Information processing device, information processing method, program and system

Abstract

To provide an information processing device, an information processing method, a program, and a system that can appropriately transport a loaded object according to a weight or center of gravity coordinates of the loaded object.SOLUTION: According to an embodiment, an information processing device comprises a first interface and a processor. The first interface is connected to an automatic transport device that transports a loaded object and measures a force and a rotational moment applied to the loaded object. The processor acquires measurement data indicative of the force and the rotational moment from the automatic transport device through the first interface, calculates center of gravity coordinates of the loaded object based on the measurement data and transmits a set of parameters related to traveling of the automatic transport device to the automatic transport device based on the center of gravity coordinates through the first interface.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Embodiments of the present invention relate to an information processing apparatus, an information processing method, a program, and a system.

Background Art

[0002] In recent years, a system has been provided that transports a shelf (loaded item) on which articles are stored to a station using an automated guided vehicle. At the station, an operator or a robot picks up articles from the shelf transported by the automated guided vehicle.

[0003] Since the automated guided vehicle cannot know the weight or the center of gravity of the shelf, there is a risk of the shelf tipping over or colliding with other shelves when the shelf is transported at high speed. Therefore, the automated guided vehicle needs to travel at a sufficiently low speed while carrying the shelf.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In order to solve the above problems, there is provided an information processing apparatus, an information processing method, a program, and a system that can appropriately transport a loaded item according to the weight or the center-of-gravity coordinates of the loaded item.

Means for Solving the Problems

[0006] According to one embodiment, the information processing device comprises a first interface and a processor. The first interface is connected to an automated transport device that transports a load and measures the force and rotational moment acting on the load. The processor obtains measurement data indicating the force and rotational moment from the automated transport device through the first interface, calculates the center of gravity coordinates of the load based on the measurement data, and transmits a set of parameters related to the movement of the automated transport device to the automated transport device through the first interface based on the center of gravity coordinates. [Brief explanation of the drawing]

[0007] [Figure 1] Figure 1 is a schematic diagram showing an example of the configuration of a control system according to an embodiment. [Figure 2] Figure 2 is a block diagram showing an example configuration of a control system according to an embodiment. [Figure 3] Figure 3 is a block diagram showing an example configuration of WES according to an embodiment. [Figure 4] Figure 4 is a schematic diagram showing an example of the configuration of an AGV according to the embodiment. [Figure 5] Figure 5 is a block diagram showing an example configuration of an AGV according to the embodiment. [Figure 6] Figure 6 shows an example of WES operation according to the embodiment. [Figure 7] Figure 7 shows an example of WES operation according to this embodiment. [Figure 8] Figure 8 shows an example of the configuration of a parameter set according to the embodiment. [Figure 9] Figure 9 is a sequence diagram showing an example of the operation of the control system according to the embodiment. [Figure 10] Figure 10 is a flowchart showing an example of WES operation according to the embodiment. [Modes for carrying out the invention]

[0008] The embodiments will be described below with reference to the drawings. The control system according to this embodiment picks items from shelves in a logistics system, etc. The control system transports AGV shelves to a station using an automated guided vehicle (AGV). The control system picks items from the AGV shelves at the station. The control system causes an operator or robot to pick items from the AGV shelves. For example, control systems are used in logistics centers or warehouses.

[0009] Figure 1 shows an example configuration of the control system 100. As shown in Figure 1, the control system 100 includes a station P, a client device 1, a DAS 3, multiple AGVs 7, multiple AGV shelves 8, and a charging station 9.

[0010] Station P is equipped with an operator and a client device 1. A robot may also be installed at Station P. The control system 100 uses an operator or robot at each Station P to pick items from the DAS 3 or the transported AGV shelf 8. The control system 100 also uses an operator or robot at each Station P to store the items in the DAS 3 or the AGV shelf 8.

[0011] Furthermore, the control system 100 can also stop the robot's operation and allow the operator to store or pick the items. The operator can process the items by visually checking the item processing schedule and other information displayed on the client device 1 installed at station P. The client device 1 also receives various inputs from the operator. For example, the operator inputs an operation to indicate that the item picking is complete. The client device 1 may also be a wireless communication terminal assigned to the operator.

[0012] Further, the client device 1 may be installed at some of the stations P, and robots may be installed at some of the stations. In this case, the stations P where no robots are installed are used as stations for operators. Note that the stations P where robots are installed can be used as either stations for robots or operators.

[0013] Note that the cargo handling system may include a plurality of cameras. Also, one or several of the plurality of cameras may be fixed cameras, and the rest may be mobile cameras. The fixed camera is, for example, a camera fixed to the ceiling, wall surface, upper surface and side surface with respect to the station P, and photographs the entire warehouse and the articles processed in the warehouse, and outputs the photographed data in real time. The photographed data includes photographed date and time data (including the photographing time) and photographed image data. The photographed image data is still image data and moving image data. Also, the fixed camera may rotate vertically, horizontally, and in all directions. By rotating the fixed camera vertically, horizontally, and in all directions, the inside of the warehouse can be monitored over a wide range.

[0014] DAS3 is installed at the station P. DAS3 stores a plurality of cases 4 for storing articles. The case 4 has a structure with an open top. Articles are put into or taken out of the case 4 from above.

