Extraction system control unit, extraction system, extraction device controller, and extraction device

Abstract

To provide a take-out device, a take-out system, and a conveyance shelf that can use a picking robot to convey an article from the conveyance shelf to a conveyance destination.SOLUTION: According to one embodiment, a take-out device includes a holding part, a movable device and a lifting device. The holding part detachably holds a storage box that contains articles and is stored on a conveyance shelf. The movable device moves the holding part in a single axial direction that intersects with an up-down direction. The lifting device moves the holding part and the movable device in the up-down direction.SELECTED DRAWING: Figure 3

Description

Technical Field

[0005] , , The system includes a lifting device and one or more retrieval devices having a camera that detects the shape and position of the article to be retrieved from the storage box based on captured images, and a computer capable of controlling one or more picking robots that retrieve the article to be retrieved from the storage box. The computer controls the one or more retrieval devices to retrieve the storage box from the transport shelf, move the retrieved storage box to the picking position by the picking robot, detect the shape and position of the article to be retrieved from the storage box by the picking robot based on images captured by the camera, control the picking robot to retrieve the article to be retrieved from the storage box, control the one or more retrieval devices to return the storage box from which the article has been retrieved to the transport shelf, and move the holding unit to its initial position. , The storage boxes placed there are removable, , ru , , , , , Let , System control , , , M, removal device controller , Mobile device , System control , , , Let , Removal device , thing

[0001] Embodiments of the present invention relate to a take-out System control device, a take-out system M, removal device controller , and Removal device .

Background Art

[0002] Conventionally, there has been known a technique in which a transport shelf storing articles such as luggage is moved by an automatic transport vehicle to a take-out position where the articles are taken out, and the articles are taken out from the transport shelf by manual work.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The problem to be solved by the present invention is to provide a take-out The storage boxes placed there are removable, device, a take-out system System control , and M, removal device controller . Removal device The purpose is to provide them.

Means for Solving the Problems

[0005] According to one embodiment, the take-out System control device thing holds a storage box that stores articles and is detachably held in a transport shelf ru and moves in a uniaxial direction intersecting the vertical direction Let Mobile device , and moves the holding part and the moving device in the vertical direction Let The system includes a lifting device and one or more retrieval devices having a camera that detects the shape and position of the article to be retrieved from the storage box based on captured images, and a computer capable of controlling one or more picking robots that retrieve the article to be retrieved from the storage box. The computer controls the one or more retrieval devices to retrieve the storage box from the transport shelf, move the retrieved storage box to the picking position by the picking robot, detect the shape and position of the article to be retrieved from the storage box by the picking robot based on images captured by the camera, control the picking robot to retrieve the article to be retrieved from the storage box, control the one or more retrieval devices to return the storage box from which the article has been retrieved to the transport shelf, and move the holding unit to its initial position.

Brief Description of the Drawings

[0006] [Figure 1] Schematic diagram showing the extraction system according to the first embodiment. [Figure 2] Schematic diagram showing the station and the transport shelf of the extraction system. [Figure 3] Side view showing the extraction device and the transport shelf. [Figure 4] Rear view showing the extraction device. [Figure 5] Perspective view showing the extraction device. [Figure 6] Block diagram showing the electrical configuration of the extraction system. [Figure 7] Cross-sectional view showing the configuration of the transport shelf. [Figure 8] Front view showing the transport shelf. [Figure 9] Timing chart showing the operation of the extraction system. [Figure 10] Flow chart showing the operation of the extraction system. [Figure 11] Schematic diagram showing the station and the transport shelf of the extraction system according to the second embodiment. [Figure 12] Timing chart showing the operation of the extraction system. [Figure 13] Side view showing a modified example of the extraction device of the first embodiment and the second embodiment. [Figure 14] Side view showing a modified example of the extraction device of the first embodiment and the second embodiment. [Figure 15] Side view showing a modified example of the extraction device of the first embodiment and the second embodiment. [Figure 16] Cross-sectional view showing a modified example of the transport shelf of the first embodiment and the second embodiment. [Figure 17] Front view showing the transport shelf. [Figure 18] Cross-sectional view showing a modified example of the transport shelf of the first embodiment and the second embodiment. [Figure 19] Front view showing the transport shelf. [Figure 20] Front view showing a modified example of the transport shelf of the first embodiment and the second embodiment. [Figure 21] Schematic diagram showing a modification of the extraction system of the first embodiment. [Figure 22] Schematic diagram showing a modification of the extraction system of the second embodiment.

Modes for Carrying Out the Invention

[0007] The extraction system 1 according to the first embodiment will be described with reference to FIGS. 1 to 10. FIG. 1 is a schematic diagram showing the extraction system 1. FIG. 2 is a schematic diagram showing the station 2 and the transport shelf 3 of the extraction system 1. FIG. 3 is a side view showing the extraction device 11 and the transport shelf 3 of the extraction system 1. Here, the side view is a view seen from the side with respect to the extraction direction of the storage box 81 by the extraction device 11.

[0008] FIG. 4 is a rear view showing the extraction device 11. Here, the rear view of the extraction device 11 is a rear view when the direction from the moving device 25 of the extraction device 1 to the transport shelf 3 is taken as the front direction. FIG. 5 is a perspective view showing the extraction device 11. FIG. 6 is a block diagram showing the electrical configuration of the extraction system 1. FIG. 7 is a cross-sectional view showing the configuration of the transport shelf 3. Here, the cross-sectional view of the transport shelf 3 is a cross-sectional view obtained by cutting the transport shelf 3 along a cutting plane orthogonal to the vertical direction between two shelf plate portions 86 arranged in the vertical direction. FIG. 8 is a front view showing the transport shelf 3.

[0009] As shown in FIG. 1, the extraction system 1 includes, for example, a plurality of stations 2, a plurality of transport shelves 3, a plurality of automatic guided vehicles 4, an automatic guided vehicle controller 5, and a host system 6.

[0010] The extraction system 1 moves one selected transport shelf 3 out of the plurality of transport shelves 3 to the station 2 by one automatic guided vehicle 4, takes out the storage box 81 containing the article 7 from the transport shelf 3 by the extraction device 11 of the station 2, and takes out the article 7 contained in the storage box 81 by the picking robot system 14 of the station 2 and transports it to the transport destination.

[0011] The item 7 is, for example, a package. The retrieval system 1 can be used, for example, to move items 7 stored in multiple transport racks 3 to sorting boxes 15 corresponding to the items 7 at station 2. The sorting boxes 15 are an example of destinations to which the items 7 are transported by the picking robot 71 of the picking robot system 14, which will be described later. This embodiment describes an example of transporting items 7 to sorting boxes 15.

[0012] As shown in Figure 2, Station 2 includes, for example, a retrieval device 11, a picking robot system 14, and a plurality of sorting boxes 15. Station 2 is configured by installing the retrieval device 11, the picking robot system 14, and the plurality of sorting boxes 15 in a predetermined area on the floor of a warehouse or the like. Figure 2 shows, as an example, a transport rack 3 in which items 7 are retrieved, and a transport rack 3 in which items 7 are to be retrieved next, in Station 2.

[0013] As shown in Figures 3 to 5, the retrieval device 11 is configured to allow the storage box 81 containing the item to be retrieved to be removed from the transport shelf 3, out of a plurality of storage boxes 81 on the transport shelf 3. Here, the predetermined position is a position from which the picking robot 71 of the picking robot system 14 can retrieve the item 7 from the storage box 81.

[0014] The retrieval device 11 includes, for example, a housing 21, a holding unit 23, a lifting device 24, a moving device 25, a camera 26, a sensor 27, and a retrieval device controller 28.

