Handling system and handling method

Abstract

To acquire information on the layout of a load in a loading platform of a transport vehicle by a new method in order to cause an unmanned transport vehicle to remove the load from the loading platform of the transport vehicle.SOLUTION: An unmanned transport vehicle 3 includes a traveling sensor, a traveling device, and a loading device, identifies a self-position on a work area, based on detection by the traveling sensor, and automatically travels in the work area 1. An unmanned aerial vehicle 5 includes a three-dimensional laser scanner. The unmanned aerial vehicle 5 flies in the work area 1 and scans, with the laser scanner, the inside of an open loading platform of a transport vehicle 2 stopped in a stop area 100. A load data generation unit analyzes scan data and generates load data indicating information related to the layout of a load W in the loading platform. Based on at least detection by the travel sensor and the load data, the unmanned transport vehicle 3 controls the traveling device and the loading device, travels to the loading platform 22 of the transport vehicle 2 stopped in the stop area 100, and removes the load W from the loading platform.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present application relates to a system and method for unloading goods from the loading platform of a transport vehicle onto an automated guided vehicle (AGV).

Background Art

[0002] Some cargo handling systems include a manned transport vehicle having a loading platform on which goods are loaded, such as a transport truck, and an automated guided vehicle such as an unmanned forklift, and the automated guided vehicle transports the goods loaded on the loading platform of the transport vehicle (see, for example, Patent Documents 1 and 2).

[0003] In the system of Patent Document 1, an operator drives the transport vehicle, parks it in a parking area on the work area, and then opens the wing of the transport vehicle to open the loading platform, whereby the automated guided vehicle can access the goods in the loading platform.

[0004] Then, the automated guided vehicle starts cargo handling operations on the goods in the loading platform. That is, the automated guided vehicle travels to the loading platform of the parked transport vehicle, unloads the goods from the loading platform, and transports them to the designated destination.

[0005] To achieve this, information regarding the layout of the goods in the loading platform (e.g., the number of goods, the position of each good, the stacking level, etc.) is required. Therefore, as an example, the system of Patent Document 1 uses LiDAR (Light Detection And Ranging). LiDAR is fixed at a predetermined position so as to face the opened loading platform when the transport vehicle is parked in the parking area and the loading platform is open, whereby the loading platform can be irradiated with laser light.

[0006] The system of Patent Document 1 processes the data obtained by LiDAR to acquire information regarding the layout of the goods in the cargo bed. Further, the system of Patent Document 1 determines control information such as the unloading position on the work area where the automated guided vehicle should stop when unloading the goods from the cargo bed, based on the acquired information. The automated guided vehicle can be controlled based on the determined information to travel to the cargo bed of the transport vehicle stopped in the parking area and unload the goods from the cargo bed of the transport vehicle.

[0007] In the logistics industry, various configurations for automatically unloading goods from the cargo bed of a transport vehicle using an automated guided vehicle have been considered due to problems such as a shortage of labor.

Prior Art Documents

Patent Documents

[0008]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0009] An object of the present application is to acquire information regarding the layout of the goods in the cargo bed of a transport vehicle by a novel method in order to cause an automated guided vehicle to unload the goods from the cargo bed of the transport vehicle.

Means for Solving the Problems

[0010] The present application provides a cargo handling system for unloading goods from the cargo bed of a transport vehicle, the cargo handling system comprising an unmanned aerial vehicle equipped with a three-dimensional laser scanner, a cargo data creation unit, an automated guided vehicle equipped with a traveling sensor, a traveling device, and a cargo handling device, the automated guided vehicle specifying its own position on the work area based on the detection of the traveling sensor and automatically traveling through the work area by the traveling device. The unmanned aerial vehicle flies over the work area and scans the opened cargo bed of the transport vehicle parked in the parking area within the work area with the three-dimensional laser scanner. The cargo data creation unit analyzes the scan data obtained by scanning with the three-dimensional laser scanner and creates cargo data indicating information regarding the layout of the cargo in the cargo bed. The unmanned transport vehicle controls the traveling device and the loading and unloading device based on at least the detection by the traveling sensor and the cargo data, travels to the cargo bed of the transport vehicle parked in the parking area, and unloads the cargo from the cargo bed.

[0011] The cargo data creation unit may create cargo data indicating at least the position and orientation of each piece of cargo in the cargo bed.

[0012] The loading and unloading system may further include a control information determination unit that determines, based on the position and orientation of the cargo, the unloading position on the work area where the unmanned transport vehicle stops when unloading the cargo from the cargo bed and the orientation of the unmanned transport vehicle at the unloading position. Then, the unmanned transport vehicle may control the traveling device to stop at the unloading position determined by the control information determination unit in the determined orientation.