[0015] Also, DAS3 may be provided with a terminal for reading a code or the like from an article. Also, DAS3 is provided with a display device for displaying the case 4 into which an article is put or the number of articles.

[0016] The AGV7 (automated guided vehicle) operates based on a control signal from the WES10 described later. For example, the AGV7 travels toward a designated loading position and lifts the AGV shelf 8 at the designated loading position. The AGV7 travels toward a designated loading / unloading position and lowers the AGV shelf 8 at the designated loading / unloading position.

[0017] The AGV shelf 8 is a shelf for storing articles. For example, the AGV shelf 8 is composed of a plurality of shelf levels. Each shelf level has a frontage 5 formed thereon. Each frontage 5 stores an article. Also, the frontage 5 may store a case for storing an article. Also, a plurality of frontages 5 may be formed in one case stored on each shelf level.

[0018] Also, the AGV shelf 8 stands upright on four columns. The height under the shelf of the AGV shelf 8 (the height from the floor surface to the bottom of the shelf) is higher than the height of the AGV 7. Thereby, the AGV 7 can dive under the shelf of the AGV shelf 8. The AGV 7 that has dived under the shelf is lifted by a pusher 702 described later so that the tip of the column is separated from the floor surface by several centimeters, and runs in the state of lifting the AGV shelf 8. In this way, the AGV 7 transports the AGV shelf 8.

[0019] Also, shelf identification information readable by a fixed camera, a mobile camera, etc. may be attached to the AGV shelf 8. Article identification information readable by a fixed camera, a mobile camera, etc. may also be attached to an article. For example, the shelf identification information and the article identification information are barcodes or two-dimensional codes. Note that the cargo handling system may include a plurality of readers that read these shelf identification information and article identification information separately from the fixed camera or the mobile camera.

[0020] The charging station 9 charges the AGV 7. The charging station 9 includes a power output unit. Also, the AGV 7 includes a charging mechanism 79 and a battery 78 described later. The charging station 9 supplies the power output from the power output unit to the AGV 7. The AGV 7 supplies the power input through the charging mechanism 79 to the battery 78. For example, the height of the power output unit from the floor surface is the same as the height of the charging mechanism 79 of the AGV 7 from the floor surface. The AGV 7 travels to a position corresponding to the power output unit of the charging station 9, connects the charging mechanism 79 to the power output unit, and receives power supply. Note that the connection between the charging mechanism 79 and the power output unit may be either contact or non-contact.

[0021] Next, the control system of the control system 100 will be described. Figure 2 is a block diagram showing an example of the control system configuration of the control system 100. As shown in Figure 2, the control system 100 includes a client device 1, WMS2, DAS3, AGV7, and WES10, among others. WES10 connects to client device 1, WMS2, DAS3, and AGV7.

[0022] WMS2 (Warehouse Management System) is a warehouse management system that can be implemented with one or more computers. WMS2 sends an outbound order to WES10 instructing it to pick items from AGV rack 8. WMS2 may also send an inbound order to WES10 instructing it to receive items into AGV rack 8.

[0023] WES10 (Warehouse Execution System) (information processing device) is a warehouse operation management system that can be implemented with one or more computers. WES10 controls client devices 1, DAS3, and AGV7, etc., based on outbound orders from WMS2.

[0024] Figure 3 is a block diagram showing an example configuration of WES10. As shown in Figure 3, WES10 includes a processor 11, ROM 12, RAM 13, NVM 14, operation unit 15, display unit 16, communication unit 17, client device interface 18, DAS interface 19, and AGV interface 111, among others.

[0025] The processor 11, ROM 12, RAM 13, NVM 14, operation unit 15, display unit 16, communication unit 17, client device interface 18, DAS interface 19, and AGV interface 111 are connected to each other via a data bus or the like. In addition to the configuration shown in Figure 3, WES10 may have other configurations as needed, or certain configurations may be excluded from WES10.

[0026] Processor 11 (the second processor) has the function of controlling the operation of the entire WES 10. Processor 11 may also be equipped with an internal cache and various interfaces. Processor 11 performs various processes by executing programs that are pre-stored in the internal memory, ROM 12, or NVM 14.

[0027] Furthermore, some of the various functions realized by the execution of a program by the processor 11 may be realized by hardware circuits. In this case, the processor 11 controls the functions executed by the hardware circuits.

[0028] ROM12 is a non-volatile memory in which control programs and control data are pre-stored. The control programs and control data stored in ROM12 are pre-loaded according to the WES10 specifications.

[0029] RAM13 is volatile memory. RAM13 temporarily stores data being processed by processor 11. RAM13 stores various application programs based on instructions from processor 11. RAM13 may also store data necessary for the execution of application programs and the execution results of application programs.

[0030] NVM14 is a non-volatile memory that allows data to be written to and rewritten. For example, NVM14 can be composed of HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory. NVM14 stores control programs, applications, and various data depending on the operational use of WES10.

[0031] Furthermore, NVM14 stores a database showing the weight and center of gravity coordinates of the AGV rack 8, as well as the center of gravity and a parameter set corresponding to the center of gravity coordinates. The parameter set will be described in detail later.

[0032] The control unit 15 receives various operation inputs from the operator. The control unit 15 transmits a signal indicating the input operation to the processor 11. For example, the control unit 15 is composed of a mouse, keyboard, or touch panel.

