Transport systems, automated guided vehicles, and transport methods

Abstract

The present invention provides a transport system, an automated guided vehicle, and a transport method that can reduce the possibility of interference with equipment such as transfer devices and conveyors. [Solution] The transport system and transport method use one or more automated guided vehicles (AGVs), a sensor that acquires load information including information indicating whether or not an item is loaded on the AGV, and a controller that controls the AGVs. The controller acquires load information for each AGV from the sensor and sets the travel path of the AGVs based on the load information.

Description

Technical Field

[0001] The present disclosure relates to a conveyance system, an automated guided vehicle, and a conveyance method.

Background Art

[0002] Patent Document 1 discloses a conveyance system including an automated guided vehicle and a handling device that has a passage through which the automated guided vehicle passes and transfers a conveyed object to the automated guided vehicle when the automated guided vehicle passes through the passage. According to this conveyance system, as the automated guided vehicle advances in the passage, the pallet on the standby conveyor of the handling device is pushed onto the automated guided vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to the conveyance system described in Patent Document ①, it is necessary to push out the pallet onto the automated guided vehicle on the premise that no articles are loaded on the automated guided vehicle. When articles are loaded on the automated guided vehicle, there is a problem that interference with facilities such as transfer devices and conveyors may occur.

[0005] The present disclosure has been made in view of the above problems. An object thereof is to provide a conveyance system, an automated guided vehicle, and a conveyance method capable of reducing the possibility of interference with facilities such as transfer devices and conveyors.

Means for Solving the Problems

[0006] Note: In the translation of , "①" should be replaced with "1" in the actual translation, which is a clerical error in the original text. Here it is just for indicating the position of the original reference number.The transport system and transport method described herein utilize one or more automated guided vehicles (AGVs), sensors that acquire loading information including information indicating whether or not goods are loaded onto the AGVs, and a controller that controls the AGVs. The controller acquires loading information for each AGV from the sensors and sets the travel path of the AGVs based on the loading information.

[0007] The sensor may be installed on at least one of the following: a transfer device that handles the exchange of goods between the automated guided vehicle and the system, a conveyor that transports goods, or the automated guided vehicle itself.

[0008] The controller may set the driving conditions for the automated guided vehicle (AGV) along the travel path based on the load information. The magnitude of the acceleration of the AGV under the driving conditions set when the AGV is not carrying any goods may be greater than the magnitude of the acceleration of the AGV under the driving conditions set when the AGV is carrying goods.

[0009] The loading information includes information relating to the height of the automated guided vehicle (AGV) and the goods loaded onto the AGV. The controller may set the height of the AGV based on the loading information and set the travel route based on the height.

[0010] The controller may also set whether or not the automated guided vehicle (AGV) passes through an area set directly beneath the conveyor belt that transports the goods, based on the loading information.

[0011] The automated guided vehicle (AGV) described in this disclosure has its travel route set by a controller. It also includes a sensor that acquires load information, including information indicating whether or not goods are loaded in the AGV, and a communication device that transmits the load information to the controller. The controller acquires load information for each AGV from the sensor and sets the travel route based on the load information. [Effects of the Invention]

[0012] This disclosure provides a transport system, an automated guided vehicle, and a transport method that can reduce the possibility of interference with equipment such as transfer devices and conveyors. [Brief explanation of the drawing]

[0013] [Figure 1] This is a schematic diagram of the transport system related to this disclosure. [Figure 2A] This figure shows a first example of sensor placement. [Figure 2B] This figure shows a second example of sensor placement. [Figure 2C] This figure shows a third example of sensor placement. [Figure 3] This is a block diagram showing the configuration of the controller related to the control of the transport system relating to this disclosure. [Figure 4] This flowchart shows the processing procedure of the transport system related to this disclosure. [Modes for carrying out the invention]

[0014] Several exemplary embodiments will be described below with reference to the drawings. Common parts in each drawing are denoted by the same reference numerals, and redundant explanations will be omitted.

