Elevating movement control system and elevating movement control method

Abstract

This raising / lowering movement control system, for controlling an automatic carrier that carries an article and moves and a raising / lowering device that is raised and lowered while the automatic carrier is on board, comprises: a raising / lowering-related information acquiring unit that acquires raising / lowering-related information related to the raising / lowering device onto which the automatic carrier is expected to board; and a movement control unit that sets a movement path toward the raising / lowering device to be boarded, on the basis of the raising / lowering-related information.

Description

Technical Field

[0001] This specification discloses a lifting control system and a lifting control method.

Background Art

[0002] Conventionally, a system has been proposed for controlling an automatic guided vehicle that automatically transports articles and an elevator (lifting device) that moves up and down with the automatic guided vehicle on board. For example, Patent Document 1 describes that when an automatic guided vehicle uses an elevator to move to different floors, an object detection sensor detects whether there is an object at the elevator landing, and if it is determined that there is no object, a call signal is output to the elevator. Thus, for example, it prevents the boarding of the automatic guided vehicle from being prioritized even when an operator is waiting for the elevator at the landing.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above-described system, although the detection information by the object detection sensor is used, other information is not considered. Therefore, there is still room for improvement in order to efficiently move the automatic guided vehicle accompanied by the lifting by the lifting device and smoothly transport the articles.

[0005] The main object of the present disclosure is to efficiently perform the movement of the automatic guided vehicle accompanied by the lifting by the lifting device.

Means for Solving the Problems

[0006] The present disclosure has taken the following means to achieve the above main object.

[0007] The first lifting and moving system of the present disclosure is a lifting and moving control system that controls an automatic transport vehicle for loading and moving articles and a lifting device that lifts in a state where the automatic transport vehicle is on board, a lifting-related information acquisition unit that acquires lifting-related information regarding the lifting device on which the automatic transport vehicle is scheduled to board, a movement control unit that sets a movement path to the lifting device on which boarding is scheduled based on the lifting-related information, and is characterized by including the above.

[0008] In the first lifting and moving system of the present disclosure, since the movement path to the lifting device on which boarding is scheduled is set based on the lifting-related information, the movement of the automatic transport vehicle can be efficiently performed.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0010] [First Embodiment] Next, a first embodiment for implementing the present disclosure will be described with reference to the drawings. FIG. 1 is an explanatory diagram showing an example of the article management system 10. FIG. 2 is an explanatory diagram showing an example of the warehouse 20. FIG. 3 is a block diagram showing a configuration related to the control of the warehouse 20 and the AMR 50. The article management system 10 manages articles stored in the warehouse 20 by a delivery vehicle 60 and articles delivered from the warehouse 20 to a desired destination by the delivery vehicle 60. For the conveyance of articles between inside the warehouse 20 and the delivery vehicle 60, a cart 12, an AMR (autonomous mobile robot) 50, etc. are used. Here, examples of the articles include foods, daily necessities, and various industrial products. In FIG. 1, the articles are stored in the storage box 18, but hereinafter, without particularly distinguishing whether or not they are stored in the storage box 18, they will simply be referred to as articles. Also, the delivery of articles is not limited to the delivery vehicle 60 and may be performed by a train, a ship, an aircraft, or the like.

[0011] The cart 12 includes a flat loading portion 13 for loading articles and casters 14 as traveling wheels disposed on the lower surface side of the loading portion 13. Articles are transferred to the loading portion of the cart 12 by an operator or an arm robot (not shown). The cart 12 is moved by an operator and is also automatically moved by the AMR 50. Note that the cart 12 may be a basket cart.

[0012] Warehouse 20 includes a plurality of storage shelves (storerooms) 22, a warehouse management device 30, a charging station 24, and an elevator system 40, and is provided with an entrance / exit 21, a waiting area 23 for the trolley 12, a landing 25 for the elevator 41 of the elevator system 40, etc. Warehouse 20 is a building with multiple floors (for example, 3 floors in FIG. 1), and the elevator 41 of the elevator system 40 enables workers and AMRs 50 to move between floors. Note that FIG. 2 shows the configuration of the first floor of warehouse 20, and the configurations of other floors are omitted. Articles transported into warehouse 20 by trolley 12 or AMR 50 are stored in each storage shelf 22 by workers or arm robots (not shown). Also, articles stored in storage shelf 22 are transferred to trolley 12 by workers or arm robots and then stored in delivery vehicle 60, or transferred to AMR 50 and transported to storage shelves 22 on other floors or waiting area 23. In waiting area 23, trolleys 12 carrying articles waiting to be stored in storage shelf 22, trolleys 12 carrying articles waiting to be stored in delivery vehicle 60, etc. wait. Note that warehouse 20 may be an automated warehouse capable of automatically storing and retrieving articles in storage shelf 22.