[0033] The display unit 16 displays image data from the processor 11. For example, the display unit 16 is composed of a liquid crystal monitor. If the operation unit 15 is composed of a touch panel, the display unit 16 may be formed integrally with the touch panel of the operation unit 15.

[0034] The communication unit 17 (second interface) is an interface for sending and receiving data with WMS2 and other devices. For example, the communication unit 17 connects to WMS2 via a network or the like. It supports wired or wireless LAN (Local Area Network) connections.

[0035] The client device interface 18 is an interface for sending and receiving data with the client device 1. The client device interface 18 connects to the client device 1 via a network or the like. For example, the client device interface 18 supports wired or wireless LAN connections.

[0036] The DAS interface 19 is an interface for sending and receiving data with the DAS3. The DAS interface 19 connects to the DAS3 via a network or other means. For example, the DAS interface 19 supports wired or wireless LAN connections.

[0037] The AGV interface 111 (first interface, second communication interface) is an interface for sending and receiving data with the AGV 7. The AGV interface 111 connects to the AGV 7 via a network or the like. For example, the AGV interface 111 supports wired or wireless LAN connections.

[0038] The communication unit 17, client device interface 18, DAS interface 19, and AGV interface 111 (or a part thereof) may be configured as a single unit.

[0039] Next, I will explain AGV7. Figure 4 shows an example of the configuration of AGV7. As shown in Figure 4, AGV7 includes a housing 701, a pusher 702, and a force sensor 703, among other components.

[0040] The enclosure 701 constitutes the outer layer of the AGV 7. The enclosure 701 is shaped and sized to fit under the shelf of the AGV shelf 8.

[0041] A pusher 702 is formed on the upper part of the enclosure 701. The pusher 702 has a structure that rises upward. The pusher 702 lifts the AGV shelf 8 when the AGV 7 slips under the shelf of the AGV shelf 8.

[0042] The force sensor 703 measures the force acting on the AGV shelf 8 being lifted by the AGV 7. That is, the force sensor 703 measures the force acting on the AGV shelf 8 loaded on the pusher 702. The force sensor 703 measures the force in the three axes and the rotational moment in the three axes.

[0043] Here, as shown in Figure 4, the X-axis is the axis extending horizontally (the first horizontal axis). The Y-axis is the axis perpendicular to the X-axis and extending horizontally (the second horizontal axis). The Z-axis is the axis extending vertically (the axis perpendicular to both the X and Y axes).

[0044] The force sensor 703 measures forces in three axes: the force acting in the X-axis direction (fx), the force acting in the Y-axis direction (fy), and the force acting in the Z-axis direction (fz). The force sensor 703 also measures rotational moments in three axes: the rotational moment around the X-axis (mx), the rotational moment around the Y-axis (my), and the rotational moment around the Z-axis (mz).

[0045] When the force sensor 703 measures fx, fy, fz, mx, my, and mz (measurement data), it transmits the measurement data to the processor 71, which will be described later.

[0046] Next, I will explain the control system of the AGV7. Figure 5 is a block diagram showing an example of the control system configuration for AGV7. The AGV7 includes a processor 71, ROM 72, RAM 73, auxiliary storage device 74, communication interface 75, drive unit 76, multiple reflection sensors 77, battery 78, charging mechanism 79, tires 70, and force sensor 703.

[0047] The processor 71 (first processor) has the function of controlling the operation of the entire AGV7. The processor 71 may also be equipped with an internal cache and various interfaces. The processor 71 performs various processes by executing programs that are pre-stored in the internal memory, ROM 72, or auxiliary storage device 74.

[0048] For example, processor 71 is a CPU. Processor 71 may be implemented using hardware such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), or FPGA (Field Programmable Gate Array).

[0049] The processor 71 performs calculations and control processes necessary for operations such as acceleration, deceleration, stopping, changing direction, and loading and unloading of the AGV rack 8. Based on control signals from WES10 and the like, the processor 71 generates drive signals and outputs them to each unit by executing a program stored in ROM72 or the like.

[0050] ROM 72 is a non-temporary computer-readable storage medium that stores the above-mentioned program. ROM 72 also stores data or settings used by the processor 71 in performing various operations. RAM 73 is memory used for reading and writing data. RAM 73 is used as a so-called work area, storing data temporarily used by the processor 71 in performing various operations.

[0051] The auxiliary storage device 74 is a non-temporary computer-readable storage medium and may store the above-mentioned program. The auxiliary storage device 74 also stores data used by the processor 71 in performing various processes, data generated by processing by the processor 71, or various setting values.

[0052] The communication interface 75 (first communication interface) is an interface that sends and receives data with WES10 and other devices via a wireless LAN access point or the like. For example, the communication interface 75 supports wireless LAN connectivity.

[0053] The drive unit 76 is a motor or the like, and rotates or stops the motor based on a drive signal output from the processor 71. The motor's power is transmitted to the tire 70 and then to the steering mechanism. With this power from the motor, the AGV 7 moves to the target position. The drive unit 76 functions as a moving mechanism that moves the AGV 7 and the AGV shelf 8. The tire 70 or the motor of the drive unit 76 may also be equipped with sensors to measure rotational speed, etc.

