Picking methods, picking systems, programs

Abstract

To efficiently perform work for picking cargo.SOLUTION: In chucking operation, when a cart robot 52 arrives at a chuck-propriety determination point B while running on a straight lane 60A, a gripping part 11c is operated to move to a position where the gripping part interferes with a chuck part 62C of a rotating bar 62B, and when the cart robot 52 reaches an entry point A of a curve lane 60B, the gripping part 11c is chucked with the chuck part 62C. When the cart robot runs on the curve lane 60B while being chucked therewith, the car robot runs on the curve lane 60B without deviating therefrom even if running at a speed (a running speed of 20 km / h) at which the robot deviates from the curve lane 60B, in a free state. When the cart robot 52 reaches an exit point C on the curve lane 60B while running on the curve lane 60B, the chucking of the gripping part 11c with the chucking part 62C by a chick mechanism is released.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a picking method, a picking system, and a program for picking luggage using a cart robot.

Background Art

[0002] Patent Document 1 discloses a picking device using a cart robot that autonomously travels based on a predetermined luggage consolidation plan and takes out luggage from a shelf with an arm.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a cart robot is made to autonomously travel to pick up luggage in a warehouse and transport it to a predetermined position, if the cart robot is stopped every time luggage is picked up, the picking efficiency of the luggage is poor.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to obtain a picking method, a picking system, and a program that can efficiently perform the luggage picking operation.

Means for Solving the Problems

[0009] The picking system according to the present invention is a picking system comprising a cart robot that picks up packages with an arm and transports them along a travel lane, comprising: a chuck mechanism that is rotatably mounted about the center of the turning radius of a curved lane formed with a predetermined turning radius within the travel lane and has a chuck portion that can chuck the arm of the cart robot; and a chuck control unit that controls the cart robot to chuck the chuck portion of the chuck mechanism, which is pre-positioned at the entry point of the curved lane, with the arm of the cart robot when the cart robot reaches the entry point of the curved lane, and to release the chuck state between the chuck portion and the arm when the cart robot reaches a predetermined exit point of the curved lane.

[0010] According to the present invention, when the cart robot reaches the entry point of the curved lane, the chuck control unit chucks the chuck portion of the chuck mechanism, which is pre-positioned at the entry point, with the arm of the cart robot, and controls the chuck control unit to release the chuck state between the chuck portion and the arm when the cart robot reaches a predetermined exit point of the curved lane.

[0011] This allows the cart robot to travel on curved lanes without slowing down, enabling it to efficiently perform the picking of packages.

[0012] In the present invention, the chuck control unit is characterized in that, after releasing the chuck state at the exit point, it returns the chuck portion of the chuck mechanism to the entry point and puts it into a standby state. By keeping the chuck portion always in standby at the entry point, it is possible to accommodate the entry of multiple cart robots into the curved lane.

[0013] The picking system according to the present invention is a picking system comprising a cart robot that picks up luggage with an arm and transports it along a travel lane, comprising: a damper mechanism provided between the wheels that move along the travel lane and the vehicle body that stores the picked luggage, which supports the vehicle body and is capable of tilting so that the outer wheel side is higher than the inner wheel side when traveling in a curved lane; and a tilt control unit which controls the damper mechanism to tilt the vehicle body at a tilt timing determined by the cart robot based on the entry point of the curved lane, and controls the damper mechanism to release the tilt of the vehicle body at a tilt release timing determined by the cart robot based on the exit point of the curved lane.

[0014] According to the present invention, the tilt control unit controls the damper mechanism to tilt the vehicle body at a tilt timing determined by the cart robot based on the entry point of the curved lane, and controls the damper mechanism to release the tilt of the vehicle body at a tilt release timing determined by the cart robot based on the exit point of the curved lane.

[0015] This allows the cart robot to travel on curved lanes without slowing down, while avoiding the movement (tipping over, scattering, etc.) of the cargo it carries, enabling it to efficiently perform cargo picking operations.

[0016] The present invention is characterized in that the timing of the vehicle body tilting is the time when the cart robot reaches an entry recognition point a predetermined distance before the entry point, and the timing of the vehicle body releasing the tilt is the time when the cart robot reaches an exit recognition point a predetermined distance before the exit point.

[0017] By setting the timing of vehicle tilting to the arrival of the entry recognition point a predetermined distance before the entry point, and the timing of vehicle tilt release to the arrival of the exit recognition point a predetermined distance before the exit point, the timing of tilting can be implemented with high precision.

[0018] The present invention is characterized in that the inclination angle when the vehicle body is tilted by the inclination control unit is calculated based on the travel speed of the cart robot and the turning radius of the curve lane.

[0019] The inclination angle can be adjusted to prevent cargo from shifting (tipping over, scattering) and to ensure stable driving on curved lanes.