[0013] Warehouse management device 30 includes a control unit 32, a memory unit 34, and a communication unit 36. Control unit 32 manages the storage and retrieval of articles in storage shelf 22, the transportation of articles by AMR 50 and trolley 12, etc. Memory unit 34 stores various application programs and various data files, etc. Also, memory unit 34 stores information on articles stored in each storage shelf 22, information on the travel schedule of each AMR 50, etc. Communication unit 36 can communicate with external devices such as charging station 24, elevator system 40, and AMR 50 by wire or wirelessly. Charging station 24 is provided with one or more (for example, 3 in FIG. 2) charging areas 24a. When AMR 50 stops at a predetermined position in charging area 24a, a connector is connected and AMR 50 can be charged. Note that charging station 24 may be capable of charging AMR 50 wirelessly.

[0014] The elevator system 40 includes a plurality of elevators 41 and an elevator control unit 49 that controls the entire system such as the raising and lowering of each elevator 41, and has landing areas 25 corresponding to each elevator 41 respectively. In this embodiment, as the plurality of elevators 41, four elevators 41(1) to 41(4) with the same configuration are provided, and an example is given in which four landing areas 25(1) to 25(4) with the same configuration are provided as the landing areas 25. In FIG. 3, a block diagram of each configuration included in the elevator 41(1) and the landing area 25(1) is shown, but illustrations of each configuration included in the other elevators 41(2) to 41(4) and the landing areas 25(2) to 25(4) are omitted.

[0015] The elevator 41 includes an opening / closing door 42, an operation button 43, a notification unit 45, a lifting drive unit 46, an opening / closing drive unit 47, and a communication unit 48. The opening / closing door 42 is a door that opens and closes a box-shaped car in which an operator, an AMR 50, etc. board, and operates by the drive of the opening / closing drive unit 47. The operation button 43 is provided on the inner wall surface of the car and includes an open button, a close button, a destination floor button, etc. The weight sensor 44 is provided under the floor of the car and measures the total weight of an operator (passenger) boarding the car, an AMR 50, etc. The notification unit 45 includes a speaker that outputs notification sounds such as arrival sounds and voice messages. As a voice message, the notification unit 45 outputs, for example, a weight error notification message when the total weight measured by the weight sensor 44 exceeds the limit weight of the elevator 41.

[0016] The lifting drive unit 46 includes a wire for suspending the car and a hoisting device for winding up the wire, and the hoisting device lifts the car by winding up the wire, and lowers the car by winding down the wire. The communication unit 48 can communicate with the lifting control unit 49 by wire, and transmits information such as a destination floor received from a worker via the operation button 43 to the lifting control unit 49. The communication unit 48 is also configured to be able to communicate with an external device by wire or wirelessly, and transmits information related to instructions received via the operation button 43 and information received by wireless communication with the AMR 50 to the lifting control unit 49. The communication unit 48 may also be configured to be able to communicate with the warehouse management device 30, and receive information about the AMR 50 via the warehouse management device 30.

[0017] The landing 25 is a place where workers, the AMR 50, etc. get on and off the elevator 41, and is provided on each floor. Each landing 25 is provided with an opening / closing door 26, an operation button 27, an opening / closing drive unit 28, and a communication unit 29. The opening / closing door 26 is a door provided on each floor so as to open and close in conjunction with the opening / closing door 42 of the elevator 41, and is operated by driving the opening / closing drive unit 28. The operation button 27 is provided on the wall of the landing 25 on each floor, and includes an up button, a down button, etc. The communication unit 29 is configured to be able to communicate with an external device by wire or wirelessly, and transmits information regarding instructions received via the operation button 27 and information received by wireless communication with the AMR 50 to the lift control unit 49. The communication unit 29 may also be configured to be able to communicate with the warehouse management device 30, and may receive information about the AMR 50 via the warehouse management device 30. Although not shown in the figure, the landing 25 is provided with a notification unit such as a lamp that turns on when the elevator 41 arrives. Examples of information that the communication unit 48 of the elevator 41 and the communication unit 29 of the hall 25 can receive from the AMR 50 and the warehouse management device 30 include destination information such as upward or downward travel and destination floor, and weight information of the AMR 50. The weight of the AMR 50 may be calculated by adding the calculated weight of the goods carried by the AMR 50 to the weight of the AMR 50 itself based on its specifications. Alternatively, a weight sensor may be installed under the floor of the warehouse 20 (e.g., the hall 25) and the weight may be measured by the weight sensor.