[0013] For example, the cargo may include pallets, the unmanned transport vehicle may be an unmanned forklift, and the loading and unloading device may be provided with forks. And the cargo data creation unit may create cargo data indicating the position and orientation of the pallets of the respective pieces of cargo.

[0014] The loading and unloading system may further include an opening detection means for detecting that the wing of the cargo bed of the transport vehicle parked in the parking area has opened and the cargo bed has been opened. Then, in response to the detection of the opening of the loading platform by the opening detection means, the unmanned aircraft may start flying in the work area to scan the inside of the loading platform with the three-dimensional laser scanner.

[0015] The opening detection means may be provided, for example, on the unmanned aircraft. The unmanned aircraft may include, as the opening detection means, an imaging device that images the parking area when the unmanned aircraft is waiting at a waiting station in the work area, and an opening determination unit that processes the imaging data acquired by the imaging device and determines whether or not the wing of the loading platform of the transport vehicle parked in the parking area is open.

[0016] The unmanned aircraft may include a luggage data creation unit and wirelessly transmit the luggage data directly or indirectly to the unmanned transport vehicle.

[0017] The unmanned aircraft may fly at least once around the parking area and scan the inside of the loading platform with the three-dimensional laser scanner.

[0018] The present application also provides a handling method for an unmanned transport vehicle to unload goods from the loading platform of a transport vehicle parked in a work area. The unmanned transport vehicle includes a traveling sensor, a traveling device, and a handling device, and specifies its own position on the work area based on the detection of the traveling sensor and automatically travels on the work area with the traveling device. The handling method includes after the transport vehicle parks in the parking area of the work area and the loading platform is opened, flying an unmanned aircraft equipped with a three-dimensional laser scanner in the work area and scanning the inside of the loading platform with the three-dimensional laser scanner, a luggage data creation unit analyzes the scan data acquired by the scan by the three-dimensional laser scanner and creates luggage data indicating information regarding the layout of the luggage in the loading platform, and Controlling the traveling device and the loading and unloading device based on at least the detection of the traveling sensor and the load data, causing the unmanned transport vehicle to travel to the loading platform of the stopped transport vehicle, and unloading the load from the loading platform to the unmanned transport vehicle.

Brief Description of the Drawings

[0019]

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

[0020] Hereinafter, exemplary embodiments of the present application will be described with reference to the drawings. It should be noted that the components shown in the drawings are not necessarily of exact dimensions or ratios, but merely represent their functions or operations.

[0021] FIG. 1 schematically shows a loading and unloading system according to an example. The loading and unloading system includes a work area 1 (e.g., a warehouse), a transport vehicle 2, one or more unmanned transport vehicles 3, a management device 4, and an unmanned aerial vehicle 5.

[0022] The working area 1 is an area where the automated guided vehicle 3 performs loading and unloading operations. In the working area 1, a unloading area 10 is defined where the automated guided vehicle 3 unloads the cargo W loaded on the transport vehicle 2. In the unloading area 10, a parking area 100 where the transport vehicle 2 stops is defined.

[0023] Generally, in the loading and unloading system, an operator drives the transport vehicle 2 loaded with the cargo W into the unloading area 10 of the working area 1 and stops the transport vehicle 2 in the parking area 100. Then, the automated guided vehicle 3 travels to the transport vehicle 2 stopped in the parking area 100, unloads the cargo W from the transport vehicle 2, and transports it to the destination.

[0024] FIG. 2A shows a transport vehicle 2 according to an example. The transport vehicle 2 is manned and is used to load the cargo W and transport it into the working area 1. In this example, the transport vehicle 2 is a truck and includes a cab 20 including a driver's seat, traveling wheels 21, and a loading platform 22 provided behind the cab 20.

[0025] The loading platform 22 is where the cargo W is loaded. The loading platform 22 is of the wing body type and includes wings 220, a spoiler plate 221, a rear door 222, a floor plate 223, and a front plate 224. By surrounding the accommodation space 225 (FIG. 2B) with these, as shown in FIG. 2A, the loading platform 22 is closed.

[0026] The wings 220 are configured to be rotatable up and down by an actuator (not shown). Also, the spoiler plate 221 is configured to be rotatable up and down. As shown in FIG. 2B, by rotating the spoiler plate 221 downward and hanging it and rotating the wings 220 upward to open, the loading platform 22 is largely opened laterally.

