system

Abstract

To provide a system capable of effectively sorting articles into a container arranged / stored in a height direction.SOLUTION: In an embodiment, a system comprises a shelf, a reader, an automatic conveyance device, an elevator, and a processor. The shelf stores containers arranged in a height direction. The reader reads a code for specifying an article. The automatic conveyance device conveys the article. The elevator lifts and lowers the automatic conveyance device. The processor specifies a position of a shelf where a container for putting the article is present on the basis of the code, causes the automatic conveyance device having the article loaded thereon to be lifted on the basis of the specified position of the shelf, and causes the lifted automatic conveyance device to put the article into the container.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] SUMMARY OF THE INVENTION An embodiment of the present invention relates to a system. [Background technology]

[0002] A system for picking items from containers such as totes that are stored in a vertically aligned array is provided. Such a system removes a container that stores the items to be picked and picks the items from the container.

[0003] However, conventional systems have a problem in that they are unable to separate items by placing them in totes that are stored in a vertically aligned fashion. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2021-102499 Summary of the Invention [Problem to be solved by the invention]

[0005] In order to solve the above problem, a system is provided that can effectively separate items into containers that are stored in a vertically aligned arrangement. [Means for solving the problem]

[0006] According to an embodiment, the system includes a shelf, a reader, an automated transport device, and A running rail; The shelf includes an elevator and a processor. Each of the shelves is two-dimensionally arranged in the X-axis direction and the Y-axis direction. Container Loading The reader reads the code that identifies the item, and the automated transport device transports the item. The traveling rail supports the automatic transport device at a height that allows articles to be placed into the container. The elevator is The height of the running rail is as above. Automatic conveying device above Noboru and lower the automatic transport device.The processor identifies the position of a shelf where a container for inserting the item is located based on the code, and raises the automated transport device carrying the item based on the identified shelf position. Move along the running rail, The item is placed into the container. The automatic conveying device is equipped with first tires for traveling in the X-axis direction and second tires for traveling in the Y-axis direction. The traveling rails include first traveling rails formed for each shelf level, along which the automatic conveying device moves in the Y-axis direction, and second traveling rails formed for each row of containers relative to the first traveling rails, along which the automatic conveying device moves in the X-axis direction. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a side view schematically showing an example of the configuration of a sorting system according to an embodiment. [Figure 2] FIG. 2 is a top view schematically illustrating an example of the configuration of the sorting system according to the embodiment. [Figure 3] FIG. 3 is a block diagram showing an example of the configuration of a control system of the sorting system according to the embodiment. [Figure 4] FIG. 4 is a block diagram illustrating an example of the configuration of a division control device according to the embodiment. [Figure 5] FIG. 5 is a block diagram showing an example of the configuration of an elevator according to the embodiment. [Figure 6] FIG. 6 is a side view of the AGV according to the embodiment. [Figure 7] FIG. 7 is a block diagram showing an example of the configuration of an AGV according to the embodiment. [Figure 8] FIG. 8 is a diagram illustrating an example of the operation of the AGV according to the embodiment. [Figure 9] FIG. 9 is a diagram illustrating an example of the category designation information according to the embodiment. [Figure 10] FIG. 10 is a diagram illustrating an example of destination information according to the embodiment. [Figure 11] FIG. 11 is a flowchart illustrating an example of the operation of the division control device according to the embodiment. [Figure 12] FIG. 12 is a top view schematically showing an example of the overall configuration of the sorting system according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment will be described with reference to the drawings. A sorting system according to an embodiment sorts items. The sorting system places items into totes (containers) based on the destination of the items, etc. The sorting system uses an automatic guided vehicle (AGV) to place the items into the totes. The sorting system uses shelves or the like to store the totes in a horizontally and vertically aligned arrangement. For example, sorting systems are used in logistics centers or warehouses.

[0009] Fig. 1 is a side view that schematically shows a sorting system 100 according to an embodiment, and Fig. 2 is a top view that schematically shows the sorting system 100.

[0010] As shown in FIGS. 1 and 2, the sorting system 100 includes a loading device 1, a reader 3, running rails 5, running rails 6, totes 8, an elevator 10, shelves 20, and the like. Note that the sorting system 100 may include components other than those shown in FIGS. 1 and 2 as needed, or specific components may be excluded from the sorting system 100.

[0011] The shelf 20 stores a plurality of totes 8. The shelf 20 has a plurality of shelf levels 21 in the Z-axis direction (height direction).