[0018] The elevator control unit 49 acquires the operating status of each elevator 41, the destination information of workers and AMRs 50, etc. from the communication unit 48 of each elevator 41, the communication unit 29 of each landing 25, the warehouse management device 30, etc. Based on the acquired information, the elevator control unit 49 controls the operation such as the ascending and descending of each elevator 41.

[0019] The AMR 50 includes a movement control unit 51, a battery 52, a power supply circuit 54, a drive unit 55, a lifting unit 56, a detection sensor 57, a storage unit 58, and a communication unit 59, and autonomously travels in an arbitrary direction while avoiding surrounding obstacles to automatically transport goods.

[0020] The battery 52 is configured as, for example, a lithium-ion secondary battery or a nickel-metal hydride secondary battery, and outputs electric power of a predetermined voltage to the power supply circuit 54. The power supply circuit 54 supplies the electric power from the battery 52 as high-voltage electric power required for the drive system such as the drive unit 55 and the lifting unit 56, or supplies it as low-voltage electric power required for the control system such as the movement control unit 51 and the communication unit 59 other than the drive system. The drive unit 55 includes a motor that rotationally drives the wheels 55a, a steering mechanism, etc., and moves the AMR 50. Note that the wheels 55a may be configured as mecanum wheels. The lifting unit 56 is configured as a lifting device that moves the lifting plate 56a constituting the upper surface of the AMR 50 up and down with a cylinder or the like. The AMR 50 can be connected to the carriage 12 by raising the lifting plate 56a by driving the lifting unit 56 while being positioned below the carriage 12, and moving the carriage 12.

[0021] The detection sensor 57 detects the presence or absence of objects around the AMR50 and the distance to the object by irradiating the surroundings with, for example, laser light or sound waves and detecting the reflected waves. The movement control unit 51 controls the entire AMR50, outputs control signals to the power supply circuit 54, the drive unit 55, and the elevating unit 56, and inputs detection information from the detection sensor 57, the drive state of the drive unit 55, and the drive state of the elevating unit 56. Further, the movement control unit 51 grasps the movement direction, movement speed, movement distance, current position, etc. of the AMR50 based on the drive state of the drive unit 55. The movement control unit 51 controls the drive unit 55 to avoid surrounding objects and travel, creates a map inside the warehouse 20 while traveling, and updates the map based on the detection information from the detection sensor 57. The storage unit 58 stores various application programs and various data files. Further, the storage unit 58 also stores the map created by the movement control unit 51. The map includes the positions of the elevators 41 and the landings 25 acquired from the warehouse management device 30. The communication unit 59 wirelessly exchanges information with external devices such as the warehouse management device 30 and the elevator system 40. In the present embodiment, the AMR50 is illustrated, but any automatic transport vehicle that automatically transports articles may be used, such as an AGV (Automatic Guided Vehicle) that moves along a predetermined path.

[0022] The delivery vehicle 60 is a vehicle that loads and delivers one or more carts 12. The delivery vehicle 60 loads the carts 12 on which articles are loaded at a production base (not shown) and delivers them to the warehouse 20, or loads the carts 12 on which articles are loaded at the warehouse 20 and delivers them to a predetermined destination. As shown in FIG. 1, this delivery vehicle 60 includes a cargo compartment 61, a tailgate 62, a tail lift 63, a control unit 65, and a communication unit 67. The cargo compartment 61 is a space for loading the carts 12. The tailgate 62 is provided at the rear of the vehicle and opens and closes the cargo compartment 61 by being driven by an electric actuator, a hydraulic actuator, or the like. The tail lift 63 enables the cart 12, the AMR 50, etc. to board by making the boarding surface horizontal, and moves up and down between the floor surface of the cargo compartment 61 and the road surface by being driven by an electric actuator, a hydraulic actuator, or the like. The control unit 65 controls the operations of the tailgate 62 and the tail lift 63 through communication with an external device via the communication unit 67. Further, the control unit 65 may control the operation of the tail lift 63 or the like based on an operation instruction received from an operator (driver) via an operation panel (not shown). The communication unit 67 wirelessly exchanges information with external devices such as the warehouse management device 30 and the AMR 50. Note that in the case where the control unit 65 controls the operation of the tail lift 63 or the like solely based on the operation instruction of the operator, the communication unit 67 may not be provided.