[0015] [Configuration of the transport system] Figure 1 is a schematic diagram of the transport system according to this disclosure. The transport system 1 comprises automated guided vehicles AM1 to AM3 and a controller 10. Although not shown in Figure 1, the transport system 1 may also include a conveyor CV and a transfer device TF.

[0016] For example, the controller 10 is connected to the automated guided vehicles AM1 to AM3 so that it can communicate wirelessly. The controller 10 may also be connected by a communication unit 20 so that it can communicate with communication devices (not shown) mounted on each of the automated guided vehicles AM1 to AM3.

[0017] In addition, the controller 10 may be connected so as to be communicable wirelessly or by wire with a conveyor CV that conveys the article LD. The controller 10 may be connected so as to be communicable wirelessly or by wire with a transfer device TF that transfers the article LD to and from the AGVs AM1 to AM3.

[0018] Note that the conveying system 1 may include one or more AGVs. Further, the conveying system 1 may include one or more conveyors CV and one or more transfer devices TF. In FIG. 1, the conveying system 1 is shown as including three AGVs AM1 to AM3, but it is not limited thereto.

[0019] Also, the conveying system 1 includes a sensor SC. The sensor SC acquires loading information including information indicating whether or not the article LD is loaded on the AGVs AM1 to AM3. The sensor SC may be installed in at least any one of the transfer device TF, the conveyor CV, and the AGVs AM1 to AM3.

[0020] FIG. 2A is a diagram showing a first example of the sensor arrangement. As shown in FIG. 2A, the sensor SC may be arranged on each of the AGVs. For example, the sensor SC may be an ultrasonic sensor or an optical camera that measures the shape of the article LD loaded on the AGV. The sensor SC may be a load sensor that measures the weight of the article LD. In addition, the sensor SC may be a pressure sensor, an optical sensor, or other mechanical switches.

[0021] The sensor SC may acquire information related to the height of the AGV and the article loaded on the AGV based on the shape of the article obtained by measurement. The loading information may include information related to the height of the AGV and the article loaded on the AGV.

[0022] For example, according to Figure 2A, the automated guided vehicles AM1 and AM2 have a surface on which the item LD is loaded at a height H1 relative to the road surface FL on which the guided vehicles travel. On the other hand, the item LD loaded on guided vehicle AM1 has a height H2 relative to the road surface FL. If the item LD is not loaded on guided vehicle AM1, the sensor SC may output the height H1. If the item LD is loaded on guided vehicle AM1, the sensor SC may output the height H2. Heights H1 and H2 may differ for each guided vehicle, and height H2 may differ depending on the shape of the loaded item LD, etc. In addition, the sensor SC may output the height of the item LD (the value obtained by subtracting height H1 from height H2).

[0023] The load information acquired by the sensor SC installed on the automated guided vehicle may be transmitted wirelessly to the communication unit 20 via a communication device mounted on each automated guided vehicle and processed by the controller 10.

[0024] Figure 2B shows a second example of sensor placement. As shown in Figure 2B, the sensor SC may be installed on or near the conveyor CV. In particular, in order to acquire loading information by the sensor SC, the sensor SC may be placed near the path on which the automated guided vehicle travels.

[0025] Figure 2C shows a third example of sensor arrangement. As shown in Figure 2C, the sensor SC may be installed on or near the transfer device TF. Figure 2C shows a transfer device TF having a robotic arm that moves items LD between a conveyor CV and an automated guided vehicle (AGV). To acquire information regarding the height of the AGV and the items loaded on the AGV, the sensor SC may be installed in a location other than the movable part of the transfer device TF.

[0026] For example, in the examples shown in Figures 2B and 2C, the sensor SC may be an ultrasonic sensor located near the conveyor CV or the transfer device TF, which measures the shape of the automated guided vehicle and the item LD. Alternatively, the sensor SC may be a LiDAR (Light Detection and Ranging) or an optical camera. The loading information acquired by the sensor SC may be transmitted to the communication unit 20 wirelessly or via a wired connection and processed by the controller 10.

[0027] The conveyor CV transports one or more items. The conveyor CV may transport items received from another process (not shown) to a location where an automated guided vehicle (AGV) is waiting, or it may transport items received from an AGV to a location where they are handed over to another process.