[0012] Each shelf 21 carries a tote 8. Here, each shelf 21 carries a plurality of totes 8 two-dimensionally in the X-axis direction and the Y-axis direction (horizontal direction). For example, the shelf 21 is made up of a rectangular plate of a predetermined size.

[0013] The shelf 20 includes a plurality of shelf levels 21, so that a plurality of totes 8 can be stored lined up in the X-axis direction, the Y-axis direction, and the Z-axis direction.

[0014] Tote 8 is a container into which items are placed. Tote 8 is formed in the shape of a box with an open top. That is, tote 8 has a structure in which items are placed from the top.

[0015] An elevator 10 is installed adjacent to the shelf 20 . The elevator 10 transports the AGV 7 in the Z-axis direction under the control of the sorting control device 30, which will be described later. That is, the elevator 10 raises and lowers the AGV 7. The elevator 10 raises and lowers the AGV 7 from the ground to a height at which the AGV 7 can deposit items into the tote 8.

[0016] The elevator 10 is composed of a loading platform 15, two guide rails 16, and the like. The loading platform 15 carries the AGV 7. Here, the loading platform 15 carries one AGV 7. For example, the loading platform 15 is made up of a rectangular plate large enough to carry one AGV 7. Also, the loading platform 15 may carry multiple AGVs 7.

[0017] The loading platform 15 has a structure that allows the AGV 7 to enter or retreat from the Y-axis direction.

[0018] One side of the loading platform 15 is connected to one guide rail 16, and the other opposing side is connected to the other guide rail 16. In other words, the loading platform 15 is formed between the guide rails 16.

[0019] The guide rails 16 are made up of members extending in the Z-axis direction. The guide rails 16 guide the movement direction of the loading platform 15. That is, the loading platform 15 moves up and down along the guide rails 16.

[0020] A traveling rail 5 extending in the Y-axis direction is formed on the guide rail 16. In addition, a traveling rail 5 is formed for each shelf 21.

[0021] The traveling rails 5 are rails along which the AGV 7 moves in the Y-axis direction. The traveling rails 5 support the AGV 7 at a height that allows it to load items into the tote 8. The traveling rails 5 are made up of two rails. The width between the traveling rails 5 corresponds to the width of the wheels of the AGV 7.

[0022] In addition, a cord 51 is attached to the traveling rail 5. Code 51 is a code obtained by encoding an identifier that identifies a row of tote bags 8 aligned in the X-axis direction. Code 51 is attached to a position corresponding to a row of tote bags 8 (the left end of the row in Figure 2).

[0023] The code 51 may be a code obtained by encoding an identifier that identifies a predetermined area on the shelf 21 (for example, an area that can accommodate a row of totes 8).

[0024] The running rail 5 may have a code 51 for each row, or the running rail 5 may have a code 51 for several rows.

[0025] Furthermore, a plurality of traveling rails 6 extending in the X-axis direction are formed on the traveling rail 5. Furthermore, a traveling rail 6 is formed for each row of totes 8.

[0026] The traveling rails 6 are rails along which the AGV 7 moves in the X-axis direction. The traveling rails 6 support the AGV 7 at a height that allows the AGV 7 to deposit items into the tote 8. In other words, the traveling rails 6 are rails along which the AGV 7 moves to a position where it can deposit items into the tote 8.

[0027] When viewed from above, the traveling rails 6 are formed alternately with the rows of the totes 8 in the Y-axis direction. The width of the traveling rails 6 corresponds to the width of the wheels of the AGV 7.

[0028] In addition, a cord 61 is attached to the traveling rail 6. Code 61 is a code obtained by encoding an identifier that identifies tote bag 8. Code 61 is attached to a position corresponding to tote bag 8 (in FIG. 2, the top of tote bag 8).

[0029] The code 61 may be a code obtained by encoding an identifier that identifies a predetermined area on the shelf 21 (for example, an area in which one tote 8 can be loaded).

[0030] The running rail 6 may have a code 61 for each tote 8. The running rail 6 may also have a code 61 for several totes 8.

[0031] Furthermore, a loading device 1 is formed on the ground. The loading device 1 is a device that loads items onto the AGV 7 located on the ground. The loading device 1 loads items onto the AGV 7 located in the loading area 4.

[0032] For example, the loading device 1 receives an article from a higher-level device, etc. The loading device 1 loads the received article onto the AGV 7.

[0033] The loading device 1 may be configured by a robot that loads items, etc. The loading device 1 may also include an operator that loads items. A code obtained by encoding an identifier that identifies the item is attached to the item, and the code is a barcode or a two-dimensional code.

