Goods handling equipment

Abstract

To realize an article conveyance facility that can properly manage article conveyance.SOLUTION: An article conveyance facility includes: an operation area where a delivering operation is performed in which articles G supplied from an article supply part are delivered to a conveying vehicle 1; and a management device 5 that manages the delivery operation. A stop position P for the conveying vehicle 1 to receive the articles G in the delivery operation is set at a position adjacent to the operation area on a travel route R. The management device 5 causes the conveying vehicle 1 to start from the stop position P on condition that a read condition that identification information of a conveying object article G has been read by a reading part 51, and a presence condition that the conveying vehicle 1 is determined to hold the conveying object article G based on a recognition result by a recognition part 52 are satisfied.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an article conveying facility, comprising: a conveying vehicle that travels along a predetermined travel route to convey an article; an article supply unit that supplies the article to be conveyed by the conveying vehicle; and a work area where a delivery work of delivering the article supplied from the article supply unit to the conveying vehicle is performed. Background Art

[0002] Such article conveying facilities are often used in logistics systems. For example, Japanese Unexamined Patent Application Publication No. 2016-113291 (Patent Document 1) discloses a sorting apparatus for sorting articles in a logistics system. Hereinafter, reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] The facility described in Patent Document 1 is provided with an upper area (A) and a lower area (B). In the upper area (A), there are provided a planarly extending travel path (4), a conveying vehicle (12) that automatically travels along the travel path (4), an article supply unit (6), and a plurality of openings (8a). In the upper area (A), the conveying vehicle (12) conveys the article supplied from the article supply unit (6) to a specified opening (8a) and drops the article therethrough. The article dropped into the opening (8a) is accommodated in a shipping container (20) arranged in the lower area (B) and sorted. Prior Art Documents Patent Documents

[0004] Patent Document 1 Japanese Unexamined Patent Application Publication No. 2016-113291 Summary of the Invention Problem to be Solved by the Invention

[0005] By the way, in the equipment described in Patent Document 1, in the goods supply unit (6), goods assigned to each sorting destination are handed over to the transport vehicle (12) by a handover operation performed by a worker. However, Patent Document 1 does not provide detailed disclosure regarding the handover operation of goods to the transport vehicle (12) or the operation of the transport vehicle (12) when receiving goods. For example, goods that are not to be transported may be mistakenly handed over to the transport vehicle. Alternatively, if there is a discrepancy between the operation of the transport vehicle (stopping and starting) and the handover operation of goods by a worker, it may not be possible to properly hand over the goods to the transport vehicle. In such cases, it becomes difficult to manage the transport of goods as a whole.

[0006] In light of the above circumstances, there is a need for the realization of goods handling equipment that can properly manage the transportation of goods. [Means for solving the problem]

[0007] A transport vehicle that travels along a designated route to transport goods, The transport vehicle supplies the articles to be transported by the article supply unit, A work area in which the goods supplied from the goods supply unit are handed over to the transport vehicle, A goods transporting system comprising a management device for managing the aforementioned handover work, A stopping position for the transport vehicle to receive the goods during the handover operation is set at a location adjacent to the work area on the aforementioned travel path. The aforementioned control device is A reading unit that reads the identification information of the article supplied from the article supply unit, A recognition unit that recognizes the state in which the transport vehicle has stopped at the aforementioned stopping position and the item it is holding, Equipped with, The aforementioned control device is The reading condition is that the identification information of the item to be transported has been read by the reading unit, The condition that the vehicle is holding the item to be transported is determined by the recognition unit, The transport vehicle is started from the stopping position, provided that the condition is met.

[0008] In this configuration, the management device that manages the handover of goods in the work area starts the transport vehicle from its stopping position only when the conditions of "read" (the identification information of the item to be transported has been read) and "in-carry" (the item to be transported is being held by the transport vehicle) are met. Therefore, it is possible to avoid the accidental handover of items that are not the intended items to be transported to the transport vehicle, and also to avoid the transport vehicle starting without holding any items. Thus, with this configuration, it is possible to properly manage the transport of goods as a whole facility.

[0009] Further features and advantages of the technology relating to this disclosure will become clearer from the following description of exemplary and non-limiting embodiments, with reference to the drawings. [Brief explanation of the drawing]

[0010] [Figure 1] Plan view of the goods handling equipment [Figure 2] Side view of the work area [Figure 3] Control block diagram [Figure 4] Timing chart for single-carrier mode [Figure 5] Timing chart for executing multiple transport modes [Figure 6] Diagram illustrating foreign object detection by the recognition unit. [Figure 7] A flowchart showing the process until the transport vehicle starts moving. [Modes for carrying out the invention]

[0011] The following describes an embodiment of the goods transport equipment with reference to the drawings.

[0012] As shown in FIG. 1, the article conveying facility 100 includes: a conveying vehicle 1 that travels along a predetermined travel route R to convey an article G; an article supply unit 2 that supplies the article G to be conveyed by the conveying vehicle 1; and a work area WA where a delivery operation (hereinafter simply referred to as "delivery operation") of delivering the article G supplied from the article supply unit 2 to the conveying vehicle 1 is performed. In this example, the article conveying facility 100 further includes: an article receiving unit 3 that receives the article G conveyed by the conveying vehicle 1; and a sorting area SA where a sorting operation is performed on the article G received by the article receiving unit 3.

