Information processing device and program

Abstract

To efficiently coordinate a robot and a worker.SOLUTION: A handling system according to the embodiment handles and processes a plurality types of articles. The handling system includes a first transport device, a second transport devices, and a control device. The first transport device transports a target article to be processed among the plurality types of articles to a work area where the robot handles and processes. The second transport device transports a target article to a work area where the worker handles and processes. The control device determines whether the target article should be processed by the robot or the worker according to processing information generated based on the result of the handling and processing of the article by the robot in the past, and controls the target article to be sent to the first transport device when determined that the target article should be processed by the robot, and controls the target article to be sent to the second transport device when determined that the target article should be processed by the worker.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] An embodiment of the present invention comprises: Information processing device and program Regarding. [Background technology]

[0002] Handling systems that handle multiple types of articles are known. For example, a handling system is known that includes a conveyor that transports multiple types of articles and multiple robots with different end effectors. In such a handling system, the multiple robots are arranged along the conveyor. Each of the multiple robots handles an article that it can process among the multiple types of articles transported by the conveyor, and performs a predetermined process on the handled article.

[0003] However, when there are many different types of items to be handled, it is difficult for such a handling system to have the robot handle all of the multiple types of items. For example, deploying a robot to handle items with special shapes or materials increases the development costs of end effectors and robot hands, making it inefficient. Therefore, when there are many different types of items to be handled, the handling system operates in cooperation with workers. The workers handle and process items that are difficult for robots to handle.

[0004] However, in warehouses and other locations where general-purpose items and daily necessities are handled, the types of items handled change frequently. Therefore, it is difficult for handling systems applied to such locations to determine which items cannot be handled by robots. This makes it difficult for handling systems applied to such locations to efficiently coordinate between robots and workers. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2018-504333 Summary of the Invention [Problem to be solved by the invention]

[0006] The problem to be solved by the present invention is to provide a handling system that can efficiently coordinate between a robot and a worker. [Means for solving the problem]

[0007] In accordance with an embodiment Information processing device handles multiple types of goods The handling system controls the processing system. A first conveying device and a second conveying device and The first conveying device is configured to allow the robot to pick up and transport the plurality of types of articles. The items to be processed are brought to the handling area. The second conveying device is The article to be processed among the plurality of types of articles is brought to a work area where the article is handled. Transport. The information processing device functions as an operation unit that controls the handling system, and the operation unit performs the following operations: As a result of the robot handling and processing the item, The operation unit acquires processing information based on the acquired processing information. In accordance with the above Items to be processed to either the robot or the worker. Let it be processed Decision The operation unit The aforementioned Items to be processed The robot Processed to If it is decided to 、 The aforementioned Items to be processed to the first conveying device, Items to be processed to the worker process If it is decided to 、 The aforementioned Items to be processed to the second conveying device. and controlling the handling system. . [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing a handling system according to an embodiment. [Figure 2] FIG. 2 is a diagram showing the functional configuration of a management system. [Figure 3] FIG. 1 is a diagram showing an example of the configuration of a robot. [Figure 4] FIG. 2 is a diagram showing a first example of an end effector unit. [Figure 5]FIG. 10 is a diagram showing a second example of the end effector unit. [Figure 6] FIG. 10 is a diagram showing a third example of the end effector unit. [Figure 7] FIG. 10 is a diagram showing a fourth example of the end effector unit. [Figure 8] FIG. 2 is a diagram showing the functional configuration of a robot controller. [Figure 9] FIG. 1 shows an article processing system. [Figure 10] FIG. 1 is a diagram showing a distribution device according to a first example. [Figure 11] FIG. 10 is a diagram showing a distribution device according to a second example. [Figure 12] FIG. 10 is a diagram showing a distribution device according to a third example. [Figure 13] FIG. 10 is a diagram showing a distribution device according to a fourth example. [Figure 14] FIG. 2 is a diagram showing an example of information managed by a management system. [Figure 15] 10 is a flowchart showing the flow of processing of a target item by the article processing system. [Figure 16] Flowchart following Figure 15. [Figure 17] A diagram showing the receiving and shipping system. [Figure 18] FIG. 1 is a diagram showing the flow of receiving processing in a receiving and shipping system. [Figure 19] FIG. 1 is a diagram showing the flow of shipping processing in a shipping and receiving system. [Figure 20] FIG. 1 is a diagram showing a shipping system according to a first example. [Figure 21] FIG. 2 is a diagram showing the flow of containers in the shipping system according to the first example in the event of a failure. [Figure 22] FIG. 10 is a diagram showing a shipping system according to a second example. [Figure 23] FIG. 10 is a diagram showing the flow of containers in the case of a failure in the shipping system according to the second example. [Figure 24] FIG. 10 is a diagram showing a shipping system according to a third example. [Figure 25] FIG. 10 is a diagram showing the flow of containers when a shipping worker performs processing according to a third example. [Figure 26] FIG. 10 is a diagram showing the flow of containers in the case of a failure in the shipping system according to the third example. [Figure 27] FIG. 1 is a diagram showing an article processing system using a mobile robot. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment will be described with reference to the drawings.

[0010] (Handling System 10) 1 is a diagram showing a handling system 10 according to an embodiment. The handling system 10 transports a target item 14 to be processed among multiple types of items 12 to a robot 21 or a worker 23, and has the robot 21 or the worker 23 handle the target item 14 to perform a predetermined process.

[0011] The handling system 10 includes a transport system 20, one or more robots 21, one or more terminal devices 22, a management system 30, an external system 32, and a host system 34. The handling system 10 also operates in cooperation with one or more workers 23.

[0012] The transport system 20 receives target items 14 to be processed from multiple types of items 12 from an external system 32, and transports the received target items 14 to the working area of ​​a robot 21 or a working area of ​​a worker 23. The transport system 20 may be a group of material handling equipment including multiple conveyors, etc. The transport system 20 may also include a mobile robot 24 in part.

[0013] The transport system 20 also includes a distribution device 63. The distribution device 63 is a mechanism that sends the target item 14 to either the work area of ​​the robot 21 or the work area of ​​the worker 23 under control of the management system 30.

[0014] When a target item 14 is transported to the work area, each of the one or more robots 21 handles and processes the transported target item 14. The handling system 10 is equipped with, for example, multiple types of robots 21, and can handle and process multiple different types of items 12. For example, the robots 21 perform processes such as picking, packing, unloading, loading, unpacking, inspection, and quality control on the target item 14.

[0015] Each of the one or more terminal devices 22 is held by one of the workers 23. Each of the one or more workers 23 holds one of the terminal devices 22. When a target item 14 is transported to a work area, the worker 23 handles and processes the transported target item 14. For example, the worker 23 performs processes such as picking, packing, unloading, loading, unpacking, inspecting, and testing the target item 14.

[0016] The management system 30 is an information processing device such as a computer. The management system 30 may be a cloud system on a network, or may be a device in which multiple computers operate in cooperation with each other. The management system 30 controls the transportation of the target item 14 and predetermined processing of the target item 14 by the transport system 20, the robot 21, the terminal device 22, and the external system 32. The management system 30 exchanges information with a host system 34 and processes information in cooperation with the host system 34.

[0017] The host system 34 is an information processing device such as a computer. The host system 34 may be a cloud system on a network, or a device in which multiple computers operate in cooperation with each other. The host system 34 may be a warehouse management system, an inventory management system, a transportation management system, or the like, and performs information processing for storing, managing, and transporting multiple items 12 at an upper layer of the management system 30, for example.

[0018] The external system 32 supplies target items 14 to be processed among the multiple types of items 12 to the transport system 20. For example, the external system 32 is a warehouse that stores multiple types of items 12 and automatically processes items in and out of the warehouse.

[0019] The management system 30 includes, as functional blocks, a master unit 311, a database unit 312, and a plurality of slave units 313.

[0020] The master unit 311 mainly serves as an interface with external devices, systems, and the database unit 312. The master unit 311 controls the transportation of the target items 14 by the transportation system 20 and optimizes the transportation plan. Each of the multiple slave units 313 is connected to devices included in the transportation system 20, such as the robot 21 and the terminal device 22. Each of the multiple slave units 313 manages the connected device, issues instructions to the connected device, and acquires work status from the connected device. Furthermore, the slave unit 313 connected to the terminal device 22 displays instructions to be given to the worker 23 on the terminal device 22, acquires information input by the worker 23 from the terminal device 22, and acquires work status sensed by the terminal device 22 from the terminal device 22.

[0021] When a device such as the robot 21 is added to the handling system 10 or when a device is removed from the handling system 10, the management system 30 adds or removes the corresponding slave unit 313. This allows the management system 30 to reduce changes to the master unit 311 and the database unit 312.

[0022] 2 is a diagram showing the functional configuration of the management system 30. The management system 30 has, as its functional configuration, a data management unit 321, a data analysis unit 322, an operation unit 323, a service-user interface unit 324, a business management unit 325, and an SoS-API unit 326.

[0023] The data management unit 321 manages the database unit 312. The database unit 312 stores information on the items 12 processed by the robot 21 and the transport system 20, robot data, end effector data, operation data, etc. The operation data includes, for example, information generated during operation such as the operating status of the robot 21 and the processing results for the items 12. The data management unit 321 acquires data from the database unit 312 and updates the data managed by the database unit 312.

[0024] The data analysis unit 322 acquires necessary data from the data management unit 321. Furthermore, the data analysis unit 322 executes analysis processing required for the operation executed by the operation unit 323 based on the acquired data.

[0025] The operation unit 323 executes a data update operation, a robot operation command operation, etc. In the data update operation, the operation unit 323 selects data stored in the database unit 312 and generates new data from multiple pieces of data based on the analysis results of the data analysis unit 322. In the robot operation command operation, the operation unit 323 controls each robot 21, the transport system 20, and the distribution device 63 based on the analysis results of the data analysis unit 322.

[0026] The operation unit 323 also transports the target item 14 to the robot 21, changes the end effector of the robot 21 depending on the type of target item 14, and instructs the robot 21 on the processing content. The operation unit 323 also transports the target item 14 to the worker 23 and transmits the processing content to the terminal device 22 held by the worker 23. In this way, the operation unit 323 can efficiently coordinate the robot 21 and the worker 23.

[0027] The service-user interface unit 324 receives data input and output by the data management unit 321 through the user interface. The service-user interface unit 324 also provides maintenance information or on-site improvement information generated based on the analysis results by the data analysis unit 322 to an external device.

[0028] Furthermore, the service-user interface unit 324 may visualize the execution status of operations in the handling system 10 and provide it to an external device based on information from the data management unit 321 and the data analysis unit 322. Furthermore, the service-user interface unit 324 may accept operation input from a remote location.