[0023] The following is an explanation of the operation of the article management system 10 configured in this way, particularly the operation when the AMR 50 moves with the elevator 41 moving up and down. FIG. 4 is a sequence showing an example of AMR movement control and elevator up / down control. First, the movement control unit 51 of the AMR 50 transmits destination information (conveyance-related information) to the elevator system 40 (S100). As the destination information, for example, information on whether it is going up or down is transmitted. Alternatively, the information on the destination floor may be transmitted, or the information on whether it is going up or down and the information on the destination floor may be transmitted. The transmitted destination information is received by the communication unit 29 of the landing 25 closest to the AMR 50 and transferred to the up / down control unit 49. Note that the destination information transmitted from the AMR 50 may be received by the communication unit 36 of the warehouse management device 30 and transferred to the up / down control unit 49.

[0024] The elevator control unit 49 that has received the destination information determines the elevator 41 on which the AMR 50 is scheduled to board based on the current operating status of each elevator 41(1) to 41(4) and the destination information (S200). Next, the elevator control unit 49 transmits the number (identification information) and arrival time of the determined elevator 41 to the AMR 50 (S210), and controls the elevating and lowering of that elevator 41 (S220). The number of the elevator 41 is information indicating which of the elevators 41(1) to 41(4) it is. The arrival time is the time scheduled to arrive at the current floor of the AMR 50, and if there is a scheduled boarding or alighting of an operator on an intermediate floor, it is calculated taking into account that boarding and alighting time.

[0025] The movement control unit 51 that has received the number and arrival time of the elevator 41 on which boarding is scheduled determines an optimal movement route based on the current position of the AMR 50 and the position of the landing 25 corresponding to the elevator 41 on which boarding is scheduled (S110). As the movement route, for example, a movement route with a short distance and little movement loss is determined. For example, as shown in FIG. 2, when the AMR 50(1) is scheduled to board the elevator 41(2), the movement route R1 from the current position to the landing 25(2) is determined. Also, when the AMR 50(1) is scheduled to board the elevator 41(4), the movement route R2 from the current position to the landing 25(4) is determined. Note that the movement control unit 51 may acquire the working status in each storage shelf 22 from the management device 30 and determine the movement route so as not to interfere with the work.

[0026] Next, the movement control unit 51 determines the optimal movement speed of the AMR 50 based on the distance of the movement route determined in S110 and the time until the arrival time (S120). Subsequently, the movement control unit 51 controls the AMR 50 to move along the movement route determined in S110 at the movement speed determined in S120 (S130), and waits for the AMR 50 to arrive at the boarding area 25 (S140). For example, if traveling at the predetermined movement speed during normal article conveyance results in arriving too early before the arrival time, by determining a movement speed slower than the predetermined movement speed and moving the AMR 50 slowly, unnecessary power consumption can be suppressed and the AMR 50 can be efficiently moved. Conversely, if traveling at the predetermined movement speed results in arriving too late after the arrival time, by determining a movement speed faster than the predetermined movement speed and moving the AMR 50 promptly, it is possible to prevent keeping a worker or the like waiting while they are boarding the elevator 41.

[0027] On the other hand, the elevating control unit 49 waits for the elevator 41 to arrive at the floor where the AMR 50 is scheduled to board (S230). When it determines that the elevator has arrived, it opens the doors of the elevator 41 (the opening / closing doors 26, 42) and transmits a boarding permission notice to the AMR 50 (S240).

[0028] When the movement control unit 51 determines that it has arrived at the boarding area 25 in S140, it waits to receive a boarding permission notice (S150). Then, when the movement control unit 51 determines that it has received the boarding permission notice, it causes the AMR 50 to board the elevator 41 (S160) and transmits a boarding completion notice (S170). Note that when only the information indicating whether it is going up or down is transmitted as the destination information, the movement control unit 51 transmits the information of the destination floor together with the boarding completion notice.

[0029] Upon receiving the notice of boarding completion, the elevating control unit 49 closes the doors of the elevator 41 (the opening / closing doors 26, 42) and controls the elevator 41 to move up and down toward the destination floor of the AMR 50 (S250). Note that when arriving at the destination floor, the elevating control unit 49 opens the doors of the elevator 41 and transmits an arrival notice to the AMR 50. After getting off the elevator 41, the AMR 50 transmits that fact to the elevating control unit 49.

[0030] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The movement control unit 51 that acquires the information transmitted in S210 of FIG. 4 in this embodiment corresponds to the lifting / lowering related information acquisition unit, and the movement control unit 51 that executes the processes of S110 (S120, S130) in FIG. 4 corresponds to the movement control unit.

[0031] In the article management system 10 described above, based on information (lifting / lowering related information) such as the number of the elevator 41 scheduled to be boarded, an optimal movement route to the elevator 41 can be set. Also, the AMR 50 can be efficiently moved along the set movement route.

