Physical distribution control system

Abstract

To provide a system technology capable of easily coping with the change of a layout or equipment.SOLUTION: The logistics control system includes a task control unit that creates a task sequence including a transport task of a transport object by the mobile object and controls the transport task according to the task sequence, and an operation command transmission unit that receives a start instruction of the transport task from the task control unit and transmits an operation command of the mobile object to the mobile object. The task sequence has a form of a list in which one or more tasks are arranged in an execution order. The task controller modifies the task sequence to add, change, or delete one or more tasks in response to a change in the layout or equipment in the logistics facility.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a mobile object traffic management system that efficiently mediates the passage of autonomously moving mobile objects. This mobile object traffic management system includes a storage unit that stores resources required for the passage of mobile objects as resource data, a resource management unit that manages the allocation status of resources to mobile objects, and a usage request processing unit that accepts requests from mobile objects, allocates new resources, and releases the resources when the mobile object has finished using them. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2024-17484 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned conventional technology has the problem that system changes due to changes in layout or equipment are complicated, and changes in layout or equipment are difficult from the viewpoint of cost and lead time. Therefore, a system technology that can easily accommodate changes in layout or equipment is desired. [Means for solving the problem]

[0005] (1) According to a first aspect of the present disclosure, there is provided a logistics control system for controlling a logistics facility that uses one or more robots, including a mobile object. The logistics control system includes a task controller that creates a task sequence including a transport task for an object to be transported by the mobile object and controls the transport task in accordance with the task sequence, and an operation command transmitter that receives an instruction to start the transport task from the task controller and transmits an operation command for the mobile object to the mobile object. The task sequence has the form of a list in which one or more tasks are arranged in order of execution, and the task controller modifies the task sequence to add, change, or delete one or more tasks in response to changes in the layout or equipment of the logistics facility. This logistics control system can easily accommodate changes in layout and equipment by modifying the task sequence. (2) In the logistics control system, the task sequence may be configured to include an interlock task that indicates an on / off state of an interlock related to the transport state of the transported object. According to this logistics control system, the transport of the transported goods by the mobile object can be properly executed in accordance with a task sequence including an interlock task. (3) In the logistics control system, the transport task may be configured to include a robot ID of the moving body and a destination ID of the transported item, but not to include control parameters for controlling the operation of the moving body. According to this logistics control system, the transportation of goods by mobile objects can be controlled using a task sequence with a simple configuration. (4) In the logistics control system, each task included in the task sequence may be composed of a plurality of items common to each task, and the plurality of items may include a plurality of transport task items and a plurality of interlock task items. In the transport task, valid data may be registered in the plurality of transport task items, and in the interlock task, valid data may be registered in the plurality of interlock task items. According to this logistics control system, transport tasks and interlock tasks can be registered using the same multiple items. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a block diagram showing the configuration of a logistics facility according to an embodiment. [Figure 2] FIG. 2 is an explanatory diagram showing an example of a transport path and task sequence of an object transported by a moving body. [Figure 3] FIG. 10 is an explanatory diagram showing an example of a task sequence modified in accordance with a change in a logistics facility. [Figure 4] FIG. 10 is an explanatory diagram showing another example of a task sequence modified in accordance with a change in a logistics facility. DETAILED DESCRIPTION OF THE INVENTION

[0007] FIG. 1 is a block diagram showing the configuration of a logistics facility according to an embodiment. The logistics facility includes a host system 100, an interlock device 200, logistics equipment 300, a logistics control system 400, and a mobile object 500. The logistics facility is configured to use one or more robots including the mobile object 500. The logistics facility may be, for example, a factory. The logistics control system 400 is connected to other devices and equipment within the logistics facility via wires or wirelessly.

[0008] The host system 100 is a system that manages the results of production processes and logistics processes within a logistics facility. The current locations of individual packages and the current locations of the mobile objects 500 are also managed by the host system 100. In this disclosure, "package" and "transported object" are synonymous. The host system 100 also has the function of notifying the logistics control system 400 of tasks to be executed in various logistics processes.

[0009] The interlock device 200 has a function of switching the interlock status in the logistics process between on and off and notifying the logistics control system 400. The interlock device 200 can be configured with various sensors, such as laser scanners and light curtains, installed in the logistics process, and various buttons, such as a work completion button. The interlock related to the transport status of the transported object is information indicating whether the transport status of the transported object satisfies specific conditions or procedures. The on-state of the interlock means that specific conditions or procedures are not met and operations related to the transported object should be stopped. The off-state of the interlock means that specific conditions or procedures are met and operations related to the transported object can be performed. The on-state of a typical interlock is determined based on at least one of the transport status of the transported object by the mobile object 500 and other conditions in the logistics facility.

