Transport system, transport method, and program

Abstract

To provide a transport system, a transport method, and a program for reducing the possibility of damage to articles contained in a box and transported.SOLUTION: A transport system 1000 transports a box 10 containing articles using transport robots 300a and 300b. The transport system 1000 comprises a first calculation unit 410 for calculating a first maximum allowable acceleration that represents the maximum allowable acceleration value in the width direction of the box 10 and a second maximum allowable acceleration that represents the maximum allowable acceleration value in the depth direction of the box 10 based on the type and arrangement of the articles.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a transport system, a transport method, and a program. [Background technology]

[0002] Patent Document 1 discloses a transport device that estimates the fragility of luggage from the movement of the luggage's center of gravity, the vibration characteristics of the luggage, or the sound generated when the luggage moves, and sets a transport method based on that information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2021 / 241263 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology described in Patent Document 1, the robot transporting the load detects the characteristics of the load it is transporting and changes the transport method based on the detected information. Therefore, it is not possible to prevent damage to the load before changing the transport method.

[0005] The present disclosure has been made to solve such problems, and aims to provide a conveying system, a conveying method, and a program that reduce the possibility of damage to items being transported in boxes. [Means for solving the problem]

[0006] The transport system in this embodiment is A transport system in which a box containing an item is transported by a transport robot, The system includes a first calculation means for calculating a first maximum allowable acceleration representing the maximum allowable acceleration in the width direction of the box and a second maximum allowable acceleration representing the maximum allowable acceleration in the depth direction of the box based on the type and arrangement of the item.

[0007] The conveying method in this embodiment is as follows: A transport method for transporting a box containing an item by a transport robot, comprising: The method includes a step of calculating a first maximum allowable acceleration representing the maximum allowable acceleration in the width direction of the box and a second maximum allowable acceleration representing the maximum allowable acceleration in the depth direction of the box based on the type and arrangement of the item.

[0008] The program in this embodiment causes a computer to execute the above-described transport method. [Effects of the Invention]

[0009] The present disclosure provides a conveying system, a conveying method, and a program that reduce the possibility of damage to items being stored in boxes and conveyed. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram illustrating a configuration of a transport system according to a first embodiment. [Figure 2] FIG. 2 is a schematic front view of the post according to the first embodiment. [Figure 3] FIG. 1 is a perspective view of a box according to a first embodiment. [Figure 4] FIG. 2 is a schematic front view of the rack according to the first embodiment. [Figure 5] 1 is a schematic side view of a transport vehicle according to a first embodiment. [Figure 6] FIG. 1 is a perspective view of a transport vehicle according to a first embodiment. [Figure 7] FIG. 10 is a diagram for explaining a method for calculating a breakage risk. [Figure 8] FIG. 10 is a diagram for explaining a method for calculating a breakage risk. [Figure 9]4 is a diagram for explaining a method for calculating a first maximum allowable acceleration and a second maximum allowable acceleration. FIG. [Figure 10] 10 is a diagram for explaining a method for calculating a third maximum allowable acceleration and a fourth maximum allowable acceleration. FIG. [Figure 11] 10 is a flowchart showing the flow of a method for calculating a third maximum allowable acceleration and a fourth maximum allowable acceleration. [Figure 12] FIG. 10 is a diagram for explaining a method of storing items. [Figure 13] FIG. 10 is a diagram for explaining a method of storing items. [Figure 14] FIG. 10 is a diagram for explaining a method of storing items. [Figure 15] FIG. 10 is a diagram for explaining a method of storing items. [Figure 16] FIG. 10 is a diagram for explaining a method of storing items. [Figure 17] FIG. 10 is a diagram for explaining a method of storing items. [Figure 18] FIG. 10 is a diagram for explaining a method of storing items. [Figure 19] 10 is a flowchart showing the flow of a method for changing an item storage method. DETAILED DESCRIPTION OF THE INVENTION

[0011] The present invention will be described below through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means for solving the problems.

[0012] Embodiment 1 The transport system according to the first embodiment will be described below with reference to the drawings. Fig. 1 is a schematic diagram showing the configuration of a transport system 1000 according to the first embodiment. The transport system 1000 includes a post 100, a rack 200, a transport robot 300a, a transport robot 300b, and a management server 400. The post 100, the rack 200, the transport robot 300a, the transport robot 300b, and the management server 400 are communicatively connected via a network N. The network N may be wired or wireless.

[0013] The post 100 is configured to be able to store boxes containing items, and is placed at the entrance of a house or the like. The rack 200 is similarly configured to be able to store boxes containing items. The rack 200 is placed inside a house or the like. The rack 200 is equipped with a sorting robot that sorts the items.