[0029] The business management unit 325 performs functions such as CAE (Computer Aided Engineering), PLM (Product Lifecycle Management), and EAM (Enterprise Asset Management) using data input and output by the service-user interface unit 324 and data managed by the data management unit 321.

[0030] The SoS-API unit 326 (System of Systems Application Programming Interface) provides an interface for connecting to the external system 32 and the upper system 34. For example, the SoS-API unit 326 provides a WMS (Warehouse Management System), an MES (Manufacturing Execution System), a TMS (Transportation Management System), and the like.

[0031] Fig. 3 is a diagram showing an example of the configuration of a robot 21. The robot 21 shown in Fig. 3 transfers a target item 14 from an item container to a collection container. That is, the robot 21 shown in Fig. 3 takes the target item 14 from the item container and places the taken-out target item 14 in the collection container. The robot 21 shown in Fig. 3 can also temporarily hold the target item 14 or pack the target item 14 into a box.

[0032] The robot 21 includes a housing 411 , a manipulator 412 , and a robot controller 413 .

[0033] The housing 411 supports the manipulator 412. The housing 411 is also connected to a robot controller 413. The housing 411 also includes a power supply unit for operating each driving unit, a compressed air cylinder, a compressor, a vacuum pump, external interfaces such as a user interface, and safety mechanisms such as a light curtain and a collision detector.

[0034] The manipulator 412 includes an arm unit 431 and an end effector unit 432. The arm unit 431 is a multi-joint robot driven by multiple servo motors. For example, the arm unit 431 shown in FIG. 3 is a six-axis vertical multi-joint robot. The arm unit 431 may be configured, for example, by combining a multi-axis vertical multi-joint robot, a SCARA robot, a linear motion robot, etc. The end effector unit 432 is a mechanism that sucks, jams, pinches, or grasps the target object 14 using a multi-finger mechanism.

[0035] The robot controller 413 is connected to the housing 411 and controls the arm unit 431 and the end effector unit 432. The robot controller 413 is connected to the management system 30 and operates in accordance with instructions from the management system 30.

[0036] The robot 21 may further include an item container retracting unit 441, a collection container retracting unit 442, and a temporary storage area 443. The item container retracting unit 441 retracts an item container containing the target item 14 from the transport system 20 into the work area. The item container retracting unit 441 returns the item container after the target item 14 has been removed to the transport system 20. The collection container retracting unit 442 retracts the collection container from the transport system 20 into the work area. The collection container retracting unit 442 returns the collection container after the target item 14 has been placed in to the transport system 20. The temporary storage area 443 is a place where the robot 21 temporarily places the target item 14 removed from the item container before placing it in the collection container.

[0037] The robot 21 may also include a sensor group. Each sensor included in the sensor group is connected to a robot controller 413 via, for example, a housing 411. The robot controller 413 controls the arm unit 431, the end effector unit 432, the goods container retraction unit 441, and the collection container retraction unit 442 based on information detected by the sensor group. The robot controller 413 may also transmit information detected by the sensor group to the management system 30.

[0038] In the example of FIG. 3, the sensor group includes an item container sensor 451 , an item container weigh scale 452 , a collection container sensor 453 , a collection container weigh scale 454 , a temporary storage area sensor 455 , and a handling sensor 456 .

[0039] The goods container sensor 451 is provided at the top of the goods container retracting unit 441. The goods container sensor 451 detects whether the goods container has been transported to the working area of ​​the robot 21 and detects the internal state of the goods container. The goods container weight scale 452 is provided at the bottom of the goods container retracting unit 441. The goods container weight scale 452 detects the weight of the goods container.

[0040] The collection container sensor 453 is provided at the top of the collection container retraction section 442. The collection container sensor 453 detects whether the collection container has been transported to the working area of ​​the robot 21 and detects the internal condition of the collection container. The collection container weight scale 454 is provided at the bottom of the collection container retraction section 442. The collection container weight scale 454 detects the weight of the collection container.

[0041] The temporary storage area sensor 455 is provided above the temporary storage area 443. The temporary storage area sensor 455 detects whether the target item 14 is placed in the temporary storage area 443 or not, and detects the state of the target item 14.

[0042] The handling sensor 456 is a sensor for detecting the state of the target article 14 while the end effector unit 432 is handling the target article 14. For example, the handling sensor 456 detects the posture of the target article 14, etc.

[0043] The goods container sensor 451, the collection container sensor 453, the temporary storage area sensor 455, and the handling sensor 456 are sensors capable of acquiring image information or three-dimensional information, such as an RGB image camera, a distance image camera, a laser range finder, or a LiDAR (Light Detection and Ranging).

[0044] 4 is a diagram showing a first example of the end effector unit 432. The end effector unit 432 according to the first example is a suction-type end effector. The end effector unit 432 according to the first example includes a force sensor 461, a suction pad 462, and a bending shaft 463.

[0045] The force sensor 461 is provided at an end connected to the arm unit 431. The robot controller 413 controls the arm unit 431 and the end effector unit 432 based on a signal detected by the force sensor 461.

[0046] The suction pad 462 is provided at the end opposite to the arm portion 431. The suction pad 462 sucks and holds an object, thereby enabling the robot 21 to handle the target article 14.

[0047] The bending shaft 463 is provided between an end connected to the arm unit 431 and an end opposite the arm unit 431. The robot controller 413 adjusts the attitude of the suction pad 462 by controlling the angle of the bending shaft 463. This allows the robot controller 413 to reliably hold an object on the suction pad 462. This allows the end effector unit 432 according to the first example to handle the target article 14.

[0048] FIG. 5 is a diagram showing a second example of the end effector unit 432. The end effector unit 432 according to the second example is a clamping type end effector. The end effector unit 432 according to the second example includes a force sensor 461 and a gripping mechanism 464. The gripping mechanism 464 is provided at the end opposite to the arm unit 431. The gripping mechanism 464 grips and holds an object. This allows the end effector unit 432 according to the second example to handle the target article 14.

[0049] 6 is a diagram showing a third example of the end effector unit 432. The end effector unit 432 according to the third example is a suction-type end effector. The end effector unit 432 according to the third example includes a force sensor 461 and a suction pad 462. Unlike the first example, the end effector unit 432 according to the third example does not include a bending axis 463. The end effector unit 432 according to this third example can also handle the target object 14.

[0050] 7 is a diagram showing a fourth example of the end effector unit 432. The end effector unit 432 according to the fourth example is a hybrid end effector. The end effector unit 432 according to the fourth example includes a force sensor 461, a suction pad 462, and a gripping mechanism 464. The end effector unit 432 according to the fourth example can handle a wider variety of target objects 14 than the first to third examples.

[0051] The end effector unit 432 may have other configurations. The end effector units 432 according to the first to fourth examples may have different sizes or numbers of suction pads 462 or gripping mechanisms 464. The end effector unit 432 may be provided with the suction pads 462 or gripping mechanisms 464 in various positions or postures. The end effector unit 432 may also include other types of sensors, such as a contact sensor.

[0052] Fig. 8 is a diagram showing the functional configuration of the robot controller 413. The robot controller 413 includes a processor and a memory, and executes a program, thereby enabling the robot controller 413 to realize the functions shown in Fig. 8.

[0053] The robot controller 413 includes an image processing unit 471, a signal processing unit 472, an integration unit 473, a gripping plan generation unit 474, a release plan generation unit 475, an action plan generation unit 476, a robot control unit 477, a peripheral device / I / O control unit 478, an error detection unit 479, a learning control unit 480, and an internal database 481.

[0054] The image processing unit 471 processes information acquired from a sensor that acquires images to generate information necessary for generating an action plan, action control, error detection, learning, etc. The signal processing unit 472 processes information acquired from a sensor that acquires information other than images to generate information necessary for generating an action plan, action control, error detection, learning, etc.

[0055] The integration unit 473 generates a work plan for the robot 21, controls the robot 21, and manages the robot 21 based on information input from the management system 30, the state of the handling system 10, and information acquired from the sensors.

[0056] The grasp plan generation unit 474 calculates a method for the manipulator 412 to grasp the target item 14, the position and orientation of the manipulator 412 during grasping, and a movement plan for grasping. The movement plan for grasping represents a path of the position and orientation of the manipulator 412 for grasping and moving the target item 14 without interfering with surrounding objects.

[0057] The release plan generation unit 475 calculates an installation method indicating how the manipulator 412 operates to pack the grasped target item 14 into a box or press the target item 14 against another object, a method for releasing the grasped target item 14, the position and orientation of the manipulator 412 at the time of release, and a movement plan for the release. The movement plan for the release represents a path of the position and orientation of the manipulator 412 for releasing and moving the target item 14 without interfering with surrounding objects.

[0058] The motion plan generation unit 476 calculates robot motion information including the drive method, speed, motion path, etc. of the manipulator 412 for moving from the current position to the gripping position or release position according to the motion plan.

[0059] The robot control unit 477 controls the robot 21 including the manipulator 412 in accordance with the robot operation information generated by the operation plan generation unit 476 and the operation switching instructions from the integration unit 473 .

[0060] The peripheral equipment / I / O control unit 478 controls the on / off of peripheral equipment such as the goods container retraction unit 441, the cargo container retraction unit 442, the elevator for transportation, the safety door, each sensor included in the sensor group, and the on / off of lighting.

[0061] The error detection unit 479 detects an error based on the observation results of the state of the robot 21, the implementation state of the work plan, the drive control state, the gripping of the target article 14, the transport state, etc. The error detection unit 479 acquires, for example, a sensor value of the force sensor 461 or a value obtained by converting the sensor value of the force sensor 461 into hand coordinates, passed through a low-pass filter, and determines that an error has occurred if the acquired value exceeds a predetermined value. This allows the robot controller 413 to cause the robot 21 to suspend processing and perform recovery operations when an error occurs.

[0062] The learning control unit 480 executes robot model learning, grip control parameter learning, grip database learning, error detection learning, and the like. Robot model learning is, for example, learning to suppress vibrations of the manipulator 412 and improve operation accuracy. Grip control parameter learning is, for example, learning to improve the gripping performance of the target object 14. Error detection learning is, for example, learning to improve the performance of executing a work plan. The learning control unit 480, for example, sets force control parameters to optimal values ​​suited to the situation. This enables the learning control unit 480 to cause the robot 21 to perform processing efficiently with less force.

[0063] The internal database 481 includes a robot database, an end effector database, an item database, a gripping database, an environment database, and the like.

[0064] The robot database includes the structure of the robot 21, the dimensions and weight of each part of the robot 21, the moment of inertia, the operating range, speed and torque performance of each drive part, etc. The end effector database includes information on the functions of the end effector and the gripping characteristics of the end effector, etc.