[0010] The logistics facility 300 is a facility introduced into the logistics process. For example, a robot such as an ASRS (Automated Storage Retrieval System) can be used as the logistics facility. The ASRS acts as an execution entity for the storage task of storing transported items. The logistics facility 300 has a function of notifying the logistics control system 400 of various signals related to its operation.

[0011] The logistics control system 400 includes a task creation unit 410, a signal acquisition unit 420, a task control unit 430, and an operation command transmission unit 440.

[0012] The task creation unit 410 creates various tasks such as transport tasks for transported objects and interlock tasks in response to notifications from the host system 100 and the interlock device 200, and notifies the task control unit 430 of the created tasks.

[0013] The signal acquisition unit 420 acquires various signals from the interlock device 200, the logistics facility 300, and the mobile object 500, and notifies the task control unit 430 of the acquired signals.

[0014] The task control unit 430 creates a task sequence TS including one or more tasks such as a transportation task or an interlock task, according to information supplied from the task creation unit 410 and the signal acquisition unit 420. Examples of the task sequence TS will be described later. The task control unit 430 has a function of controlling various tasks using the mobile object 500 and the logistics facility 300 according to the task sequence TS.

[0015] The operation command sending unit 440 receives a start instruction for a transportation task from the task control unit 430 and sends an operation command to the mobile body 500. The operation of the mobile body 500 includes, for example, running, rotating, lifting up and down, etc. The operation command sending unit 440 breaks down the operation of the mobile body 500 required to execute the transportation task into smaller operations that match the configuration of the mobile body 500, and creates operation commands related to the operations after the breakdown. The operation command sending unit 440 may further have a function of receiving a start instruction from the task control unit 430 and sending an operation command to the logistics facility 300 regarding a task that is executed by the logistics facility 300.

[0016] The functions of each unit of the logistics control system 400 are realized by a processor executing a computer program stored in memory. Alternatively, some or all of the functions of each unit of the logistics control system 400 may be realized by hardware circuits.

[0017] The mobile object 500 is a robot that serves as an execution subject for executing a transport task of a transported object. For example, an AGV (Automated Guided Vehicle), an AMR (Autonomous Mobile Robot), or an AGF (Automated Guided Forklift) can be used as the mobile object 500. The mobile object 500 operates in accordance with an operation command received from the operation command transmission unit 440.

[0018] Fig. 2 is an explanatory diagram showing an example of a transport route of an object by a mobile object 500 and a task sequence TS. The upper part of Fig. 2 shows a transport route TT set up in a logistics facility and a mobile object 500 traveling on the transport route TT. The transport route TT is a route for transporting an object A0001 from a start point Cell-1-1 to an end point Cell-1-5.

[0019] 2 is configured to include a transport task on the transport path TT. Each task registered in the task sequence TS1 includes the following multiple items. <Task No.> Indicates the order in which tasks are executed in a task sequence. <Task Name> This is the name of the task. In the example in Figure 2, the task name is "Baggage Delivery," indicating that it is a delivery task. <Robot ID> The ID of the robot that will perform the task. <Item ID> The ID of the item handled by the task. <Destination ID> The ID of the end point in the transport task. <signal name> This is the signal name of the interlock signal used in the interlock task. <signal flag> This is a flag that indicates the signal level of the interlock signal for completing the interlock task.

[0020] Some of the above-described items constituting each task may be omitted. For example, the transported object ID may be omitted. Each task may also be configured to include items other than those described above. For example, each task may be configured to include the transport source ID of the transport task. However, in this embodiment, since the upper system 100 manages the current location of the transported object, there is no need to register information indicating the transport source in the task sequence TS.

[0021] In the example of Figure 2, only one transport task #1 is registered in task sequence TS1. In this transport task #1, valid data is registered for all items except for the signal name and signal flag. In addition, invalid data is registered for the signal name and signal flag.

[0022] 2, the transport task includes the robot ID of the moving body 500 and the destination ID, but is configured not to include control parameters for controlling the operation of the moving body 500. Therefore, the task control unit 430 can control the transport of the transported object by the moving body 500 using a task sequence TS with a simple configuration.

