Automatic cargo handling system

Abstract

To provide an automatic cargo handling system capable of smoothly and automatically conveying an object between a warehouse and a luggage compartment of a vehicle.SOLUTION: The automatic cargo handling system includes a cargo compartment measurement device capable of measuring the inside of a cargo compartment of a vehicle, a vehicle-side control device that controls the cargo compartment measurement device, a transport device that transports an object between a warehouse and the cargo compartment, and a warehouse-side control device that sends first information necessary for controlling the cargo compartment measurement device to the vehicle-side control device, and the warehouse-side control device gives a traveling instruction to the transport device based on second information necessary for determining a transport path of the transport device sent from the vehicle-side control device.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an automated material handling system. [Background technology]

[0002] There are autonomous transport devices that automate transportation work within warehouses. Automated warehouse systems determine the travel route based on the status of each of the multiple transport devices, the placement of containers on shelves, and information on the items stored in the containers, and control the transport devices equipped with LiDAR (Light Detection And Ranging) and cameras from a work instruction device.

[0003] For example, Patent Document 1 describes an automated warehouse system that has a management unit that manages the state of each of multiple conveying devices, the arrangement of containers on shelves, information about items stored in the containers, the travel route of each of the multiple conveying devices, and information about whether each of the multiple conveying devices can be raised or lowered on the shelves; a traffic optimization unit that uses the information managed by the management unit to optimize the travel route and lifting and lowering operations on the shelves when transporting containers by each of the multiple conveying devices; and an instruction unit that instructs each of the multiple conveying devices to transport containers using the travel route and lifting and lowering operations optimized by the traffic optimization unit.

[0004] Furthermore, for example, Patent Document 2 describes a cargo handling control system using a transport device (cargo handling vehicle). Specifically, the cargo handling control system is for a cargo handling vehicle equipped with a fork, which has a processor and detects transported objects using a beam scanning optical sensor, and the processor is configured to switch the distance measurement mode of the optical sensor from a TOF mode, which acquires distance measurement data according to the time of flight of the beam before detecting the transported object, to a triangulation mode, which acquires distance measurement data according to triangulation after detecting the transported object, and to control insertion of the fork into a target space according to the transported object based on the distance measurement data acquired in the triangulation mode. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2023-144762 [Patent Document 2] Japanese Patent Publication No. 2024-066283 Summary of the Invention [Problem to be solved by the invention]

[0006] In an automatic cargo handling system equipped with a transport device capable of automatically transporting cargo from a warehouse to a vehicle's trunk, the transport device may be unable to grasp the status of the trunk. This may result in an obstacle being found on the transport path within the trunk, or in a situation where there is no space to store the cargo within the trunk. This may require, for example, changing the transport plan and restarting the cargo transport according to the changed transport plan, making it difficult to smoothly and automatically transport the cargo from the warehouse to the vehicle's trunk.

[0007] Furthermore, the automated warehouse system described in Cited Document 1 automatically transports items within a warehouse, but the condition of the luggage compartment cannot be grasped when the transport device enters the luggage compartment. Therefore, the transport route for bringing in the items cannot be planned in advance, and a map must be created while transporting the items after entering the luggage compartment. The created map may reveal that there is no place to store an item within the luggage compartment. This makes it difficult to smoothly and automatically transport the item from the warehouse to the luggage compartment of the vehicle. Similarly, it makes it difficult to smoothly and automatically transport the item from the luggage compartment of the vehicle to the warehouse.

[0008] Furthermore, the beam in the cargo handling control system described in Cited Document 2 is irradiated from a relatively low position. As a result, the detection light cannot be irradiated onto the upper part of the luggage compartment of the vehicle, and the state of the higher positions in the luggage compartment cannot be grasped. Therefore, if cardboard boxes (obstacles) are piled up high in the luggage compartment, the luggage being transported by the transport device may collide with the cardboard boxes and cause them to collapse, making it difficult to smoothly and automatically transport luggage from the warehouse to the luggage compartment of the vehicle. Similarly, it makes it difficult to smoothly and automatically transport luggage from the luggage compartment of the vehicle to the warehouse.