[0027] FIG. 3 shows the transport vehicle 2 parked in the parking area 100 (FIG. 1). When the loading platform 22 is opened in this way, the automated guided vehicle 3 can access the cargo W in the loading platform 22, and can take (unload) the cargo W from the loading platform 22. In the example shown in FIG. 3, the wings 220 and the fin plates 221 are provided on both sides of the vehicle, and the transport vehicle 2 can open the loading platform 22 on both sides. Therefore, the automated guided vehicle 3 can also take the cargo W from the opposite side. Note that the cargo W refers to a unit of the pallet P and the items placed on the pallet P.

[0028] FIG. 4 shows an automated guided vehicle 3 according to an example. The automated guided vehicle 3 includes a vehicle body 30, a traveling device 31, a handling device 32, a traveling sensor 33, and a positioning sensor 34.

[0029] The traveling device 31 includes traveling wheels 310 provided on the vehicle body 30 and a driving device for steering and driving the traveling wheels 310. In this example, the automated guided vehicle 3 is an automated forklift, and the handling device 32 includes forks 320 inserted into the pallet P of the cargo W to support the cargo W, a lift mechanism for raising and lowering the forks 320, and a reach mechanism for advancing and retreating the forks 320. The traveling sensor 33 is used for specifying the position of the automated guided vehicle 3 and for automatic traveling based on the specified position. The positioning sensor 34 is used for accurate positioning of the forks 320 and the pallet P of the cargo W.

[0030] As shown in FIG. 5, the automated guided vehicle 3 includes a control unit 35, a storage medium 36, and a transceiver 37. The control unit 35 includes a position specifying unit 350, a traveling control unit 351, a handling control unit 352, and a control information determining unit 353. The storage medium 36 stores the environmental information (for example, the environmental map) of the work area 1 and the information related to the handling work received from the management device 4.

[0031] The position specifying unit 350 specifies its own position and orientation (posture) based on the detection by the traveling sensor 33. The travel control unit 351 refers to the specified current own position and orientation, and drives and controls the traveling device 31 to automatically drive the automated guided vehicle 3 within the work area 1. As a result, the automated guided vehicle 3 can travel to and stop at the unloading position where it should stop to unload the load W from the loading platform 22, and can also transport the load W unloaded from the loading platform 22 to its destination.

[0032] As such automatic driving, a laser guidance method using a reflector may be adopted. In this case, the traveling sensor 33 is a laser scanner, which projects laser light horizontally while rotating 360 degrees around, and receives the light reflected by a plurality of reflectors (not shown) appropriately arranged in the work area 1. The position specifying unit 350 determines its own position and orientation on the current work area 1 using the detection of the traveling sensor 33 and the position information of the reflectors.

[0033] Also, as automatic driving, a SLAM guidance method may be adopted. In this case, the traveling sensor 33 is a distance measuring sensor (for example, a laser range finder (LRF), a stereo camera, a depth camera) that measures the distance to surrounding objects, and the position specifying unit 350 specifies (estimates) its own position and orientation by SLAM technology using the detection of the distance measuring sensor. Any other arbitrary position specifying method and an automatic driving method based thereon may be used.

[0034] The handling control unit 352 controls the handling device 32 to perform loading or unloading on the handling device 32. Specifically, when the automated guided vehicle 3 arrives at the unloading position, the handling control unit 352 controls the handling device 32 to move the fork 320, and takes the load W from the loading platform 22 with the fork 320. Also, when the automated guided vehicle 3 arrives at the destination, the handling control unit 352 delivers the load W from the fork 320 to the specified position. Note that the handling control unit 352 may use the detection of the positioning sensor 34 for accurate positioning of the fork 320 and the pallet P.

[0035] As will be described later, the control information determination unit 353 determines the control information necessary for the unmanned transport vehicle 3 to unload the goods from the loading platform 22.

[0036] The unmanned transport vehicle 3 further includes a transceiver 37. Through the transceiver 37, the unmanned transport vehicle 3 can communicate wirelessly with the management device 4 via an appropriate communication network, and can also communicate wirelessly with the unmanned aerial vehicle 5 directly or indirectly via the management device 4.

[0037] The management device 4 is a server of the cargo handling system. As shown in FIG. 6, the management device 4 includes a user interface 40, a control unit 41, a storage medium 42, and a transceiver 43.

[0038] The user interface 40 is composed of at least one of, for example, a mouse, a keyboard, a touch panel, etc., and is operated by the administrator of the cargo handling system to perform various settings of the cargo handling system. The control unit 41 manages the entire cargo handling operation. The storage medium 42 stores information necessary for the cargo handling operation, such as the environmental information (e.g., environmental map) of the work area 1, and also stores scan data and cargo data acquired as described later.

