Automated guided vehicle control device, automated guided vehicle control system, automated guided vehicle control method, and automated guided vehicle control program

Abstract

To provide a technique capable of avoiding collision with an automated guided vehicle even when a worker performs work in a conveyance area.SOLUTION: An automated guided vehicle control device according to an embodiment includes an acquisition unit that acquires an order list, a route planning unit that generates a route plan of an automated guided vehicle operating in a physical distribution system based on the order list, a communication control unit that acquires a position of a portable terminal carried by a worker working in the physical distribution system, a position determination unit that determines whether a distance when the automated guided vehicle and the portable terminal are closest to each other on a route of the route plan is smaller than a first threshold value, and a notification processing unit that transmits a notification including map information of the physical distribution system to the portable terminal when it is determined that the distance is smaller than the first threshold value.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] An embodiment of the present invention relates to an automated guided vehicle control device, an automated guided vehicle control method, and an automated guided vehicle control program. [Background technology]

[0002] Automated guided vehicle control systems installed in warehouses and other locations are required to transport shelves containing products as quickly and safely as possible. To ensure safe transport, workers are restricted from entering the transport area of ​​the automated guided vehicle. However, there are cases where workers enter the transport area due to products falling to the floor, cases containing products falling, or the automated guided vehicle tipping over.

[0003] To prevent collisions between workers and automated guided vehicles, there is a technology that uses cameras or beacons to identify the position of the worker and determine the risk of collision between the automated guided vehicle and the worker (for example, Patent Document 1).There is also a technology that registers in a server before the automated guided vehicle enters a transport area that no automated guided vehicles will approach within a specific range. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2021-140638 Summary of the Invention [Problem to be solved by the invention]

[0005] The invention of Patent Document 1 has a problem in that it is not possible to notify workers that an automatic guided vehicle is approaching.

[0006] Furthermore, when registering on the server, there is a problem in that the worker must go to the server and perform the registration work every time a new registration is made, such as when performing additional work, which is time-consuming.

[0007] This invention was made in light of the above circumstances, and its purpose is to provide a technology that allows workers to avoid collisions with automatic guided vehicles even when working in a transport area. [Means for solving the problem]

[0008] The automated guided vehicle control device according to the embodiment includes an acquisition unit that acquires an order list, a route planning unit that generates a route plan for an automated guided vehicle operating in a logistics system based on the order list, a communication control unit that acquires the position of a portable terminal carried by a worker working in the logistics system, a position determination unit that determines whether the closest distance between the automated guided vehicle and the portable terminal on the route of the route plan is less than a first threshold, and a notification processing unit that sends a notification to the portable terminal including map information of the logistics system if it is determined that the distance is less than the first threshold. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram conceptually illustrating an example of the configuration of an automated guided vehicle control system according to the first embodiment. [Figure 2] FIG. 2 is a diagram showing an example of the hardware configuration of the automatic guided vehicle control device and the portable terminal 2 according to the first embodiment. [Figure 3] FIG. 3 is a diagram illustrating an example of a hardware configuration of the automatic guided vehicle according to the first embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of a software configuration of the automatic guided vehicle control device according to the first embodiment. [Figure 5] FIG. 5 is a flowchart for explaining an example of an operation for preventing a collision between a worker and an automatic guided vehicle according to the first embodiment. [Figure 6] FIG. 6 is a diagram showing an example of an actual situation when the notification processing unit transmits warning information. [Figure 7] FIG. 7 is a diagram showing an example of warning information that the processor causes the display unit to display. [Figure 8]FIG. 8 is a flowchart for explaining an example of a collision prevention operation between a worker and an automatic guided vehicle according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an automated guided vehicle control device, an automated guided vehicle control system, an automated guided vehicle control method, and an automated guided vehicle control program will be described in detail with reference to the drawings. In the following embodiments, parts with the same numbers perform the same operations, and redundant description will be omitted. For example, when there are multiple identical or similar elements, a common symbol may be used to describe each element without distinguishing between them, or a sub-number may be used in addition to the common symbol to describe each element with distinction between them.

[0011] In the following description, the term "A" or "B" means at least one of A or B, and the term "A," "B," or "C" means at least one of A, B, or C. Furthermore, the term "A" and "B" also means at least one of A and B, and the term "A," "B," and "C" means at least one of A, B, and C.

[0012] [First embodiment] (composition) First, an automated guided vehicle control system according to a first embodiment is a system included in a logistics system installed in a logistics center or warehouse, and is a system for managing automated guided vehicles that transport shelves arranged in the warehouse to a picking station. The automated guided vehicle control system transports shelves to the picking station (PS) using automated guided vehicles (AGVs (Automated Guided Vehicles) or AMRs (Autonomous Mobile Robots)). In the automated guided vehicle control system, at the picking station, a worker or a picking robot picks products from the shelves and performs picking work of sorting the picked products into designated trays.

[0013] FIG. 1 is a diagram conceptually illustrating an example of the configuration of an automated guided vehicle control system 100 according to the first embodiment. 1, the automated guided vehicle control system 100 includes an automated guided vehicle control device 1, a portable terminal 2, a worker 20, an automated guided vehicle 3, shelves 30, a shelf storage area 40, a transport area 50, a picking station 60, etc. In this embodiment, the number of automated guided vehicles 3 and shelves 30, and the shelf storage area 40 can be freely set for the applicable warehouse, and can also be changed after operation.

[0014] The automated guided vehicle control device 1 can be realized by one or more computers. The automated guided vehicle control device 1 communicates with a portable terminal 2 and transmits notifications such as approaching information of an automated guided vehicle 3 to a worker 20. Furthermore, the automated guided vehicle control device 1 communicates with the automated guided vehicle 3 and manages the automated guided vehicle 3, which is a transport robot. For example, the automated guided vehicle control device 1 may be equipped with a warehouse control system (WCS).

[0015] Although not shown in FIG. 1, the automated guided vehicle control device 1 may be connected to a warehouse management system (WMS) or a warehouse execution system (WES). For example, the automated guided vehicle control device 1 may communicate with the portable terminal 2 via the WMS or WES, rather than directly with the portable terminal 2. The WMS and WES may also be responsible for some or all of the functions performed by the automated guided vehicle control device 1 in the following description.

