is preferable to provide an X-direction moving rail 1391 and a Y-direction moving rail 1392 so that the traveling guide 700 can be projected two-dimensionally on all road surfaces on which the AGV 300 in the picking / delivery area 130 may travel. In order to improve the recognition accuracy of the camera 304 of the AGV 300 of the traveling guide 700, it is more preferable to make it possible to move three-dimensionally. The movement of the LED lights 139 is performed based on a planned travel route.

[0078] FIG. 7 is a schematic plan view specifically explaining the concept of the AGV guidance system shown in FIG. 5 using AGVs 300 traveling in the receiving area 110, the receiving / storage area 120, the picking area 130, and the shipping preparation area 140.

[0079] In the receiving area 110 and the storage area in FIG. 7, information is transmitted as described in FIG. 5 based on planar image information captured by the wall-mounted cameras 115, 127 and the ceiling-mounted cameras 116, 128, and the AGVs 310, 320 and the LED lights 117, 129 are controlled and operated to project the traveling guide 700 on the traveling road surface, and the AGVs 310, 320 detect the guide line 710 and the rewriteable AR marker 720 that constitute it with the camera 304 and travel, and transport the goods of the receiving truck 113 that arrived at the receiving berth 112 to the storage conveyor 125. The guide line 710 is a visible travel route and guides the travel route, while the rewriteable AR marker 720 handles the guidance of the travel route including the direction of direction change, travel direction, and position of direction change. In this case, the AGV waiting area 114 is both the starting point and the destination, and the travel of the AGVs between them is collectively controlled and managed. Although not shown in the figure, the work required for warehousing can be performed by setting the stopping position of the AGV.

[0080] In the picking area of ​​Fig. 7, information is transmitted as described in Fig. 5 based on planar image information captured by the wall-mounted camera 137 and the ceiling-mounted camera 138, and the AGVs 310, 320 and the LED light 139 are controlled and operated to project the traveling guide 700 on the traveling road surface, and the AGV travels along the guide line 710 and the rewriteable AR marker 720 that constitute it, receives the collection container into which the product item is inserted from the collection container supply conveyor 135, stops only at the picking station 131 where picking is required (AGV 320 is depicted), and after picking is completed, transfers the completed collection container at the completed collection container delivery station 141 in the shipping preparation area 140. In this case, the AGV / automated dolly towing vehicle waiting area 136 is both the starting point and the destination, and the travel of the AGV between them is collectively controlled and managed.

[0081] As explained in paragraph 0074, picking at the picking station 131 is performed by controlling the indicator of the flow rack 132 and the conveyor of the picking station from the warehouse control system in conjunction with the travel of the AGVs 310 and 320. Note that, although the operations required for receiving the collection container, picking, and handing over the container after the collection is completed are not shown here, they are performed in accordance with the operations of a general operator such as attaching and reading barcodes and transferring goods. In addition, since it is assumed that the automatic trolley tug 400 will not be used here, the automatic trolley tug 400 is not shown in the AGV / automatic trolley tug waiting area 136, which is the starting point and destination.

[0082] FIG. 8 is a functional configuration diagram of an AGV guidance system according to one embodiment of the present invention, which is operated under a host computer that can comprehensively manage item information and comprehensively control logistics equipment, for example, in the first logistics facility shown in FIG. 1, in which planar image information of the equipment layout including AGVs is captured, and the AGVs are automatically driven / autonomously driven by an ECU, which is an embedded computer, according to a travel route planned from this planar image information and item information from the host computer.

[0083] This guidance method differs from the functional configuration diagram shown in Figure 5 in that the driving route of the AGV 300 planned in the driving route generation unit is in the form of information that allows the ECU 302 equipped in the AGV to control and manage the power / communication / battery equipment. The autonomous driving technology of automobiles is adopted as is.

[0084] FIG. 9 is a schematic plan view specifically explaining the concept of the AGV guidance system shown in FIG. 8 using AGVs 300 traveling in the receiving area 110, the receiving area of ​​the receiving / storage area 120, the picking area of ​​the picking / outgoing area 130, and the shipping preparation area 140.