[0014] The transport robot 300a is smaller than the transport robot 300b and mainly transports boxes within a house. The transport robot 300a takes out a box stored in the post 100 and stores it in the rack 200. The transport robot 300a then takes out a box stored in the rack 200 and stores it in the post 100.

[0015] The transport robot 300b is larger than the transport robot 300a and mainly transports boxes outside of houses. The transport robot 300b transports boxes from their source (e.g., a warehouse) to each house and stores them in the post 100. The transport robot 300b may also take the boxes out of the post 100 and transport them to their destination. The transport robot 300a may transport the boxes from the rack 200 to the post 100, and the transport robot 300b may transport the boxes from the post 100 to an outside location (e.g., a warehouse). For example, the boxes may be transported outside when refilling the boxes with items or when returning the items.

[0016] The management server 400 is a server that manages the transport system 1000. The management server 400 calculates the maximum allowable acceleration value of the box based on the type and arrangement of the items stored in the box. The transport robots 300a and 300b travel based on the calculation results, thereby reducing the possibility of damage to the items stored in the box. The management server 400 also has a function to change the method of storing items in the box (for example, whether or not to use dividers, the orientation of the items, etc.).

[0017] The rack 200, the transport robot 300a, the transport robot 300b, and the management server 400 each include a computing unit such as a CPU (Central Processing Unit), and a storage unit such as a RAM (Random Access Memory) or a ROM (Read Only Memory) that stores various control programs, data, etc. In other words, the rack 200, the transport robot 300a, the transport robot 300b, and the management server 400 all have computer functions and perform processing based on the various control programs, etc.

[0018] The processing by the management server 400 may be executed on the rack 200 side, the transport robot 300a side, and the transport robot 300b side. Therefore, even if the management server 400 is not included, the transport system 1000 according to the first embodiment may include the same.

[0019] Next, the post 100 will be described with reference to Figure 2. Figure 2 is a schematic front view of the post 100. It should be understood that the right-handed XYZ Cartesian coordinate system shown in Figure 2 and other figures is for the convenience of explaining the positional relationship of the components. Normally, the positive direction of the Z axis is vertically upward, and the XY plane is the horizontal plane, which is common among the drawings. The post 100 comprises a housing 110 and multiple pairs of rails 120. For ease of understanding, the box 10 is shown hatched.

[0020] The housing 110 has a top plate provided on the positive side of the Z axis, a bottom plate provided on the negative side of the Z axis, and side plates provided on the positive and negative sides of the Y axis. An openable door may be provided on the front or back of the housing 110. In such a case, the post 100 may have a function to open and close the door in response to a request from the management server 400.

[0021] The plurality of pairs of rails 120 extend in the depth direction (X-axis direction) and are arranged side by side at equal intervals in the height direction (Z-axis direction) inside the housing 110. A plurality of boxes 10 are housed along the plurality of pairs of rails 120.

[0022] FIG. 3 is a schematic perspective view of box 10. Referring to FIGS. 2 and 3, box 10 has a protruding portion 11 that protrudes in the width direction (Y-axis direction). Protruding portion 11 extends in the depth direction (X-axis direction) of box 10. One side of protruding portion 11 is supported by one of a pair of rails 120, and the other side of protruding portion 11 is supported by the other of the pair of rails 120. Note that the bottom surface of box 10 may be supported by the pair of rails 120. In such a case, box 10 may not have protruding portion 11.

[0023] Next, the rack 200 will be described with reference to Fig. 4. Fig. 4 is a schematic front view of the rack 200. The rack 200 includes a housing 210, multiple pairs of rails 220, a camera 230, and a sorting robot 240.

[0024] Similar to the housing 110, the housing 210 has a top plate provided on the positive side of the Z axis, a bottom plate provided on the negative side of the Z axis, and side plates provided on the positive and negative sides of the Y axis. The housing 110 further includes guide rails 211 for mounting a sorting robot 240. A camera 230 is also mounted on the top plate. The configuration of the multiple pairs of rails 220 is similar to the configuration of the multiple pairs of rails 120, and therefore a description thereof will be omitted.

[0025] Similar to post 100, rack 200 is configured to be able to store multiple boxes 10. Rack 200 has storage areas A1, A2, and A3. Storage area A1 is an area in which box 10a1 is stored, and storage area A2 is an area in which box 10a2 is stored. Storage area A3 is an area other than storage areas A1 and A2. Storage area A3 stores boxes 10b, 10c, and 10d.

[0026] Storage area A1 and storage area A2 are areas that the sorting robot 240 can approach. Source boxes are placed in one of storage area A1 and storage area A2, and destination boxes are placed in the other. Below, a case will be described in which source boxes are placed in storage area A1 and destination boxes are placed in storage area A2. In such a case, box 10a1 may contain a mixture of multiple types of items or items belonging to multiple users. Box 10a1 may also be a box that has been transported from outside.