[0028] For example, as shown in Figure 2A, the conveyor CV is installed at a height distance from the road surface FL on which the automated guided vehicle travels. Figure 2A shows that the bottom surface of the conveyor CV is located at a height HT relative to the road surface FL.

[0029] An automated guided vehicle (AGV) that is not loaded with goods LD may travel directly beneath the conveyor belt CV. For example, if the height of the AGV is height H1 relative to the road surface FL, then height HT is set higher than height H1.

[0030] Here, for an automated guided vehicle (AGV) that is not transporting goods LD, the "height of the AGV" refers to the distance from the road surface FL to the platform on which the goods LD are placed. For an AGV that is transporting goods LD, the "height of the AGV" refers to the distance from the road surface FL to the highest point of the goods LD placed on the platform of the AGV. In the example shown in Figure 2A, since AGV AM1 is transporting goods LD, the "height" of AGV AM1 is height H2, corresponding to the highest point of the goods LD. Also, since AGV AM2 is not transporting goods LD, the "height" of AGV AM2 is height H1.

[0031] The configuration of the conveyor CV is not limited to the examples given herein.

[0032] The transfer device TF handles the transfer of items LD to and from the automated guided vehicle (AGV). For example, the transfer device TF may perform the operation of placing items LD transported by the conveyor CV onto the studs of the AGV. Alternatively, the transfer device TF may perform the operation of placing items LD transported by the AGV onto the conveyor CV.

[0033] Figure 2C shows the transfer device TF as a picking robot, but the configuration of the transfer device TF is not limited to the example given here. For example, the transfer device TF may be a device equipped with a lifting mechanism. Also, the transfer device TF may be separate from the conveyor CV, or it may be part of the conveyor CV.

[0034] [Control of the transport system] Figure 3 is a block diagram showing the configuration of the controller related to the control of the transport system according to this disclosure.

[0035] The controller 10 is connected to the automated guided vehicles AM1 to AM3 via the communication unit 20, and the controller 10 controls the automated guided vehicles AM1 to AM3.

[0036] The controller 10 may also be mounted on a management server (not shown) that manages the conveyor CV and the items being transported. The controller 10 may also be mounted on a management server (not shown) that manages the transport of items by automated guided vehicles AM1 to AM3 and the travel routes during transport. In addition, the controller 10 may be connected to these management servers.

[0037] The controller 10 may acquire information regarding the number of items being transported on the conveyor CV, or information regarding the location and travel route of the automated guided vehicles AM1 to AM3.

[0038] Controller 10 is a general-purpose computer equipped with a CPU (Central Processing Unit), memory, and input / output units. A computer program (transportation program) for controlling the transport system 1 is installed in Controller 10. By executing the computer program, Controller 10 functions as one of the multiple information processing circuits (11, 13, 15, 17) provided by the transport system 1.

[0039] This disclosure provides an example of implementing multiple information processing circuits (11, 13, 15, 17) using software. However, it is also possible to configure the information processing circuits (11, 13, 15, 17) by preparing dedicated hardware for each of the information processing operations described below. Alternatively, the multiple information processing circuits (11, 13, 15, 17) may be configured using separate hardware.

[0040] As shown in Figure 3, the controller 10 comprises a plurality of information processing circuits (11, 13, 15, 17), including a loading information management unit 11, a determination unit 13, a driving condition setting unit 15, and an execution instruction unit 17.

[0041] The loading information management unit 11 acquires loading information for each automated guided vehicle (AGV) from the sensor SC. The loading information management unit 11 also stores the loading information linked to AGVs AM1 to AM3.

[0042] The loading information management unit 11 may acquire loading information for each automated guided vehicle (AGV) at predetermined intervals via the sensor SC. Alternatively, the loading information management unit 11 may acquire loading information for each AGV approaching the sensor SC. The loading information management unit 11 may also store a timestamp indicating the date and time the loading information was acquired, linked to the loading information.

[0043] The determination unit 13 acquires the "height" of each automated guided vehicle (AGV) based on the loading information for each AGV AM1 to AM3. The "height" may be acquired for each AGV AM1 to AM3.