[0065] The article database stores the name, identification information, category, full-view image information, CAD model information, weight information, and gripping characteristic information of the target article 14. The gripping characteristic information is, for example, information such as softness, fragility, or shape change. The gripping database includes, for each gripping method of the end effector, the possible gripping position and posture, score information indicating the ease of gripping, the amount of pressure that can be applied during gripping, a judgment threshold for gripping judgment, and a judgment threshold for error detection. The gripping methods include a suction method, a parallel two-finger method, a parallel four-finger method, and a multi-joint method.

[0066] The environment database includes information on the workbench corresponding to the robot 21, the operating range of the robot 21, and surrounding environment information indicating surrounding objects, etc. The internal database 481 successively updates each database in accordance with the contents of the database unit 312 managed by the data management unit 321 of the management system 30.

[0067] The handling system 10 as described above can transport the target item 14 to be processed among multiple types of items 12 to a robot 21 or a worker 23, and have the robot 21 or the worker 23 handle the target item 14 to perform the specified processing.

[0068] (Item processing system 50) Next, we will explain the article processing system 50. The article processing system 50 is an example of the handling system 10 described in Figures 1 to 8. In explaining the article processing system 50, components that have substantially the same functions and configurations as those in the handling system 10 will be given the same reference numerals, and duplicate explanations will be omitted where appropriate, except for differences.

[0069] 9 is a diagram showing an article processing system 50. The article processing system 50 transports a target article 14 to a robot 21 or a worker 23 using a transport system 20, and has the robot 21 or the worker 23 handle the target article 14. The article processing system 50 then has the robot 21 or the worker 23 perform a predetermined process on the target article 14.

[0070] The article processing system 50 includes a management system 30, a storage device 51, a transport system 20, a robot 21, and a terminal device 22. The article processing system 50 operates in cooperation with a worker 23. The article processing system 50 may include multiple robots 21. The article processing system 50 may include multiple terminal devices 22 and operate in cooperation with multiple workers 23.

[0071] The management system 30 sequentially designates target items 14 to be processed from among the multiple types of items 12. For example, the management system 30 receives data identifying the target items 14 from the upper system 34, and designates the type of item 12 identified by the received data as the target item 14.

[0072] The storage device 51 is an example of the external system 32. The storage device 51 stores multiple types of items 12. The storage device 51 outputs from within the storage device 51 a target item 14 designated by the management system 30 among the multiple types of items 12 stored therein, and provides the target item 14 to the transport system 20.

[0073] The transport system 20 transports the target item 14 output from the storage device 51 to the work area of ​​the robot 21 or the work area of ​​the worker 23. The transport system 20 may transport the target item 14 as is, or may transport the target item 14 stored in a container that is a storage box or placed on a tray.

[0074] When a target item 14 that the robot 21 is responsible for processing is transported to its work area, the robot 21 handles the transported target item 14 and performs a predetermined process. The robot 21 receives instructions from the management system 30 as to which target item 14 the robot 21 is responsible for. The robot 21 performs predetermined processes on the target item 14, such as picking, packing, unloading, loading, unpacking, inspection, testing, processing, or assembly.

[0075] The robot 21 is disposed near the transport path of the first transport device 61. When the article processing system 50 includes multiple robots 21, the multiple robots 21 are disposed along the transport path of the first transport device 61.

[0076] Furthermore, when the article processing system 50 includes multiple robots 21, the multiple robots 21 are each different in type and can handle different types of target articles 14 to perform predetermined processing. For example, the multiple robots 21 can handle different weights, sizes, or materials of the target articles 14. For example, the multiple robots 21 have different end effectors. For example, a first robot 21-1 of the multiple robots 21 has a suction-type end effector. A second robot 21-2 of the multiple robots 21 has a clamp-type end effector. A third robot 21-3 of the multiple robots 21 has a hybrid-type end effector. This allows the article processing system 50 to handle various types of target articles 14 to perform predetermined processing.

[0077] The terminal device 22 is held by the worker 23. The worker 23 holds the terminal device 22. When the target item 14 for which the worker 23 is responsible is transported to the worker's work area, the worker 23 handles the transported target item 14 and performs a predetermined process. The worker 23 performs the predetermined process on the target item 14, such as unpacking, packing, processing, or assembly. When the item processing system 50 operates in cooperation with multiple workers 23, the multiple workers 23 are arranged along the transport path of the second transport device 62.

[0078] The conveying system 20 includes a common conveying device 60, a first conveying device 61, a second conveying device 62, a distribution device 63, a sensor system 64, a distribution control device 65, a third conveying device 67, a direction change device 68, and a direction control device 69.

[0079] The common transport device 60 receives the target items 14 output from the storage device 51 and transports the target items 14 along a transport path. The common transport device 60 is, for example, a conveyor. When multiple target items 14 are output from the storage device 51, the common transport device 60 transports the multiple target items 14 in a line at predetermined intervals.

[0080] The first transport device 61 transports the target items 14 to the working area of ​​the robot 21. The first transport device 61 is, for example, a conveyor. When multiple target items 14 are output, the first transport device 61 transports the multiple target items 14 in a line. When the item processing system 50 includes multiple robots 21, the first transport device 61 transports the target items 14 so that they pass near the working areas of the multiple robots 21 in sequence.

[0081] The second conveying device 62 conveys the target items 14 to the work area of ​​the worker 23. The second conveying device 62 is, for example, a conveyor. When multiple target items 14 are output, the second conveying device 62 conveys the multiple target items 14 in a line. The worker 23 is positioned near the conveying path of the second conveying device 62. When the item processing system 50 operates in cooperation with multiple workers 23, the second conveying device 62 conveys the target items 14 so that they pass near the work areas of each of the multiple workers 23 in sequence.

[0082] The distribution device 63 sends the target items 14 transported by the common transport device 60 to the first transport device 61 or the second transport device 62 under the control of the distribution control device 65. As an example, the distribution device 63 is a conveyor that can switch the position at which the target items 14 are output under the control of the distribution control device 65.

[0083] The sensor system 64 detects information about the target item 14 being transported by the common transport device 60. The sensor system 64 may include multiple types of sensors. The sensor system 64 provides the detected information to the management system 30. For example, the sensor system 64 detects the item identification (ID) of the target item 14. For example, the sensor system 64 may be a barcode reader or an optical character recognition device that reads the item ID printed on the target item 14. The sensor system 64 may also detect the ID of a container that stores the target item 14 or a tray on which the target item 14 is placed. For example, the sensor system 64 may capture an image of the target item 14 and generate an RGB image or a depth image. Furthermore, the sensor system 64 may measure the weight of the target item 14.

[0084] Furthermore, the sensor system 64 may include a sensor installed upstream of the common conveyance device 60 (for example, on the storage device 51 side). By locating the sensor upstream, the management system 30 can have more time to analyze the target items 14. This allows the management system 30 to start controlling the distribution device 63 at an earlier timing, and can prevent the target items 14 from accumulating on the common conveyance device 60.

[0085] The distribution control device 65 controls the operation of the distribution device 63 in response to instructions from the management system 30 .

[0086] The third conveying device 67 sends the target items 14 being conveyed by the first conveying device 61 to the second conveying device 62. The third conveying device 67 is, for example, a conveyor. Note that the item processing system 50 may be equipped with multiple third conveying devices 67.

[0087] The direction change device 68 is provided midway or at the final stage of the conveying path of the first conveying device 61. Under normal circumstances, the direction change device 68 operates to convey the target objects 14 being conveyed by the first conveying device 61 along the conveying path of the first conveying device 61. However, when the direction change device 68 receives a change instruction from the direction control device 69, it changes the conveying path of the first conveying device 61 so that the target objects 14 being conveyed by the first conveying device 61 are sent to the third conveying device 67. As an example, the direction change device 68 is a conveyor that can switch the position at which the target objects 14 are output in accordance with the control of the direction control device 69.

[0088] When the article processing system 50 includes multiple third conveying devices 67, the article processing system 50 also includes multiple direction changing devices 68. The multiple direction changing devices 68 correspond one-to-one to the multiple third conveying devices 67.

[0089] The direction control device 69 controls the operation of the direction changing device 68 in response to instructions from the management system 30. If the article processing system 50 includes multiple third conveying devices 67, the article processing system 50 will also include multiple direction control devices 69. The multiple direction control devices 69 correspond one-to-one to the multiple third conveying devices 67.

[0090] The management system 30 manages the target items 14 output from the storage device 51. The management system 30 manages the timing when the target items 14 are output from the storage device 51 and the timing when the target items 14 reach the robot 21 or the worker 23.

[0091] Furthermore, the management system 30 determines whether the robot 21 is capable of handling the target item 14 and performing the predetermined processing. If the robot 21 is capable of handling the target item 14 and performing the predetermined processing, the management system 30 controls the transport system 20 so that the target item 14 output from the storage device 51 is transported to the working area of ​​the robot 21 in charge of processing. If the robot 21 is not capable of handling the target item 14 and performing the predetermined processing, the management system 30 controls the transport system 20 so that the target item 14 output from the storage device 51 is transported to the working area of ​​the worker 23 in charge of processing. By performing such control, the management system 30 can efficiently coordinate between the robot 21 and the worker 23.

[0092] Furthermore, the robot 21 may encounter some kind of error or may be unable to handle the target item 14 due to variations in the state or characteristics of the target item 14. In this case, the robot 21 is unable to perform the specified processing on the target item 14. In this case, the management system 30 receives a notification from the robot 21 and controls the transport system 20 to transport the target item 14 that the robot 21 was unable to process to the work area of ​​the worker 23. The management system 30 then causes the worker 23 to process the target item 14 that the robot 21 was unable to process. In this way, the management system 30 can reliably handle all types of target items 14 and perform the specified processing.

[0093] Furthermore, the first transport device 61 and the second transport device 62 are arranged so that their transport paths are parallel to each other and are located close to each other. This allows the worker 23 to work close to the robot 21. When any of the multiple robots 21 stops due to an error, the management system 30 transmits a recovery instruction to the terminal device 22 held by the worker 23 working close to the robot 21 that has stopped due to the error or the like. This allows the worker 23 to check the status of the stopped robot 21 and restart the robot 21, etc.

[0094] Additionally, the article processing system 50 may transport a container containing a plurality of target articles 14 or a tray on which a plurality of target articles 14 are placed. In this case, the robot 21 and the worker 23 can simultaneously handle the plurality of target articles 14 and perform the predetermined processing.

[0095] 10 is a diagram showing a distribution device 63 according to a first example. The distribution device 63 according to the first example includes a plurality of first rollers 71 and a plurality of second rollers 72. Each of the plurality of first rollers 71 rotates to transport the target articles 14 in a first direction (x direction). Each of the plurality of second rollers 72 rotates to transport the target articles 14 in a second direction (y direction) perpendicular to the first direction.

[0096] In the first example, the multiple first rollers 71 and the multiple second rollers 72 are arranged alternately in the x direction. In the first mode, the multiple first rollers 71 according to the first example have a higher contact position with the target article 14 than the second rollers 72. Therefore, in the first mode, the second rollers 72 do not contact the target article 14. As a result, in the first mode, the distribution device 63 according to the first example can transport the target article 14 in the x direction.

