Conveying device, conveying system, and conveying method

Abstract

This transport device according to the present disclosure transports a truck loaded with an object to be transported, the transport device comprising: a drive unit that connects to the truck and is capable of traveling; a reading unit that is provided to the truck or to the object to be transported and reads identification information for identifying category information about the object to be transported; and a control unit that acquires the category information about the object to be transported from the identification information read by the reading unit, acquires a transport destination of the object to be transported on the basis of the acquired category information, and controls the drive unit such that the truck is transported to the acquired transport destination.

Description

[Technical Field]

[0001] The present specification discloses a transport device, a transport system, and a transport method. [Background technology]

[0002] Conventionally, a transport system including a dolly capable of carrying an object to be transported and a transport device that transports the dolly to a destination has been known. For example, Patent Document 1 discloses that the dolly is provided with an identification mark that associates identification information of the dolly itself with destination information of the dolly, and the transport device reads the destination information included in the identification mark and transports the dolly to the destination. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-86205 Summary of the Invention [Problem to be solved by the invention]

[0004] It is desirable to transport objects by category more efficiently.

[0005] The main object of the present disclosure is to more efficiently transport objects by category. [Means for solving the problem]

[0006] The conveying device of the present disclosure is A conveying device that conveys a cart loaded with an object to be conveyed, a drive unit that is connected to the carriage and can travel; a reading unit provided on the carriage or the object to be transported, which reads identification information for identifying category information of the object to be transported; a control unit that acquires category information of the object to be transported from the identification information read by the reading unit, acquires a destination of the object to be transported based on the acquired category information, and controls the drive unit so that the cart is transported to the acquired destination; The gist of the project is to provide the following:

[0007] This transport device reads the identification information, acquires category information of the transport object from the read identification information, acquires a transport destination corresponding to the acquired category information, and transports the cart to the acquired transport destination, thereby enabling more efficient transport of the transport object by category.

[0008] The conveying system of the present disclosure includes: A conveying device that conveys a cart loaded with an object to be conveyed, a determination unit that determines a destination of the object based on the category information; a transport device having a drive unit connected to the carriage and capable of traveling; a reading unit provided on the carriage or the transport object and reading identification information for identifying category information of the transport object; and a control unit that acquires category information of the transport object from the identification information read by the reading unit, acquires a destination of the transport object determined by the determination unit based on the acquired category information, and controls the drive unit so that the carriage is transported to the acquired destination; The gist of the project is to provide the following:

[0009] This transport system provides the same effects as the transport device of the present disclosure.

[0010] The transport method of the present disclosure includes: A transport method for transporting a cart loaded with an object to be transported, comprising: reading identification information provided on the carriage or the object to be transported for identifying category information of the object to be transported, and acquiring the category information of the object to be transported from the identification information; determining a destination of the object based on the acquired category information; transporting the carriage to the determined destination; The gist of this is as follows.

[0011] This transport method provides the same effects as the transport device and transport system of the present disclosure. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic explanatory diagram showing an example of a transport system 1. [Figure 2] FIG. 2 is a perspective view showing an example of a cart 12. [Figure 3] FIG. 2 is a perspective view showing an example of a transport robot 40. [Figure 4] 1 is a side view showing a state in which the transport robot 40 is connected to the cart 12. FIG. [Figure 5] 1 is a front view showing a state in which the transport robot 40 is connected to the cart 12. FIG. [Figure 6] 10 is a flowchart showing an example of a routine for creating transport area information by category. [Figure 7] FIG. 10 is an explanatory diagram showing an example of a category-specific transport area information creation screen Im1. [Figure 8] FIG. 10 is an explanatory diagram showing an example of transportation area information 63 by category. [Figure 9] 10 is a flowchart showing an example of an ID-specific category information creation routine. [Figure 10] FIG. 10 is an explanatory diagram showing an example of an ID-specific category information creation screen Im2. [Figure 11] 10 is an explanatory diagram showing an example of ID-specific category information 64. FIG. [Figure 12] 10 is a flowchart illustrating an example of a carriage transport routine. [Figure 13A] 1 is an explanatory diagram showing a state in which a transport robot 40 is connected to a basket cart 12 and transports (pulls) the basket cart 12. FIG. [Figure 13B] 1 is an explanatory diagram showing a state in which a transport robot 40 is connected to a basket cart 12 and transports (pulls) the basket cart 12. FIG. [Figure 13C]1 is an explanatory diagram showing a state in which a transport robot 40 is connected to a basket cart 12 and transports (pulls) the basket cart 12. FIG. [Figure 13D] 1 is an explanatory diagram showing a state in which a transport robot 40 is connected to a basket cart 12 and transports (pulls) the basket cart 12. FIG. [Figure 14] 10 is a flowchart illustrating an example of a transport destination determination routine. [Figure 15] FIG. 10 is an explanatory diagram showing an example of placement location use information 65. DETAILED DESCRIPTION OF THE INVENTION