[0027] On the other hand, storage area A3 is provided with boxes for storing predetermined types of items or boxes for storing items for predetermined users. For example, box 10b may store disaster prevention supplies, box 10c may store kitchen supplies, and box 10d may store cleaning supplies. Box 10b may store items used by fathers, box 10c may store items used by mothers, and box 10d may store items used by children. When a box stored in storage area A3 needs to be replenished with items, the box is removed and stored in storage area A2, and the sorting robot 240 replenishes the items.

[0028] Camera 230 is attached to the top panel or the like of housing 210. Camera 230 captures images of the items contained in boxes 10a1 and 10a2.

[0029] The sorting robot 240 is attached to a guide rail 211 and can move in the Y-axis direction as indicated by the double-sided arrow. The sorting robot 240 includes a robot arm and a robot hand. The robot hand may be a suction hand or a gripping hand.

[0030] The sorting robot 240 transfers the items from the box 10a1 to the box 10a2. The sorting robot 240 can recognize the items using the image captured by the camera 230. After the items have been transferred, the box 10a2 is stored in the storage area A3 of the rack 200 by the transport robot 300a. Note that the sorting robot 240 may also move the box 10a2.

[0031] The sorting robot 240 transfers items from box 10a1 to box 10a2 in accordance with instructions from the management server 400. The sorting robot 240 also performs processes such as changing the orientation of the items stored in box 10a2 and adding partitions inside box 10a2 in accordance with instructions from the management server 400. The specific processes performed by the management server 400 will be described later.

[0032] Next, the configuration of the transport robot 300a will be described with reference to Fig. 5. Fig. 5 is a schematic side view of the transport robot 300a. The transport robot 300a includes wheels 310, a main body 320, a top plate 330, and a support 340. The two pairs of wheels 310 are rotatably fixed to the underside of the main body 320, and are driven by a drive source (not shown) such as a motor.

[0033] 5, a top plate 330 is connected to the main body 320 via an extendable support column 340. The top plate 330 is connected to the upper end of the support column 340. The transfer robot 300a places a box 10 on the top plate 330 and transfers the box 10.

[0034] The support 340 has, for example, a telescopic extension mechanism, and is extended and retracted by a drive source (not shown) such as a motor. As indicated by the white arrow, the height of the top plate 330 can be changed by changing the length of the support 340. This allows the transport robot 300a to take the box 10 in and out of storage areas of different heights. The transport robot 300a can transfer the box 10 from the post 100 and rack 200 to the top plate 330 using a manipulator (not shown). The transport robot 300a can also transfer the box 10 from the top plate 330 to the post 100 and rack 200 using the manipulator.

[0035] The transfer robot 300a receives from the management server 400 a first maximum allowable acceleration representing the maximum allowable acceleration in the width direction (e.g., Y direction) of the box 10 and a second maximum allowable acceleration representing the maximum allowable acceleration in the depth direction (e.g., X direction). The transfer robot 300a transfers the box 10 so that, for example, the acceleration in the Y direction is equal to or less than the first maximum allowable acceleration and the acceleration in the X direction is equal to or less than the second maximum allowable acceleration. This reduces the possibility of damage to the items contained in the box 10.

[0036] Next, the transport robot 300b will be described with reference to Fig. 6. The transport robot 300b includes wheels 310, a main body 320, a top plate 330, support columns (not shown), and a storage section 350. Fig. 6 shows the support columns in a retracted state. The storage section 350 includes multiple pairs of rails (not shown), similar to the posts 100 and racks 200, and is configured to be able to store multiple boxes 10.

[0037] The transport robot 300b uses a manipulator (not shown) to transfer the box 10 from the post 100 to the top plate 330, and stores the box placed on the top plate 330 in the storage unit 350. The transport robot 300b can store the box 10 in multiple storage areas of the storage unit 350 by changing the height of the top plate 330. The transport robot 300b also uses a manipulator (not shown) to pull out the box 10 from the storage unit 350 and place it on the top plate 330, and stores the box 10 placed on the top plate in the post 100.

[0038] The transfer robot 300a may store the box 10 in the storage section 350 of the transfer robot 300b and take out the box 10 from the storage section 350. In such a case, the transfer robot 300b may not be provided with a manipulator.

[0039] X shown in Figure 6 ROBOT The direction indicates the direction of travel of the transfer robot 300b. ROBOT The X direction indicates the width direction of the transfer robot 300b. ROBOT The direction of the arrow coincides with the depth direction of the box 10, but ROBOT The storage section 350 may have a depth direction X ROBOT Box 10 matches the direction and the depth direction is Y ROBOT The box 10 may contain both the same direction.