[0054] Furthermore, with AGV7 positioned beneath AGV shelf 8, the drive unit 76 rotates the motor (forward rotation) based on the drive signal output from processor 71. Power from this motor causes the pusher 702 to rise, lifting AGV shelf 8. After AGV7 reaches the target position, the drive unit 76 rotates the motor (reverse rotation) based on the drive signal output from processor 71. Power from this motor causes the pusher 702 to descend, lowering AGV shelf 8 to the floor.

[0055] Each reflection sensor 77 is mounted around the AGV 7. Each reflection sensor 77 emits a laser beam, detects the time it takes for the laser beam to reflect off an object and return, detects the distance to the object based on the detected time, and notifies the processor 71 of the detection signal. The processor 71 outputs a control signal to control the movement of the AGV 7 based on the detection signal from the reflection sensor 77. For example, the processor 71 outputs a control signal such as deceleration or stopping to avoid collision with an object based on the detection signal from the reflection sensor 77. In addition to the reflection sensor 77, a camera may be provided, which will capture images of the surroundings and output the captured images to the processor 71. In this case, the processor 71 will analyze the captured images and output a control signal such as deceleration or stopping to avoid collision with an object.

[0056] The battery 78 supplies the necessary power to the drive unit 76 and other components. The charging mechanism 79 connects the charging station and the battery 78, and the battery 78 is charged by power supplied from the charging station or the like via the charging mechanism 79.

[0057] The tire 70 is mounted on the underside of the AGV7. The tire 70 moves the AGV7 by rotating. The tire 70 also controls the direction of travel of the AGV7.

[0058] Next, the functions implemented by AGV7 will be described. The functions implemented by AGV7 are achieved by the processor 71 executing a program stored in the internal memory, ROM 72, or auxiliary storage device 74, etc.

[0059] First, the processor 71 has the function of loading the AGV rack 8 according to the control from the WES 10.

[0060] For example, the processor 71 receives a control signal from the WES 10 via the communication interface 75 instructing it to load a predetermined AGV shelf 8. Upon receiving this control signal, the processor 71 uses the drive unit 76 to move from its current position to below the AGV shelf 8. Once it has moved below the AGV shelf 8, the processor 71 loads the AGV shelf 8 by raising the pusher 702.

[0061] Furthermore, the processor 71 has the function of measuring the force in the three axes and the rotational moment in the three axes in a stationary state using the force sensor 703.

[0062] When the AGV rack 8 is loaded, the processor 71 uses the force sensor 703 to measure the force in the three axes and the rotational moment in the three axes. Here, when the AGV 7 is stationary, the force acting in the X axis direction is denoted as fx0, the force acting in the Y axis direction as fy0, and the force acting in the Z axis direction as fz0. Also, when the AGV 7 is stationary, the rotational moment around the X axis is denoted as mx0, the rotational moment around the Y axis as my0, and the rotational moment around the Z axis as mz0.

[0063] When fx0, fy0, fz0, mx0, my0, and mz0 (first measurement data) are measured, the processor 71 transmits the first measurement data to the WES 10 via the communication interface 75.

[0064] The processor 71 may also send the first measurement data to the WES10 in accordance with a request from the WES10.

[0065] Furthermore, the processor 71 has a function to measure the force in the three axes and the rotational moment in the three axes in an accelerated state using the force sensor 703.

[0066] Upon transmitting the first measurement data, the processor 71 accelerates the AGV 7 at a constant acceleration using the drive unit 76, in accordance with the control from the WES 10. Here, the AGV 7 is assumed to accelerate by a1x in the X-axis direction and a1y in the Y-axis direction.

[0067] While accelerating at a constant acceleration, the processor 71 uses the force sensor 703 to measure the forces in the three axes and the rotational moments in the three axes. Here, when the AGV 7 is accelerating, the force acting in the X axis direction is denoted as fx1, the force acting in the Y axis direction as fy1, and the force acting in the Z axis direction as fz1. Also, when the AGV 7 is accelerating, the rotational moment around the X axis is denoted as mx1, the rotational moment around the Y axis as my1, and the rotational moment around the Z axis as mz1.

[0068] When fx1, fy1, fz1, mx1, my1, and mz1 (second measurement data) are measured, the processor 71 transmits the first measurement data to the WES10 via the communication interface 75.

[0069] The processor 71 may also send the second measurement data to the WES10 in accordance with a request from the WES10.

[0070] Furthermore, the processor 71 has the function of transporting the AGV rack 8 based on the parameter set from the WES 10.

[0071] After transmitting the second measurement data to WES10, the processor 71 waits until it receives the parameter set from WES10. While waiting, the processor 71 may move while loading the AGV rack 8 at a predetermined speed.

[0072] As will be described later, WES10 sends the parameter set to AGV7.

[0073] The processor 71 receives the parameter set from the WES 10 via the communication interface 75.

[0074] The parameter set is a set of parameters used when the processor 71 moves the AGV rack 8 while loading it. The parameters that make up the parameter set relate to the movement of the AGV 7.

[0075] Here, the parameter set consists of parameters such as the velocity in the X-axis direction, the velocity in the Y-axis direction, the acceleration in the X-axis direction, the acceleration in the Y-axis direction, the angular velocity of rotation (angular velocity around the Z-axis), the angular acceleration of rotation (angular acceleration around the Z-axis), the upper limit of the rotational moment around the X-axis, the upper limit of the rotational moment around the Y-axis, and the gain used for calculating the displacement.