[0013] Next, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a schematic explanatory diagram showing an example of a transport system 1. Fig. 2 is a perspective view showing an example of a basket cart 12. Fig. 3 is a perspective view showing an example of a transport robot 40. Fig. 4 is a side view showing a state in which the transport robot 40 is connected to the basket cart 12. Fig. 5 is a front view showing a state in which the transport robot 40 is connected to the basket cart 12. The X-axis direction (left-right direction), Y-axis direction (front-rear direction), and Z-axis direction (up-down direction) are as shown in Figs. 3 to 5.

[0014] The conveyance system 1 is for automatically conveying products 17 (objects to be conveyed) by category from a warehouse 20 to a sales floor 30 in a store 10. A category is information for classifying the products 17. For example, the categories can be set arbitrarily. For example, the categories may be set by an operator. Furthermore, for example, the categories may be types of the products 17 (e.g., beverages, kitchenware, home appliances, daily necessities, etc.) or symbols for classifying the products 17. Furthermore, the categories may be information indicating other classifications. As shown in FIG. 1, the conveyance system 1 is configured to include a conveyance robot 40 and a management device 60.

[0015] Prior to describing the conveyance system 1, a store 10 to which the conveyance system 1 is applied and products 17 (basket carts 12) that are objects to be conveyed by the conveyance system 1 will be described. The store 10 includes a warehouse 20 that temporarily stores the products 17 (basket carts 12) and a sales floor 30 that sells the products 17. The warehouse 20 is a place for temporarily storing the products 17 to be sold at the sales floor 30. The products 17 stored in the warehouse 20 are delivered by a delivery vehicle 18 while placed on the basket carts 12. As shown in FIG. 1 , the warehouse 20 includes a product storage area 21, a temporary storage area 22, and a waiting space 23.

[0016] The product storage area 21 is a place for temporarily storing products 17 (carts 12) delivered by the delivery truck 18. The temporary storage area 22 is a place for temporarily storing products 17 (carts 12) that cannot be transported to the sales floor 30. The waiting space 23 is a place where the transport robot 40 waits when it is not transporting a cart 12 (product 17). A charging device (not shown) is also disposed in the waiting space 23. The charging device is provided in the waiting space 23 and charges the drive storage battery provided in the transport robot 40 while the transport robot 40 is waiting. This charging device charges the storage battery using a wireless charging method, such as electromagnetic induction, magnetic resonance, or electric field coupling. Alternatively, the charging device may be a device that charges the storage battery via a wired connection using a plug. For example, the charging device may start charging when it receives a signal from the transport robot 40, or when it detects the transport robot 40 using a sensor (not shown).

[0017] The sales floor 30 is a place where the transported products 17 are displayed and sold. As shown in FIG. 1, the sales floor 30 has a plurality of display shelves 31 for displaying the products 17 (see FIG. 2) by category. In the sales floor 30, workers display the products 17 that have been transported on basket carts 12 on the display shelves 31. In the sales floor 30, transport areas (transport areas E1 to E7 in this embodiment) are defined according to the categories of the products 17. The transport areas E1 to E7 are areas in front of each display shelf 31. The transport areas E1 to E7 each have at least one cart placement location (transport area E1 has cart placement locations P1 to P4, transport area E2 has cart placement locations P1 to P6, transport area E3 has cart placement locations P1 to P4, and transport areas E4 to E7 have cart placement locations P1 to P7). These cart locations are aligned along the shelves 31 of products 17 within the corresponding transport areas.