[0032] Also, the arrival time of the elevator 41 is acquired, the movement speed is set based on the movement distance in the movement route and the time until the arrival time, and the AMR 50 is controlled to move along the movement route at that movement speed. For this reason, an appropriate movement speed according to the arrival time of the elevator 41 can be set, and the AMR 50 can be moved more efficiently.

[0033] It should be noted that the present disclosure is not limited to the above-described embodiments at all, and it goes without saying that various aspects can be implemented as long as they belong to the technical scope of the present disclosure.

[0034] In the above-described first embodiment, the lifting / lowering control unit 49 acquired the destination information from the AMR 50. However, the present disclosure is not limited to this, and information other than the destination information may be acquired as conveyance related information. For example, information regarding the articles carried by the AMR 50 may be acquired, and an elevator 41 suitable for the type of the article may be selected for lifting / lowering control. If there are articles that require cold storage such as frozen foods among the articles, and among the plurality of elevators 41, there are an elevator 41 corresponding to cold storage and a normal elevator 41 not corresponding to cold storage, when information regarding the article is acquired and the article requires cold storage, the elevator 41 corresponding to cold storage may be selected.

[0035] In addition, the lifting control unit 49 may acquire information regarding the weight of the AMR 50, including the articles carried by the AMR 50. Hereinafter, this modification will be described. FIG. 5 is a sequence diagram showing AMR movement control and elevator lifting control according to the modification. In the modification, the same process as in the embodiment is denoted by the same step number and the description thereof is omitted. In FIG. 5, the movement control unit 51 of the AMR 50 transmits the destination information and the weight information of the AMR 50 including the articles carried thereon to the lifting control unit 49 as conveyance-related information (S100b). Note that the processes of the movement control unit 51 after S110 are the same as those in the embodiment, and thus the description thereof is omitted.

[0036] On the other hand, the lifting control unit 49 that has received the destination information and the weight information determines an elevator 41 on which the AMR 50 can board based on the weight information of the AMR 50 (S200b), and transmits the elevator number and the arrival time at S200. For this reason, when the AMR 50 boards, it is possible to prevent calling an elevator 41 in which the combined weight of the AMR 50 and the operator on board exceeds the limit weight, so that the AMR 50 can be appropriately boarded on the elevator 41.

[0037] In addition, the lifting control unit 49 calculates an allowable weight obtained by subtracting the weight of the AMR 50 from the limit weight of the elevator 41 (S215), and controls the lifting of the elevator 41 while determining whether other operators can board based on the allowable weight (S220b). Then, the lifting control unit 49 determines whether the allowable weight has been exceeded (S222), and if the allowable weight has been exceeded, determines that boarding is not possible and causes the notification unit 45 to notify that the weight has been exceeded (S224). That is, the lifting control unit 49 of the modification determines whether other operators can board based on the allowable weight obtained by subtracting the weight of the AMR 50 from the limit weight of the elevator 41, and if the allowable weight has been exceeded, notifies that the weight has been exceeded and prevents boarding. Thereby, it is possible to secure the weight corresponding to the AMR 50 scheduled to board and prevent the AMR 50 from being unable to board the elevator 41 scheduled for boarding. That is, the AMR 50 can be surely boarded on the elevator 41 scheduled for boarding, and the AMR 50 can be efficiently moved.

[0038] In the first embodiment, the elevator system 40 includes a plurality of elevators 41, but the present invention is not limited to this, and the elevator system 40 may include only one elevator 41. Even in the configuration with only one elevator, the effect of setting the moving speed of the AMR 50 according to the arrival time of the elevator 41 can be obtained.

[0039] In the first embodiment, the control unit of the automatic guided vehicle such as the AMR 50 acquires the information (elevator-related information) of the elevator 41, but the present invention is not limited to this, and the management device 30 may acquire it. Then, the management device 30 may control the movement of the automatic guided vehicle.

[0040] In the first embodiment, the elevator 41 includes a communication unit 48 so that the destination floor of the AMR 50 can be acquired by communication, but the present invention is not limited to this. For example, in the elevator 41 that cannot perform wireless communication with an external device such as the AMR 50, the boarded AMR 50 may be able to instruct the destination floor to the elevator 41. Hereinafter, a modification example in that case will be described. FIG. 6 is an explanatory diagram showing an example of the configuration of the button operation attachment 70, FIG. 7 is an explanatory diagram showing the state during manual operation of the button operation attachment 70, and FIG. 8 is an explanatory diagram showing the state during automatic operation of the button operation attachment 70.