[0013] In the present embodiment, the article conveying facility 100 includes: a first traveling floor F1, which is a first-level traveling floor F; a second traveling floor F2, which is a second-level traveling floor F; and a first lifter L1 and a second lifter L2 that lift and lower the conveying vehicle 1 between the first traveling floor F1 and the second traveling floor F2 and are horizontally spaced apart from each other.

[0014] In the present embodiment, the first level and the second level are levels adjacent to each other in the vertical direction, and the second level is arranged above the first level. That is, the second traveling floor F2 is arranged above the first traveling floor F1. In this example, the article supply unit 2, the work area WA, the article receiving unit 3, and the sorting area SA are all arranged only on the first traveling floor F1. However, the arrangement is not limited to this example, and the article supply unit 2, the work area WA, the article receiving unit 3, and the sorting area SA may also be arranged on the second traveling floor F2.

[0015] Each of the first traveling floor F1 and the second traveling floor F2 is provided with an inter-lifter route Rb connecting the first lifter L1 and the second lifter L2. The conveying vehicle 1 can move between the first lifter L1 and the second lifter L2 by traveling along the inter-lifter route Rb, and the inter-lifter route Rb is included in the travel route R.

[0016] Hereinafter, the direction in which the inter-lifter path Rb extends is defined as the "X direction", and the direction orthogonal to the X direction when viewed in the vertical direction is defined as the "Y direction". One side in the X direction is referred to as "first X-direction side X1", and the other side is referred to as "second X-direction side X2".

[0017] In the present embodiment, the first lifter L1, the second lifter L2, the inter-lifter path Rb of the first traveling floor F1, and the inter-lifter path Rb of the second traveling floor F2 constitute a conveyance unit U. That is, the first lifter L1 and the second lifter L2, and the inter-lifter path Rb connecting these respective lifters (L1, L2) on each traveling floor F constitute the conveyance unit U.

[0018] Although detailed illustration is omitted, in the present embodiment, the article conveyance facility 100 includes a plurality of conveyance units U. The plurality of conveyance units U are arranged side by side in the Y direction. In this example, a connection path Rc that connects the inter-lifter paths Rb provided in each conveyance unit U in the Y direction is provided. The conveyance vehicle 1 can travel between the respective inter-lifter paths Rb by traveling along the connection path Rc. The connection path Rc is included in the traveling path R.

[0019] In the present embodiment, the article conveyance facility 100 is provided with a control device M that controls conveyance of articles G throughout the entire facility. The control device M is configured to control the plurality of conveyance vehicles 1. The control device M issues conveyance commands, standby commands, and the like to each conveyance vehicle 1. In a conveyance command, a conveyance source and a conveyance destination for the article G are specified. The conveyance vehicle 1 that has received the conveyance command receives the article G at the specified conveyance source and conveys the article G to the specified conveyance destination. In a standby command, a standby location is specified. The conveyance vehicle 1 that has received the standby command travels to the specified standby location and waits there until it receives the next command or the like.

[0020] The transport vehicle 1 is configured to travel unmanned on the travel surfaces Ff formed on the first travel floor F1 and the second travel floor F2, respectively. For example, the transport vehicle 1 is equipped with a battery (energy storage device) and is configured to operate using the power stored in the battery as a power source. The goods transport equipment 100 is provided with a charging station (not shown), and the transport vehicle 1 can be charged at the charging station when the battery charge level becomes low.

[0021] Although detailed illustrations are omitted, in this embodiment, multiple location information holding units are provided at several locations on the travel floor F, each holding location information. Each location information holding unit contains address information indicating the location where the unit is located. The transport vehicle 1 is equipped with a detection unit (not shown) for detecting the location information holding units, and by detecting the location information holding units with this detection unit, it is possible to determine the vehicle's current position at the time of detection. The transport vehicle 1 travels toward the destination while sequentially reading the multiple location information holding units. For example, a one-dimensional code or a two-dimensional code holding identification information can be used as the location information holding unit. Alternatively, an RFID tag (Radio Frequency Identification Tag) holding identification information can be used as the location information holding unit.

[0022] As described above, the goods transport equipment 100 includes a goods supply unit 2 that supplies goods G to the transport vehicle 1, and a goods receiving unit 3 that receives the goods G transported by the transport vehicle 1. A work area WA is located adjacent to the goods supply unit 2. In the work area WA, the goods G supplied from the goods supply unit 2 are handed over to the transport vehicle 1. A sorting area SA is located adjacent to the goods receiving unit 3. In the sorting area SA, the goods G received by the goods receiving unit 3 are sorted.

[0023] The work area WA is positioned adjacent to each of the multiple lifter paths Rb on the first travel floor F1 (only one lifter path Rb is shown in Figure 1), and there are as many work areas WA as there are lifter paths Rb.