[0018] As shown in FIG. 2, the basket cart 12 includes a mounting portion 13, casters 14, and a fence member 15. The mounting portion 13 is a flat member on which articles are loaded. Engagement portions 16 (see FIG. 5) that protrude downward in a grid pattern are formed on the underside of the mounting portion 13. The casters 14 have wheels that allow the basket cart 12 to travel, and are provided at the four corners of the underside of the mounting portion 13. The fence member 15 is a member that prevents products 17 placed on the mounting portion 13 from falling off the mounting portion 13, and is arranged to stand upright from the periphery of the upper surface of the mounting portion 13. A marker M is attached to the basket cart 12. The marker M is a recognition target that indicates the ID (identification information) of the product 17 placed on the basket cart 12. The marker M is, for example, an AR marker. The marker M is made by a worker and attached to the basket cart 12, for example, when the product 17 (basket cart 12) is delivered by the delivery vehicle 18 and placed in the product storage area 21. The marker M is attached to the side of the placement unit 13 so that it can be recognized by the transport robot 40.

[0019] The transport robot 40 is a vehicle that automatically transports a basket cart 12 as an object to be transported. The transport robot 40 enters the space between the casters 14 on the underside of the mounting portion 13 of the basket cart 12, engages with the engaging portion 16 to connect to the basket cart 12, and tows the basket cart 12. The transport robot 40 is configured as, for example, an AMR (Autonomous Mobile Robot) that senses its surroundings and moves along a free route. As shown in FIG. 3 , the transport robot 40 has a vehicle body 41, a control unit 42, a memory unit 43, a loading unit 44, a communication unit 53, a drive unit 55, traveling wheels 56, an imaging unit 57, and a distance detection unit 58.

[0020] The car body 41 is a housing that is roughly L-shaped when viewed from the front and can fit under the cart 12. The car body 41 has a horizontal section 41a and an upright section 41b. The horizontal section 41a is a flat section that can fit under the cart 12. The horizontal section 41a has running wheels 56 on its underside and a loading section 44 on its upper side. The upright section 41b is connected to the end of the horizontal section 41a and is erected higher than the horizontal section 41a. The upright section 41b houses the control section 42, memory section 43, communication section 53, storage battery, etc.

[0021] The control unit 42 is a controller that controls the entire device of the transfer robot 40. The control unit 42 outputs control signals and the like to the drive unit 55, the imaging unit 57, and the communication unit 53, and also inputs data and signals from the imaging unit 57, the distance detection unit 58, and the communication unit 53. While the transfer robot 40 is traveling, the control unit 42 acquires images of the surroundings from the imaging unit 57 (first camera 57a and second camera 57b) at predetermined time intervals (short time intervals) and acquires distances to surrounding objects from the distance detection unit 58, and recognizes the self-position (three-dimensional coordinates) of the transfer robot 40 in the store 10 based on the images of the surroundings, map information, and the driving status of the drive unit 55.

[0022] The storage unit 43 stores various application programs and various data files. The storage unit 43 stores, for example, location information including the location of the destination when the cart 12 is moved, and map information of the store 10. The location information and map information are acquired from the management device 60 via communication.

[0023] The loading section 44 moves upward from the vehicle body section 41 (horizontal section 41a) of the transport robot 40 and engages with the engaged section 16 of the basket cart 12, thereby connecting to the basket cart 12 (see FIGS. 4 and 5). The loading section 44 has a lifting section 45, an elastic support member 47, a connecting member 51, and an engaging member 52. The lifting section 45 is a substantially rectangular member that is provided so as to be movable up and down relative to the vehicle body section 41, using a motor 46a of a lifting device 46 as a drive source.

[0024] The elastic support members 47 are members that elastically support the mounting portion 13 of the cart 12 from the underside. The elastic support members 47 are provided at each of the four corners of the lifting section 45. The connecting members 51 are members for connecting the elastic support members 47 that are lined up on the left and right. The engaging members 52 engage with the engaged portions 16 formed on the underside of the mounting portion 13 of the cart 12 when the cart 12 is being transported. The engaging members 52 are pin-shaped members that protrude upward from the connecting members 51. When the lifting section 45 is positioned at its lowest position by the lifting device 46, the engaging members 52 are positioned at a position lower than the bottom (mounting portion 13) of the cart 12. The position of the engaging members 52 at this time is referred to as the initial position. On the other hand, when the body section 41 (horizontal section 41a) is positioned under the basket trolley 12 (loading section 13) and the lifting section 45 (engaging member 52) is raised by the lifting device 46, the engaging member 52 engages with the engaged section 16 (see Figures 4 and 5).