[0016] The automated guided vehicle control device 1 creates a route plan based on an order list received from a WMS or the like, issues picking instructions to the automated guided vehicles 3 in accordance with the route plan, and causes the automated guided vehicles 3 to transport the required shelves 30 to each picking station 60. Alternatively, the automated guided vehicle control device 1 issues picking instructions to the automated guided vehicles 3 and causes the automated guided vehicles 3 to transport the shelves 30 at each picking station 60 to the shelf storage area 40.

[0017] The portable terminal 2 is a terminal carried by the worker 20. The worker 20 carries the portable terminal 2 when working in the transport area 50. Of course, the worker 20 may carry the portable terminal 2 outside the transport area 50. The portable terminal 2 may be any terminal that can be carried by the worker, such as a smartphone, tablet terminal, or wearable terminal. Although FIG. 1 shows only one worker 20 (one portable terminal 2), it is of course possible for multiple workers 20 to work within the automated guided vehicle control system 100.

[0018] The worker 20 is a person who works in the automated guided vehicle control system 100 (logistics system). For example, when a shelf 30 stored in the shelf storage area 40 falls into the transport area 50, or when a product stored on the shelf 30 falls into the transport area 50, the worker 20 performs the task of returning the shelf 30 or the product to its original location or a predetermined position. Furthermore, the work of the worker 20 is not limited to the above, and may be any work performed in the automated guided vehicle control system 100.

[0019] The automated guided vehicle 3 is a vehicle that transports the shelf 30 to the picking station 60. The automated guided vehicle 3 may be an autonomous shelf transport device such as an AGV or an AMR. Of course, the automated guided vehicle 3 may also include a SLAM (Simultaneous Localization and Mapping) type AGV. The automated guided vehicle 3 operates based on a control signal (picking instruction) from the automated guided vehicle control device 1. For example, the automated guided vehicle 3 travels toward a designated loading position based on route information received from the automated guided vehicle control device 1, and picks up the shelf 30 at the designated loading position. The automated guided vehicle 3 travels toward a designated unloading position and unloads the shelf 30 at the designated unloading position (for example, a specified picking station 60). After the picking operation at the picking station 60 is completed, the automated guided vehicle 3 returns the shelf 30 to the shelf storage area 40. Although only one automatic guided vehicle 3 is shown in FIG. 1, it goes without saying that a plurality of automatic guided vehicles 3 may be connected to the automatic guided vehicle control device 1.

[0020] The shelves 30 are arranged in a shelf storage area 40, which is an area for storing the shelves 30. The shelves 30 are shelves 30 for storing products. For example, the shelves 30 stand upright on four support pillars. The height below the shelves 30 (the height from the floor to the bottom of the shelf) is higher than the height of the automated guided vehicle 3. This allows the automated guided vehicle 3 to slip under the shelves 30. After slipping under the shelves, the automated guided vehicle 3 uses a pusher to lift the shelves 30 so that the tips of the support pillars are a few centimeters above the floor, and travels with the shelves 30 lifted. In this way, the automated guided vehicle 3 transports the shelves 30.

[0021] For simplicity, the present embodiment describes an example of a shelf 30 that can be lifted by the automated guided vehicle 3, but the present embodiment is not limited to this. For example, the shelf 30 may be a storage case or the like. That is, in the present embodiment, the shelf 30 may be any object that can store products.

[0022] Furthermore, the method of transportation by the automated guided vehicle 3 may be any method. For example, the automated guided vehicle 3 may transport the shelves 30, storage cases, etc. by towing them. In other words, the automated guided vehicle 3 may transport the shelves 30, etc. to a predetermined position (such as the picking station 60) by any method, such as lifting or towing them.

[0023] The transfer area 50 is an area in which the automated guided vehicle 3 moves. For example, the automated guided vehicle 3 reads a floor code (two-dimensional code) installed at a predetermined position in the transfer area 50, and transmits the read information to the automated guided vehicle control device 1. This allows the automated guided vehicle control device 1 to accurately know where the automated guided vehicle 3 is located within the transfer area 50. The automated guided vehicle control device 1 may also detect where the automated guided vehicle 3 is located within the transfer area 50 using a camera arranged in the automated guided vehicle control system 100 (not shown in FIG. 1). The automated guided vehicle control device 1 may also detect that the automated guided vehicle 3 has moved from one transfer area 50 to an adjacent transfer area 50, based on photographic information from the camera.

[0024] The transport area 50 may be divided into several nodes (cells) and managed as shown in Fig. 1. The nodes may be divided according to the floor codes installed in the transport area 50, or may be divided into regions that combine a predetermined number of floor codes. Note that even if the automated guided vehicle 3 does not require floor codes, such as an AMR, the transport area 50 may of course be divided into several nodes and managed.

[0025] The connection between the automated guided vehicle control device 1, the portable terminal 2, or the automated guided vehicle 3 may be via a network. Here, the network is, for example, a local area network (LAN). The automated guided vehicle 3 may be connected to the network wirelessly. For example, the automated guided vehicle 3 may measure its own position using Bluetooth (registered trademark) or Wi-Fi, and transmit the measurement result to the automated guided vehicle control device 1.

[0026] The picking station 60 receives the shelves 30 transported by the automated guided vehicle 3. The picking station 60 picks products from the received shelves 30 using an operator 20 or a picking robot (picking means). Although not shown in FIG. 1, the picking station 60 is equipped with a camera or the like, which captures images of the inside of the picking station 60. The captured images are then transmitted to the automated guided vehicle control device 1.

[0027] Next, the configurations of the automatic guided vehicle control device 1 and the portable terminal 2 in the automatic guided vehicle control system 100 according to the embodiment will be described. FIG. 2 is a diagram showing an example of the hardware configuration of the automatic guided vehicle control device 1 and the portable terminal 2 according to the first embodiment. The automated guided vehicle control device 1 is configured with one or more computers. For example, the automated guided vehicle control device 1 includes a processor 11, a RAM 12, a ROM 13, an auxiliary storage device 14, a communication interface 15, and the like.

[0028] The processor 11, RAM 12, ROM 13, auxiliary storage device 14, and communication interface 15 are connected to one another via a data bus or an interface. The processor 11 has a function of controlling the overall operation of the automated guided vehicle control device 1. The processor 11 may include an internal cache and various interfaces. The processor 11 realizes various processes by executing programs stored in advance in the internal memory, the ROM 13, or the auxiliary storage device 14.

