Picking systems and programs

Abstract

To make pickup work more efficient.SOLUTION: A picking system according to one aspect of an embodiment comprises: a first cart robot having a first vehicle body that can store baggage, which moves along a first lane; and a second cart robot having a second vehicle body that can store baggage, which receives baggage from the first cart robot and makes the second vehicle body store the baggage, while moving along a second lane. The second lane is a cyclic path, which has a curve part that curves toward outside of the cyclic path. The second vehicle body has an opening part that opens toward inside of the second lane.SELECTED DRAWING: Figure 5

Description

[[Technical Field]]

[0001] The present disclosure relates to a picking system and a program. [[Background Art]]

[0002] Patent Document 1 discloses a picking system configured to convey articles within a managed area, the picking system including a cart robot that, based on a predetermined goods collection plan, travels autonomously to patrol a plurality of shelves arranged in the managed area, collects articles from the shelves, and conveys the articles to a predetermined picking station. [[Prior Art Documents]] [[Patent Documents]]

[0003] [[Patent Document 1]] Japanese Unexamined Patent Application Publication No. 2022-068557 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] When a cart robot is caused to travel autonomously to pick loads in a warehouse and convey the loads to a predetermined position, having a single cart robot in charge of both picking the loads and conveying the loads to the predetermined position results in poor efficiency.

[0005] The present disclosure provides a picking system and a program capable of improving the efficiency of goods collection. [[Means for Solving the Problem]]

[0006] A picking system according to one embodiment comprises a first cart robot having a first body capable of accommodating packages and moving along a first lane, and a second cart robot having a second body capable of accommodating packages and moving along a second lane while receiving packages from the first cart robot and accommodating them in the second cart robot, wherein the second lane is a circulating path and has a curved section that curves outward from the circulating path, and the second cart robot has an opening that opens inward from the second lane. [Effects of the Invention]

[0007] According to one embodiment, the efficiency of collection can be improved. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a floor plan of a warehouse to which the picking system according to this embodiment is applied. [Figure 2] Figure 2 is a perspective view of the first cart robot according to this embodiment. [Figure 3] Figure 3 is a perspective view of the second cart robot according to this embodiment. [Figure 4] Figure 4 is a schematic diagram showing an example of the configuration of the first vehicle body according to the first embodiment. [Figure 5] Figure 5 is a schematic diagram showing an example of the configuration of the second vehicle body according to the first embodiment. [Figure 6] Figure 6 is a block diagram showing an example of the functional configuration of an information processing device. [Figure 7] Figure 7 is a block diagram showing an example of the functional configuration of the control center. [Figure 8] Figure 8 is a flowchart showing the control routine for the basket pickup process by the first cart robot. [Figure 9] Figure 9 shows an example of the operation of the basket transfer method according to the first embodiment. [Figure 10] Figure 10 shows an example of the operation of the basket transfer method according to the first embodiment. [Figure 11] Fig. 11 is a diagram showing an operation example of the basket transfer method according to the first embodiment. [Figure 12] Fig. 12 is a schematic diagram showing a configuration example of the first vehicle body according to the second embodiment. [Figure 13] Fig. 13 is a schematic diagram showing a configuration example of the first vehicle body according to the third embodiment. [Figure 14] Fig. 14 is a diagram showing a configuration example of the second vehicle body according to the third embodiment. [Figure 15] Fig. 15 is a diagram showing an operation example of the basket transfer method according to the third embodiment. [Figure 16] Fig. 16 is a diagram showing an operation example of the basket transfer method according to the third embodiment. [Figure 17] Fig. 17 is a diagram showing an operation example of the basket transfer method according to the third embodiment. [Figure 18] Fig. 18 is a diagram for explaining the opening and closing method of the second opening according to the fourth embodiment. [Figure 19] Fig. 19 is a schematic diagram showing a configuration example of the second vehicle body according to the fifth embodiment. [Figure 20] Fig. 20 is a diagram schematically showing an example of the hardware configuration of a computer that functions as an information processing apparatus or a control center. MODE FOR CARRYING OUT THE INVENTION

[0009] Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all combinations of features described in the embodiments are necessarily essential to the solution means of the invention.