[0020] The picking system according to the present invention is a picking system comprising a cart robot that picks up packages with an arm and transports them along a travel lane, wherein the system comprises a chuck mechanism that is rotatably mounted about the center of the turning radius of a curved lane formed with a predetermined turning radius within the travel lane, and has a chuck portion that can chuck the arm of the cart robot, and when the cart robot reaches the entry point of the curved lane, the chuck portion of the chuck mechanism which is waiting in advance at the entry point chucks the arm of the cart robot, and when the cart robot reaches a predetermined exit point of the curved lane, The cart robot includes a chuck control unit that controls the chuck to release the chuck state between the chuck unit and the arm, a damper mechanism unit provided between the wheels that move along the travel lane and the car body that houses the picked cargo, which supports the car body and can tilt the car body so that the outer wheel side is higher than the inner wheel side when traveling along a curved lane, and a tilt control unit that controls the damper mechanism unit to tilt the car body at a tilt timing determined by the cart robot based on the entry point of the curved lane, and controls the damper mechanism unit to release the tilt of the car body at a tilt release timing determined by the cart robot based on the exit point of the curved lane.

[0021] According to the present invention, by using chuck control and tilt control in combination, the characteristics of each can be utilized to perform the picking operation of goods more efficiently.

[0022] The program according to the present invention is characterized by operating a computer as a tilt control unit for the picking system described above.

[0023] Note that the above summary of the invention does not enumerate all the necessary features of the present invention. Also, sub - combinations of these feature groups can also be inventions.

Effects of the Invention

[0024] As described above, the present invention has the effect that the picking operation of luggage can be efficiently performed.

Brief Description of the Drawings

[0025] [Figure 1] It is a plan view of the floor of a warehouse where picking by a cart robot according to the first embodiment is carried out. [Figure 2] It is a perspective view of a cart robot according to the first embodiment. [Figure 3] It is a diagram showing the operations of the first arm and the second arm when picking luggage. [Figure 4] It is a diagram schematically showing an example of computer hardware that functions as an information processing device of a cart robot in the first embodiment. [Figure 5] It is a flowchart for explaining the operation process of a cart robot according to the first embodiment. [Figure 6] It is a diagram schematically showing an example of the hardware configuration of a computer that functions as an information processing device. [Figure 7] It is an enlarged plan view of the curve lane position of a cart robot in a warehouse according to the first embodiment. [Figure 8] It is a control flowchart for explaining the procedure of the chuck operation of a chuck mechanism part according to the first embodiment. [Figure 9] It is a front view of a cart robot according to the second embodiment, where (A) shows the process of releasing inclination and (B) shows the process of executing inclination. [Figure 10] It is a functional block diagram of an information processing device specialized for curve running control of a cart robot according to the second embodiment. [Figure 11]This is a flowchart showing the curve driving control routine according to the second embodiment. [Figure 12] This is a timing chart showing the inclination state of the curved lane and the cart robot during curve driving control according to the second embodiment. [Modes for carrying out the invention]

[0026] The present invention will be described below through embodiments of the invention, but these embodiments are not intended to limit the invention as defined in the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0027] [First Embodiment] Figure 1 is a plan view of the warehouse floor 50 for implementing the picking method according to the first embodiment.

[0028] Picking is the job of gathering (picking up) the necessary items. Cart Robot 52 plays an essential role in shipping goods from the warehouse, and is therefore deployed in warehouses of all types.

[0029] For example, their main job is to collect specified items based on pre-assigned lists or order forms, and then pass them on to inspection and packing personnel. The larger the warehouse, the greater the variety and number of items stored, and therefore, a large number of cart robots 52 move around within the floor 50.

[0030] As shown in Figure 1, floor 50 is equipped with a storage area (warehouse, shelves, etc.) 54 where multiple packages 56 are stored. A cart robot 52 moves around this storage area 54. The cart robot 52's primary role is to receive and transfer packages 56, and it moves along a predetermined lane 60. Packages 56 are, for example, baskets containing one or more items.

[0031] Lane 60 is a lane set outside the storage unit 54 within the floor 50, and the cart robot 52 picks up luggage 56 from the storage unit 54 by moving in a zigzag pattern, approaching and moving away from the storage unit 54, and temporarily slowing down.

[0032] Additionally, multiple warehouse sensors (not shown) are installed on the ceiling and walls of floor 50.

[0033] Figure 2 is a perspective view of the cart robot. As shown in Figure 2, the cart robot 52 comprises a vehicle body 10, a first arm 11A, a second arm 11B, a sensor 12, a fixed frame 20 (support frames 20a and 20b as legs, and mounting frames 20c and 20d as arm bases), and an information processing device 15 (see Figure 4). The first arm 11A is attached to the front side of the cart robot 52, and the second arm 11B is attached to the rear side of the cart robot 52. Thus, the cart robot 52 is a dual-arm robot equipped with two arms 11. The vehicle body 10 has, for example, a cart 10b formed in the shape of a box with an open top. The vehicle body 10 is provided with a plurality of drive wheels 10a. Each drive wheel 10a is provided with a motor. The rotational speed of each drive wheel 10a is adjusted by the motor. By adjusting the rotational speed of each drive wheel 10a, the vehicle body 10 can travel in the forward / backward, left / right, and diagonal directions. Furthermore, the vehicle body 10 can rotate 360 ​​degrees by adjusting the rotational speed of each drive wheel 10a.