[0039] Through the transceiver 43, the management device 4 can communicate wirelessly with the unmanned transport vehicle 3 and the unmanned aerial vehicle 5 via a communication network.

[0040] The unmanned aerial vehicle 5 is a drone programmed to fly autonomously along a predetermined route. As shown in FIG. 7, it includes a fuselage 50, four arms 51 extending from the fuselage 50, motors 52 provided at the tip ends of the respective arms 51, rotors 53 connected to the motors 52, and two skids 54. The unmanned aerial vehicle 5 flies using a battery (not shown) built into the fuselage 50 as a power source.

[0041] Furthermore, the unmanned aerial vehicle 5 further includes an imaging device 55 and a three-dimensional laser scanner 56 (hereinafter simply referred to as the laser scanner) supported by the airframe 50. The imaging device 55 is a camera and is used at least for the flight of the unmanned aerial vehicle 5.

[0042] The laser scanner 56 is used to three-dimensionally scan the interior of the loading platform 22. The laser scanner 56 is a 3D-LiDAR (Light Detection and Ranging), which irradiates an object with pulsed laser light (e.g., infrared light) and receives the reflected light to obtain three-dimensional point cloud data (scan data) representing the surface shape of the object.

[0043] As shown in FIG. 8, the unmanned aerial vehicle 5 further includes a control unit 57, a storage medium 58, and a transceiver 59. The control unit 57 includes an opening determination unit 570, a position identification unit 571, a flight control unit 572, a scan data acquisition unit 573, and a luggage data creation unit 574. The storage medium 58 stores environmental information (e.g., environmental map) of the work area 1, programs for autonomous flight, etc., and also stores scan data and luggage data acquired as described later.

[0044] In this embodiment, the imaging device 55 and the opening determination unit 570 constitute an opening detection means, and detect that the wing 220 of the transport vehicle 2 parked in the parking area 100 is opened and the loading platform 22 is opened as shown in FIG. 3.

[0045] The unmanned aerial vehicle 5 is waiting, for example, while charging the battery at the standby station 12 (FIG. 1) in the work area 1. When the unmanned aerial vehicle 5 is at the standby station 12, the imaging device 55 is imaging the parking area 100. The opening determination unit 570 performs image processing on the imaging data acquired by the imaging device 55 to determine whether the wing 220 is open or closed, that is, whether the loading platform 22 of the transport vehicle 2 parked in the parking area 100 is open or not.

[0046] The position specifying unit 571 specifies the position (including altitude) of the unmanned aerial vehicle 5 during flight. For example, a plurality of markers (e.g., AR markers) (not shown) are provided at predetermined positions such as walls, columns, or ceilings within the work area 1. The position specifying unit 571 determines the position and orientation of the unmanned aerial vehicle 5 (itself) by recognizing, through image processing, the markers that enter the imaging area of the imaging device 55 during flight, and also by using the detections of various sensors such as an altitude sensor as necessary. If the work area 1 is in a GPS environment, the position specifying unit 571 may use GPS to determine its own position, or may use other technologies such as SLAM technology to determine its own position.

[0047] While referring to the position and orientation specified by the position specifying unit 571, and based on the outputs of various sensors such as a gyro sensor (not shown), the flight control unit 572 controls the rotation speeds of the respective motors 52, thereby flying the unmanned aerial vehicle 5 while controlling the position, orientation, and speed of the unmanned aerial vehicle 5.

[0048] In response to the detection of the opening of the loading platform 22 by the above-described opening detection means (the release determination unit 570 determines that the wing 220 has been opened), the flight control unit 572 starts the flight of the unmanned aerial vehicle 5. The flight control unit 572 causes the unmanned aerial vehicle 5 to move from the standby station 12 toward the parking area 100 (and thus the transport vehicle 2), move within or near the parking area 100 so that the interior of the loading platform 22 is scanned by the laser scanner 56 as described later, and then fly the unmanned aerial vehicle 5 along a predetermined flight path so as to return to the standby station 12.

[0049] While referring to the position and orientation specified by the position specifying unit 571, the scan data acquisition unit 573 operates the laser scanner 56 while the unmanned aerial vehicle 5 is flying at a substantially constant speed along a predetermined path portion (hereinafter referred to as the scan path) in the flight path by the flight control unit 572, so that the laser light is irradiated from the flying unmanned aerial vehicle 5 to the transport vehicle 2 in the parking area 100 (at least the portion exposed outside the loading platform 22), and acquires data by receiving the reflected light.