[0009] An object of the present disclosure is to provide an automatic cargo handling system that can smoothly and automatically transport objects between a warehouse and a luggage compartment of a vehicle. [Means for solving the problem]

[0010] In order to achieve the above object, the automatic cargo handling system in the present disclosure includes: a luggage compartment measuring device capable of measuring the interior of a luggage compartment of a vehicle; a vehicle-side control device that controls the luggage compartment measuring device; a conveying device that conveys objects between a warehouse and a luggage compartment; a warehouse-side control device that sends first information required for controlling the luggage space measuring device to the vehicle-side control device; Equipped with The warehouse-side control device instructs the conveyance device to travel based on second information required to determine the conveyance route of the conveyance device, which is sent from the vehicle-side control device.

[0011] The automated cargo handling system in the present disclosure includes: a luggage compartment measuring device capable of measuring the interior of a luggage compartment of a vehicle; a vehicle-side control device that controls the luggage compartment measuring device; a conveying device that conveys objects between a warehouse and a luggage compartment; a warehouse-side control device that sends third information required for controlling the luggage compartment measuring device to the vehicle-side control device; Equipped with The vehicle-side control device instructs the conveyance device to travel based on fourth information required to determine the conveyance route of the conveyance device, which is sent from the warehouse-side control device. [Effects of the Invention]

[0012] According to the present disclosure, objects can be smoothly and automatically transported between a warehouse and a vehicle's luggage compartment. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram illustrating an example of functions of an automatic cargo handling system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a diagram showing an example of an image captured by the stereo camera. [Figure 3] FIG. 3 is a diagram illustrating an example of the functions of the control device. [Figure 4] FIG. 4 is a flowchart showing an example of the operation of the automatic cargo handling system according to this embodiment. [Figure 5] FIG. 5 is a diagram showing an example of the functions of the automatic cargo handling system in the first modification of the present embodiment. [Figure 6] FIG. 6 is a flowchart showing an example of the operation of the automatic cargo handling system in the first modification of this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. An automated material handling system according to the embodiment of the present disclosure is a system in which a conveying device is used to transport objects (baggage) between a warehouse and a luggage compartment of a vehicle.

[0015] FIG. 1 is a diagram illustrating an example of the functions of an automatic material handling system according to an embodiment of the present disclosure. As shown in FIG. 1, the automatic material handling system 100 includes a warehouse-side control device 200, a vehicle-side control device 300, a cargo space measurement device 400, and a conveying device 500. In the automatic material handling system 100 illustrated in FIG. 1, the conveying device 500 is always controlled by the warehouse-side control device 200. In FIG. 1, each functional block represents a functional unit configuration, rather than a hardware (device) unit configuration. Therefore, the functional blocks illustrated in FIG. 1 may be implemented in a single device, or may be implemented separately in multiple devices. Data may be exchanged between the functional blocks via any means, such as a data bus, a controller area network (CAN bus), or a local area network (LAN).

[0016] (Cargo space measuring device 400) The luggage compartment measuring device 400 measures the interior of the luggage compartment 2 of the vehicle 1. The luggage compartment measuring device 400 has a stereo camera 401. The stereo camera 401 is arranged on the ceiling 3 of the luggage compartment 2, and captures images of the interior of the luggage compartment 2 from the ceiling 3 side. FIG. 1 shows an image captured by the stereo camera 401 as a "luggage compartment overhead image."

[0017] FIG. 2 is a diagram showing an example of an image captured by a stereo camera. A depth image captured by the stereo camera 401 is given a pseudo-color. However, image G shown in FIG. 2 is an image showing a depth image (color image) in grayscale. In the depth image (pseudo-color image), the area captured by the stereo camera 401 is shown color-coded according to the distance between the area and the stereo camera 401. As an example, an area shown in blue indicates an area close to the ceiling 3, and an area shown in red indicates an area close to the floor of the luggage compartment 2. In other words, an area shown in blue indicates, for example, a large number of cardboard boxes are piled on the floor, and an area shown in red indicates, for example, a small number of cardboard boxes are piled on the floor, or an area where no cardboard boxes are piled on the floor.

[0018] Note that luggage compartment measuring device 400 may have a Light Detection and Ranging (LiDAR) instead of or in addition to stereo camera 401. LiDAR irradiates an object with detection light (laser light or visible light), detects the reflected light with an optical sensor, and measures the distance to the object. The measurement data generates a collection of points (point cloud data) that indicate coordinates in three-dimensional space, and the point cloud data makes it possible to represent the surface of the object.