[0029] For example, the processor 11 is a central processing unit (CPU). The processor 11 may be realized by hardware such as a large scale integration (LSI), an application specific integrated circuit (ASIC), or a field-programmable gate array (FPGA).

[0030] The RAM 12 is a memory used for reading and writing data, and is used as a so-called work area for storing data that is temporarily used when the processor 11 performs various processes.

[0031] The ROM 13 is a non-transitory computer-readable storage medium that stores the above-mentioned programs, and also stores data and various setting values ​​used by the processor 11 when performing various processes.

[0032] The auxiliary storage device 14 is a non-transitory computer-readable storage medium and may store the above-mentioned programs. The auxiliary storage device 14 also stores data used by the processor 11 when performing various processes, data generated by the processes of the processor 11, various setting values, etc.

[0033] The auxiliary storage device (storage device) 14 may store in advance product management information indicating the products stored on each shelf 30. The product management information is information that associates a shelf code indicating the shelf 30 with a product code indicating the product stored on the shelf 30. Furthermore, if the shelf 30 is made up of multiple sections, the product code may be managed in association with a shelf section code indicating each section of the shelf 30.

[0034] The automated guided vehicle control device 1 may be transferred with the above program stored in the ROM 13 or the auxiliary storage device 14, or may be transferred without the above program stored therein. In the latter case, the automated guided vehicle control device 1 reads the above program stored in a removable storage medium such as an optical disk or semiconductor memory, and writes the read program to the auxiliary storage device 14. Alternatively, the automated guided vehicle control device 1 downloads the above program via a network or the like, and writes the downloaded program to the auxiliary storage device 14.

[0035] The communication interface 15 is an interface for transmitting and receiving data to and from various devices. The communication interface 15 is connected to the portable terminal 2, the automated guided vehicle 3, the WMS, the WES, etc. For example, the communication interface 15 supports LAN connection, etc. The communication interface 15 may be configured to include an interface for transmitting and receiving data to and from the portable terminal 2, and an interface for transmitting and receiving data to and from the automated guided vehicle 3.

[0036] The communication interface 15 also includes an interface for acquiring an order list or the like from a WMS or WES. For example, the automated guided vehicle control device 1 may acquire a new order list from a WMS or WES via the communication interface 15 or a network. The automated guided vehicle control device 1 also transmits picking instructions to the automated guided vehicle 3 according to a route plan formulated based on the order list.

[0037] The portable terminal 2 is configured by one or more computers. For example, the portable terminal 2 includes a processor 21, a RAM 22, a ROM 23, an auxiliary storage device 24, a communication interface 25, an operation unit 26, a display unit 27, and the like.

[0038] The processor 21, RAM 22, ROM 23, auxiliary storage device 24, communication interface 25, operation unit 26, and display unit 27 are connected to one another via a data bus or an interface. The processor 21 has a function of controlling the overall operation of the portable terminal 2. The processor 21 may include an internal cache and various interfaces. The processor 21 performs various processes by executing programs stored in advance in the internal memory, the ROM 23, or the auxiliary storage device 24.

[0039] For example, the processor 21 is a CPU. The processor 21 may be realized by hardware such as an LSI, an ASIC, or an FPGA.

[0040] The RAM 22 is a memory used for reading and writing data, and is used as a so-called work area for storing data that is temporarily used when the processor 21 performs various processes.

[0041] The ROM 23 is a non-transitory computer-readable storage medium that stores the above-mentioned programs, and also stores data and various setting values ​​used by the processor 21 when performing various processes.

[0042] The auxiliary storage device 24 is a non-transitory computer-readable storage medium and may store the above-mentioned programs. The auxiliary storage device 24 also stores data used by the processor 21 when performing various processes, data generated by the processes of the processor 21, various setting values, etc.

[0043] The auxiliary storage device (storage device) 24 stores various information acquired from external devices.

[0044] The portable terminal 2 may be transferred with the above program stored in the ROM 23 or the auxiliary storage device 24, or may be transferred without the above program stored therein. In the latter case, the portable terminal 2 reads the above program stored in a removable storage medium such as an optical disk or semiconductor memory, and writes the read program to the auxiliary storage device 24. Alternatively, the portable terminal 2 downloads the above program via a network or the like, and writes the downloaded program to the auxiliary storage device 24.

[0045] The communication interface 25 is an interface for transmitting and receiving data to and from various devices. The communication interface 25 connects to the automated guided vehicle control device 1 and external devices, etc. For example, the communication interface 25 supports LAN connections, etc. The communication interface 25 may also include an interface for transmitting and receiving data to and from the automated guided vehicle control device 1, and an interface for transmitting and receiving data to and from external devices.

[0046] For example, the processor 21 of the portable terminal 2 receives various information from the automatic guided vehicle control device 1 via the communication interface 25 and the network, and transmits various information to the automatic guided vehicle control device 1.

[0047] The operation unit 26 receives input of various operations from the operator 20. The operation unit 26 transmits a signal indicating the input operation to the processor 21. For example, the operation unit 26 is configured with a mouse, a keyboard, a touch panel, or the like.

[0048] Display unit 27 displays data from processor 11. For example, display unit 27 is configured with a liquid crystal monitor. Note that, if operation unit 26 is configured with a touch panel, display unit 27 may be formed integrally with the touch panel serving as operation unit 26. Furthermore, since processor 11 generates information to be displayed on display unit 27, display unit 27 may be any display having a general display function.

[0049] Next, the hardware configuration of the automatic guided vehicle 3 in the automatic guided vehicle control system 100 according to the embodiment will be described. FIG. 3 is a diagram showing an example of a hardware configuration of the automatic guided vehicle 3 according to the first embodiment. The automated guided vehicle 3 includes a processor 31, a RAM 32, a ROM 33, an auxiliary storage device 34, a communication interface 35, a drive unit 36, a sensor 37, a battery 38, a charging mechanism 39, tires 301, and the like.

[0050] The processor 31 has a function of controlling the overall operation of the automatic guided vehicle 3. The processor 31 may include an internal cache and various interfaces. The processor 31 performs various processes by executing programs stored in advance in the internal memory, the ROM 33, or the auxiliary storage device 34.