[0097] Furthermore, the first roller 71 and the second roller 72 according to the first example have the same height in the second mode. In the first mode, both the first roller 71 and the second roller 72 come into contact with the target article 14. This allows the distributor 63 to transport the target article 14 in a direction at a predetermined angle between the x direction and the y direction in the second mode. The distributor 63 according to this first example can output the target article 14 from different positions in the y direction in the first mode and the second mode.

[0098] 11 is a diagram showing a distributor 63 according to the second example. The distributor 63 according to the second example includes a plurality of first rollers 71 and a plurality of regulating members 73.

[0099] In the second example, the multiple first rollers 71 are arranged side by side in the x direction. Each of the multiple regulating members 73 is arranged between two adjacent first rollers 71 and is movable in the y direction. Each of the multiple regulating members 73 regulates the movement of the target article 14 moving in the x direction. By appropriately setting the positions of each of the multiple regulating members 73 in the y direction, the target article 14 can also move in the y direction as the target article 14 moves in the x direction. Furthermore, in the distribution device 63 of the second example, the positions of each of the multiple regulating members 73 in the y direction change between the first mode and the second mode. As a result, the distribution device 63 of the second example can output the target article 14 from different positions in the y direction between the first mode and the second mode.

[0100] 12 is a diagram showing a distributor 63 according to a third example. The distributor 63 according to the third example includes a first roller 71 and a rotary table 74.

[0101] The first roller 71 sends the target items 14 input from the upstream side to the turntable 74. The turntable 74 is rotatable around an axis perpendicular to the x and y directions. The turntable 74 also includes a plurality of rollers 75 on its upper surface. The plurality of rollers 75 rotate so as to transport the target items 14 in a predetermined direction within the turntable 74. In the distribution device 63 of the third example, the rotation position of the turntable 74 differs between the first mode and the second mode. As a result, the distribution device 63 of the third example can output the target items 14 from different positions in the y direction in the first mode and the second mode.

[0102] 13 is a diagram showing a distribution device 63 according to a fourth example. The distribution device 63 according to the fourth example includes a plurality of turntables 74.

[0103] The multiple turntables 74 are arranged in a matrix in the x and y directions. Each of the multiple turntables 74 includes a roller 75 on its upper surface. The roller 75 rotates within the turntable 74 to transport the target item 14 in a predetermined direction. In the distribution device 63 of the fourth example, the rotation positions of the multiple turntables 74 differ between the first mode and the second mode. As a result, the distribution device 63 of the fourth example can output the target item 14 from different positions in the y direction in the first mode and the second mode.

[0104] The article processing system 50 may be equipped with a distributor 63 according to the first to fourth examples shown in Figures 10 to 13. Instead of the distributor 63 according to the first to fourth examples, the article processing system 50 may be equipped with a distributor 63 of a different configuration suited to the size, material, and other characteristics of the target articles 14. While Figure 9 shows an example of distribution to two paths, it is also possible to construct an article processing system 50 with an even faster processing speed by distributing to three or more paths. In this case, by dividing the switching angle or switching position of the distributor 63 according to the first to fourth examples shown in Figures 10 to 13 into three or more paths, it is possible to distribute to three or more paths. Furthermore, by arranging multiple distributors 63 side by side, it is also possible to distribute to three or more paths.

[0105] Fig. 14 is a diagram showing an example of information managed by the management system 30. The management system 30 manages the registration information and processing information shown in Fig. 14 for each type of item 12 using a database.

[0106] The registration information is set for each type of item 12. The registration information includes, for example, an item ID, an item number, an item name, an SKU number, SKU information, a category, external shape information, an item weight, handling information, and description information.

[0107] The item ID is an identifier assigned to each type of item 12. The type of item 12 may be a stock keeping unit (SKU), which is a unit of inventory management.

[0108] The item number is a number assigned to each item. The item is a management unit of the product 12. The item name is a name that represents the product 12.

[0109] The SKU number is a number assigned to identify the SKU. The SKU information is information indicating the content of the SKU, such as the color or size of the item 12. The category is information indicating a major category of the item 12 (for example, scissors, frying pan, or T-shirt).

[0110] The external shape information is information indicating the external size of the item 12, such as the dimensions of three sides. The item weight is information indicating the weight of the item 12. The handling information is information regarding precautions for handling the item 12, such as whether the item 12 is fragile or whether the item 12 is a hazardous material. The explanation information is information indicating a brief explanation of the item 12.

[0111] The processing information is information generated based on the results of past handling and processing by the robot 21 of the item 12 or items of the same type, size, whether or not they are packaged, the packaging material, the material of the item itself, etc. In this case, handling does not only refer to handling performed in the same environment, but also includes the reuse of results from a different workplace, the use of processing results at the time of arrival at the time of shipment, and the results of testing at a factory during robot development. Note that the processing information may contain some initial value as a default. The management system 30 updates the processing information when the robot 21 handles and processes the item 12 or items of the same type or category.

[0112] The processing information includes a handling method, a robot list, and performance information.

[0113] The handling method is information indicating whether the item 12 will be handled by the worker 23 or the robot 21. If it is not yet determined whether the item 12 will be handled by the worker 23 or the robot 21, it is described as "undetermined."

[0114] The robot list is a list showing robots 21 that can process the item 12 and processing-related parameters such as the gripping method, speed, and gripping force suitable for the robot when processing. Here, the gripping method refers to specifying the type of gripping for a robot that is capable of multiple types of gripping, such as suction or clamping, or specifying different settings such as the number of suction pads to use even for the same suction. The performance information is information that indicates, for each robot 21, whether or not it has processing experience, the number of successful processing attempts, and the number of processing failures.

[0115] Each time a new type of item 12 is stored in the storage device 51, the management system 30 obtains necessary information, for example, from the host system 34, and generates and stores registration information and processing information. The management system 30 also updates the processing information each time an item 12 is handled by the robot 21. While FIG. 14 shows an example in which the registration information and processing information for all items are stored in the same database, the processing information can also be accessed by linking only the registration information for each item to processing information for each type or category that is stored separately. Furthermore, processing information can be stored not only as a list but also as an estimator with a filter structure such as a neural network or as estimator parameters. When a product category is input, such an estimator can output the appropriate gripping method and its reliability. Therefore, it can be used to select the optimal handling method, just like processing information listed in a list.

[0116] Furthermore, when storing an item 12 in a container or placing it on a tray, the management system 30 manages the item ID by linking the ID of the container or tray with the item ID. This allows the management system 30 to identify the type of item 12 stored in the container or placed on the tray by detecting the ID of the container or tray. Because the database stores registration information that describes the characteristics of the item itself and processing information, which is information on when the item was processed, the management system 30 can select an appropriate type of robot or worker in advance. Furthermore, the processing information can be used to select a type of robot or worker that is more suitable for items that have been processed in the past or for products of the same type or category as those that have been processed in the past. As a result, the handling system 10 can achieve a higher degree of automation and more efficient processing.

[0117] Figure 15 is a flowchart showing the flow of processing by the article processing system 50 for the target article 14. Figure 16 is a flowchart following Figure 15. The article processing system 50 performs the processing shown in Figures 15 and 16 for each target article 14 transported in the transport system 20.

[0118] The article processing system 50 starts processing from S11 before the target article 14 reaches the distribution device 63.

[0119] First, in S11, the management system 30 detects the item ID of the target item 14 based on information detected by the sensor system 64. For example, the management system 30 acquires printed information printed on the target item 14 from the sensor system 64 and detects the item ID based on the acquired information. The management system 30 may acquire the ID of a container that stores the target item 14 or a tray on which the target item 14 is placed, and acquire the item ID linked to the ID of the container or tray. Alternatively, the management system 30 may acquire an image of the target item 14 or the weight of the target item 14 from the sensor system 64, and perform image recognition and estimation processing based on the acquired information to detect the item ID.

[0120] Next, in S12, the management system 30 acquires the product information and processing information linked to the detected product ID. If part of the product information and processing information is stored in the host system 34, the management system 30 acquires the necessary information from the host system 34.

[0121] Next, in S13, the management system 30 refers to the handling method item included in the acquired processing information and determines whether the handling method for the target item 14 has been determined. If the handling method item included in the acquired processing information describes a worker 23 or a robot 21, the management system 30 determines that the handling method has been determined. If the item included in the acquired processing information describes "undetermined," the management system 30 determines that the handling method has not been determined. Furthermore, if the item ID cannot be detected or if there is no processing information linked to the detected item ID, the management system 30 determines that the handling method has not been determined. Furthermore, even if the robot 21 is described in the handling method item, if the robot list item in the processing information does not include a robot 21 equipped in the item processing system 50, the management system 30 determines that the handling method has not been determined.

[0122] If the handling method for the target item 14 has been determined (Yes in S13), the management system 30 proceeds to S14. If the handling method for the target item 14 has not been determined (No in S13), the management system 30 proceeds to S31 in FIG.

[0123] In S14, the management system 30 determines whether the handling method is the robot 21. If the handling method is not the robot 21, that is, if the handling method is the worker 23 (No in S14), the management system 30 proceeds to S15. If the handling method is the robot 21 (Yes in S14), the management system 30 proceeds to S17.

[0124] In S15, the management system 30 instructs the distribution control device 65 to send the target item 14 to the second conveying device 62. Upon receiving the instruction from the management system 30, the distribution control device 65 controls the conveying operation of the distribution device 63 so that the target item 14 is sent to the second conveying device 62 at the timing when the target item 14 reaches the distribution device 63. Then, the distribution device 63 sends the target item 14 to the second conveying device 62 in accordance with the control of the distribution control device 65. As a result, the target item 14 to be handled and processed by the worker 23 is sent by the distribution device 63 from the common conveying device 60 to the second conveying device 62.

[0125] In S16, the management system 30 instructs the terminal device 22 held by the worker 23 to perform a predetermined process on the target item 14 corresponding to the item ID detected in S11. If there are multiple workers 23, the management system 30 determines one worker 23 in charge and instructs the terminal device 22 held by the determined worker 23. The terminal device 22 that receives the instruction displays the instructions received from the management system 30 to the worker 23. The worker 23 holding the terminal device 22 on which the instructions are displayed handles the target item 14 being transported by the second transport device 62 and performs the process on the handled target item 14 in accordance with the instructions. When the management system 30 has completed the process of S16, it proceeds to S44 in FIG. 16.