[0015] Here, we define an example of the vertical, horizontal, and width directions of the retrieval device 11. The vertical direction is defined with gravity as the downward direction, the horizontal direction is defined with the direction perpendicular to the vertical direction and moving from the retrieval device 11 towards the transport shelf 3 as the forward direction, and the width direction is defined with the direction perpendicular to both the vertical and horizontal directions as the width direction.

[0016] The housing 21 includes, for example, a bottom portion 31, a column portion 32, and a top portion 33. As shown in Figure 5, the base 31 is formed, for example, in the shape of a rectangular frame. The base 31 is provided with, for example, a number of legs 34. For example, there are four legs 34, each fixed to one corner of the lower surface of the base 31.

[0017] The column section 32 is provided on the base section 31. The column section 32 has, for example, four column members 35. Two of the column members 35 are fixed, for example, to a pair of adjacent corners of the base section 31. The remaining two column members 35 are fixed, for example, to the corners of the base section 31 where the column members 35 are fixed, and to the corners between those corners and the adjacent corners, on the side where the column members 35 are fixed.

[0018] The ceiling section 33 is fixed to the upper end of the column section 32. The ceiling section 33 is configured to support the camera 26. The ceiling section 33 is configured, for example, in the shape of a plate.

[0019] The holding part 23 detachably holds the storage box 81. In this embodiment, as shown in Figure 5, the holding part 23 comprises one or more arms, and the storage box 81 is held by being placed on the arms. The holding part 23 comprises, for example, one or more arms 23a and a stopper 23b.

[0020] The number of arms 23a is such that they can stably hold the lower surface of the storage box 81, and in this embodiment, three arms are provided. The arms 23a are formed, for example, in the shape of a long rod in the front-rear direction. The three arms 23a are spaced apart in the width direction. The upper surface of the arms 23a is formed, for example, as a flat surface, and the cross-section perpendicular to the longitudinal direction of the arms 23a is formed, for example, as a rectangle. Here, the number that can stably hold is the number such that the storage box 81 will not fall from the arms 23a even when the holding part 23 is raised and lowered by the lifting device 24 and moved by the moving device 25 while the storage box 81 is placed on the arms 23a. In this embodiment, the two outer arms 23a in the width direction support both ends of the lower surface of the storage box 81 in the width direction, and the central arm 23a in the width direction supports the center of the lower surface of the storage box 81 in the width direction.

[0021] The stopper 23b is configured to contact the surface of the storage box 81 facing the removal device 11 when the holding portion 23 is moved forward by the moving device 25. The stopper 23b is fixed, for example, to the upper surface of the arm 23a. The front surface of the stopper 23b is formed, for example, on a plane perpendicular to the front-rear direction.

[0022] The length of the portion of the holding unit 23 configured in this way that is in front of the stopper 23b of the arm 23a is such that the storage box 81 can be stably placed on the front portion. Here, the length that allows for stably placed storage is such that the storage box 81 will not fall even when the holding unit 23 is moved by the lifting device 24 and the moving device 25.

[0023] The lifting device 24 is configured to allow the holding unit 23 and the moving device 25 to move up and down between a position where the holding unit 23 retrieves the storage box 81 from the bottom shelf of the transport shelf 3 and a position where it retrieves the storage box 81 from the top shelf of the transport shelf 3. The lifting device 24 is also configured to allow the storage box 81 retrieved from the transport shelf 3 by the holding unit 23 and the moving device 25 to move to a pick height. The pick height is the height position at which the picking robot 71 retrieves the item 7 from the storage box 81. The pick height is a height position set by the picking robot 71. The lifting device 24 is provided in the housing 21. The lifting device 24 includes, for example, a rail 51, a lifting unit 52, and a drive unit 53.

[0024] The rail 51 supports the lifting section 52 so that it can move vertically. The rail 51 is provided on, for example, the column section 32 of the housing 21. For example, one rail 51 is provided on each of two column members 35 that are aligned in the width direction.

[0025] The lifting section 52 is supported on the rail 51 so as to be movable in the vertical direction. For example, one lifting section 52 is provided on each of the two rails 51.

[0026] The drive unit 53 is configured to move the lifting unit 52 in the vertical direction. The drive unit 53 includes, for example, a motor 54 and a transmission mechanism 55.

[0027] The motor 54 is fixed, for example, between two column members 35 at the rear end of the bottom 31. The motor 54 is electrically connected to the extraction device controller 28.

[0028] The transmission mechanism 55 is configured to convert the rotation of the motor 54 into vertical movement of the lifting section 52. The transmission mechanism 55 includes, for example, a shaft 56 that engages with the output shaft of the motor 54 and rotates in accordance with the rotation of the output shaft, a pair of first pulleys 57, a pair of second pulleys 58, and a pair of belts 59.

[0029] The shaft portion 56 is rotatably supported on the bottom portion 31, for example, in a position parallel to the width direction. A pair of first pulleys 57 are fixed to both ends of the shaft portion 56 and rotate integrally with the shaft portion 56. A pair of second pulleys 58 are rotatably supported on the top portion 33, for example. The pair of second pulleys 58 are positioned, for example, opposite the pair of first pulleys 57 in the vertical direction. A pair of belts 59 are wrapped around a first pulley 57 and a second pulley 58. The pair of belts 59 are fixed to the lifting section 52.

[0030] With the drive unit 53 configured in this way, the pair of first pulleys 57, the pair of second pulleys 58, and the pair of belts 59 rotate in accordance with the rotation of the motor 54, causing the holding unit 23 and the moving device 25 to move vertically via the lifting unit 52 fixed to the pair of belts 59.

[0031] The moving device 25 moves the holding unit 23 in a uniaxial direction that intersects the vertical direction. In this embodiment, the moving device 25 moves the holding unit 23 in a front-to-back direction perpendicular to the vertical direction. The moving device 25 also moves the holding unit 23 in the front-to-back direction between a position where the holding unit 23 holds the storage box 81 housed in the transport rack 3 and a position where the storage box 81 has been removed. The position where the storage box 81 is held is, for example, the position where the stopper 23b contacts the storage box 81. The position where the storage box 81 has been removed is a position in the front-to-back direction where the picking robot 71 can remove the items 7 from the storage box 81.

[0032] The moving device 25 includes, for example, a base 61, a moving part 62, and a drive unit 63. The base 61 supports the moving part 62 so that it can move in the front-rear direction. The base 61 is fixed to the two lifting parts 52 of the lifting device 24.

[0033] The holding part 23 is fixed to the movable part 62. The movable part 62 is supported on the base 61 so as to be movable in the front-rear direction by, for example, a transmission mechanism 65 of the drive part 63, which will be described later. A rail to support the front-rear movement of the movable part 62 may be provided on the upper surface of the base 61.

[0034] The drive unit 63 includes a motor 64 and a transmission mechanism 65. The motor 64 is provided, for example, on the base 61. The motor 64 is electrically connected to the extraction device controller 28. The transmission mechanism 65 is configured to convert the rotation of the motor 64 into forward and backward movement of the movable part 62. As shown in Figure 3, the transmission mechanism 65 may be configured to include, for example, a screw 66 rotated by the motor 64 and a nut 67 provided on the movable part 62 that screws onto the screw 66.

[0035] Another example of the transmission mechanism 65 may include a belt, which converts the rotation of the motor 64 into the forward and backward movement of the movable part 62. In this example, the transmission mechanism 65 comprises a shaft engaged with the output shaft of the motor 64 and rotating in accordance with the rotation of the output shaft; a third pulley fixed to the shaft and rotating integrally with the shaft; a fourth pulley rotatably provided at the front end of the base 61; and a belt wrapped around the third and fourth pulleys and to which the movable part 62 is fixed.

[0036] With the transmission mechanism 65 configured in this way, the third pulley, the fourth pulley, and the belt 59 rotate in accordance with the rotation of the motor 64, causing the movable part 62 fixed to the pair of belts to move in the front-rear direction, and the holding part 23 to move in the front-rear direction via the movable part 62.