[0085] Here, since the AGVs 310 and 320 are automatically driven / autonomously driven by ECU control, the guides for guiding the AGVs are not visible, but the ECU guided travel route 800 is drawn so that the travel route of the AGVs 310 and 320 planned by the travel route generation unit can be understood, and symbols indicating the start of guidance, direction changes, and temporary stops and end of guidance when receiving the collection container, picking, and handing over the container after collection is completed are drawn for the sake of convenience. Therefore, the camera 304 and the travel / operation control unit 302 attached to the AGV in Fig. 2 are not necessary.

[0086] Next, we will explain an AGV guidance system that combines a guidance method for automatic driving / autonomous running of AGVs based on planar image information and an image recognition guidance method for guide AGVs.

[0087] Fig. 10 is a schematic plan view of a second logistics facility 200 in which such a combined AGV guidance system can be implemented. The difference from Fig. 1 is that the fixed AR markers 900, which are fixed guides required for the image recognition guide AGV to travel, are installed between fixed large equipment whose placement is not frequently changed. The rest of the explanation is the same as the explanation of Fig. 1 in paragraphs 0059 to 0064, so it will be omitted.

[0088] For example, in the second logistics facility in Fig. 10, a functional configuration diagram is shown in Fig. 11, in which an AGV guidance system that combines an automatic driving / autonomous driving guidance method for AGVs based on planar image information and an image recognition guidance method for guide AGVs is executed. This functional configuration diagram shows a functional configuration diagram of an automatic driving / autonomous driving AGV guidance system that combines an image recognition guidance method for guide AGVs and a guidance method in which planar image information of the facility layout including AGVs is taken, and an easily rewritable traveling guide is displayed on the travel path to guide AGVs according to a travel route planned from this planar image information and the article information from the host computer, and AGVs detect the traveling guide and travel in a logistics facility operated under a host computer that can comprehensively manage item information and comprehensively control logistics facilities.

[0089] The AGV 300 is guided by the image recognition guidance system, and moves to a predetermined position while detecting a traveling guide (fixed AR marker 900 in FIG. 10) fixed to the traveling road surface in advance with the guide recognition unit (illustrated as camera 304 in FIG. 2) equipped on the AGV. In this case, the camera that recognizes the fixed AR marker and the traveling guide forming device (illustrated as LED lights 117, 129, 139, 149, 156 in the second logistics facility in FIG. 10) is the same, but these may be provided independently. When using the electromagnetic guidance system, magnetic guidance system, laser guidance system, etc., it is necessary to separately install a sensor corresponding to each fixed guide.

[0090] Next, the camera mounted on the AGV 300 is the same, but the easily rewritable traveling guide 700 projected by the traveling guide forming device has differences in brightness, size, etc. from the fixed AR marker 900, so a control switching unit (exemplified as the control switching unit 305 in FIG. 2) that switches the guidance method exchanges the optical system of the guide recognition unit and transmits a signal to start the image capture device of the equipment arrangement in the subsequent work area. In such a control switching in a state where the AGV is not fully operating, the AGV does not malfunction due to the change in the guidance method. Note that this control switching unit 305 is set to operate when it detects the last fixed AR marker 900 and the guidance of the fixed AR marker 900 is completed, so that guidance based on the next planar image information is not continuous in order to avoid malfunction due to switching of the AGB guidance method.

[0091] The rest of the process is exactly the same as in Figure 5, so the explanation will be omitted. In this way, by combining the guidance methods, the conventional guide AGV can be used in areas where the AGV travels steadily, and it can travel freely between mobile storage shelves, carts, and cage cars, whose positions are frequently changed, without the need to relocate fixed guides, which required construction work with the conventional guide AGV, just like the SLAM guidance method. It also becomes possible for the AGV to travel freely in narrow spaces where mobile storage shelves, carts, and cage cars are densely arranged.

[0092] Therefore, the concept of the AGV guidance system shown in Fig. 11 will be explained using an automated cart towing vehicle 400 that travels in the shipping preparation area 140 and the shipping area 150. Fig. 12 is a schematic plan view explaining the concept using the automated cart towing vehicle 400 that travels in the shipping preparation area 140, Fig. 13 is an automated cart towing vehicle 400 that travels from the shipping preparation area 140 to the shipping area 150, and Fig. 14 is an automated cart towing vehicle that travels from the shipping area 150 to the shipping preparation area 140.