[0034] The first arm 11A and the second arm 11B pick up the luggage 56. The first arm 11A and the second arm 11B have a plurality of rod sections 11a and a plurality of joint sections 11b. The joint sections 11b are provided, for example, between two rod sections 11a, and allow the two rod sections 11a to rotate relative to each other. Each joint section 11b has an actuator such as a motor. As the rod sections 11a rotate relative to each joint section 11b, the first arm 11A and the second arm 11B extend and retract, and become capable of rotating 360 degrees.

[0035] The tips of the first arm 11A and the second arm 11B are provided with gripping sections 11c for grasping loads. The gripping section 11c is, for example, a suction cup and grasps the load 56 by suction from a compressor (not shown). The gripping section 11c may also be a so-called robot hand.

[0036] The cart robot 52 grasps the luggage 56 with the gripping parts 11c provided on the first arm 11A and the second arm 11B, respectively. In other words, the cart robot 52 can stably pick up the luggage 56 by grasping it at two points.

[0037] The sensor 12 is attached to the vehicle body 10. The sensor 12 is located on the front side of the vehicle body 10. For example, the sensor 12 is located at the front end of the vehicle body 10. The sensor 12 is located at the upper end of the vehicle body 10. The sensor 12 may be located so as to protrude above the vehicle body 10. The sensor 12 is located near the center of the vehicle body 10 in the left-right direction.

[0038] Sensor 12 and warehouse sensors (not shown) include at least one of the following: a high-performance camera, solid-state LiDAR (light detection and ranging), a multi-color laser coaxial displacement meter, or various other sensors. Sensor 12 and warehouse sensors may also include vibration meters, thermal cameras, hardness testers, radar, LiDAR, high-resolution, telephoto, ultra-wide-angle, 360-degree, high-performance cameras, vision recognition, micro-sound, ultrasound, vibration, infrared, ultraviolet, electromagnetic waves, temperature, humidity, spot AI weather forecasting, high-precision multi-channel GPS, low-altitude satellite information, and long-tail incident AI data. Sensor 12 and warehouse sensors may include multiple sensors.

[0039] In addition to the information described above, the sensor 12 and the warehouse sensors may also detect images, distance, vibration, heat, odor, color, sound, ultrasound, ultraviolet light, or infrared light. Other information that the sensor 12 may detect includes the movement of the cart robot 52's center of gravity, the material of the floor on which the cart robot 52 is installed, the ambient temperature, ambient humidity, the vertical, horizontal, and diagonal tilt angles of the floor, and the amount of moisture. The sensor 12 and the warehouse sensors perform these detections, for example, every nanosecond. The measured information is used to control the cart robot 52.

[0040] (Driving on a curved lane) As shown in Figure 1, the lanes 60 are broadly classified into straight lanes 60A and curved lanes 60B. By combining these straight lanes 60A and curved lanes 60B, the cart robot 52 can circumnavigate the storage unit 54.

[0041] By the way, one of the purposes of using the cart robot 52 to pick up packages 56 is to improve the efficiency of the picking process.

[0042] In the first embodiment, the vehicle travels along lane 60 at a predetermined speed (e.g., 20 km / h), but when picking up the cargo 56, it slows down (e.g., travel speed of 5 km / h) to prioritize accuracy in the picking operation.

[0043] In this case, maintaining a predetermined travel speed (20 km / h) on lane 60 is important for improving the efficiency of the picking operation. However, in curved lane 60B, inertial force is applied to the cart robot 52, so in the comparative example, in order to prevent the vehicle from becoming unstable (such as slipping of the drive wheels 10a) and to prevent the loaded cargo 56 from scattering, the vehicle had to slow down to a slower travel speed (for example, 5-10 km / h) than when traveling on straight lane 60A (20 km / h).

[0044] Therefore, in the first embodiment, a chuck mechanism 62 for chucking the cart robot 52 is provided in the storage section 54 corresponding to the curve lane 60B.

[0045] As shown in Figure 7, the chuck mechanism 62 consists of a ring-shaped base 62A, a rotating bar 62B extending radially from the base 62A, and a chuck portion 62C attached to the tip of the rotating bar 62B.

[0046] The base 62A of the chuck mechanism 62 is rotatably mounted on the upper surface of the storage section 54, attached to the rotating shaft 63.

[0047] The rotating shaft 63 is free to rotate, and as the rotating shaft 63 rotates, the rotating bar 62B rotates around the rotating shaft 63 like the hands of a clock.

[0048] Furthermore, the rotating shaft 63 can be rotated by a drive mechanism (not shown), and the driving force of the drive mechanism can be used to position it at the entry point A of the curved lane 60B (for example, the position where the rotating bar 62B is at the 12 o'clock position in Figure 7).

[0049] In the first embodiment, the drive mechanism is rotated clockwise in one direction to position it at entry point A. However, it may also be configured to rotate back and forth, rotating by a predetermined angle (for example, 180°) relative to entry point A, and then reversing direction.

[0050] The chuck portion 62C is positioned to face the side of the cart robot 52 as it travels along the curved lane 60B, due to the length of the rotating bar 62B. This position allows it to reach the gripping portions 11c of the first arm 11A and the second arm 11B attached to the cart robot 52.