[0040] The transfer robot 300b receives Y from the management server 400. ROBOT a third maximum allowable acceleration, which represents the maximum allowable acceleration in the X direction; ROBOT The transfer robot 300b receives a fourth maximum allowable acceleration value representing the maximum allowable acceleration value in the Y direction. ROBOT The acceleration in the X direction becomes equal to or less than the third maximum allowable acceleration. ROBOT The container 350 travels so that the acceleration in the direction is equal to or less than the fourth maximum allowable acceleration. The third maximum allowable acceleration and the fourth maximum allowable acceleration are calculated based on the first maximum allowable acceleration and the second maximum allowable acceleration of each of the plurality of boxes 10 stored in the storage section 350.

[0041] Next, the functions of the management server 400 will be described with reference to Fig. 1. The management server 400 includes a first calculation unit 410, a second calculation unit 420, and a change unit 430.

[0042] The first calculation unit 410 calculates a first maximum allowable acceleration and a second maximum allowable acceleration based on the type and arrangement of the items contained in the box 10. Specifically, the first calculation unit 410 determines a risk of an item being damaged when the item moves in the width direction of the box 10 (referred to as a first damage risk), and calculates the first maximum allowable acceleration based on the first damage risk. Similarly, the first calculation unit 410 determines a risk of an item being damaged when the item moves in the depth direction of the box 10 (referred to as a second damage risk), and calculates the second maximum allowable acceleration. The damage risk may be a risk of at least one of two colliding items being damaged.

[0043] The first damage risk and the second damage risk are evaluated based on the expected collision speed and fragility of the two colliding objects. The expected collision speed represents the expected speed at which the two objects collide. The expected collision speed may be calculated on the assumption that a predetermined acceleration (e.g., unit acceleration) is applied. Specifically, the expected collision speed is calculated from the rolling tendency based on the shape of each object. Furthermore, the fragility is evaluated based on the material of the object. Note that the expected collision speed may also be calculated from the slipperiness of the object. In such cases, information about the material of the object may be taken into account.

[0044] Next, with reference to FIG. 7, a method for calculating the first breakage risk and the second breakage risk will be specifically described. Box 10 contains bottle 21a, bottle 21b, and tissue box 22. Bottle 21a and bottle 21b have a shape that makes them easy to roll in the width direction of box 10 but difficult to roll in the depth direction. Tissue box 22 has a shape that makes it difficult to roll in the width direction and depth direction of box 10. Bottle 21a and bottle 21b are made of glass. Tissue box 22 is made of paper. Box 10 is made of plastic. Hereinafter, the material of box 10 will be referred to as hard plastic, and the material of the plastic bag will be referred to as soft plastic.

[0045] In the width direction of the box 10, there is a possibility that the bottle 21a and the bottle 21b may collide, and there is a possibility that the bottle 21b may collide with the tissue box 22. In the depth direction of the box 10, there is a possibility that the bottle 21a may collide with the wall of the box 10, there is a possibility that the bottle 21b may collide with the wall of the box 10, and there is a possibility that the tissue box 22 may collide with the wall of the box 10.

[0046] When calculating the first damage risk, the expected collision speed and fragility of items that may collide in the width direction are taken into consideration. When calculating the second damage risk, the expected collision speed and fragility of items that may collide in the depth direction are taken into consideration. The expected collision speed is calculated based on the expected speed of each item. The expected speed may be a relative speed as viewed from the box 10. The fragility is evaluated based on a table showing the fragility of items.

[0047] For example, the assumed speed of bottles 21a and 21b in the width direction is determined to be "10", and the assumed speed in the depth direction is determined to be "1". Also, the assumed speed of tissue box 22 in the width direction is assumed to be "2", and the assumed speed in the depth direction is assumed to be "2". The assumed speeds may be the speeds assumed when a predetermined acceleration is applied.

[0048] Figure 8 is a table showing the fragility of each combination of material. In this table, the fragility of glass colliding with glass is "10," the fragility of glass colliding with hard plastic is "5," the fragility of glass colliding with paper is "1," and the fragility of glass colliding with soft plastic is "0.1." The fragility of hard plastic colliding with hard plastic is "2," the fragility of hard plastic colliding with paper is "0.1," and the fragility of hard plastic colliding with soft plastic is "0." The fragility of paper colliding with paper, the fragility of paper colliding with soft plastic, and the fragility of soft plastic colliding with soft plastic are all "0."