[0037] Camera 26 is configured to photograph the inside of a storage box 81 that has been removed from the transport shelf 3 by the retrieval device 11. Camera 26 is a camera that can capture information that allows the control device of the retrieval system 1 to detect the position of an item 7 inside the storage box 81. Camera 26 is also a camera that can capture information that allows the control device of the retrieval system 1 to detect the shape of an item 7 inside the storage box 81. Alternatively, these functions may be achieved by using multiple cameras that have one of these functions. Camera 26 is installed in the housing 21 and transmits the captured image data to the control device of the retrieval system 1. In this embodiment, the control device of the retrieval system 1 includes a higher-level system 6, a retrieval device controller 28, and a picking robot controller 72 of the picking robot system 14, which will be described later. In this embodiment, camera 26 transmits the captured image data to the picking robot controller 72 of the station 2 where camera 26 is installed. Camera 26 can be, for example, a depth camera and an RGB camera. The data from the image captured by the depth camera can be used to detect the distance to the item 7 in the vertical direction. The horizontal position of item 7 can be detected using the image data captured by the RGB camera. The shape of item 7 can also be detected using the depth camera and the RGB camera. Furthermore, camera 26 is controlled by, for example, a picking robot controller 72, which is an example of a control device included in the retrieval system 1.

[0038] Camera 26 is provided, for example, as shown in Figure 4. Camera 26 is installed, for example, on the ceiling 33. Camera 26 includes, for example, a depth camera and an RGB camera.

[0039] The sensor 27 is configured to detect when the picking robot 71 has taken an item 7 from the storage box 81. The sensor 27 detects, for example, when the picking robot 71 has moved the item 7 from the storage box 81 to the retrieval completion height. In this embodiment, retrieval is considered complete when the item 7 has moved to the retrieval completion height. The retrieval completion height is the height at which the lower end of the item 7 is above the upper edge of the storage box 81. The sensor 27 is, for example, a laser rangefinder. The sensor 27 is installed, for example, on the column portion 32 of the housing 21. The sensor 27 transmits the detection result to the picking robot controller 72 of the station 2 where the sensor 27 is installed, which is an example of a control device provided by the retrieval system 1. The sensor 27 is controlled, for example, by the picking robot controller 72, which is an example of a control device provided by the retrieval system 1.

[0040] The retrieval device controller 28 can be implemented, for example, by a single computer or a combination of multiple computers. The retrieval device controller 28 communicates with the higher-level system 6 via wired or wireless connection. Based on signals from the higher-level system 6, the retrieval device controller 28 controls the lifting device 24 and the moving device 25 by controlling the motor 54 of the lifting device 24 and the motor 64 of the moving device 25.

[0041] Furthermore, the retrieval device controller 28 controls the holding unit 23, the moving device 25, and the lifting device 24 so that the holding unit 23 holds the storage box 81, the moving device 25 controls the holding unit 23 to move in the front-rear direction, and then the lifting device 24 moves to a predetermined height.

[0042] In this embodiment, the holding unit 23 holds the storage box 81 by placing the storage box 81 on the arm 23a. In other words, in this embodiment, controlling the holding unit 23 to hold the storage box 81 means controlling the moving device 25 and the lifting device 24 so that the storage box 81 is placed on the arm 23a. To put it another way, in this embodiment, the holding unit 23 is indirectly controlled by controlling the moving device 25 and the lifting device 24.

[0043] Furthermore, if the holding unit 23 is configured to hold the storage box 81 by suction, for example, by providing a suction pad and creating negative pressure within the suction pad using a pump, then controlling the holding unit 23 is equivalent to controlling this pump. Alternatively, if the holding unit 23 is configured to hold the storage box 81 by providing a clamping unit and a drive unit that drives the clamping unit, then controlling the holding unit 23 is equivalent to controlling this drive unit. Thus, when the holding unit 23 is configured to include a drive unit such as a pump or motor, controlling this drive unit is equivalent to controlling the holding unit 23.

[0044] As shown in Figure 2, the picking robot system 14 is configured to pick up items 7 from a storage box 81 located at a picking position, and to transport the picked-up items 7 to the appropriate sorting box 15 from among a plurality of sorting boxes 15. The picking robot system 14 includes, for example, a picking robot 71 and a picking robot controller 72.

[0045] The picking robot 71 is, for example, a multi-axis robot capable of detachably holding an item 7. The picking robot 71 is positioned near the retrieval device 11 on the floor surface where the station 2 is installed, as shown in Figure 1.

[0046] Furthermore, the picking robot 71 is positioned near the end opposite the column 32 in the width direction. By positioning the picking robot 71 in this location, it can move the items 7 to the sorting box 15 over a short distance without interfering with the column 32. Alternatively, the picking robot 71 may be positioned on the opposite side of the column 32 in the width direction from the retrieval device 11, as shown by the dashed line in Figure 2. Even when positioned in this location, the picking robot 71 can transport the items 7 to the sorting box 15 over a short distance without interfering with the column 32.

[0047] The picking robot controller 72 can be implemented, for example, by a single computer or a combination of multiple computers. The picking robot controller 72 communicates with the higher-level system 6 via wired or wireless connection. The picking robot controller 72 controls the picking robot 71 based on signals from the higher-level system 6.

[0048] Furthermore, the picking robot controller 72 detects the shape of the item 7 and the position of the item 7 from, for example, the image data received from the camera 26. Here, the position of the item 7 refers to the position of the item 7 in the horizontal direction and the position of the item 7 in the vertical direction.

[0049] Furthermore, the picking robot controller 72 detects, based on the signal from the sensor 27, that the picking robot 71 has completed picking up the item 7.

[0050] Furthermore, the picking robot controller 72 controls the camera 26 and the sensor 27. The picking robot controller 72 is an example of a control device that controls the camera 26. The picking robot controller 72 is an example of a control device that controls the sensor 27.

[0051] The multiple sorting boxes 15 are installed, for example, on the floor surface where station 2 is installed, on the side opposite to the column portion 32 of the housing 21, relative to both the retrieval device 11 and the picking robot 71. The multiple sorting boxes 15 are arranged, for example, in the front-to-back direction.

[0052] As shown in Figure 3, the transport rack 3 is configured to allow multiple storage boxes 81 to be arranged vertically. The transport rack 3 is configured to be movable by an automated guided vehicle 4. The transport rack 3 comprises, for example, multiple storage boxes 81 and a transport rack body 82 that accommodates the multiple storage boxes 81.

[0053] Multiple storage boxes 81 are placed on the upper surface 89 of the shelf portion 86 of the transport shelf body 82. The multiple storage boxes 81 are configured to hold articles 7 inside. The storage boxes 81 are configured so that articles 7 can be removed from above by a picking robot 71. The storage boxes 81 are configured, for example, in the shape of a rectangular storage box with an open top.

[0054] The transport shelf body 82 is configured to allow the storage boxes 81 to be inserted into and removed along the direction of movement of the holding section 23 by the moving device 25. The transport shelf body 82 includes, for example, a shelf base plate 83, legs 84, support members 85, and a plurality of shelf sections 86.

[0055] The shelf base plate 83 forms the shelf bottom 83a that contacts the automated guided vehicle 4. The shape of the legs 84 relative to the shelf base plate 83 is formed as appropriate. The legs 84 extend downward from, for example, the corners of the shelf bottom 83a of the shelf base plate 83. The length of the legs 84 (height below the shelf (height from the floor to the shelf bottom 83a of the shelf base plate 83)) is slightly longer than the minimum height of the automated guided vehicle 4. That is, the legs 84 have a height that allows the automated guided vehicle 4 to be positioned. The distance between the legs 84 is long enough for the automated guided vehicle 4 to pass between the legs 84 and position itself below the shelf base plate 83. Therefore, the automated guided vehicle 4 can pass between the legs 84 of the transport shelf 3 and go under the shelf of the transport shelf 3.