[0024] The goods G from the goods supply unit 2 are supplied to the transport vehicle 1 either as goods G or in a container C. In this embodiment, the goods supply unit 2 supplies the goods G to the work area WA in a supply container Cp. In the work area WA, a handover operation is performed in which the goods G contained in the supply container Cp are taken out and handed over to the transport vehicle 1 waiting in the lifter path Rb. That is, in this embodiment, the handover of the goods G to the transport vehicle 1 may be performed with the goods G contained in a container C other than the supply container Cp, or the goods G may be handed over as is without being contained in a container C. Through this handover operation, goods G are supplied from the goods supply unit 2 to the transport vehicle 1. In this embodiment, the handover operation in the work area WA is performed by a worker W. However, the handover operation may be performed by a robot instead of a worker W, or by both a worker W and a robot.

[0025] In the work area WA, the handover operation is carried out based on predetermined order information In (see Figure 3). Order information In includes item type information and item quantity information. That is, the type and quantity of items G to be handed over to transport vehicle 1 are determined based on order information In, and the handover operation is carried out based on said order information In. Order information In may also include various types of information, such as customer information and shipping destination information.

[0026] The goods handling equipment 100 is equipped with a management device 5 for managing handover operations in the work area WA. A management device 5 is provided for each of the multiple work areas WA. Each management device 5 is configured to manage handover operations in the work area WA it is responsible for. The management device 5 manages handover operations based on predetermined order information (see Figure 3). Further details will be described later.

[0027] The transport vehicle 1 is configured to transport goods G or container C containing goods G. Specifically, the transport vehicle 1 transports goods G or container C containing goods G, which were received during the handover operation in the work area WA, to the goods receiving section 3.

[0028] The item receiving section 3 is located away from the work area WA and is adjacent to the lifter-to-lift path Rb in the Y direction. In this example, the item receiving section 3 is provided on both sides of the lifter-to-lift path Rb in the Y direction.

[0029] In this embodiment, the article receiving section 3 includes a plurality of transport mechanisms 30 arranged in a line along the X direction. Each of the plurality of transport mechanisms 30 is configured to transport the article G received from the transport vehicle 1 or the container C containing the article G along the Y direction. The transport mechanisms 30 are configured, for example, using conveyors or chutes.

[0030] As described above, the sorting area SA is located adjacent to the item receiving section 3. Items G or containers C containing items G, which have been transported outward in the Y direction by the transport mechanism 30 in the item receiving section 3, are transported to the sorting area SA. In other words, the transport vehicle 1 is configured to transport items G or containers C containing items G, which have been received at the item supply section 2, to the sorting area SA. In this example, the transport vehicle 1 transports items G or containers C containing items G, which have been received at the item supply section 2, to the sorting area SA via the transport mechanism 30 of the item receiving section 3.

[0031] In this embodiment, when the transport vehicle 1 transports the goods G contained in container C to the sorting area SA, an extraction operation is performed in the sorting area SA to remove the goods G from container C. That is, the sorting operation includes the extraction operation to remove the goods G from container C transported by the transport vehicle 1. In this embodiment, the sorting operation in the sorting area SA (including the above extraction operation) is performed by worker W. However, the sorting operation may be performed by a robot instead of worker W, or by both worker W and a robot.

[0032] The items G sorted in the sorting area SA are transported outside the sorting area SA by a transport conveyor (not shown) and then carried to a location where, for example, the next process takes place.

[0033] During the retrieval process in the sorting area SA, container C and goods G are separated, resulting in empty container C. In this embodiment, an empty container recovery conveyor 4 for collecting the empty container C generated by the retrieval process in the sorting area SA is provided on the travel floor F (first travel floor F1 in this example) where the goods receiving section 3 is located.

[0034] The empty container collection conveyor 4 extends to a position adjacent to the work area WA. In this embodiment, the empty container collection conveyor 4 extends into the interior of the work area WA. The empty containers C collected by the empty container collection conveyor 4 are transported to the work area WA and reused for work in the work area WA.

[0035] After the transport vehicle 1 delivers item G to the sorting area SA (item receiving section 3) on the first travel floor F1, it gets on the first lifter L1 and heads to the second travel floor F2. Then, the transport vehicle 1 travels on the second travel floor F2, gets on the second lifter L2, and returns to the first travel floor F1. Upon returning, the transport vehicle 1 receives item G in the work area WA (item supply section 2) in the same manner as above, and transports item G to the sorting area SA (item receiving section 3).

[0036] In this embodiment, the lifter-to-lifter path Rb of the first travel floor F1 and the lifter-to-lifter path Rb of the second travel floor F2 are parallel to each other, and the directions in which the transport vehicle 1 is allowed to travel are set to face opposite directions in the X direction.

[0037] In this embodiment, the transport vehicle 1 is configured to travel along the lifter-to-lift path Rb of the first travel floor F1 toward the first side X1 in the X direction. The transport vehicle 1 is also configured to travel along the lifter-to-lift path Rb of the second travel floor F2 toward the second side X2 in the X direction.