[0049] With reference to Figures 7 and 8, the first breakage risk will be described first. The expected collision speed when bottle 21a and bottle 21b collide is calculated as "20" by adding "10", which is the expected speed of bottle 21a, and "10", which is the expected speed of bottle 21b. Note that the expected collision speed may be calculated by an operation other than addition. The fragility of bottle 21a and bottle 21b is "10", which is the fragility when glass collides with glass. Therefore, the breakage risk when bottle 21a and bottle 21b collide is calculated as 20 * 10 = 300. The breakage risk may also be calculated by an operation other than multiplication.

[0050] Similarly, the expected collision speed when bottle 21b and tissue box 22 collide is calculated as "12" by adding "10", the expected speed of bottle 21b, and "2", the expected speed of tissue box 22. The fragility of bottle 21b and tissue box 22 is "1", which is the fragility when glass and paper collide. Therefore, the risk of breakage when bottle 21b and tissue box 22 collide is calculated as 12*1=12.

[0051] The first breakage risk is calculated as "200" by calculating the maximum value from "200", which is the breakage risk when bottle 21a and bottle 21b collide, and "12", which is the breakage risk when bottle 21b collide with tissue box 22. Note that the method of calculating the first breakage risk is not limited to calculating the maximum value.

[0052] Similarly, the second breakage risk will be explained. The expected collision speed when bottle 21a collides with box 10 is calculated as "1" by adding "1", which is the expected speed of bottle 21a, and "0", which is the expected speed of box 10. The fragility of bottle 21a is "5", which is the fragility when glass collides with hard plastic. Therefore, the risk of breakage when bottle 21a collides with box 10 is calculated as 1 * 5 = 5. Although a detailed explanation will be omitted, the risk of breakage when bottle 21b collides with box 10 is calculated as "5", and the risk of breakage when tissue box 22 collides with box 10 is calculated as "0.2".

[0053] The second breakage risk is calculated as "5" by calculating the maximum value from "5", which is the breakage risk when bottle 21a collides with box 10, "5", which is the breakage risk when bottle 21b collides with box 10, and "0.2", which is the breakage risk when tissue box 22 collides with box 10.

[0054] Next, referring to FIG. 9, a method for calculating a first maximum allowable acceleration from a first risk of damage (e.g., "12") and a second maximum allowable acceleration from a second risk of damage (e.g., "0.2") will be described. For example, the first maximum allowable acceleration is calculated as "10" when the first risk of damage is 0 or greater but less than 10; as "5" when the first risk of damage is 10 or greater but less than 20; as "3" when the first risk of damage is 20 or greater but less than 100; as "1" when the first risk of damage is 100 or greater but less than 200; and as "0.3" when the first risk of damage is 200 or greater. The second maximum allowable acceleration is also calculated based on the second risk of damage in a similar manner. For example, when the first risk of damage is "200," the first maximum allowable acceleration is calculated as "0.3." When the second risk of damage is "5," the second maximum allowable acceleration is calculated as "10."

[0055] The transport robot 300a transports the box 10 by setting the acceleration of the box 10 in the width direction to less than the first maximum allowable acceleration and the acceleration of the box 10 in the depth direction to less than the second maximum allowable acceleration, thereby reducing the risk of damage to items contained in the box 10.

[0056] Next, the second calculation unit 420 of the management server 400 will be described with reference to Fig. 1. The second calculation unit 420 calculates the maximum value of the allowable acceleration in the width direction of the transfer robot 300b (third maximum allowable acceleration) and the maximum value of the allowable acceleration in the traveling direction (fourth maximum allowable acceleration). The second calculation unit 420 calculates the third maximum allowable acceleration and the fourth maximum allowable acceleration based on the first maximum allowable acceleration and the second maximum allowable acceleration of each of the multiple boxes 10 stored in the transfer robot 300b.

[0057] 6 and 10, a method for calculating the third maximum allowable acceleration and the fourth maximum allowable acceleration will be specifically described. It is assumed that the transport robot 300b contains boxes A to D as boxes 10. The first maximum allowable acceleration of box A is set to "3.0", and the second maximum allowable acceleration is also set to "3.0". The first maximum allowable acceleration of box B is set to "2.0", and the second maximum allowable acceleration is also set to "2.0". The first maximum allowable acceleration of box C is set to "1.5", and the second maximum allowable acceleration is also set to "2.0". The first maximum allowable acceleration of box D is set to "1.0", and the second maximum allowable acceleration is also set to "2.5".

[0058] The vertical axis (X ROBOT The X axis) is the moving direction of the transfer robot 300b. ROBOT The horizontal axis (Y ROBOT The width direction (Y axis) of the transport robot 300b ROBOT The region 40a represents the allowable acceleration in the transport of box A, and is determined from the first maximum allowable acceleration and the second maximum allowable acceleration of box A. When the acceleration of the transport robot 300b is included in region 40a, the risk of damage to the items contained in box A is sufficiently low.