[0019] (Transportation device 500) The conveying device 500 is, for example, a self-propelled vehicle having wheels and in-wheel motors in which an electric motor and a gear are integrated with the wheels. The conveying device 500 moves under a pallet (for example, a car dolly 10 shown in FIG. 1), lifts the pallet, and conveys the object (baggage) inside the pallet. The conveying device 500 moves along a conveying route determined by the warehouse-side control device 200. The conveying device 500 transmits sensor information (position information) to the warehouse-side control device 200. The sensor information (position information) is calculated based on the moving direction of the conveying device 500 and the rotation direction and rotation speed of the wheels and gears.

[0020] (Vehicle-side control device 300) The vehicle-side control device 300 is mounted on the vehicle 1 and controls the luggage space measuring device 400. The vehicle-side control device 300 is, for example, a VCU (Vehicle Control Unit) that controls the operation and functions of the vehicle 1. The vehicle-side control device 300 (VCU) includes a control unit and a storage unit. The storage unit is a storage device such as a ROM (Read Only Memory) that stores the BIOS (Basic Input Output System) of a computer that realizes the vehicle-side control device 300, a RAM (Random Access Memory) that serves as a working area for the control device 300, an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores an OS (Operating System), application programs, and various information referenced when the application programs are executed.

[0021] The control unit is a processor such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit) of the vehicle-side control unit 300, and by executing a program stored in the memory unit, it functions as a control unit that controls the cargo space measuring device 400 and as a communication control unit that controls the transmission and reception of information between the warehouse-side control unit 200.

[0022] The information transmitted and received between the vehicle-side control device 300 and the warehouse-side control device 200 includes information necessary for controlling the cargo space measuring device 400 (corresponding to the "first information" in this disclosure) and information necessary for determining the conveying route of the conveying device 500 (corresponding to the "second information" in this disclosure).

[0023] The first information includes, for example, information necessary for measuring the luggage compartment, such as information about the transport device 500 and identification information of the object.

[0024] The second information includes, for example, the position information of the vehicle 1, the identification information of the vehicle 1 (for example, information necessary to identify a delivery), and the measurement results of the luggage compartment measuring device 400.

[0025] (Warehouse-side control device 200) The warehouse control device 200 includes a control unit 201 and a storage unit 204. In FIG. 3, arrows indicate the main data flows, and there may be other data flows not shown in FIG. 3. In FIG. 3, each functional block indicates a functional unit configuration, not a hardware (device) unit configuration. Therefore, the functional blocks shown in FIG. 3 may be implemented in a single device, or may be implemented separately in multiple devices. Data may be exchanged between functional blocks via any means, such as a data bus or a controller area network (CAN bus).

[0026] The memory unit 204 is a storage device such as a ROM (Read Only Memory) that stores the BIOS (Basic Input Output System) of the computer that realizes the warehouse-side control device 200, a RAM (Random Access Memory) that serves as the working area of ​​the warehouse-side control device 200, an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores the OS (Operating System), application programs, and various information referenced when the application programs are executed.

[0027] The control unit 201 is a processor such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit) of the warehouse side control device 200, and functions as an acquisition unit 202 and a transport route determination unit 203 by executing a program stored in the memory unit 204.

[0028] 3 shows an example in which the warehouse control device 200 is configured as a single device. However, the warehouse control device 200 may be realized by, for example, multiple processors, memories, and other computing resources. In this case, each unit constituting the control unit 201 is realized by at least one of multiple different processors executing a program.

[0029] The control unit 201 has an acquisition unit 202 and a conveyance route determination unit 203. The acquisition unit 202 receives information (second information) necessary for determining the route of the conveyance device 500. Here, the second information includes the position information of the vehicle 1, identification information of the vehicle 1 (for example, information necessary to identify the delivery), and the measurement results of the luggage compartment measuring device 400. The acquiring unit 202 also receives sensor information (position information, etc.) from the transport device 500. The second information and the sensor information received by the acquiring unit 202 are stored in the storage unit 204.

[0030] The transport route determination unit 203 determines the transport route of the transport device 500 based on the second information. Specifically, the transport route determination unit 203 determines the transport route of the transport device 500 outside the cargo room 2 based on the position information of the vehicle 1 and the identification information of the vehicle 1. In addition, the transport route determination unit 203 determines the transport route of the transport device 500 inside the cargo room 2 based on the measurement results of the cargo room measuring device 400. In other words, the transport route determination unit 203 determines the transport route of the transport device 500 inside and outside the cargo room 2.