[0038] In this embodiment, the first lifter L1 is set up for raising the transport vehicle 1. That is, the first lifter L1 is a lifter for moving the transport vehicle 1 from the first travel floor F1 to the second travel floor F2.

[0039] In this embodiment, the second lifter L2 is set for lowering the transport vehicle 1. That is, the second lifter L2 is a lifter for moving the transport vehicle 1 from the second travel floor F2 to the first travel floor F1.

[0040] In this embodiment, the transport vehicle 1 exits the second lowering lifter L2 onto the first travel floor F1 and receives the item G in the work area WA. Then, while holding the item G, the transport vehicle 1 travels along the lifter path Rb on the first travel floor F1 toward the first side X1 in the X direction and delivers the item G in the sorting area SA. After that, the transport vehicle 1 enters the first upward lifter L1 from the first travel floor F1 and proceeds to the second travel floor F2. The transport vehicle 1 exits the first upward lifter L1 onto the second travel floor F2 and travels along the lifter path Rb on the second travel floor F2 toward the second side X2 in the X direction. Then, the transport vehicle 1 enters the second downward lifter L2 and proceeds to the first travel floor F1. In this way, the transport vehicle 1 circulates between the first travel floor F1 and the second travel floor F2.

[0041] Next, we will explain the management of handover operations in the work area WA. Figure 2 shows a side view of the work area WA. Figure 3 shows a control block diagram of the goods transport equipment 100.

[0042] As shown in Figure 2, a stopping position P for the transport vehicle 1 to receive goods G during the handover operation is set at a position adjacent to the work area WA on the travel path R. Although detailed illustrations are omitted, the aforementioned position information storage unit is provided at the stopping position P. The transport vehicle 1 reads the position information storage unit provided at the stopping position P and stops in place. In this embodiment, the work area WA is adjacent to the lifter-to-lift path Rb, and the stopping position P for the transport vehicle 1 is set on the lifter-to-lift path Rb. In other words, in this embodiment, the lifter-to-lift path Rb corresponds to the "travel path".

[0043] In this embodiment, the transport vehicle 1 comprises a trolley body 10 and an item support section 11 that supports the item G. The trolley body 10 is the part that enables the transport vehicle 1 to run. In this example, the trolley body 10 comprises the battery described above, an electric motor connected to the battery, wheels driven by the electric motor, and a vehicle body that supports them. The item support section 11 is provided on the upper surface of the trolley body 10. During the handover operation in the work area WA, the item G is placed on the item support section 11 of the transport vehicle 1, which has stopped at the stopping position P.

[0044] As shown in Figures 2 and 3, the management device 5 includes a reading unit 51 that reads identification information of items G supplied from the item supply unit 2 (see Figure 1), and a recognition unit 52 that recognizes the holding state of items G on the transport vehicle 1 when it is stopped at the stopping position P. In this embodiment, the management device 5 further includes a starting operation unit 53 that is operated by a worker W in the work area WA.

[0045] In this embodiment, item G is assigned an identification code that contains the identification information of item G. The reading unit 51 is configured as a reader that reads the identification code assigned to item G. One-dimensional codes or two-dimensional codes can be used as the identification code.

[0046] In this embodiment, the recognition unit 52 includes an imaging device 520 that images the article support section 11 of the transport vehicle 1 stopped at the stopping position P. In this example, the imaging device 520 is provided above the stopping position P and is configured to image the transport vehicle 1 stopped at the stopping position P from above.

[0047] The starting control unit 53 is configured using buttons, levers, and the like. In the illustrated example, the starting control unit 53 is configured using buttons.

[0048] As shown in Figure 3, in this embodiment, the management device 5 includes a storage unit 54 that stores order information In. The management device 5 reads the order information In from the storage unit 54 and manages the handover work in the work area WA based on the order information In.

[0049] The control device M is configured to communicate with the management device 5 installed in each work area WA via wired or wireless connection. The management device 5 is configured to manage the handover work in the work area WA based on commands from the control device M.

[0050] In this embodiment, the control device M is configured to execute multiple transport modes. These transport modes include a single transport mode in which each transport vehicle 1 transports one item G at a time, and a multiple transport mode in which each transport vehicle 1 transports multiple items G together. The management device 5 manages the handover work in the work area WA according to the transport mode specified by the control device M.

[0051] Figure 4 shows the case where a single transport mode is being executed. Figure 5 shows the case where multiple transport modes are being executed.

[0052] First, we will explain the single transport mode with reference to Figure 4.

[0053] The control device 5 starts the transport vehicle 1 from the stop position P when the following conditions are met: the reading condition, which is that the identification information of the item to be transported G, which is the item to be transported by the transport vehicle 1, has been read by the reading unit 51; and the loading condition, which is that the transport vehicle 1 has been determined to be holding the item to be transported G based on the recognition result by the recognition unit 52.

[0054] In this embodiment, the management device 5 sets the reading unit 51 to a state where it can read identification information, based on the condition that the transport vehicle 1 has stopped at the stopping position P (stopping condition). Then, the management device 5 starts the transport vehicle 1 from the stopping position P, based on the condition that the reading condition and the cargo condition have been met, as well as the elapsed time condition, which is that a predetermined set time T has elapsed since both the reading condition and the cargo condition have been met.