[0010] (First Embodiment) Figure 1 is a plan view of a warehouse floor 50 to which the picking system 1 according to the present embodiment is applied. As shown in Figure 1, the picking system 1 includes a plurality of first cart robots 51 and a plurality of second cart robots 52. The picking system 1 also includes a storage unit 54, a docking station 68, and a plurality of in-warehouse sensor groups 70. The picking system 1 further includes a control center 3.

[0011] Picking operation refers to the work of collecting (picking up) required items. Picking staff (in the present embodiment, the plurality of first cart robots 51 and the plurality of second cart robots 52) play an indispensable role in shipping items from the warehouse, and therefore are arranged in warehouses of all genres. The robots are not limited to cart robots, and may be humanoid robots.

[0012] For example, based on a pre-instructed list or order, the main job of picking staff is to collect specified items and deliver the collected items to inspectors or packers. The larger the warehouse scale, the greater the variety and number of stored items, which means that a large number of picking staff need to move within the floor 50.

[0013] On the floor 50 shown in Figure 1, a storage unit (warehouse, shelf, etc.) 54 is provided, and a plurality of baskets 56 are stored therein. The baskets 56 are items (cargo) collected through picking operation. The first cart robot 51 and the second cart robot 52 are configured to move around the storage unit 54.

[0014] The first cart robot 51 and the second cart robot 52 perform delivery of the baskets 56. The delivery includes taking out the baskets 56 from the storage unit 54.

[0015] The first cart robot 51 is a cart robot that moves along a low-speed lane 58 (an example of the first lane). The second cart robot 52 is a cart robot that moves at a higher speed than the first cart robot 51 and moves along a high-speed lane 60 (an example of the second lane).

[0016] The low-speed lane 58 and the high-speed lane 60 are travel paths set, for example, by the control center 3, which will be described later. The low-speed lane 58 may be changed, for example, according to the collection plan, that is, according to the storage location of the packages to be picked up.

[0017] The high-speed lane 60 is a path that connects a starting point and an ending point, that is, a circular path. The high-speed lane 60 has a curved section 601 that curves outward from the circular path. In this embodiment, the high-speed lane 60 has two curved sections 601 and two straight sections 602 that connect these curved sections 601. The straight sections 602 are the parts of the high-speed lane 60 that extend in a straight line. Note that the high-speed lane 60 does not necessarily have straight sections 602. For example, the high-speed lane 60 may be a circular or elliptical circular path in plan view.

[0018] The second cart robot 52 circles the high-speed lane 60 in a constant direction (clockwise in Figure 1). For example, the second cart robot 52 travels nonstop at 20 km / h along the high-speed lane 60, receives the basket 56 from the first cart robot 51 which is moving along the low-speed lane 58, and places it in the second vehicle body 64 (see Figure 5), which will be described later.

[0019] Figure 1 shows an example where multiple second cart robots 52 move along the same high-speed lane 60, but the multiple second cart robots 52 may each move along different high-speed lanes 60.

[0020] The low-speed lane 58 is set outside the storage section 54 and inside the high-speed lane 60. In other words, the low-speed lane 58 is set between the storage section 54 and the high-speed lane 60. The first cart robot 51 moves in a constant direction along this low-speed lane 58. Specifically, the low-speed lane 58 includes a pickup section 59 close to the storage section 54 and a parallel running section 61 close to and running parallel to the high-speed lane 60, and the first cart robot 51 travels in a meandering manner between the storage section 54 and the high-speed lane 60. Specifically, the first cart robot 51 travels in a meandering manner to approach and move away from the storage section 54, and then to approach and move away from the high-speed lane 60.

[0021] The first cart robot 51 temporarily slows down or stops in the pickup section 59 to pick up the basket 56 from the storage section 54. The first cart robot 51 then passes the basket 56 to the second cart robot 52 in the parallel running section 61.

[0022] In the example shown in Figure 1, the pickup section 59 and the parallel running section 61 are located alternately. However, the example is not limited to this case; for example, the parallel running section 61 may be located after multiple pickup sections 59. In other words, the first cart robot 51 may pick up baskets 56 from multiple different locations in the storage section 54 and then pass the picked-up baskets 56 to the second cart robot 52.