[0050] As shown in FIG. 9A, this scan path SP may be one that goes around the parking area 100 as illustrated by the dashed double-dotted line, and the unmanned aerial vehicle 5 may perform scanning by irradiating laser light from the laser scanner 56 over the entire circumference of the transport vehicle 2 while flying along the scan path SP. Further, the scan path SP may be one that goes around the parking area 100 multiple times at different altitudes, and the unmanned aerial vehicle 5 may fly around the transport vehicle 2 at different altitudes and irradiate the transport vehicle 2 with laser light from the laser scanner 56 during that time.

[0051] As shown in FIG. 9B, in the case of a structure where the loading platform 22 is opened on only one side, the scan path SP may be along the open side of the loading platform 22 as shown by the dashed double-dotted line, and the unmanned aerial vehicle 5 may irradiate the inside of the loading platform 22 with laser light from the laser scanner 56 while flying along this scan path SP. The scan path may include path portions along the loading platform 22 as in FIG. 5B at a plurality of different heights. How to set the scan path is determined by the structure of the loading platform 22 and the performance of the laser scanner 56, etc.

[0052] The scan data thus obtained becomes three-dimensional point cloud data representing at least the surface shape of the portion of the cargo W inside the loading platform 22 that is exposed to the outside. The scan data acquisition unit 573 stores the scan data thus obtained in the storage medium 58.

[0053] The cargo data creation unit 574 analyzes the scan data and creates cargo data indicating information regarding the layout of the cargo W inside the loading platform 22. Here, the information regarding the layout includes the number of cargoes W, the position of each cargo W (including height), the orientation (loading posture) of each cargo W, the presence or absence of stacking of the cargo W, and the type of each cargo (distinguished by the size of the cargo such as height and width). The position and orientation of the cargo W may be the position and orientation of the pallet P of the cargo W.

[0054] The package data creation unit 574 extracts the surface shape of the package W from the scan data (three-dimensional point cloud data) and determines information regarding the layout. More specifically, in addition to the surface shape of the entire package W, the package data creation unit 574 extracts the surface shape of the pallet P of the package W (the side surface shape of the pallet P with two insertion holes), and thereby determines the information regarding the above layout by calculation.

[0055] Here, since the unmanned aerial vehicle 5 is flying along a predetermined flight path in the work area 1 and scanning the transport vehicle 2 (inside the loading platform 22), the scan area for the work area 1 is predetermined. Therefore, the package data creation unit 574 determines the position (coordinates) and orientation of each package W (pallet P) on the work area 1.

[0056] Alternatively, the unmanned aerial vehicle 5 may fly so as to be scanned including a positioning member (not shown) having a specific shape provided in advance at a predetermined position in the work area 1 such as the parking area 100. Then, the package data creation unit 574 may extract the positioning member from the scan data. Since the position (coordinates) of this positioning member on the work area 1 is known, the package data creation unit 574 may more accurately determine the position and orientation of each package W on the work area 1 from the relative positional relationship between the positioning member and the package W.

[0057] The package data creation unit 574 may determine whether a plurality of packages W are stacked, and when they are stacked, determine the number of stacked levels (the number of stacked packages W). This is for unloading the stacked packages W in order from the topmost package W. In the plurality of extracted packages W (pallets P), if within a range where the horizontal plane coordinates (X, Y coordinates) can be regarded as substantially the same, the package data creation unit 574 determines that the packages W are stacked, and sets the number of the packages W as the number of stacked levels.

[0058] The package data creation unit 574 may determine the type of the package W based on the width and height of the exposed surface of the extracted package W. This is performed in the handling system when packages of different types (sizes) are loaded in the loading platform 22 as shown in FIG. 2B and the destination is different for each type of package W.

[0059] When the package data creation unit 574 thus converts the information on the layout of the package W on the loading platform 22 into data, the unmanned aerial vehicle 5 transmits the package data to the management device 4 using the transceiver 59, and transmits it directly to the unmanned carrier vehicle 3 or indirectly via the management device 4.

[0060] When the unmanned carrier vehicle 3 receives the package data, based on this package data, the detection by the traveling sensor 33, the environmental information of the work area 1, the conveyance destination information of the package W, etc., it controls the traveling device 31 and the handling device 32 to travel to the loading platform 22 of the parked transport vehicle 2, unload the package W from the loading platform 22, and transport the package W to the designated conveyance destination.