[0044] Furthermore, the determination unit 13 may determine the area on the road surface FL where the automated guided vehicles AM1 to AM3 can travel, based on the set "height". For example, the determination unit 13 compares the "height limit" for the automated guided vehicle passing through the target area on the road surface FL with the "height" of the automated guided vehicle. If the "height" of the automated guided vehicle is lower than the height limit for the target area, the determination unit 13 determines that the automated guided vehicle can pass through the target area. Note that the "height limit" for each target area may be set in advance and stored in a database or the like (not shown). The database may store the travel routes, which will be described later. The database may store the "height limit" for each target area where the travel routes are located, along with the travel routes. The database may store the "height" of the automated guided vehicle when traveling along the travel routes, along with the travel routes.

[0045] In particular, the determination unit 13 may determine whether an automated guided vehicle (AGV) can pass through an area set directly beneath the conveyor CV, using that area as the target area. In other words, the determination unit 13 may determine whether an AGV can pass through an area set directly beneath the conveyor CV based on the loading information. The determination unit 13 sets the area that an AGV can pass through as the area where an AGV can travel.

[0046] For example, according to Figure 2A, since the automated guided vehicle (AGV) AM1 is transporting item LD, AGV AM1 has a height H2. Since AGV AM2 is not transporting item LD, AGV AM2 has a height H1. Furthermore, the height restriction in the area directly below the conveyor CV is represented by the height HT.

[0047] Since height H2 is higher than height HT, the determination unit 13 determines that the automated guided vehicle AM1 cannot pass through the area set directly below the conveyor CV. Also, since height H1 is lower than height HT, the determination unit 13 determines that the automated guided vehicle AM2 can pass through the area set directly below the conveyor CV.

[0048] The driving condition setting unit 15 sets the driving conditions for each automated guided vehicle based on the load information.

[0049] For example, the speed, acceleration, and steering angle of the automated guided vehicle (AGV) as it travels along its route may be set according to the travel conditions. Furthermore, upper limits on the speed, acceleration, and steering angle of the AGV as it travels along its route may also be set according to the travel conditions.

[0050] More specifically, the driving conditions may be set such that the magnitude of the acceleration of the automated guided vehicle (AGV) when it is not carrying any goods is greater than the magnitude of the acceleration of the AGV when it is carrying goods. The driving conditions may also be set such that the magnitude of the acceleration of the AGV when the weight of the goods carried on it is light is greater than the magnitude of the acceleration of the AGV when the weight of the goods carried on it is heavy.

[0051] Furthermore, the driving conditions may be set such that the maximum speed of the automated guided vehicle (AGV) when it is not carrying any goods is greater than the maximum speed of the AGV when it is carrying goods. The driving conditions may also be set such that the maximum speed of the AGV when the weight of the goods carried on it is light is greater than the maximum speed of the AGV when the weight of the goods carried on it is heavy.

[0052] In addition, the driving conditions set by the driving condition setting unit 15 may include information generated by the determination unit 13 regarding whether or not an automated guided vehicle (AGV) can pass through each area.

[0053] The driving condition setting unit 15 sets the driving paths of the automated guided vehicles AM1 to AM3 so as to satisfy the set driving conditions.

[0054] In particular, the driving condition setting unit 15 may set the "height related to the automated guided vehicle" based on the load information and set the driving route based on the set height. The driving condition setting unit 15 sets the driving route so that the "height related to the automated guided vehicle" is lower than the height limit in the area where the set driving route is located.

[0055] The execution instruction unit 17 instructs the automated guided vehicle (AGV) to travel along a set travel path. Upon receiving the instruction, the AGV travels along the set travel path. In doing so, the AGV travels in a manner that satisfies the set travel conditions.

[0056] In addition, the execution instruction unit 17 may control the conveyor CV and the transfer device TF to transfer goods between the conveyor CV and the automated guided vehicle (AGV) when the AGV reaches a predetermined area. For example, the execution instruction unit 17 may control the transfer device TF to transfer goods between the conveyor CV and the AGV.