[0023] The example shown in Figure 1 illustrates a case where multiple first cart robots 51 move along the same low-speed lane 58, but the multiple first cart robots 51 may each move along different low-speed lanes 58. Furthermore, the movement of the first cart robots 51 is not limited to meandering.

[0024] In the example shown in Figure 1, the low-speed lane 58 is shown as a circular path. That is, Figure 1 shows an example where the first cart robot 51 starts from the same place and returns to the same place. However, in this example and others, the first cart robot 51 is not necessarily required to return to the same place.

[0025] The following describes the outline of a series of picking operations performed by the first cart robot 51 and the second cart robot 52. First, the first cart robot 51 travels at a low speed along the low-speed lane 58 and picks up a basket 56 from the storage unit 54. Then, the first cart robot 51 accelerates towards the parallel running section 61 and, at a speed of 20 km / h, passes the basket 56 to the second cart robot 52 in a relay-like manner, running parallel to the second cart robot 52 without stopping. Note that the transfer of the basket 56 between the first cart robot 51 and the second cart robot 52 may be performed while the first cart robot 51 and the second cart robot 52 are stopped.

[0026] A docking station 68 is installed on floor 50, corresponding to the storage unit 54. The docking station 68 serves as the connection point between the high-speed lane 60 and the low-speed lane 58.

[0027] The docking station 68, for example, has 20 arms and is capable of receiving the basket 56 from the second cart robot 52.

[0028] At the docking station 68, the second cart robot 52 temporarily decelerates, for example, to 2 km / h, and then, for example, within 1 minute, delivers the basket 56 to the docking station 68 and re-accelerates.

[0029] On floor 50, a group of 70 warehouse sensors, including cameras and LiDAR, are installed on the ceiling and walls.

[0030] These warehouse sensor groups 70 constantly measure the distance between the second cart robot 52 and the first cart robot 51, as well as their speed. The warehouse sensor group 70 includes at least one of the following: a high-performance camera, solid-state LiDAR (light detection and randomizing), a multi-color laser coaxial displacement sensor, or various other sensors. The warehouse sensor group 70 also includes a vibration meter, thermal camera, hardness tester, radar, LiDAR, high-resolution, telephoto, ultra-wide-angle, 360-degree, high-performance camera, and vision recognition. sensor , subtle sound sensor ultrasound sensor ,vibration sensor infrared sensor ultraviolet rays sensor electromagnetic waves sensor ,temperature sensor , humidity sensor Spot AI weather forecast Sensors that acquire data High-precision multi-channel GPS, low-altitude satellite information Sensors that acquire data , and long-tail incident AI data Sensors that acquire data The following may also be included. The warehouse sensor group 70 may include multiple sensors. 。

[0031] The warehouse sensor group 70 receives the above information Other information The following may also be detected: the movement of the center of gravity of the first cart robot 51 and the second cart robot 52, and the material of the floor on which the first cart robot 51 and the second cart robot 52 are installed. 、 Floor's vertical, horizontal, and diagonal inclination angles ,odor These are some examples. The warehouse sensor group 70 performs these detections, for example, every nanosecond.

[0032] Each piece of measured information is used to control the first cart robot 51 and the second cart robot 52. For example, each piece of measured information is used to synchronize the first cart robot 51 and the second cart robot 52 with each other.

[0033] Furthermore, the first cart robot 51 and the second cart robot 52 are each equipped with a group of body sensors 72, including cameras and LiDAR (see Figures 2 and 3 described later), and by controlling the distance between cars to be equal intervals calculated by dividing the number of carts, it is possible to predict the necessary distance between cars (for example, 3m or more).

[0034] In the picking system 1 described above, the first cart robot 51 and the second cart robot 52 on the floor 50 work at a perfectly synchronized tempo, making accidents such as interference (contact or collision) less likely. 。

[0035] Control Center 3 controls the entire floor 50. Control Center 3 creates collection lists and travel routes for the goods to be collected by the first cart robot 51 and the second cart robot 52, and controls the first cart robot 51 and the second cart robot 52 based on the various information created.