[0023] The task sequence TS1 is started in response to a start request sent from an external device to the logistics control system 400. The external device may be the upper system 100, a work start button, or the like. In response to this start request, the task creation unit 410 creates a task sequence. Thereafter, the task control unit 430 sends an instruction to start transport task #1 to the operation command sending unit 440, and the operation command sending unit 440 sends an operation command to execute transport task #1 to the mobile object 500. Thereafter, when the mobile object 500 arrives at the destination, an arrival signal is sent from the mobile object 500 to the signal acquiring unit 420, which notifies the task control unit 430. Upon receiving this notification, the task control unit 430 can determine that transport task #1 has been completed.

[0024] Figure 3 is an explanatory diagram showing an example of a task sequence TS that has been modified in response to changes in the logistics facility. The upper part of Figure 3 shows a state in which a crossing passage TR that crosses the transport route TT shown in Figure 2 has been set midway along the transport route TT. This crossing passage TR is for objects such as forklifts FL to pass through. An intermediate destination Cell-1-2 has been set at the intersection of the transport route TT and the crossing passage TR.

[0025] At the intersection of the conveying path TT and the cross passage TR, two laser scanners 210, 220 that constitute the interlock device 200 are provided. The interlock device 200 sets an interlock signal to ON when an object such as a forklift FL is entering the intersection of the conveying path TT and the cross passage TR, and sets the interlock signal to OFF when no object is entering the intersection of the conveying path TT and the cross passage TR.

[0026] The automated guided vehicle AMR-01 as the moving body 500 first transports the object A0001 to the intermediate destination Cell-1-2. At this time, if the interlock signal from the interlock device 200 is OFF, the moving body 500 continues the transport to the final destination Cell-1-5. On the other hand, if the interlock signal is ON when the moving body 500 reaches the intermediate destination Cell-1-2, the moving body 500 waits there for a while, and after the object such as the forklift FL has passed and the interlock signal is turned OFF, the moving body 500 resumes the transport from the intermediate destination Cell-1-2 to the final destination Cell-1-5.

[0027] The task sequence TS2 shown at the bottom of Fig. 3 is a task in which the above-mentioned transport process is registered as three tasks #1 to #3. The first task #1 is a transport task for transporting the transported object A0001 to the intermediate destination Cell-1-2. This transport task #1 corresponds to task #1 shown in Fig. 2 with the destination ID changed. Transport task #1 in Fig. 3 is completed when the moving object 500 arrives at the intermediate destination Cell-1-2.

[0028] The second task #2 is an interlock task that waits until the interlock signal L1 of the interlock device 200 turns OFF. In this interlock task #2, valid data is registered for the signal name and signal flag. Invalid data is registered for items other than the signal name and signal flag. Interlock task #2 starts after the first transport task is completed and is completed when the interlock signal L1 turns OFF.

[0029] The third task #3 is a transport task to transport item A0001 from intermediate destination Cell-1-2 to final destination Cell-1-5. This transport task #3 starts after the immediately preceding interlock task #2 is completed.

[0030] The task sequence TS2 shown in Fig. 3 includes multiple tasks, and is configured so that the next task starts after each task is completed. The task sequence TS2 is a list in which multiple types of tasks, including transport tasks and interlock tasks, are arranged in the order of execution using a single task format consisting of multiple items common to each task.

[0031] Of the multiple items common to each task, the robot ID, transported item ID, and destination ID are transport task items registered in the transport task. Additionally, the signal name and signal flag are interlock task items registered in the interlock task. The task No. and task name are common items used in all tasks. In the transport task, valid data is registered in the transport task items, but invalid data is registered in the interlock task items. On the other hand, in the interlock task, valid data is registered in the interlock task items, but invalid data is registered in the transport task items. In this way, the task sequence TS is configured so that transport tasks and interlock tasks can each be registered using multiple items common to each task.

[0032] The task control unit 430 can use the task sequence TS to manage multiple types of tasks, including transport tasks and interlock tasks, at the same hierarchical level. "Same hierarchical level" means that multiple tasks are not configured in a redundant configuration, but are registered in a list format arranged in the order of execution. "Multiple" also means that one task is executed during the execution of another task. It is preferable that the task sequence TS can also register other tasks, such as storage tasks for storing luggage in a warehouse or storage shelf, and collection tasks for retrieving luggage from a warehouse or storage shelf, in addition to transport tasks and interlock tasks. Tasks other than interlock tasks registered in the task sequence TS can also be called "logistics tasks." Valid data for storage tasks and collection tasks is registered in the same fields as for transport tasks.

[0033] 3, the task control unit 430 can modify the task sequence TS to add or modify one or more tasks in response to changes in the layout of the logistics facility. By modifying the task sequence TS in this way, it is possible to easily accommodate changes in the layout.