[0051] For example, the processor 31 is a CPU. The processor 31 may be realized by hardware such as an LSI, an ASIC, or an FPGA. The processor 31 performs processes such as calculations and controls required for operations such as acceleration, deceleration, stopping, direction changes, and loading and unloading of the shelves 30. The processor 31 generates drive signals and outputs them to each section by executing a program stored in the ROM 33 or the like based on control signals from the automated guided vehicle control device 1 or the like.

[0052] For example, the automated guided vehicle control device 1 transmits a control signal to move the automated guided vehicle 3 from its current position to a first position (the position of the target shelf 30) and then from the first position to a second position (the position of the target picking station 60). The automated guided vehicle control device 1 also transmits a control signal to move the automated guided vehicle 3 from the second position to the first position. The processor 31 of the automated guided vehicle 3 outputs a drive signal in response to the control signal transmitted from the automated guided vehicle control device 1. This causes the automated guided vehicle 3 to move from its current position to the first position, from the first position to the second position, and from the second position to the first position. The processor 31 also outputs a drive signal in response to an instruction to load or unload the shelf 30, which is included in the control signal transmitted from the automated guided vehicle control device 1. This causes the automated guided vehicle 3 to lift the shelf 30 using a pusher or to lower the lifted shelf 30.

[0053] When returning the shelf 30 from the second position, the automated guided vehicle 3 may return it to a third position (any position within the shelf storage area 40) that is different from the first position where the shelf 30 was stored. Also, the automated guided vehicle 3 may move directly from the second position to the fourth position (picking station 60) without returning the shelf 30.

[0054] Furthermore, the automated guided vehicle control device 1 may transmit control signals all at once to move the automated guided vehicle 3 from its current position to a first position, from the first position to a second position, and from the second position to the first position. The control signal to move the automated guided vehicle 3 to the first position or the second position may be transmitted separately. For example, the automated guided vehicle control device 1 may set at least one waypoint, and transmit the control signal to the automated guided vehicle 3 by dividing the control signal into a control signal to move the automated guided vehicle 3 to the waypoint and a control signal to move the automated guided vehicle 3 from the waypoint to the first position or the second position, and transmit each control signal to the automated guided vehicle 3.

[0055] Furthermore, the automatic guided vehicle 3 reads a two-dimensional code (for example, a QR code (registered trademark)) that is a floor code attached to the transport area 50, and transmits the read information to the automatic guided vehicle control device 1.

[0056] The RAM 32 is a memory used for reading and writing data, and is used as a so-called work area for storing data that is temporarily used when the processor 31 performs various processes.

[0057] The ROM 33 is a non-transitory computer-readable storage medium that stores the above-mentioned programs. The ROM 33 also stores data and various setting values ​​that the processor 31 uses when performing various processes.

[0058] The auxiliary storage device 34 is a non-transitory computer-readable storage medium and may store the above programs. The auxiliary storage device 34 also stores data used by the processor 31 when performing various processes, data generated by the processes of the processor 31, various setting values, etc.

[0059] The communication interface 35 is an interface for transmitting and receiving data to and from the automatic guided vehicle control device 1 etc. via a wireless LAN access point etc. For example, the communication interface 35 supports wireless LAN connection.

[0060] The drive unit 36 ​​is a motor or the like, and rotates or stops the motor based on a drive signal output from the processor 31. The power of the motor is transmitted to the tires 301 and then to the steering mechanism. The power from the motor moves the automated guided vehicle 3 to its destination.

[0061] Furthermore, with the automated guided vehicle 3 under the shelf 30, the drive unit 36 ​​rotates the motor (forward rotation) based on the drive signal output from the processor 31. The power from this motor raises the pusher, lifting the shelf 30. Furthermore, after the automated guided vehicle 3 reaches its destination, the drive unit 36 ​​rotates the motor (reverse rotation) based on the drive signal output from the processor 31. The power from this motor lowers the pusher, lowering the shelf 30 to the floor.

[0062] The sensor 37 is a plurality of reflection sensors. Each reflection sensor is attached around the periphery of the automatic guided vehicle 3. Each reflection sensor emits a laser beam, detects the time from when the laser beam is emitted until the laser beam is reflected by an object and returns, detects the distance to the object based on the detected time, and notifies the processor 31 of a detection signal.

[0063] The processor 31 outputs a control signal to control the travel of the automated guided vehicle 3 based on a detection signal from the sensor 37. For example, the processor 31 outputs a control signal to slow down or stop the automated guided vehicle 3 to avoid a collision with an object based on a detection signal from the sensor 37. Note that a camera may be provided in addition to the sensor 37, and the camera may capture images of the surrounding area and output the captured images to the processor 31. In this case, the processor 31 analyzes the captured images and outputs a control signal to slow down or stop the automated guided vehicle 3 to avoid a collision with an object. Furthermore, if the detected object is on the travel path, the processor 31 transmits information indicating an abnormality to the automated guided vehicle control device 1 via the communication interface 35.

[0064] Furthermore, the processor 31 operating as a self-position detection unit detects the current position of the automated guided vehicle 3 using the sensor 37 and images captured by a camera or the like. Then, the processor 31 transmits position information including the detected position, the direction of travel, etc. to the automated guided vehicle control device 1.

[0065] Battery 38 supplies the necessary power to drive unit 36 ​​etc. Charging mechanism 39 is a mechanism that connects a charging station and battery 38, and battery 38 is charged with power supplied from the charging station etc. via charging mechanism 39.

[0066] Next, the software configuration of the automatic guided vehicle control device 1 in the automatic guided vehicle control system 100 according to the embodiment will be described. FIG. 4 is a diagram showing an example of the software configuration of the automatic guided vehicle control device 1 according to the first embodiment. The automated guided vehicle control device 1 has various databases provided in storage devices such as the internal memory of the processor 11, the ROM 13, or the auxiliary storage device 14. Each database serving as a storage device stores various data. The data stored in the database is output to the outside of the automated guided vehicle control device 1 via the communication interface 15. Furthermore, data input to the automated guided vehicle control device 1 via the communication interface 15 is saved in a storage unit such as the ROM 13.

[0067] The storage unit includes, for example, a route plan storage unit 131, a position storage unit 132, and a map information storage unit 133. In the example of FIG. 4, these storage units are stored in the ROM 13.