[0093] The automatic cart tugging vehicle 410 in the automatic cart tugging vehicle waiting area 145 moves automatically from another waiting area, for example, the AGV / automatic cart tugging vehicle waiting area 136 in the picking / outlet area 130 in Fig. 10, by using an image recognition guidance method while recognizing the fixed AR marker 900. This movement is assumed to be performed in a fixed waiting area and is performed regularly.

[0094] After this movement is completed, the control switching unit 4014 of the automatic trolley towing vehicle 400 shown in Fig. 3 guides the traveling guide forming device (illustrated as LED light 149 in Fig. 12) to project the traveling guide 700 including the guide line 710 and the rewriteable AR marker 720 on the floor surface (illustrated as traveling guide forming floor surface 730 in Fig. 6) of the shipping preparation area 140 and the shipping area 150 as shown in Figs. 12 to 15, according to the instructions of the traveling route generating unit through the process of Fig. 11 based on the planar image information captured by the image capturing device (illustrated as wall-mounted AI camera 147 and ceiling-mounted AI camera 148 in Fig. 12) installed in the work area. The automatic trolley towing vehicle and the six-wheeled trolley towing vehicle are guided to start with the movement of the guide line 710 constituting the traveling guide 700 from the rear end of the arrow to the tip of the arrow, and connect the tip of the arrow to the rear end of another arrow. When the automatic towing cart 400 tows the six-wheeled cart, the rewriteable AR marker 720 not only guides the travel route including the direction of change of direction, the travel direction, and the position of change of direction, but also instructs the connection and disconnection of the six-wheeled cart 500. An example of a travel route generated by the travel route generating unit is shown in Figs. 12 to 15 below.

[0095] In FIG. 12, after completing the guidance switching, the standby automatic cart towing vehicle 410 reverses and advances to the operating automatic cart towing vehicle 420 according to the instruction of the travel route generating unit based on the planar image information, connects the standby empty cart 510, and travels as the shipment preparation cart towing vehicle 620. Here, the connection between the operating automatic cart towing vehicle 420 and the standby empty cart 510 is controlled by the rear camera 4025 of the towing unit 402 of the automatic cart towing vehicle 400 by the travel / motion control unit 4012 and a motion control unit (not shown) as described in paragraphs 0070 to 0072, and the lifter 4024, which rises at an appropriate position, is inserted into the support pipe 502 of the front base frame 501 of the six-wheeled cart 500. Conversely, when they are to be disconnected, the lifter 4024 is lowered at an appropriate position by the rear camera 4025, controlled by the travel / motion control unit 4012 and a motion control unit (not shown).

[0096] 13, as in FIG. 12, the shipping preparation cart towing vehicle 620 travels so as to connect the tip of the arrow with the rear end of another arrow, and the collected shipping container is inserted into the collected shipping container transfer device 144 via the collected shipping container transport conveyor 143 from the collected shipping container delivery station 141, and the collected shipping container is transferred to the shipping preparation cart towing vehicle 620 that was towing the empty six-wheeled cart. The shipping preparation cart towing vehicle 620 towing the six-wheeled cart loaded with the collected shipping container moves to the shipping area 150.

[0097] 14, the shipping preparation cart towing vehicle 620, which tows the six-wheeled cart loaded with the completed collection shipping containers that has moved to the shipping area 150, disconnects the six-wheeled cart loaded with the completed collection shipping containers so as to align it as the shipping waiting cart 520 in the shipping waiting cart waiting area 151. Thereafter, it travels as the operating automatic cart towing vehicle 420, connects with the shipping waiting cart 520 in the shipping waiting cart waiting area 151, and becomes the shipping waiting cart towing vehicle 630. This shipping waiting cart towing vehicle 630 travels so as to transfer the shipping waiting cart 520 to the shipping truck 153 waiting at the shipping berth 152, and disconnects the shipping waiting cart 520.

[0098] As shown in FIG. 15, the disconnected operating automatic trolley tug 420 returns to the automatic trolley tug waiting area 145 where a fixed AR marker 900 is laid, which is different from the starting point, and while stopped as a waiting automatic trolley tug 410, the control switching unit 4014 of the automatic trolley tug 400 shown in FIG. 3 is activated, and the automatic trolley tug 420 moves in an automatic driving manner while recognizing the fixed AR marker 900 using an image recognition guidance method, and returns to the AGV / automatic trolley tug waiting area 136 in the picking / outlet area 130 in FIG. 10.