[0051] In the first embodiment, when the cart robot 52 is traveling along lane 60 and approaches a predetermined position (chuck feasibility determination point B) on the straight lane 60A a predetermined distance before the entry point A of the curved lane 60B, the gripping part 11c (here, the gripping part 11c of the first arm 11A) is moved to a position where it interferes with the chuck part 62C of the rotating bar 62B (a position where it can reach the chuck part 62C). If the rotating bar 62B is not at the starting point A, this chuck operation is canceled, and control is performed to travel along the curved lane 60B at a low speed.

[0052] When the cart robot 52 reaches entry point A of the curved lane 60B (12 o'clock direction in Figure 7), the gripping part 11c chucks the chuck part 62C of the rotating bar 62B, which was pre-positioned at entry point A, through the operation of the chuck mechanism.

[0053] The chuck mechanism between the gripping portion 11c and the chuck portion 62C is preferably such as a ball joint that allows for relative rotation after chucking.

[0054] The cart robot 52 will travel along the curved lane 60B with its gripping section 11c and chuck section 62C engaged. In other words, the centrifugal force acting on the cart robot 52 will be offset by the centripetal force due to its connection with the rotating bar 62B.

[0055] Therefore, even when the cart robot 52 travels at a speed equivalent to that of the straight lane 60A (for example, a travel speed of 20 km / h), it will not deviate from the curved lane 60B.

[0056] On the other hand, in the first embodiment, when the cart robot 52 is traveling along lane 60 and reaches exit point C of curved lane 60B (6 o'clock direction in Figure 7), the chuck mechanism releases the chuck state between the gripping part 11c and the chuck part 62C.

[0057] When the gripping mechanism 11c and the chuck mechanism 62C are released, the cart robot 52 will move freely from the curved lane 60B towards the straight lane 60A.

[0058] Meanwhile, when the chuck state with the gripping part 11c is released, the rotating bar 62B is positioned at entry point A (12 o'clock direction in Figure 7) by the rotation of the rotating shaft 63 by the drive mechanism, and waits in preparation for the next cart robot 52 to enter the curved lane 60B.

[0059] The position of the rotating bar 62B is continuously communicated to the cart robot 52, and the cart robot 52 determines whether or not to chuck the vehicle by knowing the position of the rotating bar 62B when it approaches the curved lane 60B.

[0060] The following describes the operation of picking up the luggage 56 by the first arm 11A and the second arm 11B. Figure 3 is a diagram illustrating the operation of picking up the luggage 56 by the first arm 11A and the second arm 11B. In Figure 3, the cart robot 52 is assumed to be moving in the direction of arrow A. First, as the cart robot 52 moves, it grasps the luggage 56 with the first arm 11A attached to the front. The cart robot 52 continues to move, but the position of the luggage 56 does not change. Therefore, the first arm 11A extends and retracts in accordance with the movement of the cart robot 52, maintaining its grip on the luggage 56. In addition, the second arm 11B attached to the rear of the cart robot 52 approaches the luggage 56 in accordance with the movement of the cart robot 52. At this time, the degree of extension and retraction of the first arm 11A and the second arm 11B

[0061] The position and degree of extension of the first arm 11A are appropriately changed in accordance with the change in position caused by the movement of the cart robot 52. When the second arm 11B reaches a position where it can grasp the luggage 56, the second arm 11B grasps the luggage 56. As a result, the cart robot 52 can pick up luggage 56 with the first arm 11A and the second arm 11B while moving.

[0062] Next, an example of the configuration of the information processing device 15 (control device) will be described using Figure 4. As shown in Figure 4, the information processing device 15 (control device) comprises an information acquisition unit 150, a control unit 152, and an information storage unit 154. Figure 4 is a control system block diagram of the information processing device 15 according to this embodiment.

[0063] The information acquisition unit 150 acquires information detected by the sensor 12 and the warehouse sensors. The information acquisition unit 150 also acquires signals transmitted from a command device or the like that instructs the operation of the cart robot 52.

[0064] The control unit 152 controls the operation of the first arm 11A, the second arm 11B, and the vehicle body 10 based on signals transmitted from the command device or the like and acquired by the information acquisition unit 150.

[0065] The control unit 152 controls the operation of the first arm 11A and the second arm 11B using the information acquired by the information acquisition unit 150 and AI (Artificial Intelligence). The control unit 152 controls the motors of each joint 11b of the first arm 11A and the second arm 11B. The control unit 152 controls the operation of the first arm 11A and the second arm 11B using the information detected by the sensor 12 and the warehouse sensor.

[0066] Furthermore, the control unit 152 controls the operation of the vehicle body 10 using the information acquired by the information acquisition unit 150 and the AI. The control unit 152 controls the motors of each drive wheel 10a of the vehicle body 10. The control unit 152 controls the operation of the vehicle body 10 using the information detected by the sensor 12 and the warehouse sensor.

[0067] The information storage unit 154 is implemented by a storage medium such as a semiconductor memory element, such as RAM (Random Access Memory) or flash memory. The information storage unit 154 stores various programs executed by the control unit 152. The information storage unit 154 also stores information acquired by the information acquisition unit 150.