[0031] Based on the determined transport route, the control unit 201 issues a travel instruction to the transport device 500. That is, the transport route determination unit 203 issues a travel instruction to the transport device 500 inside and outside the luggage compartment 2.

[0032] Next, an example of the operation of the automatic cargo handling system 100 in this embodiment will be described. FIG. 4 is a flowchart showing an example of the operation of the automatic cargo handling system in this embodiment. The automatic cargo handling system 100 automatically transports objects (baggage) between a warehouse and the luggage compartment 2 of the vehicle 1. As an example of the operation of the automatic cargo handling system 100, the operation when transporting an object from a warehouse to the luggage compartment 2 of the vehicle 1 will be described. This flow is started, for example, based on information that the vehicle 1 has docked at the warehouse. Furthermore, this flow is repeated, for example, if there is an object to be transported from the warehouse to the luggage compartment 2 after this flow has ended.

[0033] First, in step S100, the warehouse-side controller 200 transmits information (first information) necessary for measuring the luggage compartment to the vehicle-side controller 300. The first information includes information on the conveyance device 500 and identification information of the object.

[0034] Next, in step S110, the warehouse-side control device 200 issues a command to measure the luggage space, which causes the luggage space measuring device 400 to measure the luggage space.

[0035] Next, in step S120, the warehouse-side control device 200 receives information (second information) necessary for determining the transport route from the vehicle-side control device 300. The second information includes the position information of the vehicle 1, the vehicle identification information, and the measurement results of the luggage space measuring device 400.

[0036] Next, in step S130, the warehouse-side control device 200 determines the conveying route of the conveying device 500 based on the measurement results of the cargo room measuring device 400. At this time, the warehouse-side control device 200 determines the conveying route (outbound route) from the warehouse to the loading position in the cargo room 2 and the traveling route (return route) from the loading position to a predetermined position outside the cargo room 2.

[0037] Next, in step S140, the warehouse-side control device 200 transmits a travel instruction (outbound route) to the conveyance device 500 based on the determined conveyance route.

[0038] Next, in step S150, the warehouse control device 200 receives sensor information from the conveyance device 500. The sensor information includes position information of the conveyance device 500.

[0039] Next, in step S160, the warehouse-side control device 200 determines whether the loading work is completed. If the loading work is completed (step S160: YES), the process proceeds to step S170. If the loading work is not completed (step S160: NO), the process returns to before step S140.

[0040] In step S170, the warehouse-side control device 200 transmits a travel instruction (return route) to the conveyance device 500 based on the determined conveyance route.

[0041] Next, in step S180, the warehouse control device 200 receives sensor information from the conveyance device 500.

[0042] Next, in step S190, the warehouse control device 200 determines whether the conveying device 500 has arrived at the predetermined position. If the conveying device 500 has arrived at the predetermined position (step S190: YES), this flow ends. If the conveying device 500 has not arrived at the predetermined position (step S190: NO), the process returns to before step S170.

[0043] In the above flow, a case has been described in which an object is automatically transported between the warehouse and the cargo room 2 by one transport device 500, but in the present disclosure, this may be performed by multiple transport devices 500. In this case, the warehouse-side control device 200 determines the transport route for each of the multiple transport devices 500 based on the position information of each of the multiple transport devices 500. The timing for determining the transport route is, for example, the timing when each of the multiple transport devices 500 arrives at a predetermined position.

[0044] The automatic cargo handling system 100 in the above embodiment comprises a cargo space measuring device 400 capable of measuring the interior of the cargo space 2 of the vehicle 1, a vehicle-side control device 300 that controls the cargo space measuring device 400, a conveying device 500 that transports objects between the warehouse and the cargo space 2, and a warehouse-side control device 200 that sends first information necessary for controlling the cargo space measuring device 400 to the vehicle-side control device 300, and the warehouse-side control device 200 gives driving instructions to the conveying device 500 based on second information necessary for determining the conveying route of the conveying device 500 sent from the vehicle-side control device 300.