[0056] In this embodiment, the legs 84 are described as extending downward from the corners of the shelf base plate 83, with four or more legs extending downward from the shelf base 83a, so that the transport shelf 3 can stand upright and stably on the floor. If the transport shelf 3 can stand upright and stably on the floor, there may be three legs 84. It is also preferable to have five or more legs 84.

[0057] The support members 85 are fixed to the shelf base plate 83, and multiple shelf sections 86 are fixed to them. In this embodiment, for example, four support members 85 are used. As shown in Figure 6, the four support members 85 are provided at each of the four corners of the shelf base 83a. The four support members 85 are, for example, members that are long in one direction and have an L-shaped cross-section.

[0058] The space between the pair of support members 85 at the rear and the space between the pair of support members 85 at the front has a width that allows the storage box 81 to pass through.

[0059] Multiple shelf sections 86 are fixed to a support member 85, spaced apart in the vertical direction. Each shelf section 86 is large enough to accommodate one or more storage boxes 81. In this embodiment, as shown in Figures 2 and 6, the shelf section 86 is formed in the shape of a rectangular plate, large enough to accommodate two storage boxes 81 in the front-to-back direction. The four corners of each shelf section 86 are fixed to four support members 85.

[0060] As shown in Figures 7 and 8, the upper surface 89 of the shelf portion 86 has the same number of grooves 87 as the number of arms 23a into which the arms 23a of the holding portion 23 can be positioned. The grooves 87 are formed so that the holding portion 23 can be inserted. The rear end of the grooves 87 is open. The depth of the grooves 87 is set to be longer than the thickness of the arms 23a.

[0061] The groove 87 has a length that allows the arm 23a to be inserted to a position where the storage box 81 can be stably placed on the arm 23a. For example, the groove 87 has a length that allows the arm 23a to penetrate until the stopper 23b contacts the storage box 81. The width of the groove 87 is set to be greater than the width of the arm 23a. The width of the groove 87 has a range of motion that allows the holding part 23 to move in the width direction when all arms 23a are inserted into all grooves 87.

[0062] The groove 87 configured in this way may be formed, for example, by fixing a plurality of rod members 88b to a plate member 88a. Alternatively, the groove 87 may be formed by cutting or other machining on the upper surface 89 of the shelf plate portion 86.

[0063] As shown in Figure 3, the automated guided vehicle 4 is configured to move the transport shelves 3. The automated guided vehicle 4 is, for example, a self-propelled robot having a shelf lift mechanism 91 and wheels 92.

[0064] The shelf lift mechanism 91 includes a top plate 91a and a drive unit 91b that pushes up the top plate 91a. When the drive unit 91b extends upward, it pushes up the top plate 91a. When the drive unit 91b retracts, the top plate 91a is lowered.

[0065] Based on control signals from the automated guided vehicle controller 5, the automated guided vehicle 4 moves to a retrieval position corresponding to the target transport shelf 3 (for example, directly below the transport shelf 3), retrieves the target transport shelf 3 at the retrieval position, and then travels towards the placement position of the transport shelf 3. Based on control signals from the automated guided vehicle controller 5, the automated guided vehicle 4 places the target transport shelf 3 at its placement position.

[0066] The automated guided vehicle (AGV) controller 5 can be implemented, for example, by a single computer or a combination of multiple computers. The AGV controller 5 communicates with the higher-level system 6 via wired or wireless connection to control the AGV 4.

[0067] The higher-level system 6 acquires information about the items 7 to be retrieved from an external device. The higher-level system 6 can be implemented, for example, by a single computer or a combination of multiple computers. The higher-level system 6 communicates with the retrieval device controller 28 and the automated guided vehicle controller 5 via wired or wireless means to control the retrieval device 11 and the automated guided vehicle 4.

[0068] Furthermore, the higher-level system 6 stores, for example, item information related to items such as item 7, shelf information related to transport shelves 3 that contain one or more items, AGV information related to automated guided vehicles 4, and map data of station 2. The item information includes item ID (identification information), and each item is assigned an item ID. The shelf information includes shelf ID, and each transport shelf 3 is assigned a shelf ID. The AGV information includes AGVID, and each automated guided vehicle 4 is assigned an AGVID.

[0069] The above-mentioned retrieval device controller 28, picking robot controller 72, automated guided vehicle controller 5, and higher-level system 6 each include a control unit and a memory unit. The control unit is, for example, a processor. The processor is, for example, composed of a CPU (Central Processing Unit). The memory unit is, for example, memory or storage. The memory includes ROM (Read Only Memory), which is a read-only data memory, or RAM (Random Access Memory), which temporarily stores data. The storage may be a large-capacity storage such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). The memory or storage stores control programs and various data. The processor performs various processes based on the programs stored in the memory or storage. In other words, the processor executes various programs as a software function unit. Instead of a CPU, the control unit may use an ASIC (Application Specific Integrated Circuit) or FPGA (Field Programmable Gate Array) as a hardware function unit.

[0070] Thus, in this embodiment, the control device that controls the retrieval system 1 comprises a higher-level system 6, an automated guided vehicle controller 5, a retrieval device controller 28, and a picking robot controller 72.

[0071] Next, an example of the operation of the retrieval system 1 will be explained using Figure 9. Figure 9 is a time chart showing an example of the operation of the retrieval system 1. As shown in Figure 9, the retrieval system 1 repeatedly performs a predetermined cycle. This cycle includes, for example, a box retrieval process A, a picking process B, and a box return process C. These processes A, B, and C are performed in order.

[0072] In box retrieval process A, the retrieval device 11 retrieves a storage box 81 from the transport shelf 3 and moves the retrieved storage box 81 to the picking position.

[0073] In picking process B, the higher-level system 6 detects the shape and position of the item 7 to be picked up within the storage box 81 at the picking height based on the image captured by the camera 26. Then, the picking robot controller 72 controls the picking robot 71 based on the signal from the higher-level system 6 to pick up the item 7 from the storage box 81.

[0074] In the box return process C, the retrieval device 11 returns the storage box 81 to the transport shelf 3, and then moves the holding unit 23 to its initial position.

[0075] In Figure 9, ta represents the time it takes to swap the automated guided vehicles (AGVs). The swapping of AGVs is explained below. In this embodiment, as shown in Figure 2, two transport shelves 3 are arranged in front of the retrieval device 11. One transport shelf 3 is a shelf that holds the item 7 to be retrieved, and the other transport shelf 3 is a shelf that holds the next item 7 to be retrieved. One transport shelf 3 is positioned directly in front of the retrieval device 11, and the other transport shelf 3 is positioned offset in the width direction. Swapping the AGVs means that the transport shelf 3, from which the retrieval of the item 7 has been completed, is returned by the AGVs 4 to the location where multiple transport shelves 3 are arranged, the other transport shelf 3 is moved directly in front of the retrieval device 11 by the AGVs 4, and then the transport shelf 3 containing the next item 7 to be retrieved is moved by the AGVs 4 from the location where multiple transport shelves 3 are arranged to the front of the retrieval device 11.

[0076] tb1 is the time it takes for the retrieval device 11 to retrieve the storage box 81 from the transport shelf 3. tb2 is the time it takes for the retrieval device 11 to return the storage box 81 to the transport shelf 3. tr is the time it takes for the higher-level system 6 to detect the shape and position of the item 7 to be retrieved inside the storage box 81 based on the image captured by the camera 26. tp is the time it takes for the picking robot 71 to retrieve the item 7 from the storage box 81. tz is the time it takes for the retrieval device 11 to move the holding unit 23 to the height of the storage box 81 containing the item 7 to be retrieved.