[0068] The cart robot 52 picks up packages 56 from the storage unit 54 by moving in a serpentine manner to approach and move away from the storage unit 54, as described above, and by temporarily slowing down. For example, the cart robot 52 travels at a first speed of 40 km / h and slows down to a second speed lower than the first speed when picking up packages 56. The second speed is, for example, about 5 km / h. At this time, the second speed is derived based on at least one of the following: the speed of movement of the first arm 11A and the second arm 11B, the angle (degree of extension and retraction) of the first arm 11A and the second arm 11B, the gripping capacity (suction capacity) of the first arm 11A and the second arm 11B, the distance from the first arm 11A and the second arm 11B to the packages 56, the weight of the packages 56, and the number of packages 56. This information is acquired by the information acquisition unit 150 from the sensor 12 and warehouse sensors, or from a pre-specified list or order form. The second speed is derived from the information acquired by the information acquisition unit 150 based on this information.

[0069] In the first embodiment, the control unit 152 performs, for example, the following processes. (1) Move the cart robot 52 to the location of the package 56 to be picked up. (2) Derive the second speed of the cart robot 52 when picking up the luggage 56. (3) When picking up the cargo 56, the cart robot 52 is slowed down to the second speed. (4) While moving the cart robot 52, the first arm 11A and the second arm 11B are operated to pick up the package 56.

[0070] The operation of the first embodiment will be described below according to the flowchart in Figure 5. The information processing device 15 acquires information detected by the sensor 12 and the warehouse sensor (S100). Based on the acquired information, the information processing device 15 derives a second speed for picking up the package 56 (S102). Furthermore, the information processing device 15 decelerates the cart robot 52 to the second speed as it approaches the location of the package 56 (S104). Subsequently, the information processing device 15 operates the first arm 11A and the second arm 11B to pick up the package 56 while the cart robot 52 travels at the second speed (S106). After picking up the package 56, the cart robot 52 accelerates to the first speed and continues traveling, transporting the package 56 to a predetermined location.

[0071] Thus, according to the first embodiment, while the cart robot 52 is moving, the first arm 11A grasps the package 56, and then, while the cart robot 52 is moving, the second arm 11B grasps the package 56 together with the first arm 11A. Therefore, it is not necessary to stop the cart robot 52 each time a package 56 is picked, and as a result, packages can be picked efficiently.

[0072] Furthermore, a second speed for decelerating the cart robot 52 is derived based on at least one of the following: the speed of movement of the first arm 11A and the second arm 11B, the angles of the first arm 11A and the second arm 11B, the gripping capacity (suction capacity) of the first arm 11A and the second arm 11B, the distance from the first arm 11A and the second arm 11B to the load 56, the weight of the load 56, and the number of loads 56. As a result, when picking up the load 56, the cart robot 52 can be appropriately decelerated to pick up the load 56.

[0073] (Chuck control when driving on a curved lane) Figure 8 is a flowchart showing the chucking and unchucking procedure performed by the chuck mechanism 62 when the cart robot 52 approaches the curve lane 60B, as executed by the information processing device 15.

[0074] In step 120, the cart robot 52 (itself) obtains, updates, and stores the position information of the rotating bar 62B installed in the curve lane 60B that it will next reach.

[0075] In the next step 122, it is determined whether the cart robot 52 (itself) has reached the checkability determination point B (see Figure 7). If the determination is negative, the process returns to step 120.

[0076] If the result in step 122 is positive, the process proceeds to step 124 to determine whether the rotating bar 62B is waiting at entry point A (see Figure 7).

[0077] If a negative result is obtained in step 124, it is determined that the chuck portion 62C of the chuck mechanism 62 is not in a position to chuck, and the process proceeds to step 126, where control is performed to pass through the curve lane 60B at a low speed (for example, a travel speed of 5 km / h), and the process proceeds to step 138.

[0078] Furthermore, if a positive result is obtained in step 124, it is determined that the chuck portion 62C of the chuck mechanism 62 is in a position where it can chuck (determined that the rotating bar 62B is in the 12 o'clock position in Figure 7), and the process proceeds to step 128, where the arm 11A (or arm 11B) is moved to the chuck position of the chuck portion 62C, and the process proceeds to step 130. At this time, the travel speed of the cart robot 52 is maintained at the travel speed of the straight lane 60A (for example, 20 km / h).

[0079] In step 130, it is determined whether the cart robot 52 (itself) has reached entry point A (see Figure 7). If the determination is positive, the process proceeds to step 132, where the chuck operation is performed, and the arm 11A and the chuck part 62C are chucked together. In this chucked state, the cart robot travels along the curved lane 60B.

[0080] In the next step 134, it is determined whether the cart robot (itself) has reached exit point C (see Figure 7). If the determination is positive, the process proceeds to step 136, where the chuck release operation is performed, releasing the chuck between the arm 11A and the chuck part 62C, and the process proceeds to step 138.