[0034] The reader 3 reads the code of the item to be loaded onto the AGV 7 by the loading device 1. The reader 3 may read the code of the item before the loading device 1 loads the item onto the AGV 7, or may read the code of the item loaded onto the AGV 7.

[0035] The reader 3 decodes the read code and transmits the obtained identifier to the sorting control device 30. For example, the reader 3 consists of a camera and a light that illuminates the code.

[0036] The code may be a character string, a number, a symbol, or a combination thereof.

[0037] The AGV 7 is an autonomous vehicle that loads and transports items under the control of the sorting control device 30. The AGV 7 receives items from the loading device 1. The AGV 7 rides on the elevator 10 and rises to a predetermined height. Once it has risen to the predetermined height, the AGV 7 moves on the traveling rails 5 and 6 to a position where it can deposit items into the tote 8. Once it has moved to that position, the AGV 7 deposits the received items into the tote 8. The AGV7 will be discussed in more detail later.

[0038] Next, the control system of the sorting system 100 will be described. Fig. 3 shows a control system of the sorting system 100. As shown in Fig. 3, the sorting system 100 includes a loading device 1, a higher-level device 2, a reader 3, an AGV 7, and a sorting control device 30. The higher-level device 2 is connected to the sorting control device 30. The sorting control device 30 is connected to the loading device 1, the reader 3, the elevator 10, and the AGV 7.

[0039] Note that the sorting system 100 may include components other than those shown in FIG. 3 as needed, or specific components may be excluded from the sorting system 100.

[0040] The upper device 2 transmits sorting designation information (height information) that associates the identifier of the tote 8 with the sorting destination, and destination information that associates the identifier (ID) of the item with the destination, to the sorting control device 30. The sorting designation information and destination information will be described later.

[0041] For example, the upper device 2 is a WMS (Warehouse Management System), and is configured by a PC or the like.

[0042] The sorting control device 30 controls the loading device 1, the reader 3, the AGV 7, the elevator 10, etc. For example, the sorting control device 30 functions as a controller for the AGV 7. That is, the sorting control device 30 controls the movement of the AGV 7 and the input of goods, etc. For example, the sorting control device 30 is a WCS (Warehouse Control System).

[0043] Next, the section control device 30 will be described. Fig. 4 is a block diagram showing an example configuration of the sorting control device 30. As shown in Fig. 4, the sorting control device 30 includes a processor 31, a ROM 32, a RAM 33, an NVM 34, a communication unit 35, an AGV interface 36, an operation unit 37, a display unit 38, and the like.

[0044] The processor 31, the ROM 32, the RAM 33, the NVM 34, the AGV interface 36, the communication unit 35, the operation unit 37, and the display unit 38 are connected to one another via a data bus or the like. The sectioning control device 30 may include other components as needed in addition to the components shown in FIG. 4, or certain components may be excluded from the sectioning control device 30.

[0045] The processor 31 has the function of controlling the overall operation of the section control device 30. The processor 31 may also include an internal cache and various interfaces. The processor 31 performs various processes by executing programs stored in advance in the internal memory, the ROM 32, or the NVM 34.

[0046] Note that some of the various functions realized by the processor 31 executing the programs may be realized by hardware circuits. In this case, the processor 31 controls the functions executed by the hardware circuits.

[0047] The ROM 32 is a non-volatile memory that stores in advance control programs, control data, etc. The control programs and control data stored in the ROM 32 are installed in advance in accordance with the specifications of the sectional control device 30.

[0048] The RAM 33 is a volatile memory. The RAM 33 temporarily stores data being processed by the processor 31. The RAM 33 stores various application programs based on instructions from the processor 31. The RAM 33 may also store data necessary for executing the application programs and the execution results of the application programs.

[0049] The NVM 34 is a nonvolatile memory to which data can be written and rewritten. The NVM 34 is configured, for example, with an HDD, an SSD, or a flash memory. The NVM 34 stores control programs, applications, various data, and the like according to the operational use of the section control device 30. The NVM 34 stores category designation information and destination information.

[0050] The communication unit 35 is an interface for communicating with the loading device 1, the upper device 2, the reader 3, the elevator 10, etc. For example, the communication unit 35 is an interface for transmitting and receiving data with the loading device 1, the upper device 2, the reader 3, the elevator 10, etc. via a network. For example, the communication unit 35 is an interface that supports wired or wireless LAN (Local Area Network) connection.

[0051] In addition, the communication unit 35 may be composed of an interface for communicating with the loading device 1, an interface for communicating with the higher-level device 2, an interface for communicating with the reader 3, and an interface for communicating with the elevator 10.