[0099] As described above, only the guide line 710 and the rewritable AR marker 720 constituting the traveling guide 700 projected by the traveling guide forming device in Figs. 12 to 15 are taken out and shown in Fig. 16. By comparing Figs. 12 to 15 with Fig. 16, it can be clearly understood that the traveling route is complicated. Such a traveling route is difficult to implement with conventional guide AGVs and guideless AGVs, and can be realized for the first time by the present invention.

[0100] Furthermore, Fig. 17 shows a functional configuration diagram of the AGV guidance system of the present invention, which combines a guidance method by ECU control and a guidance method of a conventional guide AGV, instead of a method of guiding while recognizing the traveling guide 700 displayed by the traveling guide forming device with the camera 304. Fig. 18 shows a schematic plan view illustrating the concept of the AGV guidance system in Fig. 17 using the AGV 300, the automatic trolley towing vehicle 400, and the warehousing trolley towing vehicle 610 traveling in the receiving area 110, the receiving area of ​​the warehousing / storage area 120, the picking / outgoing area 130, and the shipping preparation area 140. Figs. 17 and 18 have already been explained in detail, so here, an overview of them will be shown.

[0101] The AGV 310 waiting in the AGV / automated trolley towing vehicle waiting area 136 in the picking / warehousing area 130 moves according to the fixed AR marker 900 with the image recognition guidance of the conventional guide AGV to the position where it receives the collection container from the collection container supply conveyor 135 in order to perform the picking process in the picking area. The AGV 310 travels through the picking station 131 and from the picking station 131 to the collection completion container delivery station 141 according to the ECU guided travel route 800. After completing these processes, it returns to the AGV / automated trolley towing vehicle waiting area 136 where the fixed AR marker 900 is installed, and prepares for the next picking. In this case, the process of traveling through the picking station 131 and the collection completion container delivery station 141 changes for each picking, so a combination with the magnetic guidance type and the optical guidance type, which are difficult to change the route, is a preferable example.

[0102] The automatic cart towing vehicle 410 waiting in the AGV / automatic cart towing vehicle waiting area 136 in the picking / warehousing area 130 needs to travel to the far-away receiving area in the receiving / storage area 120, and since there is little possibility of changing the travel route, it is preferable to use a conventional guide AGV for long-distance travel, and here it is guided by a fixed AR marker 900 of the image recognition guide type, but it is more preferable to adopt an inexpensive magnetic guide type or optical guide type. However, the travel of the receiving cart towing vehicle 610 that tows the waiting six-wheeled cart 510 in the receiving area 110 and the receiving area to perform receiving and warehousing work must travel precisely in a narrow space, so automatic / autonomous driving by ECU control is preferable, and this is an embodiment showing the characteristics of the combination shown in FIG. 17.

[0103] An AGV guidance system that combines a SLAM guidance method and a guidance method that utilizes planar image information can be considered to be exactly the same as a combination of a guide AGV guidance method and a guidance method that utilizes planar image information, so a description of specific embodiments is omitted. [Industrial Applicability]

[0104] The AGV guidance system of the present invention is highly likely to dramatically advance the automation of logistics systems, and will contribute greatly to resolving labor shortages in the logistics industry, improving productivity, and stabilizing work quality. Furthermore, the technology that enables automatic driving / autonomous running of this automated guided vehicle is not limited to logistics systems, but can be used in all industries. Therefore, the industrial applicability of the present invention is extremely high. [Explanation of symbols]