[0041] The button operation attachment 70 of the modification example is attached so as to cover the operation buttons 43 in the elevator 41, and is configured to enable manual operation by an operator (passenger) and automatic operation by communication with the AMR 50. The button operation attachment 70 includes a case 71, a plurality of operation units 72, a communication unit 75, and a control unit 76. The case 71 is a box-shaped member, and an engaging portion 71a such as a claw portion that engages with a hole or a step (not shown) of the operation panel 43a of the operation buttons 43 in the elevator 41 is provided on the back surface, and a plurality of operation units 72 that can be operated from the front are provided. The operation units 72 are provided at positions corresponding to the respective operation buttons 43 in a state where the case 71 is attached to the operation panel 43a in the elevator 41.

[0042] The operation unit 72 includes a manual operation unit 73 that transmits the manual operation of the passenger to the operation button 43, and an automatic operation unit 74 that automatically operates the operation button 43 based on information from the AMR 50. The manual operation unit 73 is formed in a disk shape like the operation button 43 and has a receiving portion 73a that receives the pressing operation of the passenger, a pressing portion 73b that extends axially from the back surface of the receiving portion 73a and can press the operation button 43 at the tip, and a biasing portion (not shown) that biases the receiving portion 73a (pressing portion 73b) to the initial position. The same floor number as the corresponding operation button 43 is displayed on the surface of the receiving portion 73a. The automatic operation unit 74 includes a cylindrical pressing portion 74a that can press the operation button 43 with the tip surface, a guide portion 74b that guides the axial movement of the pressing portion 74a, an electromagnetic portion (not shown) that moves the pressing portion 74a toward the operation button 43 by electromagnetic force, and a biasing portion (not shown) that biases the pressing portion 74a to the initial position. The pressing portion 74a has a central hole through which the pressing portion 73b of the manual operation unit 73 can be inserted. The communication unit 75 is configured to be able to communicate with the AMR 50 wirelessly and transmits the received information to the control unit 76. The control unit 76 controls the electromagnetic portion and the like of the automatic operation unit 74 based on the information acquired by the communication unit 75. Note that the automatic operation unit 74 is not limited to moving the pressing portion 74a by the electromagnetic portion, and any other actuator such as an air cylinder may be used to automatically move the pressing portion 74a to operate the operation button 43.

[0043] In the button operation attachment 70 configured in this way, as shown in FIG. 7, when the receiving portion 73a of the manual operation unit 73 is pressed by the operator, the pressing portion 73b presses the operation button 43. As a result, the lift control unit 49 of the elevator system 40 receives the operation of the operation button 43. When the pressing operation of the operator is released, the receiving portion 73a (pressing portion 73b) returns to the initial position by the biasing force of the biasing portion, so the pressing of the operation button 43 is also released.

[0044] Also, as shown in FIG. 8, when the communication unit 75 receives the destination floor information from the AMR 50, the control unit 76 energizes the electromagnetic unit of the automatic operation unit 74 corresponding to the operation button 43 on that destination floor. As a result, the pressing part 74a presses the corresponding operation button 43, and the elevator control unit 49 receives the operation of the operation button 43. When a predetermined time has elapsed since the start of energization, the control unit 76 releases the energization. The pressing part 74a returns to the initial position by the biasing force of the biasing part, and the pressing of the operation button 43 is also released. In this way, by attaching the button operation attachment 70 to the operation panel 43a of each elevator 41, both the operator and the AMR 50 can perform the operation of the destination floor. Also, the AMR 50 may continue to send an open instruction until boarding the elevator 41 and send a close instruction when boarding is completed, or may continue to send an open instruction until getting off the elevator 41 and send a close instruction when getting off at the landing 25. By using the button operation attachment 70 of the modification example, the elevators 41 without the communication unit 48 can also appropriately control the ascending and descending of the AMR 50.

[0045] In the first embodiment, the warehouse 20 is exemplified, but it is not limited thereto, and any building equipped with the elevator 41 such as a factory or a store may be used.

[0046] [Second Embodiment] Next, the second embodiment will be described. In the first embodiment, the elevator 41 is exemplified, but it is not limited thereto, and any device that the AMR 50 can board and move up and down may be used. In the second embodiment, the tail lift 63 of the delivery vehicle 60 will be exemplified and described. FIGS. 9 and 10 are sequences showing an example of AMR movement control and tail lift ascending and descending control.

[0047] First, the movement control unit 51 of the AMR50 waits until it arrives at a position where it can board the tail lift 63 of the delivery vehicle 60 (S300). When it arrives at a position where it can board, it sends a descent instruction for the tail lift 63 (S310). When the control unit 65 of the delivery vehicle 60 receives the descent instruction via the communication unit 67, it starts the descent of the tail lift 63 and the opening of the tail gate 62 (S400). When it determines that those operations are completed (S410), it sends a descent completion notification (S420). The movement control unit 51 that has received the descent completion notification controls the AMR50 to board the tail lift 63 and then sends an ascent instruction (S320).