[0068] The route plan storage unit 131 is a storage unit that stores route plans created based on the order list and a series of travel routes that each automatic guided vehicle 3 takes to travel to its destination.

[0069] The position memory unit 132 is a memory unit that stores the positions of the portable terminal 2 and the automatic guided vehicle 3. The position memory unit 132 stores the position of the portable terminal 2 (worker 20) identified by GPS information of the portable terminal 2 or a camera. Furthermore, the position memory unit 132 stores various information transmitted by the automatic guided vehicle 3 and the position of the automatic guided vehicle 3 identified by a camera or the like.

[0070] The map information storage unit 133 is a storage unit that stores the position of the worker 20 carrying the portable terminal 2 and map information of the environment in which the automatic guided vehicle 3 operates. The map information includes, for example, position information of the portable terminal 2, the automatic guided vehicle 3, the shelf 30, the shelf storage area 40, the picking station 60, and the like, as well as information on whether the area is an area where the automatic guided vehicle 3 can travel, such as pillars and obstacles.

[0071] The map information stores information such as the management numbers of various objects in the warehouse (portable terminals 2, automated guided vehicles 3, shelves 30, pillars, obstacles, etc.), the center coordinates of the objects, whether a management area can be set, whether there are moving objects, whether there are shelves 30, area classification, whether it is a shelf storage area 40, etc.

[0072] Furthermore, the map information storage unit 133 may store the map information not only in a table format but also as an actual map.

[0073] The processor 11 includes a communication control unit 111, a route planning unit 112, a transport control unit 113, a position determination unit 114, a notification processing unit 115, and the like.

[0074] The communication control unit 111 has a function to operate as an acquisition unit that acquires an order list from a WMS, a WES, or the like. The communication control unit 111 also has a function to receive position information from the portable terminal 2 and the automatic guided vehicle 3. The position information is stored in the position memory unit 132. The communication control unit 111 has a function to send various instructions to the automatic guided vehicle 3 via the communication interface 15. Furthermore, the communication control unit 111, which operates as a determination unit, has a function to determine whether evacuation feasibility information has been received from the portable terminal 2. The evacuation feasibility information will be described in detail later.

[0075] The route planning unit 112 has a function of creating a route plan for the automatic guided vehicle 3 based on the received order list. The route planning unit 112 stores the created route plan in the route plan storage unit 131.

[0076] The transport control unit 113 has a function of controlling the automated guided vehicle 3 based on picking instructions, etc. For example, the transport control unit 113 has a function of controlling the automated guided vehicle 3 to move or stop.

[0077] The position determination unit 114 has a function of determining whether the automated guided vehicle 3 is scheduled to pass near the portable terminal 2. Furthermore, the position determination unit 114 has a function of determining whether there is a risk of collision with the portable terminal 2. Details of the method of determining whether the automated guided vehicle 3 will pass near the portable terminal 2 and whether there is a risk of collision between the automated guided vehicle 3 and the portable terminal 2 will be described later.

[0078] The notification processing unit 115 has a function of generating a notification including caution information or warning information and controlling the transmission of the generated notification to the portable terminal 2. The caution information indicates that an automated guided vehicle 3 will pass near a node where the portable terminal 2 is working. The warning information indicates that there is a risk of a collision between the portable terminal 2 (worker 20) and the automated guided vehicle 3. For example, if the position determination unit 114 determines that the automated guided vehicle 3 is scheduled to pass near the portable terminal 2, the notification processing unit 115 generates a notification including caution information and transmits the notification to the portable terminal 2. Alternatively, if the position determination unit 114 determines that there is a risk of a collision between the automated guided vehicle 3 and the portable terminal 2, the notification processing unit 115 generates a notification including warning information and transmits the notification to the portable terminal 2. As described above, the notification may be transmitted directly to the portable terminal 2 via the communication interface 15 of the automated guided vehicle control device 1, or may be transmitted to the portable terminal 2 via a WES, a WMS, or the like.

[0079] (operation) FIG. 5 is a flowchart for explaining an example of an operation for preventing a collision between the worker 20 and the automatic guided vehicle 3 according to the first embodiment. The operation of this flowchart is realized by the processor 11 of the automatic guided vehicle control device 1 reading and executing a program stored in the internal memory of the processor 11, the RAM 12, or the ROM 13.

[0080] This flowchart starts when, for example, the WES or WMS receives an order list and transmits the order list to the automated guided vehicle control device 1. Note that the order list is not necessarily transmitted when a new order list is received, but may also be transmitted when there is an automated guided vehicle 3 that has completed work, etc.

[0081] Here, it is assumed that the automated guided vehicle control device 1 stores the latest position information of the automated guided vehicle 3 in the position memory unit 132. In the following flow, it is assumed that during all processing, the communication control unit 111 acquires the position information transmitted by the automated guided vehicle 3 and stores the position information in the position memory unit 132.

[0082] In step ST101, the route planning unit 112 creates a route plan. The communication control unit 111, operating as an acquisition unit, acquires an order list from the WMS or WES. Then, the route planning unit 112 creates a route plan for the automated guided vehicle 3 based on the received order list. The route planning unit 112 may extract the position of the automated guided vehicle 3 stored in the position memory unit 132 and create a route plan based on the extracted position. Here, a general method may be used to create the route plan. For example, a route plan may be created for each automated guided vehicle 3 so as to maximize the throughput of the entire system. The route planning unit 112 stores the created route plan in the route plan memory unit 131.

[0083] In step ST102, the communication control unit 111 acquires location information. The communication control unit 111 acquires the location information of the portable terminal 2. For example, the communication control unit 111 acquires the location information from GPS information of the portable terminal 2 or a camera arranged in the automatic guided vehicle control system 100. The communication control unit 111 stores the acquired location information in the location storage unit 132.

[0084] In step ST103, the position determination unit 114 determines whether the automated guided vehicle 3 is scheduled to pass near the portable terminal 2. For example, the position determination unit 114 acquires the route plan stored in the route plan storage unit 131 and the position of the portable terminal 2 stored in the position storage unit 132. Then, from these acquired pieces of information, the position determination unit 114 calculates the position on the route along which the automated guided vehicle 3 is scheduled to pass, at which the automated guided vehicle 3 is closest to the portable terminal 2. Then, the position determination unit 114 determines whether the distance between the portable terminal 2 and the automated guided vehicle 3 at the calculated position, i.e., when the automated guided vehicle 3 moves to that position, is smaller than a first threshold value. Here, it goes without saying that the position determination unit 114 may directly calculate the distance when the portable terminal 2 and the automated guided vehicle 3 are closest to each other, without calculating the position.