[0076] The gain used in displacement calculation is a value used by the processor 71 to calculate the amount by which it suppresses speed when the rotational moment around the X or Y axis reaches its upper limit.

[0077] Upon receiving the parameter set, the processor 11 uses the drive unit 76 to move the AGV rack 8 while loading it according to the parameter set. For example, when the processor 11 moves in the X-axis direction, it accelerates at the acceleration in the X-axis direction indicated by the parameter set and moves at the travel speed in the X-axis direction indicated by the parameter set.

[0078] Furthermore, the processor 71 measures the rotational moment around the X axis and the rotational moment around the Y axis using force sensors while the device is moving. After measuring the rotational moment around the X axis and the rotational moment around the Y axis, the processor 71 determines whether the rotational moment around the X axis or the rotational moment around the Y axis has reached its upper limit.

[0079] If the processor determines that any of the parameters has reached its upper limit, it suppresses the movement speed based on the gain indicated by the parameter set. For example, the processor 71 calculates the suppressed movement speed by multiplying the current movement speed by the gain (in this case, the gain is less than 1). Alternatively, the processor 71 may calculate the displacement amount based on the gain and subtract the displacement amount from the current movement speed.

[0080] As described above, processor 71 moves to station P with AGV rack 8 loaded on it. Upon reaching station P, the processor 71 waits until it receives a control signal instructing it to return the AGV shelf 8 to its designated return position.

[0081] Upon receiving the control signal, the processor 71 transmits the first measurement data to the WES 10 in the same manner as described above. After transmitting the first measurement data, the processor 71 transmits the second measurement data to the WES 10 in the same manner as described above. After transmitting the second measurement data to the WES 10, the processor 71 receives the parameter set from the WES 10.

[0082] Upon receiving the parameter set, the processor 71 moves to the return position according to the parameter set. Once at the return position, the processor 71 lowers the pusher 702 to lower the AGV shelf 8 to the return position.

[0083] Next, we will explain the functions that WES10 provides. The functions that WES10 provides are achieved by the processor 11 executing programs stored in internal memory, ROM 12, or NVM 14, etc.

[0084] First, the processor 11 has the function of identifying the AGV shelf 8 to which the AGV 7 should transport to station P. The processor 11 receives the outbound order from the WMS2 via the communication unit 17. Upon receiving the outbound order, the processor 11 identifies the AGV shelf 8 that will store the items in the outbound order.

[0085] For example, the NVM14 pre-stores inventory information indicating the items stored in each AGV shelf 8. The processor 11 refers to the inventory information to identify the AGV shelf 8 that will store the items in the outgoing order.

[0086] Furthermore, the processor 11 has the function of loading the AGV shelf 8 onto the AGV 7. When the AGV rack 8 is identified, the processor 11 sends a control signal via the AGV interface 111 to one of the AGVs 7 instructing it to load the identified AGV rack 8. The processor 11 may also send a provisional parameter set to the AGV 7.

[0087] As described above, AGV7 moves AGV shelf 8 to the bottom of the shelf and loads AGV shelf 8 according to the control signal.

[0088] Furthermore, the processor 11 has the function of sending a parameter set to the AGV7. When AGV7 loads AGV shelf 8, processor 11 searches the database for the current weight and center of gravity coordinates of AGV shelf 8. If the current weight and center of gravity coordinates of AGV shelf 8 are not found in the database, processor 11 calculates the weight and center of gravity coordinates of AGV shelf 8 as follows.

[0089] Here, let W be the weight of AGV shelf 8, and let (gx, gy, gz) be the coordinates of the center of gravity. The origin is a predetermined point on the force sensor 703.

[0090] The processor 11 receives first measurement data from the AGV 7 via the AGV interface 111 when the AGV 7 is stationary. For example, the processor 11 sends a request for first measurement data to the AGV 7 via the AGV interface 111 and receives the first measurement data from the AGV 7.

[0091] Upon receiving the first measurement data, the processor 11 sends a control signal to the AGV 7 via the AGV interface 111 to accelerate it at a constant acceleration (a1x, a1y). After sending this control signal to the AGV 7, the processor 11 receives the second measurement data from the AGV 7 via the AGV interface 111. For example, the processor 11 sends a request for the second measurement data to the AGV 7 via the AGV interface 111 and receives the second measurement data from the AGV 7.

[0092] The processor 11 calculates W, gx, gy, and gz based on the first measurement data and the second measurement data.

[0093] First, let's explain how processor 11 calculates W. fz0 is expressed by the following formula:

[0094] fz0 = W × G Here, G represents the angular velocity due to gravity.

[0095] Therefore, W can be calculated using the following formula.

[0096] W = fz0 / G (1) Therefore, processor 11 calculates W by substituting fz0 into equation (1).

[0097] Next, we will explain how the processor 11 calculates gx and gy. Figure 6 is a diagram illustrating how the processor 11 calculates gx and gy.

[0098] Figure 6 is a cropped view of the AGV shelf 8 and force sensor 703 in the XZ plane. In Figure 6, the AGV 7 is stationary.

[0099] As shown in Figure 6, my0 can be expressed by the following formula.

[0100] my0 = fz0 × gx Therefore, gx can be calculated using the following formula.

[0101] gx=my0 / fz0 (2) Similarly, gy can be calculated using the following formula.