[0048] Also, when the control unit 65 receives the ascent instruction, it raises the tail lift 63 (S430). Then, when the ascent is completed (S440), the control unit 65 sends an ascent completion notification (S450). The movement control unit 51 that has received the ascent completion notification moves the AMR50 into the cargo compartment 61 and disconnects it from the cart 12 for loading or connects it to the cart 12 for unloading (S330), boards the tail lift 63 again, and sends a descent instruction (S340). When the control unit 65 of the delivery vehicle 60 receives the descent instruction via the communication unit 67, it starts the descent of the tail lift 63 (S460). When it determines that the descent is completed (S470), it sends a descent completion notification (S480). The movement control unit 51 that has received the descent completion notification controls the AMR50 to get off the tail lift 63 and drive to the warehouse 20 (S350). Note that the control unit 65 of the delivery vehicle 60 keeps the tail lift 63 in the lowered state so that the next AMR50 can board immediately.

[0049] Therefore, as shown in FIG. 10, the subsequent movement control unit 51 of the AMR50 controls the AMR50 to board the tail lift 63 at S320 without sending a descent instruction for the tail lift 63 and sends an ascent instruction. Note that the movement control unit 51 may communicate with the control unit 65 of the delivery vehicle 60 before boarding the tail lift 63, receive boarding permission, and then board. Thereafter, as in FIG. 9, the processes of S430 to S450, the processes of S330 and S340, and the processes of S460 to S480 are executed in order. Then, the movement control unit 51 of the AMR50 determines whether this is the last loading or unloading (S342). If it is determined to be the last, after sending a work completion notification (S344), the process of S350 is executed. If it is determined not to be the last, the process of S344 is skipped and the process of S350 is executed. On the other hand, when the control unit 65 of the delivery vehicle 60 determines that it has received a work completion notification (S485), it raises the tail lift 63 and closes the tail gate 62 (S490) and ends the process. Also, for example, if it is determined that a work completion notification has not been received for a predetermined time, the process of S490 is skipped and the tail lift 63 is left in the lowered state.

[0050] As described above, in the second embodiment, since the lifting and lowering of the tail lift 63 equipped with the AMR50 is automatically performed, the movement of the AMR50 accompanied by the lifting and lowering of the tail lift 63 can be efficiently performed, and the conveyance of articles can be appropriately performed. Also, since there is no need for an operator (driver) to operate the tail gate 62 or the tail lift 63, it is possible to prevent operator errors and achieve labor savings.

[0051] In this second embodiment, the AMR 50 or the warehouse management device 30 may transmit to the delivery vehicle 60 the arrival time at which the AMR 50 is expected to arrive at the embarking position. In such a case, the control unit 65 of the delivery vehicle 60 may lower the tail lift 63 or open the tailgate 62 in accordance with the arrival time. Further, after the AMR 50 gets off the tail lift 63, if it takes time until the next AMR 50 arrives, the tailgate 62 may be temporarily closed. By doing so, for example, when the delivery vehicle 60 is configured as a refrigerated vehicle that delivers frozen foods or the like and the AMR 50 is transporting frozen foods, it is possible to suppress a decrease in the cold insulation effect of the cargo compartment 61 due to the tailgate 62 remaining open. Further, since it is not necessary to wait for the tail lift 63 to lower after the AMR 50 arrives at the embarking position, frozen foods can be quickly loaded into the cargo compartment 61.

[0052] Here, the lifting and moving system of the present disclosure may be configured as follows.

[0053] The second lifting and moving system of the present disclosure is a lifting and moving control system that controls an automatic transport vehicle that loads and moves an article and a lifting device that lifts and lowers in a state in which the automatic transport vehicle is on board, and includes a transport-related information acquisition unit that acquires transport-related information regarding at least one of the automatic transport vehicle and the loaded article, and a lifting control unit that controls the lifting device scheduled to be boarded by the automatic transport vehicle based on the transport-related information.

[0054] In the second lifting and moving system of the present disclosure, since the lifting device scheduled to be boarded by the automatic transport vehicle is appropriately controlled based on the transport-related information, the automatic transport vehicle can be efficiently moved.

[0055] The first lifting and moving control method of the present disclosure is a lifting and moving control method for controlling an automatic transport vehicle that loads and moves an article and a lifting device that lifts and lowers in a state in which the automatic transport vehicle is on board, (a) a step of acquiring lifting-related information regarding the lifting device scheduled to be boarded by the automatic transport vehicle; (b) Based on the lifting-related information, setting a movement route to the lifting device for the scheduled boarding. It is summarized as including the above.