[0085] Here, the first threshold is a predetermined value within a range in which the automated guided vehicle 3 passes close to the worker 20 carrying the portable terminal 2, but does not collide with the automated guided vehicle 3. For example, the first threshold is set to a value that is determined by the transport control unit 113 to be smaller than the first threshold when the automated guided vehicle 3 passes a node adjacent to the node in which the portable terminal 2 is located.

[0086] If it is determined that the difference is equal to or greater than the first threshold, that is, if it is determined that the automated guided vehicle 3 will not pass near the portable terminal 2, the process proceeds to step ST104. On the other hand, if it is determined that the difference is less than the first threshold, that is, if the automated guided vehicle 3 will pass near the portable terminal 2, the process proceeds to step ST105.

[0087] In step ST104, the transport control unit 113 controls the automated guided vehicle 3. For example, the transport control unit 113 controls the automated guided vehicle 3 in accordance with the route plan to transport the shelf 30 arranged in the shelf storage area 40 to the picking station 60, or to transport the shelf 30 from the picking station 60 to the shelf storage area 40.

[0088] In step ST105, the transport control unit 113 determines whether the work has been completed. If it is determined that the work according to the work plan has been completed, the process ends. On the other hand, if it is determined that the work according to the work plan has not been completed, the process returns to step ST102. Note that the determination in step ST105 may be made at any timing after a predetermined period has elapsed. For example, it may be made while the transport control unit 113 in step ST104 is controlling the automatic guided vehicle 3 to perform transport.

[0089] In step ST106, the position determination unit 114 determines whether or not there will be a collision with the portable terminal 2. For example, it determines whether or not the distance calculated in step ST103, that is, the closest distance between the automatic guided vehicle 3 moving according to the route plan and the portable terminal 2, is smaller than a second threshold value.

[0090] Here, the second threshold is a value smaller than the first threshold, at which the automated guided vehicle 3 collides with the worker 20 carrying the portable terminal 2. For example, the second threshold is set to a value that is determined to be smaller than the second threshold when the automated guided vehicle 3 passes through a node where the portable terminal 2 is located.

[0091] If it is determined that the difference is equal to or greater than the second threshold, that is, if it is determined that the automated guided vehicle 3 will pass near the portable terminal 2 but will not collide, the process proceeds to step ST107. On the other hand, if it is determined that the difference is less than the second threshold, that is, if it is determined that the automated guided vehicle 3 will collide with the worker 20 who owns the portable terminal 2, the process proceeds to step ST108.

[0092] In step ST107, the notification processing unit 115 transmits warning information. The notification processing unit 115 generates warning information indicating that an automated guided vehicle 3 will pass near the node where the portable terminal 2 is working. Then, the notification processing unit 115 transmits the warning information to the portable terminal 2. When the processor 21 of the portable terminal 2 receives the warning information, it displays the information on the display unit 27. Furthermore, it notifies the worker 20 by using sound, vibration, or the like that the warning information has been received. This allows the worker 20 to know that an automated guided vehicle 3 will pass near the transport area 50 where the worker 20 is working.

[0093] In step ST108, the notification processing unit 115 transmits warning information. The notification processing unit 115 generates warning information indicating that there is a risk of collision between the portable terminal 2 (worker 20) and the automatic guided vehicle 3, and transmits the warning information to the portable terminal 2. The processor 21 of the portable terminal 2 displays a warning screen based on the warning information.

[0094] FIG. 6 is a diagram showing an example of an actual situation when notification processing unit 115 transmits warning information. FIG. 7 is a diagram showing an example of warning information that the processor 21 causes the display unit 27 to display. As shown in FIG. 6, if the automated guided vehicle 3 is an AGV, it moves forward while detecting the floor code 51. As shown in FIG. 6, the portable terminal 2 (worker 20) is present on the planned route, and there is a risk of collision. In this situation, as shown in FIG. 7, the processor 21 of the portable terminal 2 receives warning information and displays the warning information on the display unit 27. The screen displayed on the display unit 27 may be a screen showing the position of the portable terminal 2 (worker 20) on a map of the actual warehouse and the route of the automated guided vehicle 3, or may simply be a screen indicating that the automated guided vehicle 3 is passing and there is a risk of collision. Therefore, the warning information may include actual map information, such as route information of the automated guided vehicle 3, or may simply include information indicating a collision. It goes without saying that the caution information may also include map information, just like the warning information.

[0095] 7, the display unit 27 displays an evacuation possible button 70 and an un-evacuation possible button 80. The worker 20 presses the evacuation possible button 70 or the un-evacuation possible button 80 displayed on the display unit 27.

[0096] In step ST109, the communication control unit 111 determines whether or not the evacuation possibility information has been received. For example, when it is detected that the operator 20 has pressed the evacuation possibility button 70 shown in FIG. 7, the processor 21 generates evacuation possibility information indicating that the operator 20 can evacuate, and transmits the evacuation possibility information to the automatic guided vehicle control device 1. In this case, the communication control unit 111 receives the evacuation possibility information, and the process proceeds to step ST110. On the other hand, if the operator 20 presses the evacuation impossible button 80 shown in FIG. 7, or if the evacuation possibility button 70 or the evacuation impossible button 80 is not pressed within a predetermined time, the processor 21 generates the evacuation impossible information and transmits the evacuation impossible information to the automatic guided vehicle control device 1. In this case, the communication control unit 111 does not receive the evacuation possibility information, and the process proceeds to step ST111.

[0097] In step ST110, the position determination unit 114 determines whether the portable terminal 2 has moved. The communication control unit 111 acquires the position information of the portable terminal 2 that has transmitted the warning information. Then, the position determination unit 114 determines whether the portable terminal 2 has moved based on the position information and the route information. For example, if the position of the portable terminal 2 is not on the route of the automatic guided vehicle 3, for example, if the portable terminal 2 is not on a node through which the automatic guided vehicle 3 passes, the position determination unit 114 determines that the portable terminal 2 has moved. If it is determined that the portable terminal 2 has moved, the process proceeds to step ST104. On the other hand, if it is determined that the portable terminal 2 has not moved, the process proceeds to step ST111.