[0036] Next, an example of the configuration of the first cart robot 51 and the second cart robot 52 will be described with reference to Figures 2 and 3. Figure 2 is a perspective view of the first cart robot 51 according to this embodiment. Figure 3 is a perspective view of the second cart robot 52 according to this embodiment.

[0037] As shown in Figure 2, the first cart robot 51 includes a first body 63 on which multiple baskets 56 can be mounted. The first body 63 is formed, for example, in the shape of a box with an open top. The first body 63 is provided with multiple drive wheels 63a. Each drive wheel 63a is provided with a motor. The rotational speed of each drive wheel 63a is adjusted by the motor. By adjusting the rotational speed of each drive wheel 63a, the first body 63 can travel in the forward / backward, left / right, and diagonal directions. In addition, by adjusting the rotational speed of each drive wheel 63a, the first body 63 can rotate 360 ​​degrees.

[0038] As described above, the first vehicle body 63 is equipped with multiple vehicle sensor groups 72, including cameras and LiDAR. These multiple vehicle sensor groups 72 are installed, for example, at the four corners of the upper edge of the first vehicle body 63.

[0039] The first cart robot 51 also has multiple (two in this case) picking arms 62. The multiple picking arms 62 are attached to the first vehicle body 63. The base ends of the multiple picking arms 62 are attached to the first vehicle body 63, thereby fixing the multiple picking arms 62 to the first vehicle body 63.

[0040] The multiple picking arms 62 are used to retrieve the basket 56 from the storage unit 54 and place it on the first vehicle body 63. The multiple picking arms 62 are provided on the side of the first vehicle body 63 of the first cart robot 51 that faces the storage unit 54 when the first cart robot 51 is located in the pickup section 59.

[0041] The picking arm 62 has multiple arms and multiple joints. The joints are provided, for example, between two arms, connecting the two arms so that they can rotate relative to each other. Each joint has a motor. By rotating the arms relative to each joint, the picking arm 62 can extend and retract and rotate 360 ​​degrees.

[0042] A holding part 65 for holding the basket 56 is provided at the tip of the picking arm 62. The holding part 65 may be, for example, a suction hand that holds the basket 56 by sucking it onto a suction pad. Alternatively, the holding part 65 may be, for example, a gripping hand that holds the basket 56 by gripping it. Alternatively, the holding part 65 may be, for example, a magnetic hand that holds the metal part of the basket 56 by magnetic force.

[0043] Because the picking arm 62 moves in three dimensions based on tasks such as picking from the basket 56, there is a risk that it may cross the monitoring area of ​​the vehicle sensor group 72 installed on the first vehicle body 63.

[0044] As the vehicle moves in three dimensions, a blind spot may occur in one of the vehicle sensor groups 72. The picking arm 62 moves irregularly, and the amount of movement is particularly large closer to the tip. Furthermore, the blind spots of the vehicle sensor group 72 change over time.

[0045] Therefore, a group of arm sensors 74, such as a small camera or LiDAR, may be attached to the tip of the picking arm 62. By providing the arm sensor group 74, blind spots of the vehicle body sensor group 72 of the first vehicle body 63 can be eliminated.

[0046] Furthermore, by adding temperature sensors, hardness sensors, etc., to the arm sensor group 74, for example, the gripping strength during the transfer (grasping) of the basket 56 can be set. By setting the gripping strength, deformation and damage to the basket 56 can be suppressed.

[0047] car The body sensor group 72 and arm sensor group 74 can employ a top-performance camera, solid-state LiDAR, multi-color laser coaxial displacement sensor, or various other sensor groups. Other possibilities include a vibration meter, thermal camera, hardness tester, radar, LiDAR, high-resolution, telephoto, ultra-wide-angle, 360-degree, high-performance camera, and vision recognition. sensor , subtle sound sensor ultrasound sensor ,vibration sensor infrared sensor ultraviolet rays sensor electromagnetic waves sensor ,temperature sensor , humidity sensor Spot AI weather forecast Sensors that acquire data High-precision multi-channel GPS, low-altitude satellite information Sensors that acquire data , or long-tail incident AI data Sensors that acquire data These are some examples.