[0081] In step 138, it is determined whether the task is complete or not. If the result is negative, the process returns to step 120 and the above steps are repeated. If the result in step 138 is positive, this routine ends.

[0082] In the first embodiment, one rotating bar 62B (with a chuck portion 62C at its tip) was attached to the rotating shaft 63 of the storage unit 54. However, since the chuck control is performed by each of the multiple cart robots 52, for example, multiple rotating bars 62B may be attached around a ring-shaped base 62A. This makes it easier to accommodate multiple cart robots 52 that continuously reach the curved lane 60B.

[0083] Furthermore, in the first embodiment, the chuck mechanism 62 is provided on the storage section 54 side, but a pole or rail concentric with the curved lane may be installed on the storage section 54 side, and the first arm 11A or arm 11B may directly grasp the pole or rail and travel along the curved lane 60B. Alternatively, the cart robot 52 may be newly provided with a dedicated arm for grasping the pole or rail.

[0084] As described above, in the chuck operation of the first embodiment, when the cart robot 52 approaches the chuck feasibility determination point B while traveling in the straight lane 60A, the gripping part 11c is moved to a position where it interferes with the chuck part 62C of the rotating bar 62B. When the cart robot 52 reaches the entry point A of the curved lane 60B, the gripping part 11c chucks with the chuck part 62C. When traveling in the chucked state in the curved lane 60B, even if traveling at the same speed as in the straight lane 60A (travel speed 20 km / h) in the free state, it will travel without deviating from the curved lane 60B. When the cart robot 52 reaches the exit point C of the curved lane 60B while traveling in the curved lane 60B, the chuck state between the gripping part 11c and the chuck part 62C by the chuck mechanism is released.

[0085] Figure 6 schematically shows an example of the hardware configuration of a computer 1200 that functions as an information processing device 15. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the apparatus according to the first embodiment, or to cause the computer 1200 to execute operations associated with the apparatus according to the first embodiment or such one or more "parts", and / or to cause the computer 1200 to execute a process or a stage of such process according to the first embodiment. Such a program may be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0086] [Second Embodiment] A second embodiment of the present invention will be described below. In the second embodiment, the same reference numerals are used for components that are the same as those in the first embodiment, and their descriptions are omitted.

[0087] The second embodiment is characterized by tilting the cart robot 52 itself when traveling around a curve, which not only improves driving stability at high speeds but also eliminates problems such as the loaded cargo 56 tipping over or sliding off due to inertia, thereby improving the stability of the cargo 56.

[0088] A damper mechanism 64 is provided between the cart robot 52's running body 10 and the drive wheel 10a.

[0089] The damper mechanism 64 consists of a frame 64A that supports the axle of the drive wheel 10a, and a plurality of damper sections 64B interposed between the frame 64A and the vehicle body 10. While providing one pair of damper sections 64B on each side in the direction of travel (a total of four) allows for stable support of the vehicle body 10A, it is also possible to provide only one damper section 64B on each side and separately provide guide sections to stabilize the vehicle body 10A.

[0090] The damper section 64B is formed in a bellows shape and is expandable and contractible by internal pressure, allowing adjustment of the support height of the vehicle body 10a. The internal pressure may be pneumatic or hydraulic.

[0091] In the second embodiment, the internal pressure is adjusted so that the support heights differ, with the outer ring being higher than the inner ring when the vehicle is traveling on the curved lane 60B.

[0092] More specifically, as shown in Figure 9(A), when traveling on the straight lane 60A, the pressure of the damper sections 64B on the left and right sides in the direction of travel is kept the vehicle body 10a in a nearly horizontal position.

[0093] On the other hand, as shown in Figure 9(B), when traveling on the curved lane 60B, the damper section 64B on the outer wheel side in the direction of travel is pressurized, while the inner wheel side maintains the state shown in Figure 9(A). As a result, the vehicle body 10a tilts so that the outside of the curved lane 60B is higher. This tilt angle θ prevents the cart robot 52 from deviating from the curved lane 60B even when traveling at the same speed as the straight lane 60A (for example, 20 km / h). Furthermore, the tilt also prevents the movement (tipping over, scattering, etc.) of the loaded cargo 56.

[0094] In the second embodiment, by using the chuck mechanism 64 applied in the first embodiment in combination, it is possible to set the inclination angle θ specifically to prevent the scattering of the load 56.

[0095] Figure 10 is a functional block diagram of the information processing device 15 (information acquisition unit 150, control unit 152, and information storage unit 154 shown in Figure 6) mounted on the cart robot 52, specifically designed for curve driving control.

[0096] The information acquisition unit 150 is equipped with a driving position information acquisition unit 150A and acquires its own position information on its lane 60.

[0097] The information storage unit 154 includes a curve information storage unit 154A. The curve information storage unit 154A stores the entry recognition point, which is the start time of the inclination by the damper mechanism unit 64, and the exit recognition point, which is the end time of the inclination.

[0098] The entry recognition point is a predetermined distance before the entry point of the curve lane 60B, and is approximately the same position as the check feasibility determination point B shown in the first embodiment. Passing this entry recognition point triggers (see Figure 12) the tilt control of the vehicle body 10a.