[0077] Automated guided vehicle 4-1 is an automated guided vehicle 4 that moves one of the transport shelves 3 containing the item 7 to be retrieved, and automated guided vehicle 4-2 is an automated guided vehicle 4 that moves the other transport shelf 3 containing the next item 7 to be retrieved.

[0078] Next, an example of one cycle of operation of the retrieval system 1 will be explained using Figure 10. Figure 10 is a flowchart showing an example of the operation of the retrieval device 11, the higher-level system 6, and the picking robot system 14.

[0079] As shown in Figure 10, first, the retrieval device controller 28 of the retrieval device 11 initializes the information stored in memory, such as the height of the destination of the holding unit 23, before starting one cycle of operation (step ST1).

[0080] Next, the retrieval device controller 28 waits until it receives a retrieval signal from the higher-level system 6 (NO in step ST2). Here, the retrieval signal includes information about the height of the storage box 81 containing the items 7 to be retrieved. For example, the retrieval signal may be information about a single item 7, or it may be information about multiple items 7 and the order in which these multiple items 7 are to be retrieved.

[0081] When the retrieval device controller 28 receives a signal from the higher-level system 6 to retrieve item 7 from the transport shelf 3 (YES in step ST2), it starts the box retrieval process A.

[0082] Specifically, the retrieval device controller 28 controls the lifting device 24 to move the holding unit 23 to the arm insertion height (step ST3). The arm insertion height is the height at which the arm 23a of the holding unit 23 can be inserted into the groove 87 of the shelf plate 86 on which the storage box 81 to be retrieved is placed by moving it forward with the moving device 25. At the arm insertion height, the upper surface of the arm 23a is lower than the lower surface of the storage box 81. Therefore, the arm 23a does not come into contact with the storage box 81.

[0083] Next, the retrieval device controller 28 controls the moving device 25 to move the holding unit 23 forward, thereby inserting the arm 23a into the groove 87 of the shelf unit 86 on which the storage box 81 to be retrieved is placed (Step ST4). The arm 23a is inserted into the groove 87 until, for example, the stopper 23b contacts the storage box 81.

[0084] Next, the retrieval device controller 28 controls the lifting device 24 and the moving device 25 to retrieve the storage box 81 (step ST5). Specifically, it controls the lifting device 24 to move the holding unit 23 upward and place the storage box 81 on the arm 23a, and then moves the storage box 81 upward until it is away from the shelf unit 86. Then, the retrieval device controller 28 controls the moving device 25 to move the holding unit 23 and the storage box 81 backward, thereby retrieving them from the transport shelf body 82.

[0085] Next, the retrieval device controller 28 controls the lifting device 24 to move the storage box 81 to the pick height (step ST6). In this way, the retrieval process A is completed when the retrieval device 11 performs steps ST3 to ST6. Once the retrieval process A is complete, the retrieval device controller 28 transmits a signal to the higher-level system 6 indicating that the retrieval process A has been completed.

[0086] When the upper-level system 6 receives a signal from the picking device controller 28 indicating that picking process A is complete, it starts picking process B together with the picking robot system 14.

[0087] In picking process B, the higher-level system 6 sends a signal to the picking robot controller 72 to start picking. Upon receiving the signal from the higher-level system 6, the picking robot controller 72 controls, for example, the camera 26 to take a picture. Based on the image taken by the camera 26, it detects the shape of the item 7 to be picked up in the storage box 81 positioned at the picking height and detects the position of the item 7.

[0088] When the picking robot controller 72 receives a signal to start picking from the higher-level system 6, it starts the picking process (step ST7). Specifically, the picking robot controller 72 controls the picking robot 71 to move the item 7 in the storage box 81, which is positioned at the pick height, upwards.

[0089] When the higher-level system 6 detects, based on the detection result of the sensor 27, that the item 7 has been removed from the storage box 81, it determines that the picking process B for the item 7 is complete (YES in step ST7) and sends a signal to the retrieval device controller 28 to start the box return process C.

[0090] When the retrieval device controller 28 receives a signal from the higher-level system 6 to start the box return process C, it starts the box return process C. Specifically, the retrieval device controller 28 controls the lifting device 24 to move the storage box 81 to the storage box return height (step ST8). The storage box return height is a position where the lower surface of the articles 7 held in the holding section 23 is higher than the upper surface of the shelf section 86 on which the storage box 81 was placed.

[0091] Next, the retrieval device controller 28 controls the moving device 25 to return the storage box 81 to the shelf section 86 (step ST9). Specifically, the retrieval device controller 28 controls the moving device 25 to move the holding unit 23 and the item 7 above the shelf section 86, and then controls the lifting device 24 to place the storage box 81 on the shelf section 86 and lower the holding unit 23 until the arm 23a is away from the bottom surface of the storage box 81.

[0092] Next, the extraction device controller 28 controls the moving device 25 to pull out the arm 23a of the holding part 23 from the groove 87 (step ST10).

[0093] Next, if the retrieval device controller 28 retrieves the storage boxes 81 consecutively (YES in step ST11), it returns to step ST3. For example, if the retrieval device controller 28 has received information in step ST2 as a retrieval signal regarding multiple items 7 and the order in which these items 7 will be retrieved, and it wants to retrieve items 7 stored in different storage boxes 81 consecutively, it will retrieve the storage boxes 81 consecutively.

[0094] If the retrieval device controller 28 does not retrieve the storage boxes 81 continuously (NO in step ST11), it controls the lifting device 24 to return the holding unit 23 to its initial position (step ST12). In this way, the box return process C is completed by performing steps ST8 through ST11.

[0095] If the retrieval device controller 28 receives a signal from the higher-level system 6 to retrieve the next item 7 during the box return process C (YES in step ST13), it returns to the next retrieval process A (step ST3). If the retrieval device controller 28 has not received a signal to retrieve the next item 7 (NO in step ST13), it returns to step ST2 and waits until it receives a signal from the higher-level system 6 to retrieve the next item 7.

[0096] In this way, the process of removing the items 7 from the storage box 81 and transporting them to the sorting box 15 is completed.

[0097] As shown in the time chart in Figure 9, the retrieval device 11 moves its holding unit 23 to the height of the storage box 81 containing the items 7 to be retrieved in retrieval process A, and the higher-level system 6 performs the operation of replacing the automated guided vehicles 4 (replacing AGV 11, AGV 12, and other automated guided vehicles 4 at their respective locations) in parallel. After moving its holding unit 23 to the height of the storage box 81 containing the items 7 to be retrieved, the retrieval device 11 waits until the replacement of the automated guided vehicles 4 is completed.

[0098] With the retrieval system 1 configured in this way, the retrieval device 11 retrieves the storage box 81 stored on the transport shelf 3 from the transport shelf 3. As a result, the items 7 inside the storage box 81 can be retrieved by the picking robot 71, and the picking robot 71 can be used to transport the items 7 from the transport shelf 3 to the sorting box 15, which is one example of a destination. This allows for efficient transport of the items 7. Furthermore, by retrieving the storage box 81 from the transport shelf 3 using the retrieval device 11, it becomes easier to detect the shape and position of the items 7 to be retrieved inside the storage box 81 using a camera or the like.

[0099] Furthermore, by making the retrieval device 11, which retrieves the storage boxes 81 from the transport rack 3, a separate configuration independent of the picking robot system 14, the existing picking robot system 14 can be used. This reduces the manufacturing cost of the retrieval system 1.

[0100] Furthermore, the holding unit 23 is equipped with an arm 23a, and the storage box 81 is held by placing the storage box 81 on the arm 23a, thus simplifying the configuration of the holding unit 23.

[0101] Furthermore, by equipping Station 2 with a camera 26, it can detect the items 7 inside the storage box 81. Moreover, by installing the camera 26 in the housing 21 of the retrieval device 11, the housing 21 can be used as a component for installing the camera 26 in Station 2. As a result, a component for installing the camera 26 in Station 2 is not required, thus saving space in Station 2 and reducing the manufacturing cost of the retrieval system 1.