[0102] gy = mx0 / fz0 (3) Therefore, processor 11 calculates gx by substituting my0 and fz0 into equation (2). Similarly, processor 11 calculates gy by substituting mx0 and fz0 into equation (3).

[0103] Next, we will explain how processor 11 calculates gz. Figure 7 is a diagram illustrating how the processor 11 calculates gx and gy.

[0104] Figure 7 is a view of the AGV shelf 8 and force sensor 703 as seen from the XZ plane. In Figure 7, the AGV 7 is accelerating in the X-axis direction.

[0105] As shown in Figure 7, my1 can be expressed by the following formula.

[0106] my1 = my0 + fx1 × gz Therefore, gz can be calculated using the following formula.

[0107] gz=(my1-my0) / fx1 (4) Therefore, processor 11 calculates gz by substituting my0, my1, and fx1 into equation (4).

[0108] Once W, gx, gy, and gz are calculated, the processor 11 updates the database. For example, the processor 11 adds W, gx, gy, and gz for AGV shelf 8. If the database also contains past weights and center of gravity coordinates for AGV shelf 8, the processor 11 overwrites W, gx, gy, and gz.

[0109] When the weight and center of gravity coordinates of AGV shelf 8 are retrieved from the database, or when the weight and center of gravity coordinates of AGV shelf 8 are calculated, the processor 11 selects a parameter set corresponding to the weight and center of gravity coordinates.

[0110] As mentioned above, NVM14 pre-stores parameter sets corresponding to weight and center of gravity coordinates.

[0111] Figure 8 shows an example of a parameter set stored by NVM14. Here, NVM14 stores parameter sets corresponding to horizontal distance, center of gravity height, and weight.

[0112] The horizontal distance is the horizontal distance from the origin to the center of gravity. The horizontal distance is the square root of the sum of the squares of gx and gy. The height of the centroid coordinate system is gz. The weight is W.

[0113] Horizontal distance is classified into three categories: 0 to AA, AA to BB, and BB to CC. Furthermore, the height of the center of gravity is classified into three categories: 0 to XX, XX to YY, and YY to ZZ.

[0114] Furthermore, weight is classified into four categories: 0 to MM, MM to NN, NN to OO, and OO to PP. NVM14 stores the parameter set for each combination of categories.

[0115] The processor 11 calculates the horizontal distance from gx and gy. Once the horizontal distance is calculated, the processor 11 selects a parameter set from the NVM 14 that corresponds to the horizontal distance, the height of the center of gravity coordinates, and the weight.

[0116] For example, if the horizontal distance is between AA and BB, the height of the center of gravity is between YY and ZZ, and the weight is between MM and NN, the processor 11 selects parameter set 2-3-2.

[0117] Once a parameter set is selected, the processor 11 sends the selected parameter set to the AGV 7 via the AGV interface 111.

[0118] Furthermore, the processor 11 has the function of moving the AGV7 to station P. Upon receiving the parameter set, the processor 11 sends a control signal to the AGV 7 via the AGV interface 111 to move it to station P.

[0119] Furthermore, the processor 11 has a function to cause the AGV 7 to return the AGV shelf 8. When AGV7 transports AGV shelf 8 to station P, processor 11 prompts the operator to pick the items. For example, processor 11 displays the items to be picked and the quantity on client device 1 via client device interface 18. Processor 11 also displays the destination of the picked items on a display device such as DAS3 via DAS interface 19.

[0120] Here, the operator picks an item from the AGV shelf 8 and places it into the DAS3. Once the item is placed into the DAS3, the operator inputs an operation to the client device 1 indicating that picking is complete.

[0121] The processor 11 receives the operation through the client device interface 18. Upon receiving the operation, the processor 11 sends a notification to the WMS2 via the communication unit 17 indicating that the shipment has been completed.

[0122] Upon sending the notification to WMS2, the processor 11 sends a control signal to the AGV7 via the AGV interface 111 instructing it to return the AGV shelf 8 to a predetermined return position. After sending the control signal, the processor 11 sends the parameter set to the AGV7 in the same manner as described above.

[0123] Next, an example of the operation of the control system 100 will be described. Figure 9 is a flowchart illustrating an example of the operation of the control system 100.

[0124] First, WMS2 sends the outbound order to WES10 (S11). The processor 11 of WES10 receives the outbound order from WES10 via the communication unit 17. Upon receiving the outbound order, the processor 11 sends a control signal to AGV7 via the AGV interface 111 instructing it to load the AGV shelf 8 (S12).

[0125] Here, the processor 71 of AGV7 moves to the AGV shelf 8 and loads the AGV shelf 8 using the pusher 702.

[0126] When AGV7 loads AGV shelf 8, processor 11 sends a parameter set to AGV7 via AGV interface 111 (S13).

[0127] The processor 71 of AGV7 receives a parameter set through the communication interface 75. Upon receiving the parameter set, the processor 71 moves to station P with the AGV rack 8 loaded according to the parameter set.

[0128] Upon arriving at station P, processor 71 sends a notification to WES10 via communication interface 75 indicating that it has arrived at station P (S15).

[0129] The WES10 processor 11 receives the notification via the AGV interface 111. Upon receiving the notification, the processor 11 sends a control signal to the client device 1 via the client device interface 18 that displays the items to be picked and the quantity (S16).