[0052] The AGV interface 36 is an interface for communicating with the AGV 7. The AGV interface 36 is connected to the AGV 7 via a wired or wireless connection. For example, the AGV interface 36 may support a wireless LAN connection.

[0053] The operation unit 37 receives input of various operations from an operator. The operation unit 37 transmits a signal indicating the input operation to the processor 31. The operation unit 37 may be configured as a touch panel.

[0054] The display unit 38 displays the image data from the processor 31. For example, the display unit 38 is configured with a liquid crystal monitor. When the operation unit 37 is configured with a touch panel, the display unit 38 may be formed integrally with the operation unit 37.

[0055] The communication unit 35 and the AGV interface 36 may be integrally formed.

[0056] Next, the control system of the elevator 10 will be described. Fig. 5 shows an example of the configuration of a control system of the elevator 10. As shown in Fig. 5, the elevator 10 includes a processor 11, a memory 12, a communication unit 13, a drive mechanism 14, a loading platform 15, and the like.

[0057] The processor 11, the memory 12, the communication unit 13, and the drive mechanism 14 are communicatively connected to one another. The drive mechanism 14 is physically connected to the loading platform 15.

[0058] The elevator 10 may be provided with other components as needed in addition to the components shown in FIG. 5, or certain components may be excluded from the elevator 10.

[0059] The processor 11 controls the overall operation of the elevator 10. For example, the processor 11 raises and lowers the loading platform 15 under the control of the section control device 30.

[0060] For example, the processor 11 may be configured with a CPU (Central Processing Unit) or the like. The processor 11 may also be configured with an ASIC (Application Specific Integrated Circuit) or the like. The processor 11 may also be configured with an FPGA (Field Programmable Gate Array) or the like.

[0061] The memory 12 stores various data. For example, the memory 12 functions as a ROM, a RAM, and an NVM. For example, the memory 12 stores a control program, control data, etc. The control program and control data are pre-installed according to the specifications of the elevator 10. For example, the control program is a program that supports functions realized by the elevator 10.

[0062] The memory 12 also temporarily stores data being processed by the processor 11. The memory 12 may also store data necessary for executing an application program, execution results of the application program, and the like.

[0063] The communication unit 13 is an interface for communicating with the section control device 30. For example, the communication unit 13 is an interface for transmitting and receiving data to and from the section control device 30 via a network. For example, the communication unit 13 is an interface that supports a wired or wireless LAN connection.

[0064] The drive mechanism 14 raises and lowers the loading platform 15 under control of the processor 11. The drive mechanism 14 raises and lowers the loading platform 15 along the guide rails 16. The drive mechanism 14 raises the loading platform 15 to the height of the running rails 5 of the corresponding destination floor. For example, the drive mechanism 14 is composed of a motor and a wire that lifts the loading platform 15 .

[0065] Next, we will explain about AGV7. Fig. 6 is a side view that schematically shows the AGV 7. As shown in Fig. 6, the AGV 7 includes a tire 70, a base 701, a tray 704, a reader 705, and the like.

[0066] The base 701 functions as a moving mechanism for moving the AGV 7. Tires 70 are formed on the base 701. The base 701 drives the tires 70 to move forward, backward, change direction, or the like.

[0067] The tires 70 move the AGV 7 in the X-axis direction and the Y-axis direction. The tires 70 are composed of a tire for traveling in the X-axis direction and a tire for traveling in the Y-axis direction.

[0068] A tray 704 is formed on the top of the base 701 . Articles are loaded onto the tray 704. The tray 704 is formed horizontally. The tray 704 is inclined with one side fixed. That is, the tray 704 has a structure that tilts obliquely.

[0069] Furthermore, a leader 705 is formed on the bottom of the base 701 . The reader 705 reads the code 51 or the code 61. The reader 705 transmits information obtained by decoding the code 51 or the code 61 to the processor 71, which will be described later.

[0070] For example, reader 705 consists of a downward-facing camera and a light that illuminates Code 51 or Code 61.

[0071] Next, the control system of the AGV 7 will be explained. 7 is a block diagram showing an example of the configuration of an AGV 7. The AGV 7 includes a processor 71, a ROM 72, a RAM 73, an NVM 74, a communication unit 75, a drive mechanism 76, a battery 78, a charging mechanism 79, tires 70, a tray 704, a reader 705, and the like.

[0072] The processor 71, ROM 72, RAM 73, NVM 74, communication unit 75, drive mechanism 76, and reader 705 are communicatively connected to one another. The drive mechanism 76 is physically connected to the tire 70 and tray 704. The battery 78 and charging mechanism 79 are electrically connected.