[0102] Furthermore, by equipping station 2 with a sensor 27, it can detect when an item 7 has been removed from the storage box 81. For example, the sensor 27 may be an LRF (Laser Range Finder) and may detect when the lower end of the item 7 has moved above the upper end of the storage box 81. Moreover, by installing the sensor 27 in the housing 21 of the retrieval device 11, the housing 21 can be used as a component for installing the sensor 27 in station 2. As a result, a component for installing the sensor 27 in station 2 becomes unnecessary, thus saving space in station 2 and reducing the manufacturing cost of the retrieval system 1.

[0103] Furthermore, by forming a groove 87 in the shelf plate portion 86 of the transport shelf 3, the storage box 81 can be placed on the arm 23a simply by inserting the arm 23a into the groove 87 and then raising the arm 23a. This simplifies the operation of the retrieval device 11 for placing the storage box 81 on the arm 23a.

[0104] Furthermore, as shown in the time chart in Figure 9, the retrieval system 1 can perform the replacement operation of the transport rack 3 and the operation of moving the holding unit 23 by the lifting device 24 to the height of the storage box 81 containing the next item to be retrieved, in parallel. This allows for efficient transport of the items 7 from the transport rack 3 to the sorting box 15.

[0105] Thus, according to this embodiment, by removing the storage box 81 from the transport shelf 3 and then using the picking robot 71 to remove the items 7 inside the storage box 81, the picking robot 71 can be used to transport the items 7 from the transport shelf 3 to the sorting box 15, which is one example of a destination.

[0106] Next, the extraction system 1A according to the second embodiment will be described with reference to Figures 11 and 12. In the extraction system 1A of the second embodiment, components having the same functions as the extraction system 1 described in the first embodiment are denoted by the same reference numerals as those in the extraction system 1 of the first embodiment, and their description is omitted.

[0107] Figure 11 is a schematic diagram showing the configuration of the extraction system 1A. Figure 12 is a time chart showing the operation of the extraction system 1A.

[0108] As shown in Figure 11, the retrieval system 1A includes, for example, a station 2A, a plurality of transport shelves 3, a plurality of automated guided vehicles 4, an automated guided vehicle controller 5, and a higher-level system 6.

[0109] Station 2A comprises a plurality of retrieval devices 11, a picking robot system 14, and a plurality of sorting boxes 15. Station 2A is configured, for example, by installing the plurality of retrieval devices 11, the picking robot system 14, and the plurality of sorting boxes 15 in a predetermined area on the floor of a work area such as a warehouse.

[0110] Multiple retrieval devices 11 are arranged so that a single picking robot system 14 can transport items 7 from storage boxes 81 to sorting boxes 15. In this embodiment, an example is described in which station 2A has two retrieval devices 11. The picking robot 71 of the picking robot system 14 is positioned behind the two retrieval devices 11.

[0111] Next, an example of the operation of the extraction system 1A will be explained using Figure 12. Figure 12 is a time chart showing the operation of the extraction system 1A. In the retrieval system 1A, the picking process B by the picking robot system 14 is set up with each process A, B, and C offset from each other so that the picking process B does not overlap with the multiple retrieval devices 11.

[0112] In this embodiment, as shown in Figure 12, while the picking process B of the items 7 in the storage box 81 that have been picked up by one of the picking devices 11 is being performed by the picking robot system 14, the picking process A is being performed by the other picking device 11.

[0113] The process involves, for example, a box retrieval process A and a box return process C by one retrieval device 11, and a picking process B by the picking robot system 14 and the higher-level system 6, and a box retrieval process A and a box return process C by the other retrieval device 11, and a picking process B by the picking robot system 14 and the higher-level system 6, all carried out according to the flowchart described in Figure 10 of the first embodiment.

[0114] As shown in Figure 12, the automated guided vehicle 4-1 is an automated guided vehicle 4 that moves one transport shelf 3 containing the item to be retrieved 7 relative to one retrieval device 11, and the automated guided vehicle 4-2 is an automated guided vehicle 4 that moves the other transport shelf 3 containing the next item to be retrieved 7 relative to one retrieval device 11. The automated guided vehicle 4-3 is an automated guided vehicle 4 that moves one transport shelf 3 containing the item to be retrieved 7 relative to the other retrieval device 11, and the automated guided vehicle 4-4 is an automated guided vehicle 4 that moves the other transport shelf 3 containing the next item to be retrieved 7 relative to the other retrieval device 11.

[0115] According to the retrieval system 1A, in addition to the effects of the first embodiment, the articles 7 can be efficiently sorted into the sorting box 15 by operating multiple retrieval devices 11 in parallel. Thus, according to this embodiment, the picking robot system 14 can be used to transport the articles 7 from the transport shelf 3 to the sorting box 15, which is an example of a destination, by removing the storage box 81 from the transport shelf 3 and then having the picking robot system 14 retrieve the articles 7 from the storage box 81.

[0116] Note that the extraction system 1 and extraction system 1A are not limited to the first and second embodiments described above.

[0117] In the embodiments described above, the holding portion 23 was described as having an arm 23a on which the storage box 81 is placed, but it is not limited to this configuration. In other examples, the holding portion 23 may not have an arm 23a.

[0118] If the holding unit 23 does not have an arm 23a, the retrieval device 11 includes, for example, a mounting unit for placing the storage box 81 retrieved from the transport shelf 3. For example, the base 61 of the moving device 25 can be used as the mounting unit.

[0119] As an example, as shown in Figure 13, the holding unit 23 may be configured to hold the storage box 81 by negative pressure. As an example of this configuration, the holding unit 23 may be configured to include one or more cylindrical suction pads 100 having an opening at one end, and a pump 101 that creates negative pressure inside the suction pads 100. With the opening of the suction pad 100 closed by the storage box 81, the pump 101 creates negative pressure inside the suction pads 100, thereby fixing the storage box 81 to the suction pads 100. The storage box 81, held by the holding unit 23, is then moved backward by the moving device 25 and placed on the base 61, which serves as a mounting unit.

[0120] Alternatively, as shown in Figure 14, the holding portion 23 may be configured to engage with the storage box 81. As an example of this configuration, for instance, the storage box 81 has an engaged portion 131, and the holding portion 23 has an engaging portion 132 that can engage with the engaged portion 131. The holding portion 23 holds the storage box 81 when the engaging portion 132 engages with the engaged portion 131. The storage box 81 held by the holding portion 23 is moved backward by the moving device 25 and placed on the base portion 61 which serves as a mounting portion.

[0121] Alternatively, as shown in Figure 15, the holding portion 23 may be configured to clamp the storage box 81 in the width direction. In this example, the holding portion 23 may include, for example, a stopper 23b and a clamping portion 141 that detachably clamps the storage box 81 in the width direction. As shown in Figures 13 to 15 as an example, if the holding portion 23 does not have an arm 23a, the shelf portion 86 does not need to have a groove 87, as shown in Figure 15.

[0122] Furthermore, in the above-described embodiment, when a rail is provided to support the holding portion 23 so as to be movable in the front-rear direction on the base portion 61, a configuration in which this rail is formed on the upper surface of the base portion 61 was described as one example, but the invention is not limited to this. In other examples, as shown in Figures 13 and 14, the rail 110 may be formed on the side surface of the base portion 61.

[0123] As described above, when the rail 110 is configured on the side surface of the base 61, the upper surface of the base 61 can be made flat, and when the base 61 is used as a mounting part for the storage box 81, as shown as an example in Figures 13 and 14, the storage box 81 can be placed stably, which is preferable.

[0124] Furthermore, in the above-described embodiment, the groove 87 was described as having a shape that does not penetrate the shelf portion 86 in the vertical direction, but it is not limited to this. In other examples, as shown in Figures 16 and 17, the groove 87 may be configured to penetrate the shelf portion 86 in the vertical direction.