[0098] In step ST111, the position determination unit 114 determines whether a predetermined period of time has elapsed. For example, the position determination unit 114 determines whether a predetermined period of time has elapsed since it was determined that the evacuation possibility information was received. Here, the predetermined period of time may be any period of time that is sufficient for the portable terminal 2 (worker 20) to move. If it is determined that the predetermined period of time has not elapsed, the process returns to step ST110. On the other hand, if it is determined that the predetermined period of time has elapsed, the process proceeds to step ST112.

[0099] In step ST112, the transport control unit 113 stops the automated guided vehicle 3. The transport control unit 113 controls the automated guided vehicle 3 to stop. The transport control unit 113 may control the automated guided vehicle 3 to stop after transporting it to the vicinity of the portable terminal 2, or may control the automated guided vehicle 3 to remain stopped at the starting point. For example, if moving the automated guided vehicle 3 to the vicinity of the portable terminal 2 would hinder the movement of other automated guided vehicles 3, the automated guided vehicle 3 is stopped at the starting point.

[0100] In step ST113, the position determination unit 114 determines whether the portable terminal 2 has moved. The communication control unit 111 acquires the position information of the portable terminal 2 that transmitted the warning information. The communication control unit 111 outputs the acquired position information to the position determination unit 114. For example, when the worker 20 finishes his work and the worker 20 (portable terminal 2) moves out of the transport area 50, the position determination unit 114 determines that the portable terminal 2 has moved. In this case, the process proceeds to step ST104. On the other hand, when it is determined that the portable terminal 2 has not moved, the process repeats step ST113.

[0101] Note that no automated guided vehicles 3 move into the picking station 60. Therefore, the processor 11 of the automated guided vehicle control device 1 may perform control so as not to transmit, from the acquired position information, caution information and warning information to the portable terminal 2 (worker 20) located at the picking station 60. Furthermore, many of the tasks within the transport area 50 near the picking station 60 are tasks that can be completed quickly, such as picking up dropped products. Therefore, the processor 11 may transmit only warning information, without transmitting caution information, to the portable terminal 2 located in the transport area 50 near the picking station 60. In other words, the automated guided vehicle control device 1 may control whether or not to issue a notification based on the area in which the portable terminal 2 is located.

[0102] (Operation and effect of the first embodiment) According to the first embodiment described above, when there is a risk of collision between the portable terminal 2 (worker 20) and the automatic guided vehicle 3, the automatic guided vehicle control device 1 notifies the portable terminal 2 of the risk of collision. This allows the worker 20 to know that the automatic guided vehicle 3 will pass through the location where the worker 20 is working, and enables the worker 20 to avoid a collision with the automatic guided vehicle 3.

[0103] Furthermore, if the worker 20 cannot leave the node where he is working, the automated guided vehicle 3 will stop. This allows the automated guided vehicle 3 to avoid a collision with the worker 20.

[0104] [Second embodiment] In the first embodiment, when there is a risk of collision between the worker 20 and the automated guided vehicle 3 and the worker 20 cannot leave the area, the automated guided vehicle 3 is stopped. In the second embodiment, the node where the worker 20 is present is set as a no-travel area, and a route plan is re-created.

[0105] (composition) The configuration of the second embodiment may be the same as that of the first embodiment, so a duplicated description will be omitted here.

[0106] (operation) FIG. 8 is a flowchart for explaining an example of an operation for preventing a collision between the worker 20 and the automatic guided vehicle 3 according to the second embodiment. The operation of this flowchart is realized by the processor 11 of the automatic guided vehicle control device 1 reading and executing a program stored in the internal memory of the processor 11, the RAM 12, or the ROM 13.

[0107] This flowchart starts when, for example, the WES or WMS receives an order list and transmits the order list to the automated guided vehicle control device 1. Note that the order list is not necessarily transmitted when a new order list is received, but may also be transmitted when there is an automated guided vehicle 3 that has completed work, etc.

[0108] Steps ST201 to ST211 may be the same as steps ST101 to ST110 described with reference to Fig. 5. Therefore, a duplicated description will be omitted here.

[0109] In step ST212, the route planning unit 112 sets the node where the portable terminal 2 is located as a no-travel area. By setting the node where the portable terminal 2 (worker 20) is located so that the automatic guided vehicle 3 does not pass through, it is possible to avoid a collision with the worker 20.

[0110] In step ST213, the route planning unit 112 regenerates a route plan based on the order list, taking into account the no-travel areas. Then, the process returns to step ST202.

[0111] (Operation and effect of the second embodiment) According to the second embodiment described above, when there is a risk of collision between the portable terminal 2 (worker 20) and the automatic guided vehicle 3, the automatic guided vehicle control device 1 notifies the portable terminal 2 of the risk of collision. This allows the worker 20 to know that the automatic guided vehicle 3 will pass through the location where the worker 20 is working, and enables the worker 20 to avoid a collision with the automatic guided vehicle 3.

[0112] Furthermore, if the worker 20 cannot leave the node where he or she is working, the automated guided vehicle control device 1 sets the node as a no-travel area. This prevents the automated guided vehicle 3 from passing through the node where the worker 20 is present. This allows the automated guided vehicle 3 to avoid a collision with the worker 20. Furthermore, because the automated guided vehicle 3 will not stop, it is possible to prevent a decrease in the throughput of the entire system due to stopping.

[0113] [Other embodiments] The first and second embodiments may be combined. For example, if the automatic guided vehicle 3 does not receive evacuation availability information, the automatic guided vehicle 3 is stopped. If the portable terminal 2 does not move for a certain period of time, the node may be set as a no-travel area.

[0114] In the embodiment, an example has been described in which the operation is performed by one processor, i.e., one device, but the operation may be performed by two processors, i.e., two separate devices. For example, if a first automated guided vehicle control device controls the operation of a first automated guided vehicle, and a second automated guided vehicle control device controls the operation of a second automated guided vehicle, each automated guided vehicle control device may perform the operations described above.