[0059] Referring to Figure 6, X ROBOT The direction of the Y axis coincides with the depth direction of the boxes A to D. In this case, the curve surrounding the area 40a and the Y axis ROBOT The intersection of the axis with the curve surrounding the region 40a represents the first maximum allowable acceleration of the box A, and the intersection of the curve with the X axis represents the first maximum allowable acceleration of the box A. ROBOT The intersection point with the axis represents the second maximum allowable acceleration of box A. Meanwhile, X ROBOT When the direction is the width direction of the box A, the curve surrounding the area 40a and Y ROBOT The intersection of the axis with the curve surrounding the region 40a represents the second maximum allowable acceleration of the box A, and the intersection of the curve with the X axis represents the second maximum allowable acceleration of the box A. ROBOT The intersection with the axis represents the first maximum allowable acceleration of box A.

[0060] Similarly, area 40b represents the allowable acceleration for transporting box B, area 40c represents the allowable acceleration for transporting box C, and area 40d represents the allowable acceleration for transporting box D.

[0061] Region 40e indicates the allowable acceleration of transfer robot 300b. Region 40e is the common area of ​​regions 40a, 40b, 40c, 40d, and 40e. When the acceleration of transfer robot 300b is included in region 40e, the risk of damaging the items contained in boxes A to D is sufficiently low.

[0062] X ROBOT When the direction coincides with the depth direction of boxes A to D, the curve surrounding area 40e and Y ROBOT The intersection of the X axis with the curve enclosing the area 40e represents the third maximum allowable acceleration. ROBOT The intersection with the axis represents the fourth maximum allowable acceleration. Therefore, the third maximum allowable acceleration is "1.0" from the minimum of the first maximum allowable accelerations of "3.0", "2.0", "1.5", and "1.0" for boxes A to D, respectively. The fourth maximum allowable acceleration is "2.0" from the minimum of the second maximum allowable accelerations of "3.0", "2.0", "2.0", and "2.5" for boxes A to D, respectively.

[0063] Next, the flow of the transport method by the transport robot 300b will be described with reference to Fig. 11. First, the first maximum allowable acceleration and the second maximum allowable acceleration of each of the boxes housed in the transport robot 300b are obtained (step S101).

[0064] Next, the maximum allowable acceleration in the width direction (third maximum allowable acceleration) and the maximum allowable acceleration in the traveling direction (fourth maximum allowable acceleration) of the transfer robot 300b are calculated (step S102).

[0065] Next, the transfer robot 300b transfers the multiple boxes 10 (step S103). When the transfer robot 300b arrives at the destination, the box 10 is removed from the transfer robot 300b, or a new box 10 is stored in the transfer robot 300b (step S104). For example, box D of boxes A to D is removed, or a new box E is stored.

[0066] Next, information (called loading information) about the boxes 10 stored in the transport robot 300b is updated (step S105), and the process returns to step S101. For example, when box D is removed from boxes A to D, the third and fourth maximum allowable accelerations are updated based on the first and second maximum allowable accelerations of boxes A to C. When box E is stored, the third and fourth maximum allowable accelerations are updated based on the first and second maximum allowable accelerations of boxes A to E.

[0067] This allows the transport robot 300b, which transports a plurality of boxes 10, to transport the items quickly while preventing damage to the items.

[0068] The change unit 430 of the management server 400 will be described with reference to FIG. 1. When the first maximum allowable acceleration is small, the change unit 430 changes the item storage method so that the first maximum allowable acceleration is increased, and when the second maximum allowable acceleration is small, the change unit 430 changes the item storage method so that the second maximum allowable acceleration is increased. Specifically, when the first maximum allowable acceleration is smaller than a first reference value, the change unit 430 changes the item storage method so that the first maximum allowable acceleration is increased, and when the second maximum allowable acceleration is smaller than a second reference value, the change unit 430 changes the item storage method so that the second maximum allowable acceleration is increased. The first reference value and the second reference value may be different.

[0069] The change unit 430 may, for example, add partition members (e.g., blocks or rods) or cushioning materials to the inside of the box 10 to restrict the movement of the items. The cushioning materials are not limited to dedicated items, and may be other items (e.g., food in packaging containers) or plastic bags. The change unit 430 may also change the orientation in which the items are placed. By changing the orientation of the items, the above-mentioned assumed speeds in each direction can be changed. Therefore, the first maximum allowable acceleration and the second maximum allowable acceleration can be changed. The change unit 430 may acquire information on the material and shape of the items stored in the box 10 based on the image captured by the camera 230, and change the storage method based on the acquired information.

[0070] The change unit 430 outputs information about the changed storage method to the sorting robot 240. The sorting robot 240 stores the items in the box using the storage method changed by the change unit 430. The sorting robot 240 may place a partition member inside the box 10.