[0045] With the above configuration, information for measuring inside the cargo room 2 is sent from the warehouse control device 200 to the vehicle control device 300, and information for determining the route of the conveying device 500 is also sent from the vehicle control device 300 to the warehouse control device 200.This enables the warehouse control device 200 to determine the conveying route of the conveying device 500 outside the cargo room 2, and further to determine the conveying route of the conveying device 500 inside the cargo room 2, making it possible to smoothly and automatically transport objects between the warehouse and the cargo room 2.

[0046] Furthermore, in the automated cargo handling system 100 in the above embodiment, the first information includes information on the transport device 500 and identification information of the object, and the second information includes position information of the vehicle 1, identification information of the vehicle 1, and the measurement results of the cargo space measuring device 400. This clarifies the position and size of obstacles and the like that exist between the warehouse and the loading position in the cargo space 2, making it possible to determine an accurate transport route.

[0047] It should be noted that the first information and second information in the automatic cargo handling system 100 in the above embodiment are merely examples, and new information required for measurements inside the cargo compartment 2 or new information required for determining the transport route of the transport device 500 may replace the first information or the second information, or may be added to the first information or the second information.

[0048] (Variation) Next, an automatic cargo handling system according to a first modification of this embodiment will be described with reference to Fig. 5. Fig. 5 is a diagram showing an example of the functions of the automatic cargo handling system according to the first modification of this embodiment.

[0049] The automated material handling system 100 in the above embodiment is a system in which the control of the conveying device 500 is always performed by the warehouse-side device 200. Specifically, the travel route of the conveying device 500 is determined by the warehouse-side control device 200 regardless of the position of the conveying device 500. Furthermore, travel instructions to the conveying device 500 are given by the warehouse-side control device 200 regardless of the position of the conveying device 500.

[0050] In contrast, the automatic cargo handling system 100A in Modification 1 shown in FIG. 5 is a system in which the vehicle-side control device 300 is responsible for controlling the conveying device 500 within the luggage compartment 2. Specifically, the travel route of the conveying device 500 outside the luggage compartment 2 is determined by the warehouse-side control device 200, and the travel route of the conveying device 500 within the luggage compartment 2 is determined by the vehicle-side control device 300. Furthermore, travel instructions are given to the conveying device 500 outside the luggage compartment 2 by the warehouse-side control device 200, and travel instructions are given to the conveying device 500 within the luggage compartment 2 by the vehicle-side control device 300. The travel route of the conveying device 500 within the luggage compartment 2 is determined by a conveying route determination unit (not shown) in the vehicle-side control device 300. Furthermore, travel instructions are given to the conveying device 500 within the luggage compartment 2 by a control unit (not shown) in the vehicle-side control device 300.

[0051] Next, an example of the operation of the automatic cargo handling system 100A in Modification 1 will be described. FIG. 6 is a flowchart showing an example of the operation of the automatic cargo handling system in Modification 1. Note that FIG. 6 is the same flowchart as FIG. 4, but as will be explained below, the entity that performs the processing of each step (warehouse-side control device 200 or vehicle-side control device 300) is partially different from that in FIG. 4. The automatic cargo handling system 100A in Modification 1 automatically transports objects (baggage) between a warehouse and the luggage compartment 2 of the vehicle 1. As an example of the operation of the automatic cargo handling system 100A, the operation when transporting an object from a warehouse to the luggage compartment 2 of the vehicle 1 will be described. This flow is started, for example, based on information that the vehicle 1 has docked at the warehouse. This flow is also repeated, for example, if there is an object to be transported from the warehouse to the luggage compartment 2 after this flow has ended.

[0052] First, in step S200, the warehouse-side control device 200 transmits information necessary for measuring the cargo space (corresponding to "third information" in this disclosure) to the vehicle-side control device 300. The information necessary for measuring the cargo space (third information) includes loading position information of the object.

[0053] Next, in step S210, the vehicle-side control device 300 issues an instruction to measure the luggage compartment, whereby the luggage compartment measuring device 400 performs luggage compartment measurement.

[0054] Next, in step S220, the vehicle-side control device 300 receives information necessary for determining the conveyance route (corresponding to the "fourth information" in this disclosure) from the warehouse-side control device 200. The information necessary for determining the conveyance route (fourth information) includes loading position information of the object.