[0125] Furthermore, the transport shelf 3 may be configured to include a guide 120. The guide 120 is configured to guide the storage box 81 onto the shelf 86 when returning the storage box 81 to the shelf 86.

[0126] The guide 120 includes, for example, a pair of guide members 121 provided at both ends in the width direction of the shelf portion 86, as shown in Figures 16 and 17. The inner surface in the width direction of the rear ends of the pair of guide members 121 is formed as a guide surface 122. The guide surface 122 is formed on a surface in which the distance between it and the other guide surface 122 gradually decreases toward the front. The guide surface 122 may be a flat surface or a curved surface. In addition, in the configuration of Figures 16 and 17, the guide surface 122 is formed on the pair of guide members 121, but in other examples, the guide surface 122 may be formed on only one of the guide members 121.

[0127] According to the guide 120 in this configuration, when returning the storage box 81 to the transport shelf 3 by moving it forward, the guide surface 122 makes it easier to return the storage box 81.

[0128] Alternatively, as shown in Figures 19 and 20, the inner surface in the width direction of the upper end of a pair of guide members 121 may be formed as a guide surface 122. This guide surface 122 is formed on a surface where the distance between it and the other guide surface 122 gradually decreases downwards. The guide surface 122 may be a flat surface or a curved surface. For example, if the holding part 23 is configured to hold the storage box 81 by clamping it as shown in Figure 15, when the storage box 81 is moved above the shelf plate 86 and the holding part 23 releases its grip on the storage box 81, the storage box 81 is guided by the guide surface 122 of the guide 120 and placed on the shelf plate 86.

[0129] Furthermore, although the above-described embodiment shows a configuration in which grooves 87 are formed in the shelf portion 86 as an example, the invention is not limited to this. In other examples, as shown in Figure 20, the shelf portion 86 may not have grooves 87 formed in it.

[0130] Furthermore, in the above-described embodiment, the moving device 25 was described as having a configuration in which the holding portion 23 is movable in the front-rear direction, which is an example of a uniaxial direction perpendicular to the vertical direction, but it is not limited to this. In other examples, the moving device 25 may be configured to have the holding portion 23 movable in the front-rear direction, and further to have the holding portion 23 movable in the width direction. With this configuration, if the position of the transport shelf 3 relative to the retrieval device 11 is misaligned in the width direction, the position of the holding portion 23 can be adjusted in the width direction, for example.

[0131] Furthermore, in the above-described embodiment, the control device of the retrieval system 1 is composed of multiple control devices, and as an example, a configuration comprising a higher-level system 6, an automated guided vehicle controller 5, a retrieval device controller 28, and a picking robot controller 72 has been described, but is not limited to this. The retrieval system 1 may be composed of a single control device.

[0132] Furthermore, in the above-described embodiment, one example of a configuration in which the camera 26 transmits the captured image data to the picking robot controller 72 of the station 2 where the camera 26 is installed, as an example of a control device provided by the retrieval system 1, was described, but the system is not limited to this. In other examples, the camera 26 may transmit the captured image data to a higher-level system 6, and the higher-level system 6 may detect the shape of the item 7 and the position of the item 7 from the image data received from the camera 26.

[0133] Furthermore, while one example described is that the sensor 27 transmits the detection result to the picking robot controller 72 at station 2 where the sensor 27 is installed, as an example of a control device provided by the retrieval system 1, the configuration is not limited to this. In other examples, the sensor 27 may transmit the detection result to a higher-level system 6, and the higher-level system 6 may detect, based on the signal from the sensor 27, that the picking robot 71 has completed retrieving the item 7.

[0134] Furthermore, in the above-described embodiment, an example configuration was described in which the higher-level system 6 stores item information related to items such as items 7, shelf information related to transport shelves 3, AGV information related to automated guided vehicles 4, and map data of station 2, but the system is not limited to this. If the retrieval system 1 is configured to have multiple control devices, this information may be stored in at least one control device, or it may be stored in a distributed manner among multiple control devices. For example, shelf information and map data may be stored in the automated guided vehicle controller 5, and the remaining information may be stored in at least one of the other control devices, such as the higher-level system 6, retrieval device controller 28, and picking robot controller 72, or the remaining information may be stored in a distributed manner among the other control devices.

[0135] Furthermore, in the above-described embodiment, a configuration was described as in which a signal is sent from the higher-level system 6 to the retrieval device controller 28, and the retrieval device controller 28 controls the retrieval device 11 based on this signal, and a signal is sent from the higher-level system 6 to the picking robot controller 72, and the picking robot controller 72 controls the picking robot 71 based on this signal, but the system is not limited to this configuration.

[0136] In other examples, the retrieval system 1 may further include a central control unit. This central control unit controls the retrieval device controller 28 and the picking robot controller 72. The central control unit can consist of, for example, one or more computers. The central control unit also includes a control unit and a memory unit, similar to the higher-level system 6. In this configuration, a signal is transmitted from the higher-level system 6 to the central control unit, which then transmits signals to the retrieval device controller 28 and the picking robot controller 72 based on these signals. Based on these signals, the retrieval device controller 28 controls the retrieval device 11, and based on these signals, the picking robot controller 72 controls the picking robot 71.

[0137] Furthermore, in the above-described embodiment, the sensor 27 was described as being installed in the housing 21 of the retrieval device 11 as one example, but is not limited to this. In other examples, the sensor 27 may be installed in the lifting section 52 of the lifting device 24 or the moving section 62 of the moving device 25. With this configuration, the sensor 27 moves vertically together with the storage box 81 held by the holding section 23. Therefore, to change the detection height by the sensor 27, it is only necessary to change the height position of the sensor 27 relative to the lifting section 52 or the height position of the sensor 27 relative to the moving section 62.

[0138] Furthermore, in the embodiments described above, as an example of the picking robot 71 being positioned near the retrieval device 11, the picking robot 71 was positioned behind the retrieval device 11, as shown in Figure 2 in the first embodiment and as shown in Figure 11 in the second embodiment. Then, as an example, a configuration was described in which the multiple sorting boxes 15 were positioned on the opposite side of the column portion 32 in the width direction from both the retrieval device 11 and the picking robot 71, and lined up in the front-to-back direction. However, the arrangement of the retrieval device 11 and the multiple sorting boxes 15 is not limited to the arrangements shown in Figures 2 and 11.

[0139] In other examples, as shown in Figures 21 and 22, the picking robot 71 may be positioned on the opposite side of the column 32 in the width direction from the retrieval device 11, and the multiple sorting boxes 15 may be positioned behind both the retrieval device 11 and the picking robot 71, and arranged in the width direction. Figure 21 is a modified example of the arrangement of the retrieval device 11, the picking robot 71, and the multiple sorting boxes 15 described in the first embodiment, and Figure 22 is a modified example of the arrangement of two retrieval devices 11, the picking robot 71, and the multiple sorting boxes 15 described in the second embodiment.

[0140] According to at least one embodiment described above, it is possible to provide a retrieval device, a retrieval system, and a transport shelf 3 that can retrieve an article 7 from the transport shelf 3.