[0025] The communication unit 53 is an interface that wirelessly exchanges information with external devices such as the management device 60. The control unit 42 exchanges information with the management device 60 via the communication unit 53.

[0026] The drive unit 55 includes a motor connected to each of the traveling wheels 56, which rotates and drives the connected traveling wheels 56 to drive the transport robot 40. The transport robot 40 has four traveling wheels 56, and moves by the rotational drive of the traveling wheels 56. The traveling wheels 56 may be Mecanum wheels or omni-wheels that are independently driven and can move vertically and horizontally. In view of the degree of freedom of movement, it is more preferable that the traveling wheels 56 be Mecanum wheels.

[0027] The imaging unit 57 is capable of detecting objects present around the transport robot 40 and the distance thereto, and is also capable of reading markers M attached to the cart 12. The imaging unit 57 has a first camera 57a and a second camera 57b. The first and second cameras 57a, 57b are configured, for example, as stereo cameras. The first camera 57a is provided on the left surface of the horizontal portion 41a, and the second camera 57b is provided on the left surface of the upright portion 41b. The first and second cameras 57a, 57b output image data and distance data to objects present around the transport robot 40 to the control unit 42.

[0028] The distance detection unit 58 can detect the distance to an object present around the transfer robot 40. The distance detection unit 58 has a first distance sensor 58a and a second distance sensor 58b. The first and second distance sensors 58a, 58b are configured as, for example, LiDAR (Light Detection And Ranging). The first and second distance sensors 58a, 58b are provided on the front and rear surfaces of the horizontal unit 41a, respectively. The first and second distance sensors 58a, 58b output distance data and shape data of objects present around the transfer robot 40 to the control unit 42.

[0029] The management device 60 is configured as a computer that controls the entire conveyance system 1. As shown in FIG. 1 , the management device 60 includes a control unit 61, a memory unit 62, a communication unit 67, and an input unit 68. The control unit 61 has a CPU and controls the entire device. The memory unit 62 stores various application programs and various data files. The memory unit 62 stores ID-specific category information 64, category-specific conveyance area information 63, placement location usage information 65, map information 66, and the like. The category-specific conveyance area information 63 is information that associates the category of the product 17 with the conveyance area. The ID-specific category information 64 is information that associates the ID of the product 17 with the category of the product 17. The placement location usage information 65 is information that indicates the occupancy status of the basket cart placement location for each conveyance area. This information is used to manage the conveyance of the products 17. The map information 66 is information on a map of the store 10. The communication unit 67 communicates wirelessly with external devices such as the transfer robot 40. The input unit 68 receives operations from the operator and is, for example, a keyboard, a mouse, or the like.

[0030] Next, the operation of the transport system 1 configured as above will be described. First, the process of creating the category-specific transport area information 63 will be described with reference to Figs. 6 to 8. Fig. 6 is a flowchart showing an example of a category-specific transport area information creation routine. Fig. 7 is an explanatory diagram showing an example of a category-specific transport area information creation screen Im1. Fig. 8 is an explanatory diagram showing an example of the category-specific transport area information 63. The category-specific transport area information creation routine is executed by the control unit 61 of the management device 60 after an instruction to start creating category-specific transport area information is input by the operator.

[0031] When this routine starts, the control unit 61 determines whether or not category-specific transport area information 63 is stored in the storage unit 62 (S100). If a positive determination is made in S100, the control unit 61 determines whether or not an update instruction has been input by the operator (S110). The update instruction is an instruction to change the correspondence between the category of the product 17 and the transport area of ​​the product 17 in the already created category-specific transport area information 63. After a negative determination is made in S100 or a positive determination is made in S110, the control unit 61 displays a category-specific transport area information creation screen Im1 as shown in FIG. 7 on a display device (not shown) (S120). Next, the control unit 61 accepts input of the transport area of ​​the product 17 for the category of the product 17 (S130). The category of the product 17 is registered in advance in the storage unit 62 by accepting an operation by the operator. The transport area is entered, for example, by the operator selecting from a pull-down menu. Then, the control unit 61 associates the category of the product 17 with the transport area of ​​the product 17 and stores the association in the storage unit 62 (S140). An example of the category-specific transport area information 63 created in this manner is shown in Figure 8. After making a negative determination in S110 or after S140, the control unit 61 ends this routine.