[0126] In S17, the management system 30 instructs the distribution control device 65 to send the target item 14 to the first conveying device 61. Upon receiving the instruction from the management system 30, the distribution control device 65 controls the conveying operation of the distribution device 63 so that the target item 14 is sent to the first conveying device 61 at the timing when the target item 14 reaches the distribution device 63. Then, the distribution device 63 sends the target item 14 to the first conveying device 61 in accordance with the control of the distribution control device 65. As a result, the target item 14 to be handled and processed by the robot 21 is sent by the distribution device 63 from the common conveying device 60 to the first conveying device 61.

[0127] Next, in S18, the management system 30 selects, from the plurality of robots 21, a robot 21 to perform a predetermined process on the target item 14. For example, from the plurality of robots 21, the management system 30 selects any one robot 21 included in the robot list item of the process information.

[0128] Next, in S19, the management system 30 instructs the robot 21 selected in S18 to perform a predetermined process on the target item 14. The robot 21 that has received the instruction handles the target item 14 being transported by the first transport device 61, and performs the process on the handled target item 14 in accordance with the instruction.

[0129] Next, in S20, the management system 30 determines whether the processing by the robot 21 on the target item 14 was successful. If the processing was successful (Yes in S20), the management system 30 proceeds to S44 in Fig. 16. If the processing failed (No in S20), the management system 30 proceeds to S21.

[0130] In S21, the management system 30 identifies a direction changer 66 located downstream of the robot 21 that performed processing on the target item 14. Then, the management system 30 instructs the direction control device 69 that controls the identified direction changer 66 to send the target item 14 to the third conveying device 67.

[0131] When the direction control device 69 receives an instruction from the management system 30, it controls the conveying operation of the direction changer 66 so that the target item 14 is sent to the third conveying device 67 at the timing when the target item 14 reaches the direction changer 66. When the direction control device 69 receives an instruction from the direction control device 69, it sends the target item 14 from the first conveying device 61 to the third conveying device 67. Therefore, the target item 14 that has not been subjected to the specified processing by the robot 21 is sent to the third conveying device 67. Then, the third conveying device 67 receives the target item 14 that has not been subjected to the specified processing by the robot 21 from the first conveying device 61 and sends it to the second conveying device 62.

[0132] Next, in S22, the management system 30 instructs the terminal device 22 held by the worker 23 to perform a predetermined process on the target item 14. If there are multiple workers 23, the management system 30 determines the worker 23 positioned in a position where he or she can handle the target item 14 as the recovery worker, and instructs the terminal device 22 held by the worker 23 determined to be the recovery worker. For example, the management system 30 determines the worker 23 positioned downstream from the output end of the third conveyance device 67 as the recovery worker. The terminal device 22 that received the instruction displays the instructions received from the management system 30 to the worker 23. The worker 23 holding the terminal device 22 on which the instructions are displayed handles the target item 14 being transported by the second conveyance device 62 and performs the process on the handled target item 14 in accordance with the instructions. When the management system 30 completes the process of S22, the process proceeds to S44 in FIG. 16 .

[0133] 16, the management system 30 acquires sensor information about the target item 14 detected by the sensor system 64. For example, the management system 30 acquires an RGB image or a depth image of the target item 14. The management system 30 may also acquire weight information indicating the weight of the target item 14. Note that if sufficient sensor information has already been acquired in S11, the management system 30 does not need to execute the process of S31.

[0134] Next, in S32, the management system 30 estimates an appropriate handling method based on the sensor information and registration information. Specifically, the management system 30 estimates whether the robot 21 or the worker 23 is appropriate for handling and processing the target item. If the management system 30 estimates that the robot 21 is appropriate for handling and processing, it further estimates which of the multiple robots 21 is appropriate for handling and processing the target item. For example, the management system 30 estimates whether a suction-type end effector, a clamp-type end effector, or a hybrid-type end effector is appropriate based on the shape, material, etc. of the target item 14. The management system 30 also generates a reliability for the estimation result.

[0135] For example, the management system 30 estimates an appropriate handling method using an estimator including a neural network trained by deep learning. In this case, the neural network is trained based on the results of past handling and processing of the target item 14 by the robot 21. Such an estimator can estimate the handling method with high reliability if, for example, the robot 21 has successfully handled an item 12 of the same type but a different color from the target item 14 in the past. Furthermore, such an estimator can estimate the handling method with high reliability if the robot 21 has successfully handled an item 12 of the same category and with a similar weight to the target item 14 in the past.

[0136] Next, in S33, the management system 30 determines whether or not to have the robot 21 handle and process the target item 14. If the worker 23 is estimated as an appropriate handling method, the management system 30 determines not to have the robot 21 handle the target item 14, that is, to have the worker 23 handle and process the target item 14 (No in S33). Furthermore, even if the robot 21 is estimated as an appropriate handling method, if the reliability is lower than a predetermined threshold, the management system 30 determines not to have the robot 21 handle the target item 14, that is, to have the worker 23 handle and process the target item 14 (No in S33). If the reliability is equal to or higher than a predetermined threshold and the robot 21 is estimated as an appropriate handling method, the management system 30 determines to have the robot 21 handle and process the target item 14 (Yes in S33).

[0137] If the management system 30 determines that the target item 14 will be handled and processed by the worker 23 (No in S33), the process proceeds to S34. If the management system 30 determines that the target item 14 will be handled and processed by the robot 21 (Yes in S33), the process proceeds to S36.

[0138] In S34, the management system 30 executes the same process as in S15. As a result, the target item 14 to be handled and processed by the worker 23 is sent from the common conveyance device 60 to the second conveyance device 62 by the distribution device 63.

[0139] Next, in S35, the management system 30 executes the same process as S16. As a result, the worker 23 handles the target item 14 being transported by the second transport device 62 and executes the process according to the instructions for the handled target item 14. Then, when the management system 30 finishes the process of S35, it proceeds to S44.

[0140] In addition, in S36, the management system 30 executes the same process as in S17. As a result, the target item 14 to be handled and processed by the robot 21 is sent from the common conveyance device 60 to the first conveyance device 61 by the distribution device 63.

[0141] Next, in S37, the management system 30 selects, from the plurality of robots 21, a robot 21 to perform a predetermined process on the target item 14. For example, the management system 30 selects one of the robots 21 based on the estimation result of S32.

[0142] Next, in S38, the management system 30 determines whether reliable control by the robot 21 is required. For example, the robot 21 can operate in a normal operation mode in which the target item 14 is handled and processed normally, and a stable operation mode in which the target item 14 is handled and processed more reliably than in the normal operation mode.

[0143] The management system 30 determines that reliable control by the robot 21 is necessary when the reliability of the estimation process that estimates whether the target item 14 should be handled by the robot 21 or the worker 23 is equal to or lower than a predetermined value. Furthermore, for example, the management system 30 also determines that reliable control by the robot 21 is necessary when the reliability of the estimation process that selects which of the multiple robots 21 should handle the target item 14 is equal to or lower than a predetermined value. In other words, when the target item 14 is to be handled by the robot 21 and the reliability of the estimation whether the target item 14 should be handled by the robot 21 or the worker 23 is equal to or lower than a predetermined value, the management system 30 operates the robot 21 in the stable operation mode.

[0144] If it is determined that reliable control by the robot 21 is not necessary (No in S38), the management system 30 proceeds to S39. If it is determined that reliable control by the robot 21 is necessary (Yes in S38), the management system 30 proceeds to S40.

[0145] In S39, the management system 30 executes the same process as in S19. As a result, the robot 21 that has received the instruction can handle the target item 14 in normal operation mode and perform a predetermined process on the handled target item 14. After completing the process of S39, the management system 30 advances the process to S41.

[0146] In S40, the management system 30 instructs the robot 21 selected in S37 to perform a predetermined process on the target item 14 with more reliable control than in normal operation. The robot 21 that has received such an instruction handles the target item 14 in a stable operation mode and performs the predetermined process. For example, the robot 21 that has received such an instruction performs the predetermined process with slower movement than in normal operation. Furthermore, for example, the robot 21 may perform the process so as not to destroy or deform the target item 14 by setting the force control judgment threshold lower than in normal operation. Furthermore, for example, the robot 21 may photograph the target item 14 more times during the process than in normal operation.

[0147] This may cause the robot 21 to operate slower and consume more power than in normal operation, but may improve the success rate. The robot 21 may also learn how to handle the same type of target item 14 next time, based on its operation in the stable operation mode. After completing the process of S40, the management system 30 proceeds to S41.

[0148] Next, in S41, the management system 30 determines whether the processing by the robot 21 on the target item 14 was successful. If the processing was successful (Yes in S40), the management system 30 proceeds to S44. If the processing was unsuccessful (No in S41), the management system 30 proceeds to S42.

[0149] In S42, the management system 30 executes the same process as in S21. As a result, the third conveying device 67 can receive the target item 14 that has not been subjected to the predetermined process by the robot 21 from the first conveying device 61 and send it to the second conveying device 62.

[0150] Next, in S43, the management system 30 executes the same process as in S22. This allows the worker 23 to handle the target item 14 that has not been subjected to the predetermined process by the robot 21, and execute the process according to the instructions for the handled target item 14. When the management system 30 has completed the process of S43, it advances the process to S44.

[0151] In S44, the management system 30 updates the processing information of the item ID corresponding to the target item 14 based on the content and results of the processing performed by the robot 21 on the target item 14. For example, the management system 30 receives the content and results of the processing transmitted from the robot 21, and updates the performance information included in the processing information. The management system 30 may also update the processing information of the item ID corresponding to the target item 14 based on the content and results of the processing performed by the worker 23 on the target item 14. In this case, the worker 23 inputs the content and results of the processing into the terminal device 22. The management system 30 then receives the content and results of the processing from the terminal device 22, and updates the performance information included in the processing information.

[0152] Furthermore, the management system 30 may update the handling method and robot list included in the processing information in response to updates to the performance information. For example, even if a robot 21 is described as a handling method, if the number of processing failures exceeds a predetermined number, the management system 30 may delete the corresponding robot 21 from the robot list or change the handling method to "unconfirmed." Furthermore, if "unconfirmed" is described as a handling method and the number of processing successes exceeds a predetermined number, the management system 30 may include that robot 21 in the robot list and change the handling method to "robot 21."

[0153] Furthermore, the management system 30 may update, through learning processing, the estimator for estimating the handling method and the estimator for estimating which robot 21 to select from the multiple robots 21, based on the content and results of processing transmitted from the robot 21. This allows the management system 30 to improve the reliability of the estimation of the handling method and the reliability of the estimation of which robot 21 to select, the next time or later when the same type of item 12 becomes the target item 14.

[0154] Then, when the management system 30 completes the process of S44, it ends this flow for the target item 14.

[0155] As described above, the item processing system 50 transports the target item 14, and the robot 21 or the worker 23 handles the transported target item 14. Furthermore, the item processing system 50 has the robot 21 or the worker 23 perform a predetermined process on the target item 14. The item processing system 50 then determines whether the target item 14 should be processed by the robot 21 or the worker 23, in accordance with processing information generated based on the results of past handling and processing of the target item 14 by the robot 21. Furthermore, decisions using the processing information and updates of the processing information are made at multiple steps throughout the entire process.