[0061] For this purpose, first, the control information determination unit 353 of the unmanned carrier vehicle 3 determines the control information regarding the control of the unmanned carrier vehicle 3 necessary for performing the handling operation from the package data and the environmental information of the work area 1. More specifically, the control information determination unit 353 determines the unloading position (coordinates) on the work area 1 where the unmanned carrier vehicle 3 should stop to unload the package W (pallet P) from the loading platform 22 and the orientation of the unmanned carrier vehicle 3 at the unloading position from the position and orientation of the package W (pallet P) determined as described above. The orientation of this unmanned carrier vehicle 3 is the orientation in which the fork 320 and the insertion port of the pallet P face each other. Then, the control information determination unit 353 determines the traveling route to the unloading position and the traveling route from the unloading position to the conveyance destination. The information on the conveyance destination is determined according to the type of the package W in this embodiment and is known because it has been transmitted from the management device 4 in advance.

[0062] Then, according to the luggage data and control information, the travel control unit 351 controls the travel device 31 to drive the unmanned carrier vehicle 1 to the determined luggage loading / unloading position and stop it in the determined direction at the luggage loading / unloading position. Next, the handling control unit 352 controls the handling device 32 to insert the fork 320 into the pallet P and pick up the luggage W from the loading platform 22. Note that the height of the pallet P is included in the luggage data. Also, a positioning sensor 34 may be used for accurate alignment between the pallet P and the fork 320.

[0063] After that, the unmanned carrier vehicle 3 transports the luggage W to the transport destination according to its type and places the luggage W at that position.

[0064] By repeating the same process, all the luggage W is unloaded from the loading platform 22, transported to the transport destination according to the type of the luggage W, and sorted. In this embodiment, the unmanned carrier vehicle 3 unloads and transports the luggage W in the highest position (with the largest Z coordinate) among the multiple pieces of luggage W in the loading platform 22 in order.

[0065] Therefore, the exemplary luggage handling method 6 using the above-exemplified luggage handling system includes steps S1 to S4 as shown in FIG. 10.

[0066] Step S1 is a step of detecting that the wing 220 of the transport vehicle 2 parked in the parking area 100 is opened and the loading platform 22 is opened. As described above, this is implemented by the opening detection means (imaging device 55 and opening determination unit 570).

[0067] Step S2 is a step of, in response to detecting the opening of the loading platform 22 in step S1, flying the unmanned aerial vehicle 5 and three-dimensionally scanning the state inside the loading platform 22 by the laser scanner 56 mounted on the unmanned aerial vehicle 5 to acquire scan data. As described above, this is implemented by the unmanned aerial vehicle 5, more specifically, by the laser scanner 56, position specifying unit 571, flight control unit 572, and scan data acquisition unit 573.

[0068] Step S3 is a step of analyzing the scan data to create luggage data indicating information regarding the layout of the luggage W in the cargo bed 22. As described above, this is carried out by the luggage data creation unit 574.

[0069] Step S4 is a step of using the luggage data created in step S3 to control the automated guided vehicle 3 (traveling device 31 and cargo handling device 32), causing the automated guided vehicle 3 to travel to the cargo bed 22 of the transport vehicle 2 parked in the parking area 100, and causing the automated guided vehicle 3 to unload the luggage W from the cargo bed 22. As described above, this is carried out by the control unit 35 (its functional units 350 - 353) of the automated guided vehicle 3 by using the detection by the traveling sensor 33, the luggage data, the environmental information of the work area, the information of the destination of conveyance, and the like.

[0070] As described above, the present application realizes unloading of the transport vehicle 2 from the cargo bed 22 by the automated guided vehicle 3 by using a novel method of flying the unmanned aerial vehicle 5 equipped with the laser scanner 56 to scan the state inside the cargo bed 22.

[0071] In Patent Document 1, the state inside the cargo bed is recognized by using a laser scanner (LiDAR) installed at a fixed point. However, in order for the laser scanner not to interfere with the traveling and work of the automated guided vehicle, it must be installed at a position far from the parking area of the transport vehicle, and thus it has to be a scan from a position far from the cargo bed. On the other hand, in the present application, since the unmanned aerial vehicle 5 is equipped with the laser scanner 56, it is possible to scan the inside of the cargo bed 22 at a position close to the cargo bed 22. This can contribute to improving the accuracy of the information included in the luggage data, and thus can contribute to improving the stopping accuracy of the automated guided vehicle 3 with respect to the cargo bed 22.

[0072] In the case of a transport vehicle whose cargo bed is opened from both sides, in Patent Document 1, the laser scanners must be arranged on both sides with respect to the parking area (see, for example, reference numeral 2 in FIG. 5 of Patent Document 1). In contrast, in the present application, since the unmanned aerial vehicle 5 is utilized, as exemplified by the scan path SP in FIG. 9A, there is an advantage that the inside of the cargo bed 22 can be scanned with a single laser scanner 56 from both of its opened sides.