[0032] Next, the process of creating the ID-specific category information 64 will be described with reference to Figs. 9 to 11. Fig. 9 is a flowchart showing an example of an ID-specific category information creation routine. Fig. 10 is an explanatory diagram showing an example of an ID-specific category information creation screen Im2. Fig. 11 is an explanatory diagram showing an example of the ID-specific category information 64. The ID-specific category information creation routine is executed by the control unit 61 of the management device 60 after an instruction to start creating ID-specific category information is input by the operator.

[0033] When this routine starts, the control unit 61 determines whether or not the ID-specific category information 64 is stored in the storage unit 62 (S200). If a positive determination is made in S200, the control unit 61 determines whether or not an update instruction has been input by the worker (S210). The update instruction is an instruction to change or add a correspondence between the ID of the product 17 and the category of the product 17 in the ID-specific category information 64 that has already been created. After a negative determination is made in S200 or a positive determination is made in S210, the control unit 61 displays an ID-specific category information creation screen Im2 as shown in FIG. 10 on a display device (not shown) (S220). Next, the control unit 61 accepts input of the ID of the product 17 (S230). The ID of the product 17 is entered, for example, by the worker reading a barcode (not shown) attached to the product 17. Then, the control unit 61 accepts input of the category of the product 17 (S240). The category of the product 17 is input by, for example, the operator selecting it from a pull-down menu. Then, the control unit 61 associates the ID of the product 17 with the category of the product 17 and stores the association in the storage unit 62 (S250). An example of the ID-specific category information 64 created in this manner is shown in FIG. 11. After making a negative determination in S210 or after S250, the control unit 61 ends this routine.

[0034] Next, the process of transporting products 17 (basket carts 12) from the warehouse 20 to the sales floor 30 using the transport robot 40 in the store 10 will be described with reference to FIGS. 12 to 15. FIG. 12 is a flowchart showing an example of a cart transport routine. FIGS. 13A to 13D are explanatory diagrams showing how the transport robot 40 connects to the basket cart 12 and transports (pulls) it. FIG. 14 is a flowchart showing an example of a transport destination determination routine. FIG. 15 is an explanatory diagram showing an example of placement location usage information 65.

[0035] The cart transport routine is executed by the control unit 42 of the transport robot 40 when the control unit 42 receives a cart transport instruction from the control unit 61 of the management device 60. The cart transport instruction is sent via wireless communication to one transport robot 40 selected from the multiple transport robots 40. The transport robot 40 to be instructed to transport is selected based on the operating status of each transport robot 40.

[0036] 13A, the control unit 42 controls the driving unit 55 so that the transport robot 40 moves in front of the product storage area 21 (S300). The control unit 42 estimates its own position in the store 10 based on data input from the imaging unit 57, and controls the driving unit 55 so that the estimated own position moves in front of the product storage area 21.

[0037] Next, the control unit 42 controls the second camera 57b to capture an image of the commodity storage area 21 (S310). Subsequently, the control unit 42 determines whether or not a marker M has been detected in the image of the commodity storage area 21 captured in S310 (S320). If a negative determination is made in S320, the control unit 42 determines that there is no basket cart 12 in the commodity storage area 21, and controls the drive unit 55 to move the basket cart 12 to the waiting space 23. On the other hand, if a positive determination is made in S320, the control unit 42 determines that there is a basket cart 12 in the commodity storage area 21, and reads the ID of the commodity 17 from the detected marker M (S330).

[0038] The control unit 42 then transmits the ID of the product 17 read out in S330 to the management device 60 (S340). Next, the control unit 42 acquires the destination of the product 17 (basket cart 12) from the management device 60 (S350). The destination of the product 17 (basket cart 12) is determined by a destination determination routine (see FIG. 14) executed by the management device 60.

[0039] Here, a description will be given of a transport destination determination routine executed by the control unit 61 of the management device 60. This routine is executed after the ID of the product 17 is received from the control unit 42 of the transport robot 40.

[0040] When this routine starts, the control unit 61 refers to the ID-specific category information 64 shown in Fig. 11 to acquire the category of the product 17 corresponding to the ID of the product 17 received from the control unit 42 (S400). Next, the control unit 61 refers to the category-specific transport area information 63 shown in Fig. 8 to acquire the transport area of ​​the product 17 (S410).