[0156] As a result, the article processing system 50 can efficiently coordinate between the robot 21 and the worker 23 while reducing the burden of judgment and processing on the worker 23. Furthermore, the article processing system 50 can more reliably execute judgment and processing as the number of times the robot 21 handles items increases.

[0157] (Incoming / Outgoing System 80) Next, we will explain the receiving / shipping system 80. The receiving / shipping system 80 is an example of the handling system 10 explained in Figures 1 to 8. In explaining the receiving / shipping system 80, components that have substantially the same functions and configurations as the handling system 10 and the article processing system 50 shown in Figure 9 are given the same reference numerals, and redundant explanations will be omitted as appropriate except for the differences.

[0158] 17 is a diagram showing a receiving / shipping system 80. The receiving / shipping system 80 is applied to a logistics center or the like. The receiving / shipping system 80 receives and stores multiple types of items 12, and ships target items 14 that have received shipping instructions from the multiple types of items 12 that are stored.

[0159] The receiving / shipping system 80 includes an automated warehouse 81, a shipping system 82, a receiving system 83, and a management system 30.

[0160] The automated warehouse 81 is an example of the external system 32. The automated warehouse 81 stores a plurality of goods containers. Each of the plurality of goods containers stores one or more goods 12 of the same type. The automated warehouse 81 receives goods containers storing the incoming goods 12, and moves the goods containers to designated locations inside the warehouse using a crane or the like for storage. The automated warehouse 81 also uses a crane or the like to remove goods containers storing target goods 14 specified by a shipping instruction, and outputs them to the outside.

[0161] When the shipping system 82 receives a shipping instruction, it receives a goods container containing the target goods 14 specified in the shipping instruction from the automated warehouse 81. Next, the shipping system 82 removes the target goods 14 stored in the received goods container in the number specified in the shipping instruction, and transfers the removed target goods 14 to a collection container. Then, the shipping system 82 processes to ship the target goods 14 stored in the collection container, and returns the goods container to the automated warehouse 81 to store it again.

[0162] The shipping system 82 has substantially the same configuration as the item processing system 50 shown in Figure 9. However, compared to the item processing system 50, the shipping system 82 further includes a fourth conveying device 86. The fourth conveying device 86 transports collection containers that store the items 14 to be shipped.

[0163] The shipping system 82 also has a shipping robot 87 as the robot 21 in the item processing system 50. The shipping robot 87 picks up the target item 14 from the item container transported by the first transport device 61 in response to instructions from the management system 30, and places the picked up target item 14 in a collection container.

[0164] The shipping system 82 also has a shipping terminal device 88 as the terminal device 22 in the item processing system 50. The shipping system 82 operates in cooperation with a shipping worker 89 as the worker 23 in the item processing system 50. The shipping terminal device 88 displays instructions to the shipping worker 89 from the management system 30. The shipping worker 89 follows the instructions displayed on the shipping terminal device 88 to remove the target item 14 from the item container transported by the second conveying device 62 and place it in the collection container.

[0165] The first conveying device 61 operates in substantially the same manner as the item processing system 50 shown in Figure 9. Furthermore, after the shipping robot 87 has picked up the target item 14, the first conveying device 61 returns the item container to the automated warehouse 81 and stores it again. The second conveying device 62 operates in substantially the same manner as the item processing system 50 shown in Figure 9. Furthermore, after the shipping worker 89 has picked up the target item 14, the second conveying device 62 returns the item container to the automated warehouse 81 and stores it again.

[0166] The receiving system 83 receives the received goods 12 and performs receiving processing and inspection processing on the received goods 12. Then, the receiving system 83 stores the goods 12 that have undergone receiving processing and inspection processing in an goods container and hands them over to the automated warehouse 81 for storage. In this case, the goods container stores one or more goods 12 of the same type.

[0167] The receiving system 83 includes an inspection robot 91, an inspection terminal device 92, an inspection transport device 94, a storage robot 95, a storage terminal device 96, and a storage transport device 98. The receiving system 83 also operates in cooperation with an inspection worker 93 and a storage worker 97.

[0168] The inspection robot 91 is an example of the robot 21. In response to instructions from the management system 30, the inspection robot 91 assists in receiving and inspecting the received items 12.

[0169] The inspection terminal device 92 is an example of the terminal device 22. The inspection terminal device 92 is held by the inspection worker 93. The inspection terminal device 92 displays instructions from the management system 30 to the inspection worker 93. The inspection worker 93 follows the instructions displayed on the inspection terminal device 92 and works with the inspection robot 91 to process and inspect the received items 12. The inspection robot 91 and the inspection worker 93 place the items 12 that have undergone the receiving and inspection processes into an incoming container. The inspection transport device 94 transports the incoming container containing the items 12 that have undergone the receiving and inspection processes to the working area of ​​the warehousing robot 95 or the warehousing worker 97.

[0170] The warehousing robot 95 receives the items 12 stored in the incoming container and places them in the item container. The warehousing terminal device 96 is an example of the terminal device 22. The warehousing terminal device 96 is held by a warehousing worker 97. The warehousing terminal device 96 displays instructions from the management system 30 to the warehousing worker 97. The warehousing worker 97 follows the instructions displayed on the warehousing terminal device 96 and places the items 12 stored in the incoming container into the item container.

[0171] The incoming conveyance device 98 conveys the goods container in which the goods 12 are stored to the automated warehouse 81. Then, the automated warehouse 81 receives the goods from the goods container from the incoming conveyance device 98 and stores the received goods container inside.

[0172] The management system 30 controls the operations of an automated warehouse 81 , a shipping system 82 and a receiving system 83 .

[0173] 18 is a diagram showing the flow of receiving processing in the receiving / shipping system 80. When a new item 12 arrives, the receiving / shipping system 80 executes processing according to the flow shown in FIG.

[0174] First, in S51, the inspection worker 93 receives the items 12 stored in the receiving container and performs receiving processing. For example, the inspection worker 93 checks whether the receiving slip matches the received items 12, whether there are any defective items among the received items 12, etc. Then, the inspection worker 93 inputs information about the received items 12 into the inspection terminal device 92. For example, the inspection worker 93 inputs accompanying information such as the item ID and quantity of the received items 12 into the inspection terminal device 92. Then, the management system 30 receives and registers the item ID and accompanying information about the received items 12 from the inspection terminal device 92. This allows the management system 30 to perform appropriate inventory management and shipping management.

[0175] Next, in S52, the inspection worker 93 performs an inspection process. In the inspection process, the inspection worker 93 checks whether the received item 12 can be handled by the shipping robot 87. Furthermore, in the inspection process, if the received item 12 can be handled by the shipping robot 87, the inspection worker 93 checks which of the multiple shipping robots 87 is suitable for handling the item.

[0176] The inspection worker 93 then inputs the handling method and robot list for the item 12 into the inspection terminal device 92. For example, if the item cannot be handled by the shipping robot 87, the inspection worker 93 inputs shipping worker 89 as the handling method. Also, for example, if the item can be handled by the shipping robot 87, the inspection worker 93 inputs shipping robot 87 as the handling method and the type of shipping robot 87 that can handle it into the robot list. The management system 30 then receives the handling method and robot list for the received item 12 from the inspection terminal device 92 and registers them in the processing information for the received item 12. This enables the management system 30 to ship the item 12 using an appropriate handling method.

[0177] Here, the inspection worker 93 performs the inspection process using the inspection robot 91. For example, the inspection robot 91 is the same as the shipping robot 87. The inspection worker 93 checks whether the received item 12 can be handled by the shipping robot 87 by having the inspection robot 91 handle the received item 12. The inspection robot 91 may be configured to have only a part of the shipping robot 87. For example, the inspection robot 91 may have only the manipulator 412 of the shipping robot 87, may have only an end effector, or may have only an imaging platform and an imaging sensor. In this way, by updating the processing information during inspection of incoming items, etc., it is possible to assign accurate processing information to all items stored in the warehouse, and shipping processing can be carried out efficiently.

[0178] Furthermore, if the inspection worker 93 has received the same or similar item 12 in the past, the inspection worker 93 may input processing information based on the results of past inspection processing of the same or similar item 12. Furthermore, the inspection worker 93 may perform the inspection processing using the inspection robot 91, and may also detect the external shape information and item weight of the received item 12 and input them into the inspection terminal device 92. In this case, the management system 30 receives the external shape information and item weight of the received item 12 from the inspection terminal device 92 and registers them in the item information for the received item 12.

[0179] Next, in S53, the inspection transport device 94 transports the item 12 stored in the incoming container to the working area of ​​the warehousing robot 95 or the warehousing worker 97. If the handling method input in the inspection process is the shipping robot 87, the inspection transport device 94 transports the incoming item 12 to the working area of ​​the warehousing robot 95. If the handling method input in the inspection process is the shipping worker 89, the inspection transport device 94 transports the incoming item 12 to the working area of ​​the warehousing worker 97.

[0180] Next, in S54, the warehousing robot 95 or the warehousing worker 97 receives the incoming container containing the items 12 and transfers the items 12 to an item container. That is, the warehousing robot 95 or the warehousing worker 97 removes the items 12 from the incoming container and places them in the item container. After placing the items 12 in the item container, the warehousing robot 95 transmits the processing details and processing results to the management system 30. Also, after placing the items 12 in the item container, the warehousing worker 97 inputs the processing details and processing results to the warehousing terminal device 96. The management system 30 receives the processing details and processing results from the warehousing robot 95 or the warehousing terminal device 96 and updates, for example, information linking the item container ID and item ID, the number of items 12 stored in the item container, etc.

[0181] Next, in S55, the incoming conveyance device 98 conveys the goods container containing the goods 12 to the automated warehouse 81. Then, in S56, the automated warehouse 81 receives the goods from the incoming conveyance device 98 and stores the received goods container inside. When the incoming / outgoing system 80 completes the processing of S56, it ends this flow.

[0182] 19 is a diagram showing the flow of shipping processing in the receiving / shipping system 80. When the receiving / shipping system 80 receives a shipping instruction from the upper system 34, it executes processing according to the flow shown in FIG.

[0183] First, in S61, the automated warehouse 81 releases an item container containing the target item 14. When a shipping instruction is received to ship multiple different types of target item 14, the automated warehouse 81 releases an item container for each of the multiple types of target item 14.

[0184] Next, in S62, the transport system 20 transports the article container that has been removed from the automated warehouse 81 to the working area of ​​the shipping robot 87 or the shipping worker 89. In this case, the transport system 20 transports the article container in the same manner as the article processing system 50 shown in FIG.