[0056] In the first lifting movement control method of the present disclosure, since the movement route to the lifting device for the scheduled boarding is set based on the lifting-related information, the automated guided vehicle can be efficiently moved.

[0057] The second lifting movement control method of the present disclosure is A lifting movement control method for controlling an automated guided vehicle that moves while carrying an article and a lifting device that lifts in a state where the automated guided vehicle is on board, (a) Obtaining conveyance-related information regarding at least one of the automated guided vehicle and the loaded article; (b) Based on the conveyance-related information, controlling the lifting device for which boarding of the automated guided vehicle is scheduled. It is summarized as including the above.

[0058] In the second lifting movement control method of the present disclosure, since the lifting device for which the automated guided vehicle is scheduled to board is appropriately controlled based on the conveyance-related information, the automated guided vehicle can be efficiently moved. In addition, in the first and second lifting movement control methods, steps for realizing any of the functions of the above-described first and second lifting movement systems may be added.

Industrial Applicability

[0059] The present disclosure can be used in a lifting movement control system for controlling the movement of an automated guided vehicle and the lifting by a lifting device, etc.

Explanation of Reference Numerals

[0060] 10 Item management system, 12 Transport cart, 13 Loading section, 14 Caster, 18 Storage box, 20 Warehouse, 21 Entrance / exit, 22 Storage shelf, 23 Waiting area, 24 Charging station, 24a Charging area, 25, 25(1) - 25(4) Landing, 26 Opening / closing door, 27 Operation button, 28 Opening / closing drive unit, 29 Communication unit, 30 Warehouse management device, 32 Control unit, 34 Memory unit, 36 Communication unit, 40 Elevator system, 41, 41(1) - 41(4) Elevator, 42 Opening / closing door, 43 Operation button, 43a Control panel, 44 Weight sensor, 45 Notification unit, 46 Lifting drive unit, 47 Opening / closing drive unit, 48 Communication unit, 49 Lifting control unit, 50 AMR, 51 Movement control unit, 52 Battery, 54 Power circuit, 55 Drive unit, 55a Wheel, 56 Lifting section, 56a Lifting plate, 57 Detection sensor, 58 Memory unit, 59 Communication unit, 60 Delivery vehicle, 61 Cargo compartment, 62 Tailgate, 63 Tail lift, 65 Control unit, 67 Communication unit, 70 Button operation attachment, 71 Case, 71a Engaging section, 72 Operation section, 73 Manual operation section, 73a Receiving section, 73b Pressing section, 74 Automatic operation section, 74a Pressing section, 74b Guide section, 75 Communication unit, 76 Control unit.

Claims

1. An elevating movement control system for controlling an automatic guided vehicle that loads and transports articles and an elevating device that elevates in a state where the automatic guided vehicle is on board, comprising: a conveyance-related information acquisition unit that acquires conveyance-related information regarding at least one of the automatic guided vehicle and the loaded articles; an elevating control unit that controls the elevating device to be boarded by the automatic guided vehicle based on the conveyance-related information; a notification unit that notifies of an excess with respect to the limit weight of the elevating device; wherein the conveyance-related information acquisition unit acquires information regarding the weight of the automatic guided vehicle including the loaded articles as the conveyance-related information; the elevating control unit controls the elevating device based on the weight of the automatic guided vehicle, calculates an allowable weight obtained by subtracting the weight of the automatic guided vehicle from the limit weight of the elevating device, determines whether boarding of an automatic guided vehicle other than the one scheduled to board is possible based on the allowable weight, and controls the notification unit to perform the excess notification when it is determined that boarding is not possible. An elevating movement control system.

2. An elevating movement control method for controlling an automatic guided vehicle that loads and transports articles, an elevating device that elevates in a state where the automatic guided vehicle is on board, and a notification unit that notifies of an excess with respect to the limit weight of the elevating device, the method comprising: (a) a step of acquiring conveyance-related information regarding at least one of the automatic guided vehicle and the loaded articles; (b) a step of controlling the elevating device to be boarded by the automatic guided vehicle based on the conveyance-related information; (c) a step of controlling the notification unit to perform the excess notification; wherein in the step (a), information regarding the weight of the automatic guided vehicle including the loaded articles is acquired as the conveyance-related information; in the step (b), the elevating device is controlled based on the weight of the automatic guided vehicle; in the step (c), an allowable weight obtained by subtracting the weight of the automatic guided vehicle from the limit weight of the elevating device is calculated, whether boarding of an automatic guided vehicle other than the one scheduled to board is possible is determined based on the allowable weight, and the notification unit is controlled to perform the excess notification when it is determined that boarding is not possible. An elevating movement control method.

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