[0071] Next, with reference to Figs. 12 to 18, a method for storing items in the box 10 so as to increase the first maximum allowable acceleration and the second maximum allowable acceleration will be specifically described. In Fig. 12, a plate 101 having a plurality of holes H formed therein is placed on the bottom of the box 10. Blocks 31 having protrusions that fit into the holes H, or rod-shaped members 32 that fit into the holes H, are used as dividers. The sorting robot 240 may store items in the box 10 after placing the plate 101 in the box 10. Note that holes or protrusions or recesses may be formed directly on the bottom of the box 10.

[0072] 13, blocks 31 are arranged to restrict the rotational movement of bottles 21. Blocks 31 are also arranged to restrict the movement of cans 23. By using plates 101, blocks 31 can be placed at any position on the bottom surface of box 10.

[0073] 14, a plurality of rod-shaped members 32 are arranged to restrict the rotational movement of bottle 21. A plurality of rod-shaped members 32 are also arranged to restrict the movement of vial 24. By using plate 101, rod-shaped members 32 can be arranged at any position on the bottom surface of box 10.

[0074] It is also possible to provide a partition instead of providing plate 101. Referring to Figure 15, vials 24 are placed upright in box 10, and partitions 33 are arranged to surround vials 24. This makes it possible to restrict the movement of vials 24.

[0075] 16, in addition to the dividers 33, cushioning material 34 is also provided. The cushioning material 34 may be other items (e.g., food in a packaging container) contained in the box 10. This prevents the bottle 21 from rolling across the width of the box 10 and colliding with the box 10.

[0076] Referring to Figure 17, a plate 102 is placed on the bottom of box 10. On the top surface of plate 102, protrusions 1021 and recesses 1022 extending in the depth direction of box 10 are formed alternately and repeatedly in the width direction. Referring to Figure 18, bottle 21 is placed along recess 1022 of plate 102. This prevents bottle 21 from rolling in the width direction of box 10.

[0077] When transporting items that tend to roll in one direction, such as bottles 21, the items are placed so that the direction in which the box 10 is being transported coincides with the direction in which the items are less likely to roll (e.g., the longitudinal direction of the bottles 21). In such cases, there is a risk that the items will move laterally (in a direction perpendicular to the transport direction) and be damaged. By using the plate 102, the risk of the items moving laterally and being damaged can be reduced. The sorting robot 240 may place the plate 102 in the box 10 and then store the items therein.

[0078] The first maximum allowable acceleration and the second maximum allowable acceleration can be increased by changing the storage method using the change unit 430 of the management server 400. This allows the transport robot 300a and the transport robot 300b to transport the items efficiently while preventing damage to the items.

[0079] Next, the flow of processing for changing the method of storing items will be described with reference to Fig. 19. First, the items stored in the box 10 are photographed by the camera 230 and the image is recognized, and information (e.g., material, shape, and posture) of each item in the box 10 is obtained (step S201).

[0080] Next, the positional relationship between each item contained in the box 10 and surrounding items is determined (step S202). Specifically, adjacent items in the width direction of the box 10 may be determined, and adjacent items in the depth direction of the box 10 may be determined.

[0081] Next, the first calculation unit 410 of the management server 400 determines the damage risk for each combination of items (step S203). Specifically, the first calculation unit 410 determines the damage risk for each combination of items that may collide in the width direction of the box 10. Then, the first calculation unit 410 determines the damage risk for each combination of items that may collide in the depth direction of the box 10.

[0082] Next, the first calculation unit 410 calculates a first damage risk and a second damage risk (step S204). Specifically, the first calculation unit 410 calculates, as the first damage risk, the maximum value of the damage risk for each combination of items that may collide in the width direction of the box 10. Then, the first calculation unit 410 calculates, as the second damage risk, the maximum value of the damage risk for each combination of items that may collide in the depth direction of the box 10.

[0083] Next, the first calculation unit 410 calculates a first maximum allowable acceleration based on the first risk of damage, and calculates a second maximum allowable acceleration based on the second risk of damage (step S205).

[0084] Next, the first calculation unit 410 determines whether the first maximum allowable acceleration is equal to or greater than a first reference value and whether the second maximum allowable acceleration is equal to or greater than a second reference value (step S206). The first reference value and the second reference value may be different values. By increasing the reference value of the maximum allowable acceleration in the conveying direction, items can be conveyed faster. The minimum accelerations required to operate the conveying robots 300a and 300b are set as the first reference value and the second reference value. If the determination result is true (YES in step S206), the process ends.