[0185] Next, in S63, the shipping robot 87 or the shipping worker 89 transfers the target items 14 in the number to be shipped from the item container to the collection container. That is, the shipping robot 87 or the shipping worker 89 takes out the target items 14 in the number to be shipped from the item container and places the taken out target items 14 in the collection container.

[0186] After placing the target item 14 in the collection container, the shipping robot 87 transmits the processing details and processing results to the management system 30, similar to the robot 21 of the item processing system 50 shown in Figure 9. Also, after placing the target item 14 in the item container, the shipping worker 89 inputs the processing details and processing results into the shipping terminal device 88, similar to the worker 23 of the item processing system 50 shown in Figure 9. The management system 30 receives the processing details and processing results from the shipping robot 87 or the shipping terminal device 88, and updates the processing information, etc., similar to the item processing system 50 shown in Figure 9.

[0187] In addition, in S63, if the shipping robot 87 fails to pick up the target item 14, the transport system 20, similar to the item processing system 50 shown in Fig. 9, transports the item container containing the target item 14 that the shipping robot 87 failed to pick up to the working area of ​​the shipping worker 89. Then, the shipping worker 89 transfers the target item 14 that the shipping robot 87 failed to pick up from the item container to a collection container.

[0188] Next, in S64, the fourth conveying device 86 of the conveying system 20 conveys the collection container containing the target items 14 and outputs it to the shipping area. Also, in parallel with S64, in S65, the conveying system 20 conveys the item container after removing the target items 14 to the automated warehouse 81. Then, in S66 following S65, the automated warehouse 81 receives the item container and re-stores it inside. When the receiving / shipping system 80 completes the processing of S64 and S66, it ends this flow.

[0189] The fourth conveying device 86 provided in the conveying system 20 conveys the collection container to the working area of ​​the shipping robot 87 or the shipping worker 89 in synchronization with the timing at which the item container is conveyed to the working area of ​​the shipping robot 87 or the shipping worker 89. This allows the shipping robot 87 and the shipping worker 89 to place the target item 14 in the appropriate shipping container.

[0190] Furthermore, when a shipping instruction is received to ship multiple different types of target items 14, the management system 30 causes the fourth conveying device 86 to sequentially transport the collection container to each of the work areas of multiple shipping robots 87 and multiple shipping workers 89. This allows the receiving / shipping system 80 to store multiple types of target items 14 in one collection container.

[0191] Furthermore, when receiving a shipping instruction to ship multiple different types of target goods 14, the management system 30 may transport multiple goods containers sequentially to the shipping robot 87 or shipping worker 89 while keeping the collection container parked in the work area of ​​the shipping robot 87 or shipping worker 89. This allows the shipping / receiving system 80 to store multiple types of target goods 14 in one collection container.

[0192] As described above, the receiving / shipping system 80 allows the shipping robot 87 or the shipping worker 89 to take out the target item 14 stored in the item container and place it in the collection container. In this way, the receiving / shipping system 80 can efficiently coordinate the shipping robot 87 and the shipping worker 89 while reducing the burden of judgment and processing on the shipping robot 87 and the shipping worker 89.

[0193] (First example of shipping system 82) The shipping system 82 provided in the receiving / shipping system 80 shown in FIG. 17 may have a first example configuration as shown in FIG.

[0194] 20 is a diagram showing a shipping system 82 according to the first example. The shipping system 82 according to the first example includes, as fourth conveying devices 86, a fourth conveying device 86-1 for a robot and a fourth conveying device 86-2 for a worker.

[0195] The fourth transport device 86-1 for the robot is provided so that its transport path is close to and parallel to the transport path of the first transport device 61. The shipping robot 87 is disposed between the first transport device 61 and the fourth transport device 86-1 for the robot.

[0196] The fourth conveying device 86-2 for workers is provided so that its conveying path is close to and parallel to the conveying path of the second conveying device 62. A shipping worker 89 is positioned between the second conveying device 62 and the fourth conveying device 86-2 for workers.

[0197] In the first example, the first conveying device 61 has a robot container retractor 112-1. The robot container retractor 112-1 retracts the container from the main conveying path to the work area of ​​the shipping robot 87, and then returns the container from the work area to the main conveying path. The robot container retractor 112-1 can temporarily retain the container in the work area of ​​the shipping robot 87.

[0198] The second conveying device 62 has an article container retracting unit 112-2 for workers. The article container retracting unit 112-2 for workers retracts an article container from the main conveying route to the work area of ​​the shipping worker 89, and further returns the article container from the work area to the main conveying route. The article container retracting unit 112-2 for workers can temporarily retain the article container in the work area of ​​the shipping worker 89.

[0199] The fourth transport device 86-1 for robots has a collected container retraction unit 114-1 for robots. The collected container retraction unit 114-1 for robots retracts the collected container from the main transport route to the working area of ​​the shipping robot 87 and then returns the collected container from the working area to the main transport route. The collected container retraction unit 114-1 for robots can temporarily hold the collected container in the working area of ​​the shipping robot 87.

[0200] The fourth transport device 86-2 for workers has a collection container retraction unit 114-2 for workers. The collection container retraction unit 114-2 for workers retracts the collection container from the main transport route to the work area of ​​the shipping worker 89 and then returns the collection container from the work area to the main transport route. The collection container retraction unit 114-2 for workers can temporarily hold the collection container in the work area of ​​the shipping worker 89.

[0201] In this way, the first conveying device 61 and the second conveying device 62 have the goods container retracting section 112, so that goods containers do not remain on the main conveying route. In addition, the fourth conveying device 86 has the collection container retracting section 114, so that collection containers do not remain on the main conveying route. This allows the shipping robot 87 and the shipping worker 89 to reliably transfer the target goods 14 from the goods container to the collection container.

[0202] The management system 30 manages the movement positions of the goods containers and collection containers on their respective transport routes. The management system 30 also manages the IDs of the goods containers that store the target goods 14 by linking them with the IDs of the collection containers that store the target goods 14. The management system 30 then controls the timing of putting the goods containers and collection containers into place so that the linked goods containers and collection containers arrive at the working area of ​​the shipping robot 87 or shipping worker 89 at the same time.

[0203] The shipping robot 87 and shipping worker 89 receive work instructions from the management system 30, including a set of the ID of the item container and the ID of the collection container, and the number of target items 14 to be transferred. The shipping robot 87 and shipping worker 89 then check the ID of the item container and the ID of the collection container that are staying in their work area, remove the specified number of target items 14 from the item container with the specified ID, and place them in the collection container with the specified ID. This allows the shipping system 82 to perform accurate shipping processing.

[0204] Furthermore, when multiple types of target items 14 are stored in one collection container, the management system 30 sequentially sends multiple different item containers while leaving one collection container in the work area of ​​the shipping robot 87 or shipping worker 89. The shipping robot 87 or shipping worker 89 sequentially removes the target items 14 from each of the multiple item containers received and places them in the collection container that is in its own work area. This allows the shipping system 82 to simultaneously send multiple types of target items 14 to one shipping destination.

[0205] Furthermore, when multiple types of target items 14 are stored in one collection container, the management system 30 may sequentially transport the collection container to multiple shipping robots 87 or multiple shipping workers 89. This allows each of the multiple shipping robots 87 or each of the multiple shipping workers 89 to place the target items 14 in the same collection container. Even in this way, the shipping system 82 can simultaneously send multiple types of target items 14 to one shipping destination.

[0206] FIG. 21 is a diagram showing the flow of containers in the shipping system 82 according to the first example when a failure occurs.

[0207] The shipping system 82 according to the first example includes a third conveying device 67-1 for an article container and a third conveying device 67-2 for a collection container as the third conveying device 67. The shipping system 82 according to the first example also includes a direction changing device 68-1 for an article container and a direction changing device 68-2 for a collection container as the direction changing device 68.

[0208] The third conveying device 67-1 for goods containers sends the goods container that has been conveyed by the first conveying device 61 to the second conveying device 62. The direction changing device 68-1 for goods containers is provided midway or at the final stage of the conveying path of the first conveying device 61. When the shipping robot 87 fails to process the target goods 14, the direction changing device 68-1 for goods containers sends the goods container containing the target goods 14 to the third conveying device 67-1 for goods containers.

[0209] The third conveying device 67-2 for collection containers sends the collection container that has been transported by the fourth conveying device 86-1 for robots to the fourth conveying device 86-2 for workers. The direction changing device 68-2 for collection containers is provided midway or at the final stage of the transport path of the fourth conveying device 86-1 for robots. If the shipping robot 87 fails to process the target item 14, the direction changing device 68-2 for collection containers sends the collection container that is scheduled to store the target item 14 to the third conveying device 67-2 for collection containers.

[0210] If the processing by the shipping robot 87 is not completed normally or an error occurs, the management system 30 controls the direction changing device 68-1 for the goods container to send the target goods container to the second conveying device 62. At the same time, the management system 30 controls the direction changing device 68-2 for the collection container to send the target collection container to the fourth conveying device 86-2 for the worker. In this way, even if the processing by the shipping robot 87 fails, the management system 30 can send the goods container and collection container that are linked to each other to the work area of ​​the shipping worker 89 at the same time.

[0211] Furthermore, if the shipping robot 87 makes a mistake by placing more than the designated number of target items 14 in the collection container, the shipping robot 87 notifies the management system 30. If such a mistake occurs, the management system 30 instructs the shipping worker 89 to remove the designated number of target items 14 from the collection container and return them to the item container. In response to the instruction from the management system 30, the shipping worker 89 removes the designated number of target items 14 from the collection container transferred from the shipping robot 87 and returns them to the item container transferred from the shipping robot 87. This allows the shipping worker 89 to recover if the shipping robot 87 places more than the designated number of target items 14 in the collection container.

[0212] (Second example of shipping system 82) 22 is a diagram showing a shipping system 82 according to a second example. The shipping system 82 provided in the receiving / shipping system 80 shown in FIG. 17 may have the configuration of the second example as shown in FIG.

[0213] In the second example, the first conveying device 61, the second conveying device 62, and the fourth conveying device 86 are arranged so that their conveying paths are parallel to one another. Also, in the second example, the fourth conveying device 86 is arranged between the first conveying device 61 and the second conveying device 62.

[0214] In the second example, the shipping robot 87 is disposed between the first transport device 61 and the fourth transport device 86. In the second example, the shipping worker 89 is disposed between the second transport device 62 and the fourth transport device 86.

[0215] In the second example, the first conveying device 61 has a goods container retracting unit 112-1 for the robot. In the second example, the second conveying device 62 has a goods container retracting unit 112-2 for the worker. In the second example, the fourth conveying device 86 has a goods container retracting unit 114-1 for the robot and a goods container retracting unit 114-2 for the worker.