[0130] Client device 1 receives the control signal and displays the items to be picked and the quantity (S17).

[0131] Furthermore, upon transmitting the control signal, the processor 11 updates the display on the DAS3 display device via the DAS interface 19 (S18).

[0132] Here, the operator picks an item from the AGV shelf 8 and places it into the DAS3. Once the item has been picked and placed into the DAS3, the operator inputs an operation to the client device 1 indicating that the picking is complete (S19).

[0133] When client device 1 inputs the operation, it sends a notification to WES10 indicating that the operation has been input (S20).

[0134] The WES10 processor 11 receives the notification through the client device interface 18. Upon receiving the notification, the processor 11 updates the display on the DAS3 display device through the DAS interface 19 (S21).

[0135] When the display on the DAS3 display device is updated, the processor 11 sends a notification to the WMS2 via the communication unit 17 indicating that picking is complete (S22). After sending this notification, the processor 11 sends a control signal to the AGV7 via the AGV interface 111 instructing it to return the AGV shelf 8 to a predetermined return position (S23).

[0136] Upon transmitting the control signal, the processor 11 sends the parameter set to the AGV7 via the AGV interface 111 (S24).

[0137] The processor 71 of AGV7 receives a parameter set through the communication interface 75. Upon receiving the parameter set, the processor 71 moves to the return position with the AGV rack 8 loaded, and then lowers the AGV rack 8 according to the parameter set (S25). When the processor 71 lowers the AGV shelf 8, the control system 100 terminates its operation.

[0138] Next, we will describe an example of how WES10 sends a parameter set to AGV7 (S13 and S24). Figure 10 is a flowchart illustrating an example of the operation (S13 and S24) in which WES10 sends a parameter set to AGV7.

[0139] Here, we assume that AGV7 is stopped with AGV rack 8 loaded.

[0140] First, the WES10 processor 11 retrieves the current weight and center of gravity coordinates of the AGV rack 8 from the database (S31).

[0141] If the processor determines that the current weight and center of gravity coordinates of AGV shelf 8 do not exist in the database (S32, NO), the processor 11 obtains first measurement data from AGV 7 via the AGV interface 111 (S33).

[0142] Upon acquiring the first measurement data, the processor 11 accelerates the AGV 7 at a constant acceleration through the AGV interface 111 (S34). Once the AGV 7 is accelerated at a constant acceleration, the processor 11 acquires the second measurement data from the AGV 7 through the AGV interface 111 (S35).

[0143] Upon acquiring the second measurement data, the processor 11 calculates the weight and center of gravity coordinates of the AGV shelf 8 based on the first and second measurement data (S36). After calculating the weight and center of gravity coordinates of the AGV shelf 8, the processor 11 updates the database (S37).

[0144] Furthermore, if it is determined that the current weight and center of gravity coordinates of AGV shelf 8 exist in the database (S32, YES), the processor 11 retrieves the weight and center of gravity coordinates from the database (S38).

[0145] When the database is updated (S37), or when the weight and center of gravity coordinates are obtained from the database (S38), the processor 11 selects a parameter set corresponding to the weight and center of gravity coordinates of the AGV shelf 8 (S39).

[0146] Once a parameter set is selected, the processor 11 transmits the selected parameter set to the AGV7 via the AGV interface 111 (S40). Once the parameter set is sent, the processor 11 terminates its operation.

[0147] Furthermore, AGV7 may also be used to transport pallets, containers, materials, waste, etc. The cargo transported by AGV7 is not limited to a specific configuration.

[0148] The parameter set may show an increasing or decreasing curve for the transport speed, for example. Alternatively, the parameter set may show the brake strength, for example. The configuration of the parameter set is not limited to a specific configuration.

[0149] Furthermore, some or all of the functions of WES10 may be performed by AGV7. For example, the processor 71 of AGV7 may calculate the weight and center of gravity of the AGV shelf 8 from the first and second measurement data. The processor 71 may also obtain a parameter set corresponding to the weight and center of gravity from the auxiliary storage device 74.

[0150] Furthermore, the control system 100 may also be capable of moving multiple AGV7s simultaneously. Furthermore, the control system 100 may also store items in the AGV rack 8. For example, an operator may take an item from the DAS 3 and place it in the AGV rack 8, which has been transported by the AGV 7.

[0151] The control system configured as described above measures the force and rotational moment acting on the AGV rack on which the AGV is loaded. Based on the force and rotational moment, the control system calculates the weight and center of gravity coordinate of the AGV rack. The control system moves the AGV according to a parameter set corresponding to the weight and center of gravity coordinate. As a result, the control system can effectively transport the AGV rack according to its weight and center of gravity coordinate.

[0152] 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 of the invention and its equivalents. [Explanation of Symbols]

[0153] 1...Client device, 2...WMS, 3...DAS, 4...Case, 5...Opening, 7...AGV, 8...AGV shelf, 9...Charging station, 10...WES, 11...Processor, 12...ROM, 13...RAM, 14...NVM, 15...Operation unit, 16...Display unit, 17...Communication unit, 18...Client device interface, 19...DAS interface, 70...Tire, 71...Processor, 72...ROM, 73...RAM, 74...Auxiliary storage device, 75...Communication interface, 76...Drive unit, 77...Reflection sensor, 78...Battery, 79...Charging mechanism, 100...Control system, 111...AGV interface, 701...Housing, 702...Pusher, 703...Force sensor.