[0034] The creation and modification of the task sequence TS may be performed by the task control unit 430 in accordance with a user instruction, or may be performed automatically by the task control unit 430. In either case, the point is the same in that the task control unit 430 creates and modifies the task sequence TS.

[0035] Figure 4 is an explanatory diagram showing another example of a task sequence TS that has been modified in accordance with changes to the logistics facility. The upper part of Figure 4 shows a state in which an automated warehouse system ASRS-01 has been added as logistics facility 300 to Cell-2-5, the final destination of transport route TT. Position S-1 of the storage / retrieval station of the automated warehouse system ASRS-01 is used as the destination of the storage task for transported item A0001 by the automated warehouse system ASRS-01.

[0036] The task sequence TS3 shown at the bottom of Figure 4 is the same as the task sequence TS2 shown in Figure 3, with a fourth interlock task #4 and a fifth storage task #5 added. Interlock task #4 is a task that indicates whether the conditions for handing over the transported item A0001, which has been transported to its destination Cell-1-5 by the automated guided vehicle AMR-01, to the automated warehouse system ASRS-01 are met. When the conditions for handing over are met, the interlock signal L2 turns OFF. The interlock device that issues this interlock signal L2 is not shown. When the interlock signal L2 turns OFF, the interlock task #4 is completed and the storage task #5 is started. In other words, the transported item A0001 is stored in the automated warehouse system ASRS-01.

[0037] 4, the task control unit 430 can modify the task sequence TS to add or modify one or more tasks in response to changes in the equipment at the logistics facility. By modifying the task sequence TS in this way, it is possible to easily accommodate changes in the equipment.

[0038] If the automated warehouse system ASRS-01 is omitted from the state in Figure 4, two tasks #4 and #5 are deleted from the task sequence TS3, resulting in the state shown in Figure 3. If the cross aisle TR is deleted from the state in Figure 3, two tasks #2 and #3 are deleted from the task sequence TS2, and task #1 is modified, resulting in the state shown in Figure 2. In this way, one or more tasks may be deleted or modified depending on changes to the layout or equipment.

[0039] 2 to 4, the task sequence TS has a list format in which one or more tasks are arranged in the order of execution. Preferably, one task sequence TS is a list of one or more tasks related to the same item.

[0040] As described above, in this embodiment, the task control unit 430 modifies the task sequence TS so as to add, change, or delete one or more tasks in response to changes in the layout or equipment of the logistics facility. By modifying the task sequence TS in this way, changes in the layout or equipment can be easily accommodated.

[0041] Other forms: The present disclosure is not limited to the above-described embodiments and can be realized in various forms without departing from the spirit thereof. For example, the present disclosure can also be realized in the following aspects. The technical features in the above embodiments corresponding to the technical features in each aspect described below can be appropriately replaced or combined to solve some or all of the problems of the present disclosure or to achieve some or all of the effects of the present disclosure. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted.

[0042] The present disclosure can also be realized in various forms other than a logistics control system, such as a method for controlling a logistics facility, a computer program for executing processing by a logistics control system, or a non-transitory storage medium on which a computer program is recorded. [Explanation of symbols]

[0043] 100... Upper system, 200... Interlock device, 210, 220... Laser scanner, 300... Logistics equipment, 310... Interlock device, 400... Logistics control system, 410... Task creation unit, 420... Signal acquisition unit, 430... Task control unit, 440... Operation command transmission unit, 500... Mobile body

Claims

1. A logistics control system that controls a logistics facility that uses one or more robots including mobile objects, a task control unit that creates a task sequence including a transport task of the object to be transported by the moving body and controls the transport task in accordance with the task sequence; an operation command transmission unit that receives an instruction to start the transport task from the task control unit and transmits an operation command to the moving body to the moving body; Equipped with The task sequence has a format of a list in which one or more tasks are arranged in an order of execution, A logistics control system in which the task control unit modifies the task sequence to add, change, or delete one or more tasks in response to changes in the layout or equipment of the logistics facility.

2. 2. The logistics control system according to claim 1, A logistics control system, wherein the task sequence is configured to include an interlock task that indicates an on / off state of an interlock related to the transport state of the transported item.

3. 2. The logistics control system according to claim 1, A logistics control system, wherein the transport task is configured to include a robot ID of the mobile body and a destination ID of the transported item, but does not include control parameters for controlling the operation of the mobile body.

4. 3. The logistics control system according to claim 2, Each task included in the task sequence is composed of a plurality of items common to each task, the plurality of items include a plurality of transport task items and a plurality of interlock task items, In the transport task, valid data is registered in the plurality of transport task items, In the interlock task, valid data is registered in the plurality of interlock task items.

Images