[0073] The processor 71 has the function of controlling the overall operation of the AGV 7. The processor 71 may include an internal cache and various interfaces. The processor 71 performs various processes by executing programs stored in advance in the internal memory, the ROM 72, or the NVM 74.

[0074] For example, the processor 71 is a CPU. The processor 71 may be realized by hardware such as an LSI, an ASIC, or an FPGA.

[0075] The ROM 72 is a non-transitory computer-readable storage medium that stores the above-mentioned programs. The ROM 72 also stores data and various setting values ​​used by the processor 71 when performing various processes. The RAM 73 is a memory used for reading and writing data. The RAM 73 is used as a so-called work area for storing data that is temporarily used by the processor 71 when performing various processes.

[0076] The NVM 74 is a non-transitory computer-readable storage medium that may store the above-mentioned programs. The NVM 74 also stores data used by the processor 71 when performing various processes, data generated by the processes of the processor 71, various setting values, and the like.

[0077] The communication unit 75 is an interface for transmitting and receiving data to and from the section control device 30 etc. via a wireless LAN access point etc. For example, the communication unit 75 supports wireless LAN connection.

[0078] The drive mechanism 76 drives the tire 70. The drive mechanism 76 is a motor or the like that rotates the tire 70, and rotates or stops the motor based on a drive signal output from the processor 71. The power of the motor is transmitted to the tire 70. The AGV 7 moves to a target position using the power from the motor.

[0079] The drive mechanism 76 also drives the tray 704. For example, the drive mechanism 76 tilts the tray 704. For example, the drive mechanism 76 is a motor or the like that drives the tray 704.

[0080] The drive mechanism 76 may be composed of a mechanism for driving the tire 70 and a mechanism for driving the tray 704 .

[0081] The battery 78 supplies power to each component. The charging mechanism 79 connects the charging station and the battery 78, and the battery 78 is charged with power supplied from the charging station or the like via the charging mechanism 79.

[0082] The AGV 7 may be provided with other components as needed in addition to the components shown in FIGS. 6 and 7, or certain components may be excluded from the AGV 7.

[0083] The processor 71 performs processes such as acceleration, deceleration, stopping, direction changes, and calculations and controls required for the operation of the tray 704. Based on control signals from the sorting control device 30 or the like, the processor 71 executes a program stored in the ROM 72 or NVM 74 or the like to generate drive signals and output them to each section.

[0084] Next, an example of the operation in which the AGV 7 puts an article into the tote 8 will be described. FIG. 8 is a diagram for explaining an example of the operation of the AGV 7 putting an article into the tote 8. In FIG.

[0085] 8, the AGV 7 loads the article P onto the tray 704. At this time, the tray 704 is horizontal.

[0086] In this state, the processor 71 of the AGV 7 controls the drive mechanism 76 to move the AGV 7 to a position where it can put an item into the tote 8. Once the AGV 7 has moved to that position, the processor 71 controls the drive mechanism 76 to tilt the tray 704. That is, the processor 71 tilts the tray 704.

[0087] When the tray 704 tilts, the item P on the tray 704 slides off the tray 704. As a result, the item P is dropped into the tote 8.

[0088] Next, the classification information will be described. The sorting information indicates the sorting destination designated for each tote 8. The sorting information also indicates the floor number for each tote 8.

[0089] Fig. 9 shows an example of the structure of the category designation information. As shown in Fig. 9, the category designation information stores an "identifier" and a "category destination" in association with each other.

[0090] The "identifier" is an identifier that identifies the tote 8. Here, the "identifier" is composed of a string of characters and a number. The "identifier" also indicates the shelf level on which the tote 8 is placed (the height of the tote). For example, a specific digit of the "identifier" indicates the level on which the tote 8 is placed. The structure of the "identifier" is not limited to a specific structure.

[0091] The "destination" indicates the destination specified for the tote bag 8. Here, the "destination" is composed of a character string and a numerical value. For example, the "destination" corresponds to the destination of the item, such as a ZIP code. Note that the configuration of the "destination" is not limited to a specific configuration.

[0092] Next, the destination information will be described. The destination information indicates the destination of the item. Here, the destination information indicates the ZIP code of the item as the destination.

[0093] Fig. 10 shows an example of the structure of destination information. As shown in Fig. 10, the destination information stores "ID" and "ZIPCOCE" in association with each other.

[0094] "ID" is an ID that identifies an item. Here, "ID" is composed of numerical values. Note that the composition of "ID" is not limited to a specific composition.