[0048] In addition ,car The body sensor group 72 and the arm sensor group 74 receive the above information Other information It detects other CarThe information detected by the body sensor group 72 and the arm sensor group 74 includes the movement of the center of gravity of the first cart robot 51 and the second cart robot 52, and the material of the floor on which the first cart robot 51 and the second cart robot 52 are installed. 、 Floor's vertical, horizontal, and diagonal inclination angles ,odor Examples include . car The body sensor group 72 and the arm sensor group 74 perform these detections, for example, every nanosecond.

[0049] As shown in Figure 3, the second cart robot 52 includes a second body 64 on which multiple baskets 56 can be mounted. The second body 64 is formed, for example, in the shape of a box with an open top. The second body 64 is provided with multiple drive wheels 64a. Each drive wheel 64a is provided with a motor. The rotational speed of each drive wheel 64a is adjusted by the motor. By adjusting the rotational speed of each drive wheel 64a, the second body 64 can travel in the forward / backward, left / right, and diagonal directions. In addition, by adjusting the rotational speed of each drive wheel 64a, the second body 64 can rotate 360 ​​degrees.

[0050] As described above, the second vehicle body 64 is equipped with multiple vehicle sensor groups 72, including cameras and LiDAR. These multiple vehicle sensor groups 72 are installed, for example, at the four corners of the upper edge of the second vehicle body 64.

[0051] Next, an example of the configuration of the first vehicle body 63 provided by the first cart robot 51 will be described with reference to Figure 4. Figure 4 is a schematic diagram showing an example of the configuration of the first vehicle body 63 according to the first embodiment.

[0052] As shown in Figure 4, the first body 63 of the first cart robot 51 has a first opening 631 and a first side wall 632. The first opening 631 is located opposite the second body 64 of the second cart robot 52, which runs parallel to it in the parallel running section 61 (see Figure 1). The first opening 631 only needs to be sized to allow at least one basket 56 to be inserted through it.

[0053] The first side wall 632 is a side wall that can open and close the first opening 631. Specifically, the first side wall 632 can open and close the first opening 631 by rotating around a pivot shaft 633 provided at its lower end. In the first embodiment, the first side wall 632 can close the first opening 631 by standing upright. The first side wall 632 can open the first opening 631 by tilting outward from the upright position to the first vehicle body 63. In the first embodiment, the first side wall 632 can open at an angle of 90 degrees or more relative to the first opening 631.

[0054] The first side wall 632 has a fence 634 on the wall surface facing inward of the first vehicle body 63 when the first opening 631 is closed. The fence 634 is provided at the rear end of the first vehicle body 63 in the direction of travel on the wall surface of the first side wall 632.

[0055] Furthermore, the first vehicle body 63 includes a first bottom portion 635 on which the basket 56 is placed. In the first embodiment, the first bottom portion 635 includes a plurality of rollers 636. The plurality of rollers 636 rotate around a rotation axis that extends along the direction of travel of the first vehicle body 63.

[0056] Furthermore, the first vehicle body 63 is equipped with an extrusion unit 637 that pushes the basket 56 housed in the first vehicle body 63 toward the first opening 631. In the first embodiment, the extrusion unit 637 comprises, for example, a contact body 637a and an extension mechanism 637b. One end of the extension mechanism 637b is provided on the wall surface located opposite the first opening 631, and the contact body 637a is attached to the other end. The extrusion unit 637 can push the basket 56 toward the first opening 631 by moving the contact body 637a forward and backward using the extension mechanism 637b.

[0057] Next, an example of the configuration of the second vehicle body 64 of the second cart robot 52 will be described with reference to Figure 5. Figure 5 is a schematic diagram showing an example of the configuration of the second vehicle body 64 according to the first embodiment.

[0058] As shown in Figure 5, the second body 64 of the second cart robot 52 has a second opening 641 and a second side wall 642. The second opening 641 is located opposite the first body 63 of the first cart robot 51, which runs parallel to it in the parallel running section 61 (see Figure 1). The second opening 641 only needs to be sized to allow at least one basket 56 to be inserted through it.