[0141] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. The claims of this application as they were at the time of filing are included below. [Note 1] A holding section that holds the storage box containing the items and which is then placed on the transport shelf, The holding portion is moved by a moving device that moves in a uniaxial direction intersecting the vertical direction, The holding portion and the moving device are lifting devices that move in the vertical direction, A housing that supports the holding part, the moving device, and the lifting device, A removal device equipped with the following features. [Note 2] The removal device according to Appendix 1, wherein the holding portion comprises an arm that can be inserted into a groove formed on the upper surface of the shelf portion of the transport shelf on which the storage box is placed, and which is oriented in a uniaxial direction. [Note 3] The device includes a controller for the removal device that controls the holding unit, the moving device, and the lifting device. The removal device controller controls the holding unit to hold the storage box, the moving device to move the holding unit in the uniaxial direction, and then controls the lifting device to move to a predetermined height. The removal device described in Appendix 1 or 2. [Note 4] A camera installed in the housing and held by the holding part, which is moved by the moving device to photograph the inside of the storage box when it is removed from the transport shelf, A removal device according to any one of the appendices 1 to 3, comprising: [Note 5] A sensor installed in the housing, held in the holding part and moved by the moving device, detects that the item has been removed from the storage box by the picking robot from the transport shelf, A removal device according to any one of the appendices 1 to 4, comprising: [Note 6] The retrieval device according to Appendix 5, wherein the sensor detects that the lower end of the article has moved above the upper end of the storage box. [Note 7] Automated guided vehicles and A transport shelf comprising: a shelf base plate forming a shelf bottom that contacts the automated guided vehicle; legs extending downward from the shelf base plate and having a height that allows the automated guided vehicle to be positioned below the shelf base plate; a support member extending upward from the shelf base plate; a plurality of shelf sections provided on the support member and arranged vertically; and a plurality of storage boxes arranged on the plurality of shelf sections, A removal device comprising a holding part for holding the storage box, a moving device for moving the holding part in a uniaxial direction intersecting the vertical direction, and a lifting device for moving the holding part and the moving device in the vertical direction, A picking robot that takes items from the storage boxes taken out from the transport rack, a control device that controls the retrieval device, the automated guided vehicle, and the picking robot, A removal system equipped with the following features. [Note 8] The retrieval system described in Appendix 7 is provided with a plurality of retrieval devices for a single picking robot. [Note 9] Multiple storage boxes, A shelf bottom plate that forms the bottom of the shelf in contact with the automated guided vehicle, Legs extending downward from the shelf base plate and having a height that allows the automated guided vehicle to be positioned below the shelf base plate, A support member extending upward from the shelf bottom plate, Multiple shelf sections are provided on the support member in the vertical direction, each having a groove formed on its upper surface along a single axis intersecting the vertical direction, and on its upper surface the storage box is placed. A guide is provided on the upper surface, which guides the storage box to the upper surface, A transport rack equipped with a transport rack. [Note 10] The guide comprises a pair of guide members provided at both ends in the width direction perpendicular to the uniaxial direction of the upper surface, The inner surface in the width direction of one end of the pair of guide members in the uniaxial direction is formed on a guide surface where the distance between the surfaces gradually decreases toward the other end in the uniaxial direction. The transport rack described in Appendix 9. [Note 11] The guide comprises a pair of guide members provided at both ends in the width direction perpendicular to the uniaxial direction of the upper surface, The inner surfaces in the width direction of the upper ends of the pair of guide members are formed as guide surfaces where the distance between the surfaces gradually decreases downwards. The transport rack described in Appendix 9. [Explanation of Symbols]

[0142] 1...Retrieval system, 1A...Retrieval system, 3...Transport shelf, 4...Automated guided vehicle, 5...Automated guided vehicle controller, 6...Hostel system, 7...Item, 11...Retrieval device, 14...Picking robot system, 15...Sorting box, 21...Housing, 23...Holding part, 23a...Arm, 24...Lifting device, 25...Moving device, 26...Camera, 27...Sensor, 81...Storage box, 86...Shelf part, 87...Groove, 89...Top surface, 100...Suction pad, 101...Pump, 110...Rail, 120...Guide, 121...Guide member, 122...Guide surface, 131...Engaged part, 132...Engaging part, 141...Clamping part.

Claims

1. A moving device that moves a holding part that holds a storage box containing articles and is stored on a transport rack in a uniaxial direction intersecting the vertical direction, a lifting device that moves the holding part and the moving device in the vertical direction, and one or more retrieval devices having a camera that detects the shape and position of the articles to be retrieved from the storage box based on captured images, and one or more picking robots that retrieve the articles to be retrieved from the storage box are controllable. Control the one or more of the aforementioned retrieval devices to retrieve the storage box from the transport shelf. The retrieved storage box is moved to the picking position by the picking robot. Based on the image captured by the camera, the shape and position of the item to be picked up from the storage box by the picking robot are detected. Control the picking robot to take out the item to be removed from the storage box, Control the one or more retrieval devices to return the storage box from which the articles have been retrieved to the transport shelf. Move the holding part to its initial position. Control it so that A control unit for a computer-based extraction system.

2. The computer is The system can control multiple automated guided vehicles, each capable of moving the aforementioned transport shelves. The operation of the retrieval device, which moves the holding part to the height of the storage box containing the item to be retrieved, and the operation of rearranging the positions of the multiple automated guide vehicles are controlled to be performed in parallel. The control device according to claim 1.

3. The computer moves the holding unit to the height of the storage box containing the item to be retrieved, and then keeps the holding unit in standby until the rearrangement of the positions of the plurality of automated guided vehicles is completed. The control device according to claim 2.

4. The computer is capable of controlling the plurality of automated guided vehicles, the plurality of picking devices, and the plurality of picking robots in parallel. The computer controls the picking timing of the multiple picking robots to be staggered from one another. The control device according to claim 2 or claim 3.

5. The plurality of automated guided vehicles, The transport shelf comprises a shelf base plate forming a shelf bottom that contacts an automated guided vehicle selected from the plurality of automated guided vehicles, legs extending downward from the shelf base plate and having a height that allows the automated guided vehicle to be positioned below the shelf base plate, a support member extending upward from the shelf base plate, a plurality of shelf sections provided on the support member and arranged in the vertical direction, and a plurality of storage boxes arranged on the plurality of shelf sections, A retrieval device comprising a holding part for holding the storage box, a moving device for moving the holding part in a single axis direction intersecting the vertical direction, and a lifting device for moving the holding part and the moving device in the vertical direction, wherein the retrieval device retrieves from the transport shelf a storage box containing the item to be retrieved, among the storage boxes arranged on the transport shelf, A picking robot that takes the items out of the storage boxes that have been taken out from the transport shelf, A control device according to any one of claims 2 to 4, A removal system equipped with the following features.

6. A moving device that moves a holding part that holds a storage box for storing articles and placing it on a transport rack in a uniaxial direction that intersects in the vertical direction, and a lifting device that can control the holding part and the moving device in the vertical direction, The system receives a retrieval signal from a higher-level system that includes information about one or more items to be retrieved. Based on the aforementioned retrieval signal, the moving device and the lifting device are controlled to retrieve from the transport shelf the storage box containing the item to be retrieved, among the storage boxes arranged on the transport shelf. A signal is transmitted to the higher-level system indicating that the removal of the storage box containing the item to be removed has been completed. Equipped with a computer, Extraction device controller.

7. The computer is After the removal of the storage box is complete, the system receives a return start signal from the higher-level system to return the storage box to the transport shelf. Based on the return start signal, the moving device and the lifting device are controlled to return the storage box to its original position on the transport shelf. The extraction device controller according to claim 6.

8. The retrieval signal is information about the height of the storage box that contains the article to be retrieved, or information about the one or more articles to be retrieved and information about the order in which the articles to be retrieved are retrieved. The extraction device controller according to claim 6 or claim 7.

9. The extraction signal is information regarding the extraction order of the plurality of items to be extracted, If the computer has received the information regarding the retrieval order, the computer controls the moving device and the lifting device to retrieve a different storage box from the storage box, which is located on the same transport shelf as the storage shelf, after the return of the storage box is complete. The extraction device controller according to claim 7.

10. The holding part and, The aforementioned mobile device, The aforementioned lifting device, The extraction device controller according to any one of claims 6 to 9 Equipped with, A retrieval device that allows the storage box containing the item to be retrieved to be removed from the transport shelf, among the storage boxes on the transport shelf.

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