[0055] Figure 4 shows the timing at which the above-mentioned stop condition, read condition, load condition, and elapsed time condition are met for each of the five phases during the execution of the single transport mode. Each of these conditions is considered a "precondition" for the transport vehicle 1 to start in the single transport mode. In other words, in the single transport mode, the transport vehicle 1 starts from the stop position P when all of the preconditions of the stop condition, read condition, load condition, and elapsed time condition are met.

[0056] In the first phase, the transport vehicle 1 traveling along the route R has not yet reached the stopping position P. In other words, the transport vehicle 1 to which the transported item G should be handed over is not present at the stopping position P.

[0057] In the second phase, the transport vehicle 1 reaches the stopping position P and stops at that position P (stopping phase). At this time, the stopping condition is met. In this single transport mode, the reading unit 51 can read the identification information of the transported item G, provided that the stopping condition is met. In other words, in the single transport mode, before the stopping condition is met, the reading unit 51 cannot read the identification information of the transported item G.

[0058] In the third phase, the reading unit 51 reads the identification information of the item G to be transported (reading phase). At this time, the read condition is met. As described above, the reading unit 51 reads the identification code attached to the item G to be transported.

[0059] In the fourth phase, the item G to be transported is handed over to the transport vehicle 1 (handover phase). At this time, the condition of being in stock is met. To elaborate, the handed-over item G to be transported is held by the transport vehicle 1. As a result, the item G to be transported is imaged by the imaging device 520 and recognized by the recognition unit 52. In detail, the recognition unit 52 recognizes that the item G to be transported is being held by the transport vehicle 1. In the fourth phase, three preconditions are met: the stop condition, the read condition, and the stock condition. In this embodiment, "the state in which the item G to be transported is being held by the transport vehicle 1" means the state in which the item G to be transported is placed on the item support unit 11 of the transport vehicle 1.

[0060] In this embodiment, if the management device 5 determines, based on the recognition result by the recognition unit 52, that the transport vehicle 1 is not properly holding the item G to be transported, it notifies the worker W in the work area WA of this fact. This provides the worker W, upon receiving the notification, with an opportunity to properly hold the item G to be transported in the transport vehicle.

[0061] In Phase 5, the transport vehicle 1 starts moving (starting phase). In Phase 5, a set time T has elapsed since the stop condition, read condition, and load condition were met in Phase 4. At this time, the elapsed time condition is met, and all preconditions that should be met in a single transport mode are met. With all preconditions met, the transport vehicle 1, holding the item G to be transported, starts moving from the stopping position P.

[0062] Next, we will explain the multiple transport modes with reference to Figure 5.

[0063] In the multiple transport mode, the control device 5 starts the transport vehicle 1 from the stop position P only when the read condition and the load condition are met, as well as when the start operation unit 53 is operated.

[0064] Figure 5 shows the timing at which the above-mentioned stop conditions, read conditions, load conditions, elapsed time conditions, and operation conditions are met for each of the eight phases during the execution of the multiple transport mode. Each of these conditions is considered a "precondition" for the transport vehicle 1 to start in the multiple transport mode. In other words, in the multiple transport mode, the transport vehicle 1 starts from the stop position P when all of the preconditions of the stop conditions, read conditions, load conditions, elapsed time conditions, and operation conditions are met. Figure 5 shows an example in the multiple transport mode where two transport target items G are assigned to one transport vehicle 1.

[0065] In the first phase, the transport vehicle 1 traveling along the route R has not yet reached the stopping position P. In other words, the transport vehicle 1 to which the transported item G should be handed over is not present at the stopping position P.

[0066] In the second phase, the transport vehicle 1 reaches the stopping position P and stops at that position P (stopping phase). At this time, the stopping condition is met. In this multiple transport mode, it is possible to read the identification information of the transported items G by the reading unit 51 before the stopping condition is met. That is, unlike the single transport mode described above, in the multiple transport mode, the reading unit 51 is always in a state where it can read the identification information of the transported items G. In the multiple transport mode, since it is possible to start reading the identification information of the transported items G assigned to the transport vehicle 1 before the transport vehicle 1 stops at the stopping position P, it is easier to speed up the timing at which the reading of the identification information of all transported items G assigned to the transport vehicle 1 is completed.

[0067] In the third phase, the reading unit 51 reads the identification information of the items G to be transported (reading phase). In the multiple transport mode, multiple items G to be transported are assigned to one transport vehicle 1, so even if the reading unit 51 reads the first of the multiple items G to be transported, the read condition is not met. The read condition is met when all items G to be transported assigned to one transport vehicle 1 have been read by the reading unit 51. The management device 5 determines whether the read condition is met in the multiple transport mode based on the item quantity information in the order information In.