[0115] The program according to this embodiment may be transferred in a state where it is stored in an electronic device (computer) serving as the automated guided vehicle control device 1, or may be transferred in a state where it is not stored in an electronic device. In the latter case, the program may be transferred via a network, or may be transferred in a state where it is stored in a storage medium. The storage medium is a non-transitory tangible medium. The storage medium is a medium that can be read by a computer serving as the automated guided vehicle control device 1 (a computer-readable medium). The storage medium may be in any form, such as an optical disk (e.g., a CD-ROM), a magnetic disk, or a semiconductor memory (e.g., a memory card), as long as it is capable of storing a program and is readable by a computer.

[0116] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0117] 100...Automated guided vehicle control system 1...Automated guided vehicle control device 11...Processor 111...Communication control unit 112...Route planning section 113...Transport control unit 114...Position determination section 115...Notification processing unit 12...RAM 13...ROM 131...Route planning memory unit 132...Position storage unit 133...Map information storage unit 14...Auxiliary storage device 15...Communication interface 2. Portable devices 21...Processor 22...RAM 23...ROM 24...Auxiliary storage device 25...Communication interface 26…Operation unit 27…Display section 70...Evacuation button 80...No Escape Button 20...Worker 3...Automated guided vehicle 31...Processor 32...RAM 33...ROM 34...Auxiliary storage device 35...Communication interface 36...Drive unit 37...Sensor 38...Battery 39…Charging mechanism 301...Tire 30…Shelf 40...Shelf storage area 50...Transportation area 51...Floor code 60...Picking station

Claims

1. an acquisition unit that acquires an order list; a route planning unit that generates a route plan for an automated guided vehicle operating in a logistics system based on the order list; a communication control unit that acquires the location of a portable terminal carried by a worker working in the logistics system; a position determination unit that determines whether a distance between the automated guided vehicle and the portable terminal at the closest point on the route of the route plan is smaller than a first threshold value; a notification processing unit that transmits a notification including map information of the logistics system to the portable terminal when it is determined that the distance is smaller than a first threshold value; An automated guided vehicle control device comprising:

2. When the position determination unit determines that the distance is smaller than the first threshold, it determines whether the distance is smaller than a second threshold that is smaller than the first threshold, and when it determines that the distance is smaller than the second threshold, the notification includes warning information indicating that there is a risk of collision between the automatic guided vehicle and the portable terminal. The automated guided vehicle control device according to claim 1 .

3. If the distance is greater than the second threshold, the notification includes warning information indicating that the automated guided vehicle will pass near the portable terminal. The automated guided vehicle control device according to claim 2.

4. When the acquired location of the portable terminal is near a picking station of the logistics system, the notification processing unit does not notify the portable terminal located near the picking station of the notification. The automatic guided vehicle control device according to claim 3.

5. When the acquired location of the portable terminal is the location of a portable terminal present in a picking station of the logistics system, the notification processing unit does not notify the portable terminal present in the picking station of the notification. The automated guided vehicle control device according to claim 1 .

6. After transmitting the notification, the communication control unit determines whether or not evacuation availability information has been received; a transport control unit that, when the evacuation possibility information is not received, moves the automated guided vehicle according to the route plan, and controls the automated guided vehicle to stop after the automated guided vehicle has moved to a predetermined distance from the position of the portable terminal 2; The automated guided vehicle control device according to claim 2.

7. After transmitting the notification, the communication control unit determines whether or not evacuation availability information has been received; a transport control unit that controls the automatic guided vehicle to stop when the evacuation possibility information is not received; The automated guided vehicle control device according to claim 2.

8. The position determination unit determines whether the portable terminal has moved, When it is determined that the portable terminal has moved, the transport control unit controls the automatic guided vehicle to move according to a route plan. The automatic guided vehicle control device according to claim 6 or 7.

9. After transmitting the notification, the communication control unit determines whether or not evacuation availability information has been received; If the evacuation possibility information is not received, the route planning unit sets a node at the location of the portable terminal to a no-travel area and regenerates a route plan. The automated guided vehicle control device according to claim 2.

10. After transmitting the notification, the communication control unit determines whether or not evacuation availability information has been received; When the evacuation availability information is received, the location determination unit determines whether the portable terminal has been evacuated; a transport control unit that controls the automatic guided vehicle to move in accordance with the route plan when it is determined that the automatic guided vehicle has been evacuated; The automated guided vehicle control device according to claim 2.

11. If the mobile terminal is not evacuated, the location determination unit determines whether the mobile terminal is evacuated for a predetermined period of time. The automated guided vehicle control device according to claim 10.

12. an automated guided vehicle control device; a portable terminal connected to the automatic guided vehicle control device; An automated guided vehicle control system comprising: The automated guided vehicle control device an acquisition unit that acquires an order list; a route planning unit that generates a route plan for an automated guided vehicle operating in a logistics system based on the order list; a communication control unit that acquires the location of a portable terminal carried by a worker working in the logistics system; a position determination unit that determines whether a distance between the automated guided vehicle and the portable terminal at the closest point on the route of the route plan is smaller than a first threshold value; a notification processing unit that transmits a notification including map information of the logistics system to the portable terminal when it is determined that the distance is smaller than the first threshold value; Equipped with the mobile terminal includes a processor that displays notification information based on the notification. Automated guided vehicle control system.

13. An automated guided vehicle control method executed by a processor of an automated guided vehicle control device, Obtaining an order list; generating a route plan for an automated guided vehicle operating in a logistics system based on the order list; Obtaining the location of a portable terminal carried by a worker working in the logistics system; determining whether a distance between the automated guided vehicle and the portable terminal at the closest point on the route of the route plan is smaller than a first threshold; If it is determined that the distance is smaller than the first threshold, transmitting a notification including map information of the logistics system to the portable terminal; An automated guided vehicle control method comprising:

14. 1. An automated guided vehicle control program comprising instructions to be executed by a processor of an automated guided vehicle control device, the instructions comprising: Obtaining an order list; generating a route plan for an automated guided vehicle operating in a logistics system based on the order list; Obtaining the location of a portable terminal carried by a worker working in the logistics system; determining whether a distance between the automated guided vehicle and the portable terminal at the closest point on the route of the route plan is smaller than a first threshold; If it is determined that the distance is smaller than the first threshold, transmitting a notification including map information of the logistics system to the portable terminal; An automated guided vehicle control program comprising:

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