[0099] Furthermore, the exit recognition point is a predetermined distance before the curve lane 60B. Passing this exit point triggers the control of releasing the tilt of the vehicle body 10a (see Figure 12).

[0100] The control unit 152 includes an entry / exit recognition unit 152A, a tilt angle calculation unit 152B, and a tilt instruction unit 152C.

[0101] The entry / exit recognition unit 152A recognizes whether the cart robot 52 has entered or exited the curve lane 60B by comparing its own position acquired by the driving position information acquisition unit 150A with the entry recognition point or exit recognition point stored in the curve information storage unit 154A, and sends the recognition result to the inclination angle calculation unit 152B.

[0102] In the tilt angle calculation unit 152B, when the cart robot 52 reaches, for example, the entry recognition point, it calculates the tilt angle θ using elements such as the travel speed and the radius of the curve lane 60B, and sends it to the tilt instruction unit 152C.

[0103] The tilt indicator unit 152C determines the amount of pressure applied to the damper unit 64B based on the tilt angle θ, and instructs the air pressure adjustment mechanism unit 156 to apply or remove pressure to the damper unit 64B.

[0104] Figure 11 is a flowchart showing the curve driving control routine that is activated when the cart robot 52 starts moving.

[0105] In step 200, information on the entry recognition point and exit recognition point is read, then the process moves to step 202 to obtain the current driving position information of the cart robot 52 (itself), and then the process moves to step 204.

[0106] In step 204, it is determined whether the cart robot 52 (itself) has reached the entry recognition point. If the determination is negative, the process returns to step 200. If the determination in step 204 is positive (see "Entry Inclination Start Instruction" shown in Figure 12), the process proceeds to step 206, where the inclination angle θ of the vehicle body 10a is calculated using the cart robot 52's (itself) travel speed, the radius of the curve lane 60B, and other factors, and the process proceeds to step 208.

[0107] In step 208, the pressure adjustment mechanism 156 is instructed to apply pressure according to the inclination angle θ (see "Pressure Start" in Figure 12). As a result, the cart robot 52 (itself) travels in the curved lane 60B at an inclination (inclination angle θ) where the outer wheels are higher than the inner wheels, thus avoiding the movement (scattering, tipping, etc.) of the load 56. It also avoids deviating from the curved lane 60B. Furthermore, by using the chuck mechanism 62 (see Figure 7) in combination, the inclination angle θ can be set specifically to avoid scattering of the load 56.

[0108] In the next step 210, the current driving position information is acquired, and then the process moves to step 212 to determine whether the cart robot 52 (itself) has reached the exit recognition point. If the result in step 212 is negative, the process returns to step 210. If the result in step 212 is positive (see "Instruction to release tilt at exit" in Figure 12), it is determined that the journey on the curve lane 60B has ended, and the process moves to step 214 to instruct the pressure adjustment mechanism 156 to reduce pressure (see "Start of pressure reduction" in Figure 12), setting the pressure to a horizontal position for the vehicle body 10a, and then the process moves to step 216.

[0109] In step 216, it is determined whether the drive has finished or not. If the determination is negative, the process returns to step 200 and the above steps are repeated. If the determination in step 216 is positive, this routine ends.

[0110] In the second embodiment, the tilt control of the cart robot 52 during cornering was performed together with the chuck control described in the first embodiment, but tilt control may also be performed independently. For example, a threshold can be set for the turning radius, and tilt control and chuck control can be used in combination for turning radii below the threshold (sharp curves), while tilt control alone can be performed for turning radii above the threshold (gentle curves). This reduces the structural burden of chuck control (securing installation space, number of parts, assembly man-hours, etc.).

[0111] The computer 1200 according to the first and second embodiments includes a CPU 1212, RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive and a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive and a solid-state drive, etc. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0112] The CPU 1212 operates according to the programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 has a frame buffer provided in RAM 1214, or it has a frame buffer provided in RAM 1214, or it has a frame buffer provided in RAM 1212.

[0113] The image data generated by this process is acquired, and the image data is displayed on the display device 1218.

[0114] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0115] The ROM 1230 stores boot programs and / or hardware-dependent programs of the computer 1200, which are executed by the computer 1200 upon activation. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0116] The program is provided on a computer-readable storage medium such as a DVD-ROM or IC card. The program is read from the computer-readable storage medium and installed on a storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the operation or processing of information in accordance with the use of the computer 1200.

[0117] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as RAM 1214, storage device 1224, DVD-ROM, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area provided on the recording medium.

[0118] Furthermore, the CPU 1212 may read all or necessary parts of a file or database stored on an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), or an IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording medium.

[0119] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to RAM 1214. The CPU 1212 may also retrieve information in files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may search among the multiple entries for an entry that matches the specified condition for the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies the predetermined condition.

[0120] The program or software module described above may be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0121] In the flowcharts and block diagrams of the first and second embodiments, blocks may represent stages in a process in which an operation is performed or "parts" of a device that have the role of performing an operation. Specific stages and "parts" may be implemented by dedicated circuits, programmable circuits supplied with computer-readable instructions stored on a computer-readable storage medium, and / or processors supplied with computer-readable instructions stored on a computer-readable storage medium. Dedicated circuits may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits may include reconfigurable hardware circuits, such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, exclusive OR, negated AND, negated OR, and other logical operations, flip-flops, registers, and memory elements.