[0068] In the fourth phase, the item G to be transported is handed over to the transport vehicle 1 (handover phase). At this time, the in-carry condition is met. To elaborate, the handed-over item G is held by the transport vehicle 1. As a result, the item G is imaged by the imaging device 520 and recognized by the recognition unit 52. More specifically, the recognition unit 52 recognizes that the item G to be transported is being held by the transport vehicle 1.

[0069] In this embodiment, the recognition unit 52 is configured to recognize only the presence or absence of items G to be transported in the item support section 11 of the transport vehicle 1. Therefore, if even one item G to be transported is held in the item support section 11 of the transport vehicle 1, that state is recognized by the recognition unit 52, and the condition of being in stock is met.

[0070] In the fifth phase, the reading unit 51 reads the identification information of the last of the multiple items G to be transported that are assigned to the transport vehicle 1 (reading phase). At this point, the identification information of all the multiple items G to be transported that are assigned to the transport vehicle 1 has been read, and the read condition is met.

[0071] In the sixth phase, the last of the multiple items G to be transported, which are assigned to transport vehicle 1, is handed over to transport vehicle 1 (handover phase). As a result, all of the multiple items G to be transported, which are assigned to transport vehicle 1, are held by transport vehicle 1. As described above, in this embodiment, the in-carry condition is met when the first of the multiple items G to be transported, which are assigned to transport vehicle 1, is handed over to transport vehicle 1.

[0072] In the seventh phase, the operator W operates the launching control unit 53 (operation phase). At this time, the operating conditions are met, and all preconditions that should be met in multiple transport modes are met. That is, in the seventh phase, all preconditions of the stop condition, read condition, load condition, and operating condition are met.

[0073] In Phase 8, the transport vehicle 1 starts moving (starting phase). Once all preconditions are met, the transport vehicle 1, holding the item G to be transported, starts moving from the stopping position P.

[0074] As shown in Figure 6, in this embodiment, the recognition unit 52 is configured to perform image recognition of the imaging results from the imaging device 520 to determine whether or not there is a foreign object H other than the object G supported by the object support unit 11. If the recognition unit 52 determines that there is a foreign object H (start prohibition condition), the management device 5 prohibits the start of the transport vehicle 1.

[0075] Figure 6 shows the captured image Im captured by the imaging device 520. In this embodiment, the recognition unit 52 is configured to determine that an object that extends beyond the captured image Im (an object that is cut off) is a foreign object H. In the illustrated example, the object extending beyond the captured image Im is the hand of worker W. In this case, the recognition unit 52 determines that the hand of worker W is a foreign object H, and the control device 5 determines that the departure prohibition condition has been met and prohibits the departure of the transport vehicle 1.

[0076] As shown in Figure 7, in this embodiment, the control device 5 starts the transport vehicle 1 from the stop position P, provided that all preconditions are met and the departure prohibition condition is not met.

[0077] In other words, the control device 5 determines whether all preconditions are met (Step #1). If the control device 5 determines that all preconditions are met (Step #1: Yes), it determines whether the departure prohibition condition is met (Step #2). If the control device 5 determines that the departure prohibition condition is not met (Step #2: No), it starts the transport vehicle 1 from the stop position P (Step #3). Note that if the departure prohibition condition is met (Step #2: Yes), the control device 5 may repeatedly determine the departure prohibition condition as shown in Figure 7, or it may notify the operator W or the control device M of this fact.

[0078] [Other Embodiments] Next, other embodiments will be described.

[0079] (1) In the above embodiment, an example was described in which the starting operation unit 53 is configured using buttons. However, the starting operation unit 53 is not limited to this example and may be configured using icons displayed on a monitor or touch panel.

[0080] (2) In the above embodiment, an example was described in which the recognition unit 52 is configured to determine an object that extends beyond the captured image Im as a foreign object H. However, the recognition unit 52 is not limited to such an example, and may, for example, determine an object that is moving in the captured image Im as a foreign object H. Alternatively, the recognition unit 52 may be configured to recognize the shape, size, or color of a predetermined transport target article G, and may determine an object that differs in shape, size, or color as a foreign object H.

[0081] (3) In the above embodiment, an example was described in which the recognition unit 52 is configured to recognize only the presence or absence of items G to be transported in the item support section 11 of the transport vehicle 1. An example was described in which the recognition unit 52 recognizes the state when at least one item G to be transported is held in the item support section 11 of the transport vehicle 1, and the condition of being in stock is met. However, the recognition unit 52 may be configured to recognize that all items G to be transported assigned to a single transport vehicle 1 are held in the item support section 11 of the transport vehicle 1. In this case, the condition of being in stock is met only when all items G to be transported assigned to a single transport vehicle 1 are held in the item support section 11 of the transport vehicle 1.

[0082] (4) In the above embodiment, an example was described in which the recognition unit 52 is equipped with an imaging device 520 that images the article support section 11 of the transport vehicle 1 which is stopped at the stopping position P. However, the recognition unit 52 is not limited to such an example, and may be equipped with various sensors in place of the imaging device 520, or in addition to the imaging device 520, such as a laser sensor that detects the presence or absence of an article G, or a weight sensor that detects the weight of the article G. In this case, the recognition unit 52 may recognize the article G to be transported that is supported by the article support section 11 of the transport vehicle 1 based on the detection result from the laser sensor or the detection result from the weight sensor.