[0085] If the determination result is false (NO in step S206), the change unit 430 changes the method of storing the items in the box 10 (step S207). The change unit 430 may add a partition to restrict the movement of the items or change the arrangement of the items so that the first maximum allowable acceleration is equal to or greater than the first reference value and the second maximum allowable acceleration is equal to or greater than the second reference value. Changing the arrangement of the items changes the adjacent items, so that the risk of damage and the maximum allowable acceleration can be changed. After step S207, the process may return to the determination process of step S206.

[0086] By the above process, the first maximum allowable acceleration and the second maximum allowable acceleration can be increased, so that the article can be transported faster while preventing damage to the article.

[0087] In the above examples, the program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0088] The present invention is not limited to the above-described embodiment, and can be modified as appropriate within the scope of the invention. [Explanation of symbols]

[0089] 1000 Transport System 100 posts 110 Case 120 Rail 200 racks 210 cabinet 211 Guide rail 220 Rail 230 Camera 240 Sorting Robot 300a, 300b Transport robot 310 wheels 320 Main body 330 Top Plate 340 Post 350 storage unit 400 Management Server 410 First Calculation Unit 420 Second Calculation Unit 430 Changes 10, 10a1, 10a2, 10b, 10c, 10d box 11 Protrusion 21, 21a, 21b bottles 22 tissue box 23 cans 24 small bottle 31 blocks 32 Rod-shaped member 33 Partition 34 Cushioning material 40a, 40b, 40c, 40d, 40e area 101, 102 board 1021 Convex part 1022 recess H hole

Claims

1. A transport system in which a box containing an item is transported by a transport robot, acquiring information on the type and arrangement of the items from the captured image of the items contained in the box; a first calculation means for calculating a first maximum allowable acceleration representing a maximum value of allowable acceleration of the box in a first direction and a second maximum allowable acceleration representing a maximum value of allowable acceleration of the box in a second direction perpendicular to the first direction, based on the type and arrangement of the item; The first calculation means determining a first damage risk representing a risk that the item will be damaged by a collision if the item moves in the first direction of the box and a second damage risk representing a risk that the item will be damaged by a collision if the item moves in the second direction of the box based on the type and arrangement of the item; setting the first maximum allowable acceleration according to the first damage risk value; The second maximum allowable acceleration is set according to the second damage risk value. Conveying system.

2. The transport robot transports a plurality of boxes, The transport system includes: further comprising second calculation means for calculating a third maximum allowable acceleration, which is an allowable acceleration in a lateral direction of the transport robot, and a fourth maximum allowable acceleration, which is an allowable acceleration in a traveling direction of the transport robot, based on the first maximum allowable acceleration and the second maximum allowable acceleration of each of the plurality of boxes; The second calculation means The third maximum allowable acceleration and the fourth maximum allowable acceleration are calculated so that the acceleration in the first direction of each of the plurality of boxes being transported is equal to or less than the first maximum allowable acceleration, and the acceleration in the second direction of each of the plurality of boxes being transported is equal to or less than the second maximum allowable acceleration. The transport system according to claim 1 .

3. a change means for changing a method of storing the items so that the first maximum allowable acceleration is increased when the first maximum allowable acceleration is smaller than a first reference value, and for changing a method of storing the items so that the second maximum allowable acceleration is increased when the second maximum allowable acceleration is smaller than a second reference value; The transport system of claim 1 further comprising:

4. The method of storing the items relates to the arrangement of other items or partition members that restrict the movement of the items in the box, or the orientation in which the items are arranged, the change means changes the method of storing the items so that the first maximum allowable acceleration is equal to or greater than the first reference value and the second maximum allowable acceleration is equal to or greater than the second reference value. The transport system according to claim 3 .

5. the changing means changes the storage method of the item based on information about the shape and material of the item. The transport system according to claim 4 .

6. Further comprising a rack for storing the boxes; The rack includes a sorting robot that stores the items in the boxes using the storage method changed by the changing means. The transport system according to claim 4 .

7. A transport method for transporting a box containing an item by a transport robot, comprising: acquiring information on the type and arrangement of the items from the captured image of the items contained in the box; calculating a first maximum allowable acceleration representing a maximum value of allowable acceleration of the box in a first direction and a second maximum allowable acceleration representing a maximum value of allowable acceleration of the box in a second direction perpendicular to the first direction, based on the type and arrangement of the item; Including, The calculating step determining a first damage risk representing the risk that the item will be damaged by a collision if the item moves in the first direction of the box and a second damage risk representing the risk that the item will be damaged by a collision if the item moves in the second direction of the box based on the type and arrangement of the item; setting the first maximum allowable acceleration according to the first damage risk value; The second maximum allowable acceleration is set according to the second damage risk value. Transportation method.

8. A program for causing a computer to execute the conveying method according to claim 7.

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