[0059] The second side wall 642 is a side wall that can open and close the second opening 641. Specifically, the second side wall 642 can open and close the second opening 641 by rotating around a pivot shaft 643 provided at its lower end. In the first embodiment, the second side wall 642 can close the second opening 641 by standing upright. The second side wall 642 can open the second opening 641 by tilting outward from the second vehicle body 64 from the upright position.

[0060] Furthermore, the second body 64 is equipped with a second bottom 645 on which the basket 56 is placed. The second bottom 645 slopes downward from the second opening 641.

[0061] The first cart robot 51 and the second cart robot 52 are equipped with an information processing device 15. Figure 6 is a block diagram showing an example of the functional configuration of the information processing device 15. As shown in Figure 6, the information processing device 15 includes an information acquisition unit 150, a control unit 152, and an information storage unit 154.

[0062] The information acquisition unit 150 acquires information detected by the vehicle body sensor group 72 and the arm sensor group 74. The information acquisition unit 150 acquires information detected by the warehouse sensor group 70. The information acquisition unit 150 acquires signals transmitted from a command device (for example, a control center 3) that instructs the operation of the first cart robot 51 and the second cart robot 52.

[0063] The control unit 152 controls the operation of the first vehicle body 63, the second vehicle body 64, and the picking arm 62, etc., based on signals transmitted from the command device or the like and acquired by the information acquisition unit 150.

[0064] The control unit 152 controls the operation of the picking arm 62 using the information acquired by the information acquisition unit 150 and AI (Artificial Intelligence). The control unit 152 controls the motors of each joint of the picking arm 62.

[0065] Furthermore, the control unit 152 controls the operation of the first vehicle body 63 and the second vehicle body 64 using the information acquired by the information acquisition unit 150 and AI. The control unit 152 controls the motors of each drive wheel 63a of the first vehicle body 63 and each drive wheel 64a of the second vehicle body 64. The control unit 152 controls the operation of the first vehicle body 63 and the second vehicle body 64 using the information detected by the vehicle body sensor group 72, the arm sensor group 74 and the warehouse sensor group 70.

[0066] 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.

[0067] Next, an example of the configuration of the control center 3 will be explained using Figure 7. Figure 7 is a block diagram showing an example of the functional configuration of the control center 3. The control center 3 is shown in Figure 7 As shown, the system comprises an information acquisition unit 101, a control unit 102, and an information storage unit 103.

[0068] The information acquisition unit 101 acquires information related to the order list. The information acquisition unit 101 acquires information related to its own status from the first cart robot 51 and the second cart robot 52. This status information includes, for example, the task being executed. The information acquisition unit 101 also acquires information detected by the warehouse sensor group 70.

[0069] The control unit 102 uses the information acquired by the information acquisition unit 101 and AI to control the operation of the first cart robot 51 and the second cart robot 52. For example, the control unit 102 creates collection plan information for each of the first cart robot 51 and the second cart robot 52, including a collection list and a movement route (low-speed lane 58 and high-speed lane 60). The collection list may include, for example, identification information of the baskets 56 to be collected, the location where the baskets 56 to be collected are placed, and the collection order of the baskets 56. The collection plan information may also include the timing of the transfer of baskets 56 from the first cart robot 51 to the second cart robot 52 and identification information of the recipient of the transfer.

[0070] The information storage unit 103 is implemented by a storage medium such as a semiconductor memory element like RAM or flash memory. 03 The control unit 102 stores various programs that are executed by the control unit 102. The information storage unit 103 stores information acquired by the information acquisition unit 101.

[0071] The control unit 102 of the control center 3 transmits the created collection plan information to the first cart robot 51 and the second cart robot 52. The control units 152 of the first cart robot 51 and the second cart robot 52 then control the first car body 63, the second car body 64, the picking arm 62, etc., according to the received collection plan information.

[0072] For example, the control unit 152 performs the following processes.

[0073] (1) The picking arm 62 and the holding part 65 at its tip are driven so that the basket 56 can be held. (2) It is driven up and down to match the height of the workbench, such as the storage unit 54. (3) Maintain your balance to prevent falling. (4) Control the drive of the wheels when moving.