[0083] (5) In the above embodiment, an example was described in which the management device 5 notifies the worker W in the work area WA if it determines that the transport vehicle 1 is not holding the item G to be transported. However, the management device 5 is not limited to this example, and if it determines that the transport vehicle 1 is not holding the item G to be transported, it may notify the control device M, for example, of that fact.

[0084] (6) In the above embodiment, an example was described in which, in a single transport mode, the transported item G is handed over to the transport vehicle 1 after its identification information is read by the reading unit 51. However, the embodiment is not limited to this example, and the reading unit 51 may also read the identification information from the transported item G placed on the item support unit 11 of the transport vehicle 1 after the transported item G has been handed over to the transport vehicle 1. In this case, the read condition is met by the reading of the identification information by the reading unit 51 after the in-load condition is met. In the above case, the reading unit 51 is preferably configured using a reader that can read the identification code attached to the transported item G from a distance. The reader can be positioned above the transport vehicle 1 when it is stopped at the stopping position P, for example, so that it can read the identification information from the transported item G placed on the item support unit 11.

[0085] (7) The configurations disclosed in the embodiments described above can be applied in combination with configurations disclosed in other embodiments, as long as they do not cause any inconsistencies. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0086] [Summary of the above embodiment] The following describes an overview of the above embodiment.

[0087] A transport vehicle that travels along a designated route to transport goods, The transport vehicle supplies the articles to be transported by the article supply unit, A work area in which the goods supplied from the goods supply unit are handed over to the transport vehicle, A goods transporting system comprising a management device for managing the aforementioned handover work, A stopping position for the transport vehicle to receive the goods during the handover operation is set at a location adjacent to the work area on the aforementioned travel path. The aforementioned control device is A reading unit that reads the identification information of the article supplied from the article supply unit, A recognition unit that recognizes the state in which the transport vehicle has stopped at the aforementioned stopping position and the item it is holding, Equipped with, The aforementioned control device is The reading condition is that the identification information of the item to be transported has been read by the reading unit, The condition that the vehicle is holding the item to be transported is determined by the recognition unit, The transport vehicle is started from the stopping position, provided that the condition is met.

[0088] In this configuration, the management device that manages the handover of goods in the work area starts the transport vehicle from its stopping position only when the conditions of "read" (the identification information of the item to be transported has been read) and "in-carry" (the item to be transported is being held by the transport vehicle) are met. Therefore, it is possible to avoid the accidental handover of items that are not the intended items to be transported to the transport vehicle, and also to avoid the transport vehicle starting without holding any items. Thus, with this configuration, it is possible to properly manage the transport of goods as a whole facility.

[0089] The aforementioned handover work is carried out by the workers. Preferably, the management device notifies the worker in the work area if the recognition unit determines that the transport vehicle is not properly holding the transported item.

[0090] With this configuration, the worker is notified if the transport vehicle is not properly holding the item to be transported, thus providing the worker with an opportunity to properly hold the item in the transport vehicle upon receiving the notification.

[0091] The aforementioned control device is Conditional on the transport vehicle stopping at the stopping position, the reading unit is set to a state where the identification information can be read. It is preferable to start the transport vehicle from the stop position when, in addition to the above-mentioned read condition and the above-mentioned load condition being met, a predetermined set time has elapsed since both the above-mentioned read condition and the above-mentioned load condition were met, and the elapsed time condition is met.

[0092] In this configuration, the condition for the reading unit to read the identification information of an item is that the transport vehicle is stopped at a designated stop for receiving goods. Therefore, it is easier to appropriately hand over the goods to be transported to a transport vehicle that is stopped at the designated stop. Furthermore, when the reading condition and the condition for goods being transported are met, the transport vehicle will automatically depart from its stop position without requiring any operation by an operator after a set time has elapsed since these conditions were met. Consequently, it is easier to improve the efficiency of goods transport.

[0093] The aforementioned handover work is carried out by the workers. The aforementioned control device is The vehicle further comprises a starting control unit operated by the worker in the aforementioned work area, It is preferable to start the transport vehicle from the stop position when, in addition to the above-mentioned read conditions and the above-mentioned load conditions being met, the operating condition that the start operation unit has been operated is also met.

[0094] In this configuration, the transport vehicle starts when the operator operates the launch control unit, provided that other conditions are met. Therefore, the timing of the transport vehicle's launch can be controlled by the operator. This configuration is suitable, for example, when transporting multiple items to be transported to the transport vehicle at once. The items to be transported are handed over to the transport vehicle one by one, and when the transport vehicle is holding multiple items, the operator can operate the launch control unit to start the transport vehicle.

[0095] The transport vehicle is equipped with an article support section for supporting the article, The recognition unit includes an imaging device that images the article support section of the transport vehicle stopped at the stopping position, and performs image recognition of the image captured by the imaging device to determine whether there are any foreign objects other than the article supported by the article support section. Preferably, the control device prohibits the departure of the transport vehicle when the recognition unit determines that the foreign object is present.