[0073] As described above, since the present application aims to unload the load from the loading platform 22 by the unmanned carrier vehicle 3, it is sufficient to scan the inside of the loading platform 22 to the extent that the layout information of the portion exposed to the outside in the loading platform 22 can be obtained.

[0074] The present application has, for example, the following modification examples.

[0075] In the above-described embodiment, the unmanned aerial vehicle 5 includes the luggage data creation unit 574, and the unmanned carrier vehicle 3 includes the control information determination unit 353. Instead of this, the control unit 41 of the management device 4 may include the luggage data creation unit and the control information determination unit.

[0076] In this modification example, when the management device 4 receives the scan data from the unmanned aerial vehicle 5, its luggage data creation unit creates luggage data, and its control information determination unit determines the unloading position and the orientation at the unloading position for each luggage W. Then, the management device 4 (its control unit 41) assigns the responsibility of the luggage W on the loading platform 22 to each unmanned carrier vehicle 3, and transmits information such as the position of the luggage W, the transport destination of the luggage W, the unloading position, and the orientation to the unmanned carrier vehicle 3 in charge of the luggage by the transceiver 43. The unmanned carrier vehicle 3 performs automatic driving and loading / unloading work according to the received information.

[0077] In another modification example, the unmanned carrier vehicle 3 may include a luggage data creation unit, receive scan data from the unmanned aerial vehicle 5, and create luggage data.

[0078] In the above-described embodiment, the opening detection means is constituted by the imaging device 55 and the opening determination unit 570 of the unmanned aerial vehicle 5. The opening detection means according to the modification example may be constituted by an imaging device installed in the work area 1 (for example, the ceiling) and an opening determination unit provided in the control unit 41 of the management device 4. In this modification example, when the opening determination unit of the management device 4 determines that the loading platform 22 has been opened, it wirelessly transmits a flight instruction to the unmanned aerial vehicle 5, and when the flight control unit 572 receives the flight instruction, it starts the flight of the unmanned aerial vehicle 5.

[0079] Regarding the timing of starting the flight of the unmanned aircraft 5, for example, after the administrator visually confirms that the loading platform 22 has been opened in the parking area 100 or the like, the administrator may operate the user interface 40 to send a flight instruction to the unmanned aircraft 5. Alternatively, after the driver of the transport vehicle 2 opens the loading platform 22 and confirms safety, the driver may operate a mobile terminal such as a smartphone to directly send a flight instruction to the unmanned aircraft 5 or indirectly send it via the management device 4.

[0080] The above embodiment uses the fork 320 and the pallet P. The cargo handling system of the present application can also be used in a case where the cargo handling device 32 is provided with an attachment, for example, a clamper instead of the fork 320, and the clamper grips the cargo W from both sides.

Explanation of Reference Numerals

[0081] 1 Working area 100 Parking area 2 Transport vehicle 22 Loading platform 220 Wing 3 Automated guided vehicle 31 Travel device 32 Cargo handling device 320 Fork 33 Travel sensor 353 Control information determination unit 4 Management device 5 Unmanned aircraft 55 Imaging device 56 Three-dimensional laser scanner 574 Cargo data creation unit 6 Cargo handling method W Cargo P Pallet

Claims

1. In a handling system for unloading goods from the loading platform of a transport vehicle, a drone equipped with a three-dimensional laser scanner, a cargo data creation unit, a travel sensor, a travel device, and a handling device, and an automated guided vehicle that identifies its own position on the work area based on the detection of the travel sensor and automatically travels through the work area with the travel device, the drone flies through the work area and scans the open loading platform of the transport vehicle parked in the parking area within the work area with the three-dimensional laser scanner, the cargo data creation unit analyzes the scan data obtained by scanning with the three-dimensional laser scanner and creates cargo data indicating information regarding the layout of the goods in the loading platform, in the handling system in which the automated guided vehicle controls the travel device and the handling device based on at least the detection of the travel sensor and the cargo data, travels to the loading platform of the transport vehicle parked in the parking area, and unloads the goods from the loading platform, the handling system further includes an opening detection means for detecting that the wing of the loading platform of the transport vehicle parked in the parking area has opened and the loading platform has been opened, the drone starts flying through the work area to scan the inside of the loading platform with the three-dimensional laser scanner in response to the detection of the opening of the loading platform by the opening detection means, Handling system.