[0105] 100 First Logistics Facility 110 Arrival Area 111 Logistics Processing Area 112 Arrival berth 113 Arrival Truck 114 Automated Guided Vehicle (AGV) Waiting Area 115 Wall-mounted AI camera 116 Ceiling-mounted AI camera 117 LED Light 120 Storage and Receiving Area 121 Shuttle cart type automatic case warehouse 122 Shuttle Cart 123 Storage shelf with temporary transport platform 124 Elevator with goods loading platform 125 Incoming Conveyor 126 Outgoing Conveyor 127 Wall-mounted AI camera 128 Ceiling-mounted AI camera 129 LED Light 130 Picking and shipping area 131 Picking Station 132 Flowrack 133 Flow rack item automatic replenishment device 134 Goods Resupply Vehicle 135 Collection container supply conveyor 136 AGV / Automatic trolley towing vehicle waiting area 137 Wall-mounted AI camera 138 Ceiling-mounted AI camera 139 LED Light 1391 LED light X-direction moving rail 1392 LED light Y-direction moving rail 1393 Ceiling 140 Shipping Preparation Area 141 Collection completion container delivery station 142 Shipping container supply conveyor 143 Conveyor for transporting completed shipment containers 144 Collection completed shipping container transfer device 145 Automatic trolley towing vehicle waiting area 146 Empty Cart Waiting Area 147 Wall-mounted AI camera 148 Ceiling-mounted AI camera 149 LED Light 150 shipping areas 151 Shipping trolley waiting area 152 Shipping Berth 153 Shipping Truck 154 Wall-mounted AI camera 155 Ceiling-mounted AI camera 156 LED lights 200 Second Logistics Facility 300 AGV 301 Body 302 Driving and operation control unit or ECU 303 Power, communication and battery equipment 304 Camera 305 Control Switching Unit 306 Drive Wheel 307 Driven Wheel 308 Belt Conveyor 309 Lifter 310 Standby AGV 320 AGVs in operation 400 Automatic trolley towing vehicle 401 Control and drive unit 4011 Body 4012 Driving and motion control unit or ECU 4013 Power, communication and battery equipment 4014 Control Switching Unit 4015 Front Camera 4016 Drive Wheel 4017 Driven wheel 4018 Rotating connecting shaft 402 Traction section 4021 Bogie connection part 4022 Telescoping trolley support part 4023 Running support wheels 4024 Lifter 4025 Rear Camera 410 Standby automatic trolley towing vehicle 420 Working automatic trolley towing vehicle 500 Six-wheeled trolley 501 Front base frame 502 Support pipe 503 Front slewing wheel 504 Front bumper 505 Stopper 510 Waiting empty cart 520 Shipping Cart 600 Cart Towing Vehicle 610 Storage trolley towing vehicle 620 Shipping preparation trolley towing vehicle 630 Shipping trolley towing vehicle 700 Driving indicator (LED light forming rewriteable AR marker including indicator) 710 Guiding Line 720 Rewriteable AR Marker 730 Traveling Induction Forming Floor Surface 800 ECU guided driving route 900 Fixed derivative (fixed AR marker) P Operator P1 Picking Operator P2 Collection completion container delivery operator

Claims

1. In a logistics facility operated under a host computer that can comprehensively manage product information and comprehensively control logistics facilities, An image information capturing means for capturing and collecting planar image information of a facility layout including an AGV (Automatic Guided Vehicle); a first travel route generating means for planning a travel route of the AGV based on the planar image information and the article information; a traveling guide generating means for displaying a first traveling guide, which is an image information medium, as a traveling guide for guiding the AGV in accordance with an instruction from the first traveling route generating means; the AGV having at least an information communication means, a traveling means, an image detection means for recognizing the first traveling guide, a first traveling control means for managing the operation of the traveling means according to an instruction from the image detection means, and an article placement means; An AGV guidance system comprising:

2. In a logistics facility operated under a host computer that can comprehensively manage product information and comprehensively control logistics facilities, An image information capturing means for capturing and collecting planar image information of a facility layout including an AGV (Automatic Guided Vehicle); a second travel route generating means for planning a travel route of the AGV based on the planar image information and the article information; the AGV equipped with at least an information communication means, a traveling means, an ECU (Electronic Control Unit) control means which is an embedded computer that manages the operation of the traveling means in accordance with instructions from the second traveling route generation means, and an article placement means; An AGV guidance system comprising:

3. In a logistics facility operated under a host computer that can comprehensively manage product information and comprehensively control logistics facilities, An image information capturing means for capturing and collecting planar image information of a facility layout including an AGV (Automatic Guided Vehicle); a first travel route generating means for planning a travel route of the AGV based on the planar image information and the article information; a traveling guide generating means for displaying a first traveling guide, which is an image information medium, as a traveling guide for guiding the AGV in accordance with an instruction from the first traveling route generating means; a second guide for movement of the AGV between facilities not provided with a moving means, the second guide being any one selected from a ferromagnetic material, a light reflector, a two-dimensional code, and an AR marker; the AGV having at least an information communication means, a traveling means, an image detection means for recognizing the first traveling guide, a guide detection means for recognizing the second traveling guide, a first traveling control means for managing the operation of the traveling means in accordance with the image detection means, a second traveling control means for managing the operation of the traveling means in accordance with an instruction from the guide detection means, and an article placement means; a detection switching means for switching between the image detection means and the induction detection means; An AGV guidance system comprising:

4. In a logistics facility operated under a host computer that can comprehensively manage product information and comprehensively control logistics facilities, An image information capturing means for capturing and collecting planar image information of a facility layout including an AGV (Automatic Guided Vehicle); a second travel route generating means for planning a travel route of the AGV based on the planar image information and the article information; a second guide for movement of the AGV between facilities not provided with a moving means, the second guide being any one selected from a ferromagnetic material, a light reflector, a two-dimensional code, and an AR marker; the AGV including at least an information communication means, a traveling means, an inducer detection means for recognizing the second traveling inducer, a second traveling control means for managing the operation of the traveling means according to an instruction from the inducer detection means, an ECU (Electronic Control Unit) control means which is an embedded computer for managing the operation of the traveling means according to an instruction from the second traveling route generation means, and an article placement means; a first control instruction switching means for switching between the induction detection means and the second travel route generation means; An AGV guidance system comprising:

5. In a logistics facility operated under a host computer that can comprehensively manage product information and comprehensively control logistics facilities, An image information capturing means for capturing and collecting planar image information of a facility layout including an AGV (Automatic Guided Vehicle); a first travel route generating means for planning a travel route of the AGV based on the planar image information and the article information; a traveling guide generating means for displaying a first traveling guide, which is an image information medium, as a traveling guide for guiding the AGV in accordance with an instruction from the first traveling route generating means; the AGV having at least an information communication means, a traveling means, an image detection means for recognizing the first traveling guide, a first traveling control means for managing the operation of the traveling means according to an instruction from the image detection means, a surrounding recognition means, and an article placement means; a third driving route generation means for planning a driving route of the AGV based on the surroundings recognition means and the item information; a third driving control means for managing an operation of the driving means in accordance with an instruction from the third driving route generation means; a second control instruction switching means for switching between the image detection means and the third travel route generation means; An AGV guidance system comprising:

6. In a logistics facility operated under a host computer that can comprehensively manage product information and comprehensively control logistics facilities, An image information capturing means for capturing and collecting planar image information of a facility layout including an AGV (Automatic Guided Vehicle); a second travel route generating means for planning a travel route of the AGV based on the planar image information and the article information; the AGV equipped with at least an information communication means, a traveling means, an ECU (Electronic Control Unit) control means which is an embedded computer that manages the operation of the traveling means in accordance with instructions from the second traveling route generation means, a surrounding recognition means, and an article placement means; a third driving route generation means for planning a driving route of the AGV based on the surroundings recognition means and the item information; a third driving control means for managing an operation of the driving means in accordance with an instruction from the third driving route generation means; a third control instruction switching means for switching between the second travel route generation means and the third travel route generation means; An AGV guidance system comprising:

7. The AGV replaces the article loading means, A connecting means for towing an article transport vehicle that does not have a drive means; A connection detection means for recognizing the connection means; a connection control means for managing the connection and removal of the connection means in accordance with an instruction from the connection detection means; The AGV guidance system according to any one of claims 1 to 6, further comprising:

8. 8. The AGV guidance system according to claim 7, wherein the connection means is provided with a function of raising and lowering the article transport vehicle in a forward or backward direction.

9. The AGV, A connecting means for towing an article transport vehicle that does not have a drive means; A connection detection means for recognizing the connection means; a connection control means for managing the connection and removal of the connection means in accordance with an instruction from the connection detection means; The AGV guidance system according to any one of claims 1 to 6, further comprising:

10. 10. The AGV guidance system according to claim 9, wherein the connection means is provided with a function of raising and lowering the article transport vehicle in a forward or backward direction.

11. A logistics facility comprising the AGV guidance system according to any one of claims 1 to 6.

12. A logistics facility comprising the AGV guidance system according to claim 7.

13. A logistics facility comprising the AGV guidance system according to claim 8.

14. A logistics facility comprising the AGV guidance system according to claim 9.

15. A logistics facility comprising the AGV guidance system according to claim 10.

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