[0096] This configuration facilitates the proper transport of items by the transport vehicle. Furthermore, even if the recognition unit mistakenly identifies a worker's hand or other object as a foreign object, the vehicle will be prevented from starting. Therefore, worker safety is more easily ensured. [Industrial applicability]

[0097] The technology relating to this disclosure can be used in an article transport system comprising: a transport vehicle that travels along a predetermined route to transport articles; an article supply unit that supplies the articles to be transported by the transport vehicle; and a work area where a handover operation is performed in which the articles supplied from the article supply unit are handed over to the transport vehicle. [Explanation of Symbols]

[0098] 100: Goods handling equipment 1: Transport vehicle 11: Article support part 2: Goods supply department 5: Management device 51: Reading section 52:Recognition part 520: Imaging device 53: Launch control unit R: Driving route P: Stop position WA: Work Area W: Worker G:Goods H: Foreign matter T: Set time

Claims

1. A transport vehicle that travels along a designated route to transport goods, The transport vehicle supplies the articles to be transported by the article supply unit, A work area in which the goods supplied from the goods supply unit are handed over to the transport vehicle, A goods transporting system comprising a management device for managing the aforementioned handover work, A stopping position for the transport vehicle to receive the goods during the handover operation is set at a location adjacent to the work area on the aforementioned travel path. The aforementioned control device is A reading unit that reads the identification information of the article supplied from the article supply unit, A recognition unit that recognizes the state in which the transport vehicle has stopped at the aforementioned stopping position and the item it is holding, Equipped with, The aforementioned control device is The reading condition is that the identification information of the item to be transported has been read by the reading unit, The condition that the vehicle is holding the item to be transported is determined by the recognition unit, A goods transporting device that, on the condition that the following conditions are met, starts the transport vehicle from the stopping position.

2. The aforementioned handover work is carried out by the workers. The article transport equipment according to claim 1, wherein the management device, when the recognition unit determines that the transport vehicle is not properly holding the article to be transported, notifies the worker in the work area of ​​that fact.

3. The aforementioned control device is Conditional on the transport vehicle stopping at the stopping position, the reading unit is set to a state where the identification information can be read. The article transport equipment according to claim 1, wherein the transport vehicle is launched from the stopping position on the condition that, in addition to the reading condition and the in-stock condition being met, a predetermined set time has elapsed since both the reading condition and the in-stock condition were met.

4. The aforementioned handover work is carried out by the workers. The aforementioned control device is The vehicle further comprises a starting control unit operated by the worker in the aforementioned work area, The article transport equipment according to claim 1, wherein the transport vehicle is launched from the stop position, provided that the aforementioned read conditions and the aforementioned load conditions are met, in addition to the operating conditions that the launch operation unit has been operated.

5. The transport vehicle is equipped with an article support section for supporting the article, The recognition unit includes an imaging device that images the article support section of the transport vehicle stopped at the stopping position, and performs image recognition of the image captured by the imaging device to determine whether there are any foreign objects other than the article supported by the article support section. The article transport equipment according to any one of claims 1 to 4, wherein the management device prohibits the transport vehicle from starting if the recognition unit determines that a foreign object is present.

6. The article conveying equipment according to claim 5, wherein the recognition unit is configured to determine an object that extends beyond the captured image captured by the imaging device as a foreign object, or to determine an object that is moving in the captured image as a foreign object.

7. The handover operation is the operation in which the goods based on predetermined order information are handed over to the transport vehicle, The article transport equipment according to claim 1, wherein the order information includes information on the type and quantity of the articles to be delivered to the transport vehicle.

8. The article transport equipment according to Claim 1, wherein the reading unit reads the identification information of the article supplied from the article supply unit after the transport vehicle has stopped at the stopping position and before the article has been handed over to the transport vehicle, or after the article has been handed over to the transport vehicle and before the transport vehicle has departed from the stopping position.

9. The article transport equipment according to claim 8, wherein the handover operation is performed by an operator.

10. A control device for controlling a plurality of transport vehicles, The control device is configured to execute multiple transport modes, The transport mode includes a single transport mode in which each of the transport vehicles transports one of the articles at a time, and a multiple transport mode in which each of the transport vehicles transports multiple articles together. The article transport equipment according to claim 1, wherein the management device manages the handover work in the work area according to the transport mode specified by the control device.

11. The article transport equipment according to claim 10, wherein the control device, when the control device executes the single transport mode, sets the reading unit to a state in which the identification information can be read, provided that the transport vehicle has stopped at the stopping position.

12. When the control device executes the multiple transport modes, the management device makes the identification information of the transport target article readable by the reading unit before the transport vehicle stops at the stop position. The article transport equipment according to claim 10, wherein the read condition is satisfied when all of the identification information of the plurality of articles to be transported assigned to the transport vehicle is read by the reading unit.

13. The article transport equipment according to claim 1, wherein the management device starts the transport vehicle from the stop position after the read condition has been met following the condition that the load condition has been met.

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