2. In a handling system for unloading goods from the loading platform of a transport vehicle, a drone equipped with a three-dimensional laser scanner, a cargo data creation unit, a travel sensor, a travel device, and a handling device, and an automated guided vehicle that identifies its own position on the work area based on the detection of the travel sensor and automatically travels through the work area with the travel device, the drone flies through the work area and scans the open loading platform of the transport vehicle parked in the parking area within the work area with the three-dimensional laser scanner, the cargo data creation unit analyzes the scan data obtained by scanning with the three-dimensional laser scanner and creates cargo data indicating information regarding the layout of the goods in the loading platform, In the cargo handling system where the driverless transport vehicle controls the traveling device and the cargo handling device based on at least the detection by the traveling sensor and the cargo data, and travels to the loading platform of the transport vehicle parked in the parking area and unloads the cargo from the loading platform, the unmanned aerial vehicle flies at least one round around the parking area and scans the inside of the loading platform with the three-dimensional laser scanner. Cargo handling system.

3. The cargo data creation unit creates cargo data indicating at least the position and orientation of each cargo in the loading platform. The cargo handling system according to claim 1.

4. The cargo handling system further includes a control information determination unit that determines, based on the position and orientation of the cargo, the unloading position on the work area where the driverless transport vehicle stops when unloading the cargo from the loading platform and the orientation of the driverless transport vehicle at the unloading position, and the driverless transport vehicle controls the traveling device to stop at the unloading position determined by the control information determination unit in the determined orientation. The cargo handling system according to claim 3.

5. The cargo includes a pallet, the driverless transport vehicle is a driverless forklift, the cargo handling device is provided with forks, and the cargo data creation unit creates cargo data indicating the position and orientation of the pallet of each cargo. The cargo handling system according to claim 3 or claim 4.

6. As the opening detection means, the unmanned aerial vehicle includes an imaging device that images the parking area when the unmanned aerial vehicle is waiting at a standby station in the work area, and an opening determination unit that processes the imaging data acquired by the imaging device and determines whether the wing of the loading platform of the transport vehicle parked in the parking area is open. The system according to claim 1.

7. The unmanned aerial vehicle includes the cargo data creation unit and transmits the cargo data wirelessly directly or indirectly to the driverless transport vehicle. The cargo handling system according to claim 1.

8. A cargo handling method for the driverless transport vehicle to unload cargo from the loading platform of a transport vehicle parked in a work area, wherein the driverless transport vehicle is provided with a traveling sensor, a traveling device, and a cargo handling device, and identifies its own position on the work area based on the detection by the traveling sensor and automatically travels on the work area by the traveling device. The cargo handling method includes (a) After the transport vehicle stops in the parking area of the work area and the loading platform is opened, an unmanned aerial vehicle equipped with a three-dimensional laser scanner is flown in the work area to scan the inside of the loading platform with the three-dimensional laser scanner; (b) A luggage data creation unit analyzes the scan data obtained by scanning with the three-dimensional laser scanner to create luggage data indicating information regarding the layout of the luggage in the loading platform; and (c) Controlling the traveling device and the handling device based on at least the detection of the traveling sensor and the luggage data, causing the unmanned transport vehicle to travel to the loading platform of the stopped transport vehicle, and unloading the luggage from the loading platform onto the unmanned transport vehicle. In the step of (a), In response to the opening detection means detecting that the wing of the loading platform of the transport vehicle stopped in the parking area has opened and the loading platform has been opened, the unmanned aerial vehicle starts flying in the work area to scan the inside of the loading platform with the three-dimensional laser scanner. Loading and unloading method.

9. A loading and unloading method for an unmanned transport vehicle to unload luggage from the loading platform of a transport vehicle stopped in a work area, The unmanned transport vehicle is equipped with a traveling sensor, a traveling device, and a handling device, and identifies its own position on the work area based on the detection of the traveling sensor and automatically travels on the work area with the traveling device. The loading and unloading method includes: (a) After the transport vehicle stops in the parking area of the work area and the loading platform is opened, an unmanned aerial vehicle equipped with a three-dimensional laser scanner is flown in the work area to scan the inside of the loading platform with the three-dimensional laser scanner; (b) A luggage data creation unit analyzes the scan data obtained by scanning with the three-dimensional laser scanner to create luggage data indicating information regarding the layout of the luggage in the loading platform; and (c) Controlling the traveling device and the handling device based on at least the detection of the traveling sensor and the luggage data, causing the unmanned transport vehicle to travel to the loading platform of the stopped transport vehicle, and unloading the luggage from the loading platform onto the unmanned transport vehicle. In the step of (a), Flying the unmanned aerial vehicle around the parking area at least once to scan the inside of the loading platform with the three-dimensional laser scanner. Loading and unloading method.

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