[0095] "ZIP CODE" indicates the destination of the item. For example, "ZIP CODE" is information read from a slip attached to the item. The information indicated as a destination in the destination information is not limited to a specific configuration.

[0096] Next, a description will be given of functions realized by the section control device 30. The functions realized by the section control device 30 are realized by the processor 31 executing a program stored in the internal memory, the ROM 32, the NVM 34, or the like.

[0097] First, the processor 31 has a function of acquiring category designation information and destination information. The processor 31 receives the category designation information and destination information from the higher-level device 2 through the communication unit 35. The processor 31 may receive the category designation information and destination information by push notification from the higher-level device 2 through the communication unit 35. The processor 31 may also send a request requesting the category designation information and destination information to the higher-level device 2 through the communication unit 35.

[0098] Upon receiving the category designation information and destination information, the processor 31 stores the category designation information and destination information in the NVM 34.

[0099] The processor 31 also has the function of identifying the tote 8 into which the item is to be placed. Here, it is assumed that the AGV 7 is present in the loading area 4. If the AGV 7 is not present in the loading area, the processor 31 moves the AGV 7 to the loading area 4 via the AGV interface 36.

[0100] Processor 31 uses loading device 1 to place one item onto tray 704 of AGV 7. When the item is placed onto tray 704, processor 31 uses reader 3 to read the code of the placed item and obtain the ID of the item.

[0101] When the ID of the item is acquired, the processor 31 refers to the destination information and acquires the "ZIPCODE" corresponding to the acquired ID. When the "ZIPCODE" is acquired, the processor 31 identifies the "destination" corresponding to the acquired "ZIPCODE".

[0102] When the "sorting destination" is specified, processor 31 refers to the sorting specification information and acquires the "identifier" corresponding to the acquired "sorting destination" as the identifier of the tote 8 into which the item will be placed. Processor 31 may also acquire the identifier of a line containing the tote 8 in question.

[0103] The processor 31 also has a function of identifying the level of the shelf 21 on which the identified tote 8 is loaded.

[0104] When the identifier of the tote 8 into which the item is to be placed is acquired, the processor 31 identifies the floor number of the shelf 21 on which the tote 8 is loaded based on the identifier. For example, the processor 31 identifies the floor number based on the value of a predetermined digit of the identifier.

[0105] Additionally, the NVM 34 may store information associating the identifier of the tote 8 with the floor number of the tote 8. The processor 31 may refer to this information to identify the floor number of the tote 8.

[0106] The processor 31 also has the function of using the elevator 10 to raise the AGV 7 to the specified floor.

[0107] When the floor number is specified, the processor 31 moves the AGV 7 loaded with the item to the loading platform 15 of the elevator 10 via the AGV interface 36. When the AGV 7 is moved to the loading platform 15, the processor 31 controls the elevator 10 to raise the AGV 7 to the specified floor number.

[0108] Here, the processor 31 raises the AGV 7 to the height of the traveling rail 5 corresponding to the floor number of the tote 8. In other words, the processor 31 raises the AGV 7 to the height of the traveling rail 5 that connects to the traveling rail 6 at a height that allows items to be loaded into the tote 8.

[0109] The processor 31 also has the function of causing the AGV 7 to put items into the tote 8. After raising the AGV 7, the processor 31 moves the AGV 7 in the Y-axis direction along the traveling rail 5 via the AGV interface 36. The processor 31 moves the AGV 7 to the front of the line including the tote 8.

[0110] Here, the processor 71 of the AGV 7 may move the AGV 7 in the Y-axis direction based on the distance from the loading platform 15 to the line. Alternatively, the processor 71 may read the code 51 using the reader 705 and move the AGV 7 to the front of the line.

[0111] After moving the AGV 7 to the front of the group, the processor 31 moves the AGV 7 in the X-axis direction along the traveling rail 6. The processor 31 moves the AGV 7 to a position where an item can be placed in the tote 8.

[0112] Here, the processor 71 of the AGV 7 may move the AGV 7 in the X-axis direction based on the distance from the traveling rail 5 to the position. Alternatively, the processor 71 may read the code 61 using the reader 705 and move the AGV 7 to the position.

[0113] When the AGV 7 has been moved to the position, the processor 31 causes the AGV 7 to deposit an item through the AGV interface 36. That is, the processor 31 tilts the tray 704 of the AGV 7. As the tray 704 of the AGV 7 rotates, the item on the tray 704 is deposited into the tote 8.

[0114] After causing the AGV 7 to load the item, the processor 31 returns the AGV 7 to the loading area 4 via the AGV interface 36.