[0057] [Processing procedure for the transport system] Figure 4 is a flowchart showing the processing procedure of the transport system according to this disclosure. The processing shown in Figure 4 may be performed repeatedly at a predetermined interval.

[0058] In step S101, the loading information management unit 11 acquires loading information for each automated guided vehicle from the sensor SC.

[0059] In step S103, the driving condition setting unit 15 sets the driving conditions for each automated guided vehicle based on the load information.

[0060] In step S105, the determination unit 13 obtains the height of the automated guided vehicle based on the loading information.

[0061] In step S107, the determination unit 13 sets an area in which the automated guided vehicle can travel.

[0062] In step S109, the driving condition setting unit 15 sets a driving route that satisfies the driving conditions and is located in an area where driving is possible.

[0063] In step S111, the execution instruction unit 17 instructs the automated guided vehicle to travel along the designated route.

[0064] [Effects of the Embodiment] As described in detail above, the transport system and transport method relating to this disclosure uses one or more automated guided vehicles (AGVs), a sensor that acquires load information including information indicating whether or not goods are loaded on the AGVs, and a controller that controls the AGVs. The controller acquires load information for each AGV from the sensor and sets the travel path of the AGVs based on the load information.

[0065] This reduces the possibility of interference with equipment such as transfer devices and conveyors. In particular, it suppresses interference between the controller-controlled automated guided vehicle (AGV) and surrounding equipment while it is in motion. Furthermore, since loading information indicating whether or not goods are loaded onto the AGV is used to set the AGV's travel path, it is possible to determine whether or not to set a travel path that utilizes areas with height restrictions when the AGV passes through. As a result, the creation of AGV travel paths can be done flexibly.

[0066] The sensor may be installed on at least one of the following: a transfer device that handles the transfer of goods between the automated guided vehicle (AGV), a conveyor that transports goods, or the AGV itself. This allows for the acquisition of loading information indicating whether or not goods are loaded onto the AGV. In particular, by placing the sensor on the transfer device or conveyor, it is possible to determine whether or not to set a travel route that utilizes areas with height restrictions when the AGV passes through, without changing the configuration of the AGV. As a result, the travel routes of the AGV can be created flexibly. If the sensor is placed on the AGV, it is possible to detect early on if goods fall off or the load shifts during transport. Furthermore, it is possible to detect the location where goods fall off or the load shifts and the AGV affected, thereby minimizing the impact on the travel of other AGVs.

[0067] The controller may set the driving conditions for the automated guided vehicle (AGV) along the travel path based on the load information. The magnitude of the acceleration of the AGV under the driving conditions set when the AGV is not carrying goods may be greater than the magnitude of the acceleration of the AGV under the driving conditions set when the AGV is carrying goods. This increases the degree of freedom during the AGV's travel. For example, the AGV can travel at a higher speed when it is not carrying goods compared to when it is carrying goods. As a result, the utilization efficiency of the AGV can be improved. Furthermore, the capacity of the transport system to transport goods can be increased.

[0068] The loading information includes information related to the height of the automated guided vehicle (AGV) and the items loaded onto the AGV. The controller may set the height of the AGV based on the loading information and set the travel route based on the height. This makes it possible to determine whether or not to set a travel route that utilizes areas with height restrictions when the AGV passes through. As a result, the travel route of the AGV can be created flexibly.

[0069] The controller may also set whether or not the automated guided vehicle (AGV) should pass through an area set directly beneath the conveyor belt that transports goods, based on the loading information. This makes it possible to use a travel path that passes through the area set directly beneath the conveyor belt. As a result, the travel paths of the AGV can be created flexibly. This improves the efficiency of equipment placement in facilities where AGVs operate, and enables space saving. Furthermore, it is possible to increase the number of AGVs in the transport system and increase the amount of goods that can be transported.

[0070] The automated guided vehicle (AGV) described in this disclosure has its travel route set by a controller. It also includes a sensor that acquires load information, including information indicating whether or not goods are loaded in the AGV, and a communication device that transmits the load information to the controller. The controller acquires load information for each AGV from the sensor and sets the travel route based on the load information.