[0122] A computer-readable storage medium may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, a computer-readable storage medium having instructions stored therein will comprise a product that includes instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital multipurpose disc (DVD), Blu-ray® disc, memory stick, integrated circuit card, etc.

[0123] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and traditional procedural programming languages ​​such as the C programming language or similar programming languages.

[0124] Computer-readable instructions may be provided to a general-purpose computer, a special-purpose computer, or a programmable circuit, either locally or via a wide area network (WAN) such as a local area network (LAN) or the internet, so that the computer-readable instructions may be executed by the processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, in order to generate means for performing operations specified in a flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

[0125] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0126] It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods shown in the claims, specifications, and drawings is not explicitly stated as "before," "prior to," etc., and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," "next," etc. for convenience, it does not mean that it is essential to perform the operations in that order. [Explanation of Symbols]

[0127] 10 Vehicle body, 10a Drive wheels, 10b Cart, 10c Pneumatic damper, 1A First arm, 11B Second arm, 12 Sensor, 15 Information processing device, 50 Floor, 52 Cart robot, 54 Storage unit, 56 Luggage, 60 Lane, 60A Straight lane, 60B Curved lane, 62 Chuck mechanism, 62A Base, 62B Rotating bar, 62C Chuck unit, 63 Rotating shaft, 64 Damper mechanism, 64A Stand, 64B Damper unit, 150A Driving position information acquisition unit, 152A Entry / exit recognition unit, 152B Inclination angle calculation unit, 152C Inclination instruction unit, 154A Curve information storage unit, 156 Pressure adjustment mechanism, 1200 Computer, 1210 Host controller, 1212 CPU, 1214 RAM, 1216 graphics controller, 1218 display device, 1220 input / output controller, 1222 communication interface, 1224 storage device, 1230 ROM, 1240 input / output chip

Claims

1. A picking system equipped with a cart robot that picks up packages using an arm and transports them along a travel lane, A chuck mechanism is provided that is rotatably mounted around the center of the turning radius of a curved lane formed with a predetermined turning radius within the aforementioned travel lane, and is equipped with a chuck that can chuck the arm of the cart robot. A chuck control unit controls the chuck mechanism, which is pre-positioned at the entry point of the curved lane, to chuck the chuck portion of the chuck mechanism and the arm of the cart robot when the cart robot reaches the entry point of the curved lane, and to release the chuck state between the chuck portion and the arm when the cart robot reaches a predetermined exit point of the curved lane. A picking system having

2. The chuck control unit, The picking system according to claim 1, wherein, after the chuck state at the exit point is released, the chuck portion of the chuck mechanism is returned to the entry point and put into a standby state.

3. A picking system comprising a cart robot that picks up packages with an arm and transports them along a travel lane, A damper mechanism is provided between the wheels that move along the aforementioned travel lane and the vehicle body that houses the picked cargo, and which supports the vehicle body and is capable of tilting so that the outer wheel side is higher than the inner wheel side when traveling along a curved lane. The cart robot controls the damper mechanism to tilt the vehicle body at an inclination timing determined based on the entry point of the curved lane, and controls the damper mechanism to release the inclination of the vehicle body at an inclination release timing determined based on the exit point of the curved lane, A picking system having

4. The picking system according to claim 3, wherein the timing of the tilting of the vehicle body is the time when the cart robot reaches an entry recognition point a predetermined distance before the entry point, and the timing of the de-tilting of the vehicle body is the time when the cart robot reaches an exit recognition point a predetermined distance before the exit point.

5. When the tilt control unit tilts the vehicle body, the tilt angle is: The picking system according to claim 3, which is calculated based on the travel speed of the cart robot and the turning radius of the curved lane.

6. A picking system comprising a cart robot that picks up packages with an arm and transports them along a travel lane, A chuck mechanism is provided that is rotatably mounted around the center of the turning radius of a curved lane formed with a predetermined turning radius within the aforementioned travel lane, and is equipped with a chuck that can chuck the arm of the cart robot. When the cart robot reaches the entry point of the curved lane, the chuck portion of the chuck mechanism, which has been waiting at the entry point in advance, and the arm of the cart robot are connected. A chuck control unit controls the chuck to release the chuck state between the chuck unit and the arm when the cart robot chucks and reaches a predetermined exit point in the curved lane. A damper mechanism is provided between the wheels that move along the aforementioned travel lane and the vehicle body that houses the picked cargo, and which supports the vehicle body and is capable of tilting so that the outer wheel side is higher than the inner wheel side when traveling along a curved lane. The cart robot controls the damper mechanism to tilt the vehicle body at an inclination timing determined based on the entry point of the curved lane, and controls the damper mechanism to release the inclination of the vehicle body at an inclination release timing determined based on the exit point of the curved lane, A picking system having

7. A computer, A program for operating as the tilt control unit of the picking system according to any one of claims 3 to 6.

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