[0041] Next, the control unit 61 refers to the location use information 65 shown in FIG. 15 and determines whether or not there is an empty cart location within the transport area acquired in S410 (S420).

[0042] If a positive determination is made in S410, the control unit 61 determines a destination from among available trolley placement locations in the transfer area acquired in S410 (S430). The transfer area is the area in front of the display shelf 31, and the trolley placement locations are lined up along the front of the display shelf 31. The control unit 61 determines the destination of the product 17 (basket trolley 12) in such a trolley placement location so that the product 17 (basket trolley 12) is placed in a predetermined order (in this embodiment, from the back). This allows at least one product 17 of the same category to be transferred to one transfer area by at least one basket trolley 12. Furthermore, even if there is a basket trolley 12 that has already been transferred in the transfer area, the basket trolley 12 can be transferred without interfering with each other.

[0043] Then, the control unit 61 updates the placement location usage information 65 (S440). Specifically, the control unit 61 updates the placement location usage information 65 so that the usage status of the placement location determined in S430 as the destination of the product 17 (basket cart 12) becomes "occupied." On the other hand, if a negative determination is made in S420, the control unit 61 determines the temporary storage area 22 as the destination of the product 17 (S450). Then, the control unit 61 transmits the destination of the product 17 (basket cart 12) determined in S430 or S450 to the transport robot 40 (S460). After S460, the control unit 61 ends this routine.

[0044] Here, specific examples will be described for the case where the basket cart 12 is transported to the temporary storage area 22 and the case where the basket cart 12 is transported to the transport area (cart placement location) when the processing from S400 to S460 is executed.

[0045] First, a case where the basket cart 12 is transported to the temporary storage area 22 will be described. In this case, it is assumed that the marker M affixed to the basket cart 12 includes 005 as the ID of the product 17. In this case, the control unit 61 refers to the ID-specific category information 64 shown in FIG. 11 and acquires "beverage" as the category of the product 17 (S400). Then, the control unit 61 refers to the category-specific transport area information 63 shown in FIG. 8 and acquires the transport area E1 as the transport area for the product 17 (S410). Next, the control unit 61 refers to the location usage information 65 shown in FIG. 15 and determines whether or not there is a location within the transport area E1 whose usage status is "vacant" (S420). Since there is no location within the transport area E1 whose usage status is "vacant," the control unit 61 makes a negative determination. Next, the control unit 61 determines the temporary storage area 22 as the destination (S450), and transmits the determined destination of the product 17 (basket cart 12) to the transport robot 40 (S460). After S460, the control unit 61 ends this routine.

[0046] Next, a case where the basket cart 12 is transported to a cart placement location will be described. In this case, it is assumed that the marker M affixed to the basket cart 12 includes 019 as the ID of the product 17. In this case, the control unit 61 refers to the ID-specific category information 64 shown in FIG. 11 to acquire "daily necessities" as the category of the product 17 (S400). Then, the control unit 61 refers to the category-specific transport area information 63 shown in FIG. 8 to acquire the transport area E4 as the transport area for the product 17 (S410). Next, the control unit 61 refers to the placement location usage information 65 shown in FIG. 15 to determine whether or not there is a placement location whose usage status is "vacant" within the transport area E4 (S420). Since there is a placement location whose usage status is "vacant" within the transport area E4, the control unit 61 makes a positive determination. Next, the control unit 61 refers to the map information 66 to determine the destination of the transport in the transport area E4 as the innermost location (in this embodiment, the cart placement location P4) (S450). Next, the control unit 61 updates the placement location usage information 65 so that the usage status of the cart placement location P4 in the transfer area E4 becomes "occupied" (S440). Then, the control unit 61 transmits the determined destination of the product 17 (basket cart 12) to the transfer robot 40 (S460). After S460, the control unit 61 ends this routine.

[0047] Now, we return to the description of the cart transport routine. After obtaining the transport destination of the product 17 (basket cart 12) from the management device 60 (S350), the control unit 42 connects the engaging member 52 to the cart cart 12 (S360). This process is executed as follows. That is, first, the control unit 42 controls the drive unit 55 so that the body unit 41 (horizontal portion 41a) moves under the cart cart 12 (mounting unit 13) as shown in FIG. 13B. Next, the control unit 42 controls the lifting device 46 so that the engaging member 52 rises and engages with the engaged portion 16 as shown in FIG. 13C.