[0071] This reduces the possibility of interference with equipment such as transfer devices and conveyors. In particular, it suppresses interference between the controller-controlled automated guided vehicle (AGV) and surrounding equipment while it is in motion. Furthermore, since loading information indicating whether or not goods are loaded onto the AGV is used to set the AGV's travel path, it is possible to determine whether or not to set a travel path that utilizes areas with height restrictions when the AGV passes through. As a result, the creation of AGV travel paths can be done flexibly.

[0072] Each of the functions described in the embodiments above may be implemented by one or more processing circuits. These processing circuits may include programmed processors, electrical circuits, and other devices such as application-specific integrated circuits (ASICs), or circuit components arranged to perform the described functions.

[0073] According to this disclosure, the possibility of interference with equipment such as transfer devices and conveyors can be reduced, and furthermore, the operation of the automated guided vehicle can be optimized. As a result, the efficiency of transportation can be improved, and labor productivity can be increased. Therefore, for example, it can contribute to Goal 8 of the United Nations Sustainable Development Goals (SDGs), "Promote inclusive and sustainable economic growth and full and productive employment and decent work for all."

[0074] Although several embodiments have been described, it is possible to modify or transform the embodiments based on the above disclosure. All components of the above embodiments, and all features described in the claims, may be taken individually and combined, provided that they do not conflict with each other. [Explanation of symbols]

[0075] 1. Conveying System 10 Controllers 11. Loading Information Management Department 13 Judgment section 15 Driving Condition Setting Unit 17 Execution Instruction Unit 20 Communications Department AM1-AM3 Automated Guided Vehicles CV Conveyor FL road surface LD Goods SC Sensor TF transfer device

Claims

1. One or more automated guided vehicles, A sensor that acquires loading information including information indicating whether or not goods are loaded onto the aforementioned automated guided vehicle, A controller for controlling the aforementioned automated guided vehicle, A transport system equipped with, The aforementioned controller, The load information for each automated guided vehicle is acquired from the aforementioned sensor. Based on the aforementioned loading information, the travel route of the automated guided vehicle is set. Conveyor system.

2. The sensor is installed in at least one of the following: a transfer device that transfers the article to and from the automated guided vehicle, a conveyor that transports the article, and the automated guided vehicle. The transport system according to claim 1.

3. The aforementioned controller, Based on the aforementioned loading information, the driving conditions for the automated guided vehicle along the aforementioned travel route are set. The magnitude of the acceleration of the automated guided vehicle under the driving conditions set when the automated guided vehicle is not carrying the item is greater than the magnitude of the acceleration of the automated guided vehicle under the driving conditions set when the automated guided vehicle is carrying the item. The transport system according to claim 1.

4. The loading information includes information relating to the height of the automated guided vehicle and the items loaded on the automated guided vehicle. The aforementioned controller, Based on the aforementioned loading information, the height of the automated guided vehicle is set. The travel path is set based on the aforementioned height. The transport system according to any one of claims 1 to 3.

5. The aforementioned controller, Based on the loading information, it is determined whether or not the automated guided vehicle will pass through the area set directly below the conveyor that transports the goods along the travel path. The transport system according to claim 4.

6. An automated guided vehicle whose travel path is set by a controller, A sensor that acquires loading information including information indicating whether or not goods are loaded onto the aforementioned automated guided vehicle, A communication device that transmits the aforementioned loading information to the controller, Equipped with, The aforementioned controller, The load information for each automated guided vehicle is acquired from the aforementioned sensor. Based on the aforementioned load information, the aforementioned travel route is set. Automated guided vehicle.

7. One or more automated guided vehicles, A sensor that acquires loading information including information indicating whether or not goods are loaded onto the aforementioned automated guided vehicle, A controller for controlling the aforementioned automated guided vehicle, A transport method relating to a transport system equipped with, The aforementioned controller, The load information for each automated guided vehicle is acquired from the aforementioned sensor. Based on the aforementioned loading information, the travel route of the automated guided vehicle is set. Method of transport.

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