[0074] Figure 8 is a flowchart showing the control routine for the pickup process of the basket 56 by the first cart robot 51.

[0075] As shown in Figure 8, when the first cart robot 51 receives collection plan information from the control center 3 (step S100), it starts moving towards the destination along the low-speed lane 58 at a first travel speed (for example, 5 km / h) (step S101).

[0076] Next, the first cart robot 51 determines whether or not it has detected the target basket 56 based on the detection results from the vehicle sensor group 72 or the arm sensor group 74 (step S102). In this process, if the first cart robot 51 has detected the target basket 56 (step S102, Yes), it uses the picking arm 62 to pick up the basket 56 and places it on the first vehicle body 63 (step S103).

[0077] Next, the first cart robot 51 moves toward the parallel running section 61 at a second speed (for example, 20 km / h) (step S104), and docks (runs alongside) with the second cart robot 52 in the parallel running section 61 (step S105).

[0078] Next, the basket 56 is transferred from the first cart robot 51 to the second cart robot 52 (step S106). The method of transferring the basket 56 from the first cart robot 51 to the second cart robot 52 will be described later.

[0079] After that, the first cart robot 51 returns its movement speed to the first movement speed (normal speed) (step S107), and this routine ends as it waits for the next command.

[0080] Next, an example of a method for transferring the basket 56 from the first cart robot 51 to the second cart robot 52 will be described with reference to Figures 9 to 11. Figures 9 to 11 are diagrams showing an example of the operation of the method for transferring the basket 56 according to the first embodiment.

[0081] First, as shown in Figure 9, with the first cart robot 51 and the second cart robot 52 running parallel to each other, the first side wall 632 of the first car body 63 and the second side wall 642 of the second car body 64 are opened. Specifically, the second side wall 642 is opened first, followed by the first side wall 632. With both the first and second side walls 632 and 642 open, the tip of the first side wall 632 is located inside the second car body 64, and the tip of the second side wall 642 is located inside the first car body 63.

[0082] The first bottom 635 of the first car body 63 is positioned higher than the second bottom 645 of the second car body 64. Also, as described above, the first side wall 632 can be opened at an angle of 90 degrees or more with respect to the first opening 631. As a result, when the first side wall 632 and the second side wall 642 are opened, the first car body 63 and the second car body 64 are connected via the first side wall 632, which slopes downward from the first opening 631 of the first car body 63 toward the second opening 641 of the second car body 64.

[0083] Next, as shown in Figure 10, the extrusion section 637 of the first vehicle body 63 is used to push the basket 56 housed in the first vehicle body 63 toward the first opening 631. As a result, the basket 56 is pushed out of the first vehicle body 63 through the first opening 631. The first bottom 635 of the first vehicle body 63 has multiple rollers 636, which smoothly push the basket 56. death It can be ejected. The basket 56, pushed out to the outside of the first vehicle body 63, descends the first side wall 632 toward the second opening 641 of the second vehicle body 64. Since a fence 634 is provided on the first side wall 632, the falling of the basket 56 from the first side wall 632 can be effectively prevented.

[0084] Subsequently, as shown in Figure 11, the basket 56 is housed inside the second vehicle body 64 through the second opening 641. Since the second bottom 645 of the second vehicle body 64 slopes downward from the second opening 641, it is possible to effectively prevent the basket 56 from flying out of the second vehicle body 64 through the second opening 641.

[0085] Subsequently, the first side wall 632 is closed, and then the second side wall 642 is closed. This completes the transfer of the basket 56 from the first cart robot 51 to the second cart robot 52.

[0086] Thus, the picking system 1 according to the first embodiment transfers the basket 56 from the first vehicle body 63 to the second vehicle body 64 through the first opening 631 of the first vehicle body 63 and the second opening 641 of the second vehicle body 64. With this transfer method, there is no need to pass the basket 56 over the side wall, so the transfer of the basket 56 can be performed more efficiently compared to, for example, the case in which the basket 56 is passed through the upper openings of the first vehicle body 63 and the second vehicle body 64. Therefore, the picking system 1 according to the first embodiment can efficiently pick the basket 56 and transport it to a predetermined position.