Claims

1. A first interface connected to an automated transport device that transports the load and measures the force and rotational moment acting on the load, A memory that stores a set of parameters corresponding to the horizontal distance from the origin of the center of gravity coordinates to the center of gravity of the load, the height of the center of gravity coordinates, and the weight of the load, Through the first interface, measurement data indicating the force and the rotational moment are acquired from the automatic transport device. Based on the aforementioned measurement data, the coordinates of the center of gravity of the load are calculated. The weight of the load is calculated from the aforementioned measurement data. Based on the aforementioned centroid coordinates, the horizontal distance is calculated, The parameter set corresponding to the horizontal distance, the height of the center of gravity coordinate of the load, and the weight of the load is obtained from the memory. The acquired parameter set is transmitted to the automated transport device through the first interface. Processor and An information processing device equipped with the following features.

2. The aforementioned measurement data is First measurement data showing the force and rotational moment measured while the automatic transport device is stopped, Second measurement data showing the force and rotational moment measured while the automatic transport device is accelerating, Composed of, The information processing apparatus according to claim 1.

3. The aforementioned processor, Based on the first measurement data, the centroid coordinates on the horizontal axis are calculated. Based on the first measurement data and the second measurement data, the height of the centroid coordinate is calculated. The information processing apparatus according to claim 2.

4. The parameter set includes any of the following: movement speed in the first horizontal axis direction, movement speed in the second horizontal axis direction perpendicular to the first horizontal axis, acceleration in the first horizontal axis direction, acceleration in the second horizontal axis direction, rotational angular velocity, or rotational angular acceleration. The information processing apparatus according to claim 1.

5. The parameter set includes either the upper limit of the rotational moment around the first horizontal axis or the upper limit of the rotational moment around the second horizontal axis. The information processing apparatus according to claim 4.

6. The aforementioned measurement data consists of forces in the three axes and rotational moments in the three axes. The information processing apparatus according to claim 1.

7. The aforementioned loading is a shelf for storing goods. The information processing apparatus according to any one of claims 1 to 6.

8. It has a second interface for obtaining outbound orders for picking items, The aforementioned processor, Identify the shelf in which the aforementioned article is stored, The automatic transport device is used to transport the shelves. The information processing apparatus according to claim 7.

9. An information processing method performed by a processor, Measurement data indicating the force and rotational moment acting on the load placed by the automated transport device is acquired from the automated transport device. A set of parameters corresponding to the horizontal distance from the origin of the center of gravity coordinates to the center of gravity of the load, the height of the center of gravity coordinates, and the weight of the load are stored in memory. Based on the aforementioned measurement data, the coordinates of the center of gravity of the load are calculated. The weight of the load is calculated from the aforementioned measurement data. Based on the aforementioned centroid coordinates, the horizontal distance is calculated, The parameter set corresponding to the horizontal distance, the height of the center of gravity coordinate of the load, and the weight of the load is obtained from the memory. An information processing method for transmitting the acquired parameter set to the automated transport device.

10. A program executed by a processor, The aforementioned processor, A function to acquire measurement data from the automated conveying device indicating the force and rotational moment acting on the load placed by the automated conveying device, A function to store in memory a parameter set corresponding to the horizontal distance from the origin of the center of gravity coordinates to the center of gravity of the load, the height of the center of gravity coordinates, and the weight of the load, A function to calculate the center of gravity coordinates of the load based on the aforementioned measurement data, A function to calculate the weight of the load from the aforementioned measurement data, A function to calculate the horizontal distance based on the aforementioned centroid coordinates, A function to obtain from the memory a parameter set corresponding to the horizontal distance, the height of the center of gravity coordinate of the load, and the weight of the load, A program that enables the function of transmitting the acquired parameter set to the automated transport device.

11. A system consisting of an automated transport device and an information processing device, The aforementioned automated transport device, A first communication interface connected to the aforementioned information processing device, A moving mechanism for moving the aforementioned automatic transport device, A force sensor that measures the force and rotational moment acting on the load, Through the first communication interface, measurement data indicating the force and the rotational moment is transmitted to the information processing device. Through the first communication interface, the system receives a set of parameters related to driving from the information processing device. Using the aforementioned moving mechanism, the automatic transport device is moved according to the parameter set. The first processor, Equipped with, The aforementioned information processing device is A second communication interface connected to the aforementioned automated transport device, A memory that stores a set of parameters corresponding to the horizontal distance from the origin of the center of gravity coordinates to the center of gravity of the load, the height of the center of gravity coordinates, and the weight of the load, The measurement data is acquired from the automated transport device through the second communication interface. Based on the aforementioned measurement data, the coordinates of the center of gravity of the load are calculated. The weight of the load is calculated from the aforementioned measurement data. Based on the aforementioned centroid coordinates, the horizontal distance is calculated, The parameter set corresponding to the horizontal distance, the height of the center of gravity coordinate of the load, and the weight of the load is obtained from the memory. The acquired parameter set is transmitted to the automated transport device through the second communication interface. The second processor, Equipped with, system.

12. The parameter set includes the upper limit of the rotational moment, The second processor reduces the movement speed of the automatic transport device when the rotational moment reaches the upper limit. The system according to claim 11.

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