[0115] That is, the processor 31 moves the AGV 7 to the traveling rail 5. Once the AGV 7 has been moved to the traveling rail 5, the processor 31 moves the AGV 7 to the loading platform 15. Once the AGV 7 has been moved to the loading platform 15, the processor 31 controls the elevator 10 to lower the loading platform 15 to the ground. Once the loading platform 15 has been lowered to the ground, the processor 31 moves the AGV 7 to the loading area 4.

[0116] Next, an example of the operation of the sorting control device 30 will be described. FIG. 11 is a flowchart for explaining an example of the operation of the sorting control device 30.

[0117] First, the processor 31 of the sorting control device 30 receives the sorting designation information and the destination information from the higher-level device 2 through the communication unit 35 (S11). Upon receiving the sorting designation information and the destination information from the higher-level device 2, the processor 31 stores the sorting designation information and the destination information in the NVM 34 (S12).

[0118] After storing the sorting information and destination information in NVM 34, processor 31 uses loading device 1 to load one item onto tray 704 of AGV 7 (S13). After loading one item onto tray 704 of AGV 7, processor 31 uses reader 3 to read the code of the item and obtain its ID (S14).

[0119] When the ID is acquired, the processor 31 identifies the tote 8 into which the item is to be placed and the floor number of the tote 8 (S15). After identifying the tote 8 and the floor number, the processor 31 moves the AGV 7 to the loading platform 15 via the AGV interface 36 (S16).

[0120] Once the AGV 7 has been moved to the loading platform 15, the processor 31 controls the elevator 10 to raise the loading platform 15 to the floor (S17). Once the loading platform 15 has been raised to the floor, the processor 31 moves the AGV 7 via the AGV interface 36 to a position where an item can be placed in the tote 8 (S18).

[0121] When the AGV 7 is moved to the position, the processor 31 causes the AGV 7 to load the items through the AGV interface 36 (S19). When the AGV 7 loads the items, the processor 31 determines whether sorting of all the items has been completed (S20).

[0122] If it is determined that sorting of all the items has not been completed (S20, NO), the processor 31 returns the AGV 7 to the loading area 4 via the AGV interface 36 (S21). Once the AGV 7 has been returned to the loading area 4, the processor 31 returns to S13.

[0123] When it is determined that the sorting of the articles is completed (S20, YES), the processor 31 ends the operation.

[0124] The processor 31 may execute steps S13 to S19 simultaneously for a plurality of articles using a plurality of AGVs 7.

[0125] The sorting system 100 may also include a plurality of loading devices 1. In this case, the processor 31 of the sorting control device 30 may return the AGV 7 to the loading area 4 of an empty loading device 1.

[0126] Additionally, the sectionalizing system 100 may include multiple elevators. The sorting system 100 may also include a plurality of shelves 20. The shelves 20 may also include three or more shelf levels 21.

[0127] FIG. 12 shows a top view of an example of a configuration including a plurality of loading devices 1 and a plurality of elevators 10.

[0128] About Tote 8 Tijk: Let i=1, j=1, k=1, starting from the one closest to the origin of XYZ. In other words, the leftmost and bottommost tote number on the bottom layer is expressed as T(1,1,1). The 3D position coordinates of T(i,j,k) are expressed as T(i,j,k)=x, y, z.

[0129]

number

[0130] Let wijk be the statistical frequency probability that a product will be classified into the tote Tijk.

[0131]

number

[0132] The frequency probability information is stored in NVM 34 in section controller 30.

[0133] About Elevator 10 X origin side = E1, E2...Em from the left end. The total number is M. The position coordinates of elevator E(m) are expressed as E(m) = x, y (z=0).

[0134]

number

[0135] About Loading Device 1 X origin side = From the left end, I1, I2, Un. The total number is N.

[0136] The position coordinates of the loading device I(n) are expressed as I(n)=x, y (Z=0).

[0137]

number

[0138] Once the layout of the totes 8 (total number and number of floors in the Z direction, and X, Y, Z layout), the total number N of input devices, their x and y positions, and the total number M of elevators and their Y positions have been determined, the layout position x of the elevator 10 is determined as follows (the x position is as follows). In other words, the elevator position E (m) is located so that the total travel distance of the AGV 7 is minimized.

[0139]

number

[0140] The AGV 7 may also be equipped with a belt for carrying items. In this case, the AGV 7 rotates the belt to deposit the items into the tote 8. The belt may also be capable of carrying multiple items. The AGV 7 may control the amount of movement of the belt to deposit the items one by one into different totes 8.