[0055] Next, in step S230, the warehouse-side control device 200 determines a travel route of the conveyance device 500 outside the luggage compartment 2. Furthermore, the vehicle-side control device 300 determines a travel route of the conveyance device 500 inside the luggage compartment 2.

[0056] Next, in step S240, the warehouse-side control device 200 transmits a travel instruction (outbound route) to the conveyance device 500 outside the luggage compartment 2 based on the determined conveyance route. The vehicle-side control device 300 transmits a travel instruction (outbound route) to the conveyance device 500 inside the luggage compartment 2 based on the determined conveyance route.

[0057] Next, in step S250, the warehouse-side control device 200 receives sensor information from the conveyance device 500. Furthermore, the vehicle-side control device 300 receives sensor information from the conveyance device 500. The sensor information includes position information.

[0058] Next, in step S260, the vehicle-side controller 300 (or warehouse-side controller 200) determines whether the loading operation is completed. If the loading operation is completed (step S260: YES), the process proceeds to step S270. If the loading operation is not completed (step S260: NO), the process returns to before step S240.

[0059] In step S270, the vehicle-side control device 300 transmits a travel instruction (returning route) to the conveyance device 500 based on the determined conveyance route. Also, the warehouse-side control device 200 transmits a travel instruction (returning route) to the conveyance device 500 based on the determined conveyance route.

[0060] Next, in step S280, the vehicle-side controller 300 receives the sensor information from the conveyance device 500. The warehouse-side controller 200 also receives the sensor information from the conveyance device 500.

[0061] Next, in step S290, the warehouse control device 200 determines whether the conveying device 500 has arrived at the predetermined position. If the conveying device 500 has arrived at the predetermined position (step S290: YES), this flow ends. If the conveying device 500 has not arrived at the predetermined position (step S290: NO), the process returns to before step S270.

[0062] In the above description of the first modification, the operation of the automatic material handling system 100A when an object is transported from a warehouse to the luggage compartment 2 of the vehicle 1 is described as an example of the operation of the automatic material handling system 100A. However, the same applies to the case when an object is transported from the luggage compartment 2 to the warehouse. In this case, the information required for luggage compartment measurement (third information) includes identification information of the object to be unloaded. Furthermore, the information required for determining the transport route (fourth information) includes identification information of the object to be unloaded.

[0063] Furthermore, the above-described embodiments are merely examples of specific embodiments for carrying out the present disclosure, and the technical scope of the present disclosure should not be interpreted as being limited by these embodiments. In other words, the present disclosure can be carried out in various forms without departing from its gist or main features. [Industrial Applicability]

[0064] The present disclosure is suitably used in a warehouse management system equipped with an automatic cargo handling system that is required to smoothly and automatically transport objects between a warehouse and a luggage compartment of a vehicle. [Explanation of symbols]

[0065] 1 vehicle 2 luggage compartment 3. Ceiling 10 Cage trolley 100 Automatic cargo handling system 100A Automatic Loading System 200 Warehouse-side control device 201 Control Unit 202 Acquisition Department 203 Transport route determination unit 204 Storage section 300 Vehicle-side control device 400 Cargo space measuring device 401 Stereo Camera 500 Conveyor

Claims

1. a luggage compartment measuring device capable of measuring the interior of a luggage compartment of a vehicle; a vehicle-side control device that controls the luggage compartment measuring device; a conveying device that conveys objects between a warehouse and a luggage compartment; a warehouse-side control device that sends first information required for controlling the luggage space measuring device to the vehicle-side control device; Equipped with The warehouse-side control device issues a travel instruction to the conveying device based on second information necessary for determining a conveying route of the conveying device sent from the vehicle-side control device. Automated loading and unloading system.

2. the first information includes information about the transport device and identification information about the object; the second information includes location information of the vehicle, identification information of the vehicle, and a measurement result of the luggage compartment measuring device; 2. The automated cargo handling system according to claim 1.

3. a luggage compartment measuring device capable of measuring the interior of a luggage compartment of a vehicle; a vehicle-side control device that controls the luggage compartment measuring device; a conveying device that conveys objects between a warehouse and a luggage compartment; a warehouse-side control device that sends third information required for controlling the luggage compartment measuring device to the vehicle-side control device; Equipped with The vehicle-side control device instructs the conveying device to travel based on fourth information necessary for determining the conveying route of the conveying device sent from the warehouse-side control device. Automated loading and unloading system.

Images