[0048] Next, the control unit 42 searches for a route from the current location to the destination based on the map information, and controls the driving unit 55 so that the cart 12 is transported to the destination according to the route (see FIG. 13D, S370).

[0049] Next, the control unit 42 determines whether another transport instruction has been input from the management device 60 (S380). If the determination in S380 is affirmative, the control unit 42 repeats the processing from S300 onwards. On the other hand, if the determination in S380 is affirmative, the control unit 42 controls the drive unit 55 to move to the waiting space 23 (S390). After S390, the control unit 42 ends this routine.

[0050] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The transport system 1 of this embodiment corresponds to the transport system, the transport robot 40 corresponds to the transport device, the engagement member 52 and the drive unit 55 correspond to the drive unit, the second camera 57b and the control unit 42 correspond to the acquisition unit, and the control unit 42 corresponds to the control unit. Furthermore, the management device 60 corresponds to the determination unit, and the control unit 61 and the input unit 68 correspond to the update unit.

[0051] In the transport system 1 described above in detail, the transport robot 40 reads the ID of the product 17 as identification information from the marker M, obtains category information for the product 17 from the read ID of the product 17, obtains a transport destination corresponding to the obtained category information, and transports the basket cart 12 to the obtained transport destination. This allows the products 17 to be transported more efficiently by category. Here, the identification information is information for identifying the category of the object to be transported (product 17), and includes the ID of the object to be transported, the name of the object to be transported, and category information indicating the category of the object to be transported. The identification information may be recorded in an optically, magnetically, electrically, or mechanically readable manner, such as on the marker M, a code, a tag, or an IC chip.

[0052] In the conveyance system 1, each category of product 17 is associated with a transport area to which the product 17 is to be transported. Each transport area has at least one trolley parking space where a trolley can park. The determination unit determines the corresponding transport area based on category information and determines an available parking space among the trolley parking spaces in the determined transport area as the transport destination. Therefore, at least one product 17 of the same category can be transported to one transport area by at least one basket trolley 12. Even if there are already basket trolleys 12 in the transport area, the basket trolleys 12 can be transported without interfering with each other. In the above-described embodiment, the storage unit 62 of the management device 60 stores category-specific transport area information 63 that associates the category of the product 17 with the transport area. Furthermore, the control unit 61 updates the correspondence between the category of the product 17 and the transport area in the category-specific transport area information 63 in response to receiving an instruction from the operator via the input unit 68 to change the category of the product 17 corresponding to the transport area. Therefore, when it becomes necessary to transport products 17 belonging to a certain category to a destination different from the conventional destination, it is possible to cope with this relatively easily.

[0053] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of the present disclosure.

[0054] In the above-described embodiment, the marker M is provided on the basket cart 12. However, the marker M may be provided on the product 17. In this case, the marker M may be attached to the product 17. Alternatively, an image of the outer box of the product 17 (hereinafter referred to as the outer box image) may be captured to acquire the ID and category of the product 17. For example, the ID and category of the product 17 may be acquired by reading a barcode or two-dimensional code provided on the outer box of the product 17 or by reading characters or a pattern attached to the outer box of the product 17. In the latter case, the control unit 61 may determine the delivery destination of the product 17 (basket cart 12) as follows. That is, the control unit 61 receives input from the worker and stores the outer box image of the product 17 in advance in the storage unit 62 in association with the ID and category of the product 17. The control unit 61 then inputs the outer box image captured by the control unit 42 of the transport robot 40. Next, the control unit 61 compares the outer box image of the product 17 input from the control unit 42 with the outer box image of the product 17 stored in the storage unit 62, and acquires the ID and category of the product 17 corresponding to the outer box image of the product 17 input from the control unit 42. Next, the control unit 61 executes the destination determination routine of the above-described embodiment to determine the destination of the product 17 (basket cart 12). Note that when the category of the product 17 is acquired, the control unit 61 executes the processes of S410 to S460 of the destination determination routine.

[0055] In the above-described embodiment, in S230 of the ID-specific category information creation routine, the worker inputs the ID of the product 17 by reading the barcode of the product 17. However, the worker may arbitrarily set the ID of the product 17 and input the ID of the product 17 via the input unit 68 (keyboard, etc.).