[0141] The sorting system configured as described above includes shelves that store totes arranged vertically. The sorting system also acquires the height of the tote into which an item is to be placed. Based on the height of the tote, the sorting system uses an elevator to raise the AGV carrying the item. The sorting system controls the raised AGV to place the item into the tote. As a result, the sorting system can effectively place and sort items into the totes arranged vertically.

[0142] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. The following is a summary of the scope of claims as originally filed in this application. [C1] A shelf for storing containers arranged vertically, a reader for reading a code that identifies an item; an automatic conveying device that conveys the article; an elevator that raises and lowers the automatic transport device; Identifying the location of a shelf where a container into which the item is to be placed is located based on the code; raising the automated transport device carrying the item based on the specified shelf position; causing the lifted automatic transport device to deposit the article into the container; a processor; A system comprising: [C2] the shelf has a plurality of shelves for loading the containers; the processor identifies a floor number of the container. The system described in C1. [C3] a memory for storing height information indicating the number of shelves on which the containers are loaded; The processor: Identifying a container into which the item is to be placed; Identifying the floor number of the identified container based on the height information. The system described in C2. [C4] a running rail for supporting the automatic conveying device at a height at which an article can be put into the container; the elevator raises the automatic transport device to a height position of the traveling rail; A system according to any one of claims C1 to C3. [C5] The shelves store the containers in a horizontal arrangement, The traveling rail is provided in the horizontal direction. The system described in C4. [C6] the running rail is provided with a cord; The automatic transport device reads the code and moves to a position where the article can be placed in the container. The system according to C4 or C5. [C7] The automatic conveying device puts the article into the container from the top. A system according to any one of claims C1 to C6. [C8] The automatic conveying device is a tray for loading the items; a drive mechanism for rotating the tray; It consists of The system described in C7. [C9] a loading device for loading the article onto the automatic conveying device; A system according to any one of claims C1 to C8. [Explanation of symbols]

[0143] 1...loading device, 2...host device, 3...reader, 4...loading area, 5...traveling rail, 6...traveling rail, 7...AGV, 8...tote, 10...elevator, 11...processor, 12...memory, 13...communication unit, 14...drive mechanism, 15...loading platform, 16...guide rail, 20...shelf, 21...shelf level, 30...sorting control device, 31...processor, 32...ROM, 33...RAM, 34...NVM, 35...communication unit, 36...AGV interface, 37...operation unit, 38...display unit, 51...code, 61...code, 70...tire, 71...processor, 72...ROM, 73...RAM, 74...NVM, 75...communication unit, 76...drive mechanism, 78...battery, 79...charging mechanism, 100...sorting system, 701...base, 704...tray, 705...reader.

Claims

1. a shelf having a plurality of shelves in a height direction, each of which carries a plurality of containers two-dimensionally in the X-axis direction and the Y-axis direction; a reader for reading a code that identifies an item; an automatic conveying device that conveys the article; a running rail that supports the automatic conveying device at a height that allows articles to be put into the container; an elevator that raises the automatic transport device to a height position of the traveling rail and lowers the automatic transport device; Identifying the location of a shelf where a container into which the item is to be placed is located based on the code; raising the automated transport device carrying the item based on the specified shelf position; The automatically-operated transport device is moved along the rails so as to deposit the article into the container. a processor; Equipped with the automatic conveying device includes a first tire for moving in an X-axis direction and a second tire for moving in a Y-axis direction; The system includes a first running rail formed for each shelf level, for movement of the automatic conveying device in the Y-axis direction, and a second running rail formed for each row of containers relative to the first running rail, for movement of the automatic conveying device in the X-axis direction.

2. a memory for storing height information indicating the number of the shelf on which the container is loaded; The processor: Identifying the container into which the item is to be placed; Identifying the floor number of the identified container based on the height information. The system of claim 1 .

3. the first traveling rail is provided with a first code that identifies a row of the containers and is attached to a position corresponding to the row of the containers aligned in the X-axis direction; the second traveling rail is provided with a second code attached to a position corresponding to each of the containers, the second code identifying an area in which the containers can be loaded; the automatic conveying device reads the first code and the second code, and moves to a position where the article can be put into the container. The system of claim 1 .

4. The automatic conveying device puts the article into the container from the top.

4. A system according to any one of claims 1 to 3.

5. The automatic conveying device is a tray for loading the items; a drive mechanism for rotating the tray; It consists of The system of claim 4.

6. a loading device for loading the article onto the automatic conveying device; A system according to any one of claims 1 to 5.

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