[0216] The fourth transport device 86 according to the second example sends the collection conveyor to both the shipping robot 87 and the shipping worker 89. Therefore, the management system 30 can send the collection conveyor to the working area of ​​the shipping robot 87, and then send the collection conveyor to the working area of ​​the shipping worker 89. This allows the shipping system 82 according to the second example to place multiple different types of target items 14 on a single collection conveyor by both the shipping robot 87 and the shipping worker 89.

[0217] 23 is a diagram showing the flow of containers in the event of a failure in the shipping system 82 according to the second example. For example, if there is variation in the number of target items 14 stored in one item container and the shipping robot 87 cannot continue to operate normally, the shipping robot 87 stops processing and transmits information to the management system 30 that the processing has been stopped. When the management system 30 receives the information that the processing has been stopped, it reschedules the subsequent processing and controls the entire system based on the rescheduled plan.

[0218] For example, the management system 30 returns an item container containing a plurality of target items 14 that are uneven to the first conveying device 61 and transfers it via the third conveying device 67 to the working area of ​​a shipping worker 89 located downstream of the third conveying device 67 and performing recovery measures. Furthermore, the management system 30 transfers the corresponding collection container via the fourth conveying device 86 to the working area of ​​the shipping worker 89 performing recovery measures. Then, the management system 30 instructs the shipping worker 89 performing recovery measures to execute the process that was not successfully completed by the shipping robot 87. As a result, the shipping system 82 according to the second example allows the shipping worker 89 to perform recovery measures even when the shipping robot 87 is unable to continue operating normally and has interrupted the process.

[0219] (Third example of shipping system 82) 24 is a diagram showing a shipping system 82 according to a third example. The shipping system 82 provided in the receiving / shipping system 80 shown in FIG. 17 may have the configuration of the third example as shown in FIG.

[0220] In the third example, the fourth conveying device 86 is provided so that its conveying path is close to and parallel to the conveying path of the common conveying device 60. In the third example, the shipping robot 87 and the shipping worker 89 are disposed in an area between the common conveying device 60 and the fourth conveying device 86. The shipping worker 89 is also disposed downstream of the shipping robot 87 on the conveying path of the common conveying device 60 and the fourth conveying device 86.

[0221] The shipping system 82 according to the third example may have a plurality of shipping robots 87 and a plurality of shipping workers 89. In this case, the plurality of shipping robots 87 and the plurality of shipping workers 89 are arranged in a line along the transport paths of the common transport device 60 and the fourth transport device 86.

[0222] The common transport device 60 also has an article container retractor 112-1 for the robot and an article container retractor 112-2 for the worker. The article container retractor 112-1 for the robot retracts an article container from the main transport path of the common transport device 60 to the work area of ​​the shipping robot 87, and then returns the article container from the work area to the main transport path. The article container retractor 112-2 for the worker retracts an article container from the main transport path of the common transport device 60 to the work area of ​​the shipping worker 89, and then returns the article container from the work area to the main transport path.

[0223] That is, in the third example, the robot article container drawing unit 112-1 functions as the first transfer device 61. Also, in the third example, the worker article container drawing unit 112-2 functions as the second transfer device 62.

[0224] In the third example, the sensor system 64 is placed upstream of the working area of ​​the shipping robot 87 and the shipping worker 89. Similar to the item processing system 50 shown in Figure 9, the management system 30 determines, based on information obtained from the sensor system 64, whether the target item 14 stored in the item container can be handled and processed by the shipping robot 87.

[0225] If the target item 14 can be handled and processed by the shipping robot 87, the management system 30 causes the robot item container retractor 112-1 (functioning as the first conveying device 61) to retract the item container into the working area of ​​the shipping robot 87. At the same time, the management system 30 causes the robot item container retractor 114-1 to retract the collection container tied to the item container into the working area of ​​the shipping robot 87. This allows the shipping robot 87 to take out the target item 14 stored in the item container and place it in the collection container.

[0226] FIG. 25 is a diagram showing the flow of the goods containers and the collection containers when a shipping worker 89 performs processing in the shipping system 82 according to the third example.

[0227] If the target item 14 cannot be handled and processed by the shipping robot 87, the management system 30 causes the worker's item container retraction unit 112-2 (functioning as the second conveyance device 62) to retract the item container into the work area of ​​the shipping worker 89. In addition, the management system 30 causes the worker's item container retraction unit 114-2 to retract the collection container tied to the item container into the work area of ​​the shipping worker 89. This allows the shipping worker 89 to take out the target item 14 stored in the item container and place it in the collection container.

[0228] FIG. 26 is a diagram showing the flow of containers in the shipping system 82 according to the third example when a failure occurs.

[0229] If the processing by the shipping robot 87 is not completed normally or an error occurs, the management system 30 controls the robot's goods container retractor 112-1 to return the target goods container to the main transport path of the common transport device 60. At the same time, the management system 30 controls the robot's collection container retractor 114-1 to return the corresponding collection container to the main transport path of the fourth transport device 86.

[0230] Subsequently, the management system 30 causes the article container to be transported downstream by the common transport device 60. In synchronization with this, the management system 30 causes the corresponding collection container to be transported downstream by the fourth transport device 86.

[0231] Then, the management system 30 causes the worker's goods container retraction unit 112-2 to retract the goods container into the work area of ​​the shipping worker 89. In addition, the management system 30 causes the worker's goods container retraction unit 114-2 to retract the corresponding collection container into the work area of ​​the shipping worker 89.

[0232] Then, the management system 30 instructs the shipping worker 89 to execute the process that was not successfully completed by the shipping robot 87. As a result, the shipping system 82 according to the third example allows the shipping worker 89 to recover even if the process by the shipping robot 87 fails.

[0233] (Modification of the transport system 20) 27 is a diagram showing an article processing system 50 using a mobile robot 200. At least one of the common conveying device 60, the first conveying device 61, the second conveying device 62, and the third conveying device 67 included in the conveying system 20 may include a mobile robot 200 that conveys the target article 14. Furthermore, the mobile robot 200 also functions as a distribution device 63 under instructions from the management system 30.

[0234] The mobile robot 200 can move while holding the target items 14 or an item container containing the target items 14. The management system 30 controls the movement positions of each of the multiple mobile robots 200 so that the target items 14 are moved in the same manner as the item processing system 50 shown in FIG. 9. That is, the item processing system 50 shown in FIG. 27 can function in the same manner as the item processing system 50 shown in FIG. 9. In this way, the item processing system 50 distributes and transports the target items 14 using the mobile robots 200, so there is no need to install a new conveyor or the like even when the number of robots 21 and workers 23 changes, or when the placement of the robots 21 and workers 23 changes. Therefore, the layout of the item processing system 50, which transports the target items 14 using the mobile robots 200, can be easily changed simply by updating the control program of the management system 30.

[0235] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0236] 10 Handling System 12 Goods 14. Target items 20. Conveyor System 21. Robot 22 Terminal equipment 23 Workers 30 Management Systems 32 External Systems 34 Upper System 50 Material Handling System 51 Storage device 60 Common transport device 61 First conveying device 62 Second conveying device 63 Distribution device 64 Sensor System 65 Distribution control device 67 Third conveyor 68 Direction change device 69 Directional Control Device 80 Receiving and shipping system 81 Automated Warehouse 82 Shipping System 86 Fourth Transport Device 87 Shipping Robot 88 Shipping terminal equipment 89 Shipping Worker 83 Receiving System 91 Inspection robot 92 Inspection terminal device 93 Inspection Worker 94 Inspection conveying device 95 Storage Robot 96 Warehouse terminal device 97 Warehouse Worker 98 Warehouse transport device 112 Goods container retraction section 114 Collection container retraction section 200 Mobile Robots

Claims

1. An information processing device that controls a system that handles a plurality of types of articles, The handling system includes: a first conveying device that conveys an article to be processed among the plurality of types of articles by a robot to a working area where the article is to be handled; a second conveying device for conveying the object to be processed to a work area where the object is handled by a worker; Equipped with the information processing device has a function as an operation unit that controls the handling processing system, The operation unit Before the object to be processed is sent to the first conveying device or the second conveying device, processing information associated with the object to be processed and based on the results of the robot handling and processing the object is acquired; determining whether the robot or the worker should process the object to be processed according to the acquired processing information; The handling system is controlled so that, when it is determined that the robot should process the object to be processed, the object to be processed is sent to the first conveying device, and, when it is determined that the worker should process the object to be processed, the object to be processed is sent to the second conveying device. Information processing device.

2. The handling system comprises: a common conveying device that conveys the objects to be processed; a distributor that sends the articles to be processed that are transported by the common transport device to the first transport device or the second transport device; a distribution control device that controls the distribution device; Furthermore, When the operation unit determines that the robot should process the object to be processed, it instructs the distribution control device to send the object to be processed to the first conveying device, and when the operation unit determines that the worker should process the object to be processed, it instructs the distribution control device to send the object to be processed to the second conveying device. The information processing device according to claim 1 .

3. The handling processing system further includes a third conveying device that, when the robot is unable to process the object to be processed that has been transported by the first conveying device, receives the object to be processed that could not be processed from the first conveying device and sends it to the second conveying device.

3. The information processing device according to claim 1.

4. The operation unit updates the processing information based on the results of the robot handling and processing the object to be processed that is transported by the first transport device.

3. The information processing device according to claim 1.

5. The robot is operable in a normal operation mode in which it handles and processes the article to be processed, and a stable operation mode in which it handles and processes the article to be processed more reliably than in the normal operation mode, When the article to be processed is handled by the robot, if the reliability of the handling estimation by the robot is equal to or lower than a predetermined value, the operation unit operates the robot in the stable operation mode. The information processing device according to claim 1 .

6. The handling processing system is a warehouse storing the plurality of types of items. Furthermore, The handling processing system receives an item in an ingest process to the warehouse, and outputs the item to be processed in an outgoing process, The operation unit generates the processing information in the warehousing process. The information processing device according to claim 1 .

7. The first conveying device and the second conveying device are conveyors. The information processing device according to claim 1 .

8. At least one of the first conveying device and the second conveying device includes a mobile robot that conveys the article to be processed. The information processing device according to claim 1 .

9. A program executed on an information processing device that controls a system that handles multiple types of items, The handling system includes: a first conveying device that conveys an article to be processed among the plurality of types of articles by a robot to a working area where the article is to be handled; a second conveying device for conveying the object to be processed to a work area where the object is handled by a worker; Equipped with The program, when executed by the information processing device, causes the information processing device to function as an operation unit that controls a system that performs the handling process; The operation unit Before the object to be processed is sent to the first conveying device or the second conveying device, processing information associated with the object to be processed and based on the results of the robot handling and processing the object is acquired; determining whether the robot or the worker should process the object to be processed according to the acquired processing information; The handling system is controlled so that, when it is determined that the robot should process the object to be processed, the object to be processed is sent to the first conveying device, and, when it is determined that the worker should process the object to be processed, the object to be processed is sent to the second conveying device. program.

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