[0056] In the above-described embodiment, the basket cart 12 is towed by the transport robot 40. However, the basket cart 12 may be lifted and transported by the transport robot 40. Also, in the above-described embodiment, the transport robot 40 is connected to the basket cart 12 by engaging the engaging member 52 with the engaged portion 16. However, the transport robot 40 does not have to be equipped with the engaging member 52, and the basket cart 12 does not have to be equipped with the engaged portion 16. In this case, the transport robot 40 may be equipped with a mounting portion having a support member that can be raised and lowered, and the raised support member may come into contact with the bottom of the basket cart 12, thereby connecting to the basket cart 12.

[0057] In the above-described embodiment, the marker M includes information indicating the ID of the product 17. However, the marker M may include information indicating the category of the product 17. In this case, the ID-specific category information creation routine does not need to be executed, and the ID-specific category information 64 does not need to be stored in the storage unit 62. In this case, the control unit 61 executes the processes of S410 to S460 in the destination determination routine to determine the destination of the product 17 (basket cart 12) based on the category information acquired from the marker M.

[0058] In the above-described embodiment, the second camera 57a is used to capture an image of the commodity storage area 21. However, the first camera 57b may be used to capture an image of the commodity storage area 21.

[0059] In the above-described embodiment, the present disclosure has been described as the transport system 1, but it may also be a transport robot 40 or a transport method. [Explanation of symbols]

[0060] 1 conveying system, 10 store, 12 basket cart, 13 loading section, 14 caster, 15 fence member, 16 engaged section, 17 product, 18 delivery vehicle, 20 warehouse, 21 product storage area, 22 temporary storage area, 23 waiting space, 24 door, 25 wall section, 30 sales floor, 31 display shelf, 40 conveying robot, 41 vehicle body section, 41a horizontal section, 41b upright section, 42 control section, 43 memory section, 44 loading section, 45 lifting section, 46 lifting device, 46a motor, 47 elastic support member, 51 connecting member, 52 engaging member, 53 communication section, 55 drive section, 56 traveling wheel, 57 imaging section, 57a first camera, 57b second camera, 58 distance detection section, 58a first distance sensor, 58b Second distance sensor, 60 management device, 61 control unit, 62 memory unit, 63 transport area information by category, 64 category information by ID, 65 placement location usage information, 66 map information, 67 communication unit, 68 input unit, E1 to E7 transport area, Im1 transport area information by category creation screen, Im2 category information by ID creation screen, M marker, P1 to P7 trolley placement location.

Claims

1. A conveying device that conveys a cart loaded with an object to be conveyed, a drive unit that is connected to the carriage and can travel; a reading unit provided on the carriage or the object to be transported, which reads identification information for identifying category information of the object to be transported; a control unit that acquires category information of the object to be transported from the identification information read by the reading unit, acquires a destination of the object to be transported based on the acquired category information, and controls the drive unit so that the cart is transported to the acquired destination; A conveying device comprising:

2. A transport system that transports a cart loaded with an object to be transported, a determination unit that determines a destination of the object based on category information of the object; a transport device having a drive unit connected to the carriage and capable of traveling; a reading unit provided on the carriage or the transport object and reading identification information for identifying category information of the transport object; and a control unit that acquires category information of the transport object from the identification information read by the reading unit, acquires a destination of the transport object determined by the determination unit based on the acquired category information, and controls the drive unit so that the carriage is transported to the acquired destination; A transport system comprising:

3. 3. The transport system according to claim 2, A transport area to which the object is to be transported is associated with each of the categories, One of the transport areas has at least one parking space where the cart can be parked, the determination unit determines a corresponding transportation area based on the category information, and determines an available parking space among the parking spaces in the determined transportation area as the transportation destination. Conveying system.

4. 4. The transport system according to claim 2 or 3, A transport area to which the object is to be transported is associated with each of the categories, an update unit that updates the correspondence between category information and transport areas in response to receiving an instruction to change the category corresponding to the transport area; A transport system comprising:

5. A transport method for transporting a cart loaded with an object to be transported, comprising: reading identification information provided on the carriage or the object to be transported for identifying category information of the object to be transported, and acquiring the category information of the object to be transported from the identification information; determining a destination of the object based on the acquired category information; transporting the carriage to the determined destination; Transportation method.

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