[0087] Here, an example is shown in which the first bottom 635 of the first vehicle body 63 is equipped with multiple rollers 636, but the first bottom 635 does not necessarily need to be equipped with multiple rollers 636. For example, the first bottom 635 may be equipped with a conveyor having a drive source such as a motor. In this case, the basket 56 can be removed from the first vehicle body 63 without using, for example, the extrusion unit 637.

[0088] Furthermore, although an example is shown here in which the extrusion unit 637 includes a contact body 637a and an extension / retraction mechanism 637b, the configuration of the extrusion unit 637 is not limited to the above example. For example, the extrusion unit 637 may be configured to push out the basket 56 by air pressure by sending compressed gas toward the basket 56. Alternatively, the extrusion unit 637 may be an arm, such as a picking arm 62.

[0089] (Second Embodiment) Figure 12 is a schematic diagram showing an example of the configuration of the first vehicle body 63 according to the second embodiment. As shown in Figure 12, the first vehicle body 63 may include an angle adjustment unit 639 for changing the inclination angle of the first bottom portion 635. Specifically, the angle adjustment unit 639 can adjust the angle of the first bottom portion 635 (multiple rollers 636) between a horizontal state and an inclined state that slopes downward toward the first opening 631.

[0090] In the second embodiment of the picking system 1, when transferring a basket 56 from the first cart robot 51 to the second cart robot 52 in the parallel running section 61, the first side wall 632 and the fence 634 are opened, and then the first bottom 635 is tilted using the angle adjustment unit 639. As a result, the basket 56 slides down on the multiple rollers 636 and moves from the first opening 631 to the outside of the first cart robot 51 (first side wall 632).

[0091] Thus, the first bottom portion 635 may be sloped downward toward the first opening 631. With this configuration, for example, the basket 56 can be removed from the first vehicle body 63 without using the extrusion portion 637.

[0092] In this example, the first bottom portion 635 is configured to be angle-adjustable by the angle adjustment portion 639, but the first vehicle body 63 does not necessarily need to be equipped with the angle adjustment portion 639. That is, the first bottom portion 635 may always be in a downward sloping state toward the first opening 631. In this case, the basket 56 can move from inside the first vehicle body 63 to the first side wall 632 by rolling on the rollers 636 when the first side wall 632 is opened.

[0093] (Third embodiment) Next, examples of the configurations of the first vehicle body 63 and the second vehicle body 64 according to the third embodiment will be described with reference to Figures 13 and 14. Figure 13 is a schematic diagram showing an example of the configuration of the first vehicle body 63 according to the third embodiment. Figure 14 is a diagram showing an example of the configuration of the second vehicle body 64 according to the third embodiment.

[0094] As shown in Figure 13, the first vehicle body 63 according to the third embodiment is equipped with a first side wall 632 that can be raised and lowered. Specifically, the first side wall 632 according to the third embodiment can open the first opening 631 by rising and close the first opening 631 by lowering.

[0095] Furthermore, the first vehicle body 63 is equipped with a movable part 651 that moves the first bottom portion 635 horizontally toward the second vehicle body 64. Specifically, the movable part 651 can move the first bottom portion 635 horizontally between a transfer position which is outside the first vehicle body 63 and a storage position which is inside the first vehicle body 63.

[0096] In the third embodiment, the first bottom 635 includes a conveyor 652 that transports the placed basket 56 toward the second opening 641 of the second cart robot 52. The conveyor 652 is, for example, a belt conveyor and can transport the basket 56 using a drive source such as a motor.

[0097] As shown in Figure 14, the second vehicle body 64 is equipped with a second side wall 642 that can be raised and lowered. Specifically, the second side wall 642 in the third embodiment can open the second opening 641 by rising and close the second opening 641 by lowering.

[0098] Next, the method for transferring the basket 56 according to the third embodiment will be described with reference to Figures 15 to 17. Figures 15 to 17 are diagrams showing examples of the operation of the method for transferring the basket 56 according to the third embodiment.

[0099] First, as shown in Figure 15, with the first cart robot 51 and the second cart robot 52 running parallel to each other, the first side wall 632 of the first car body 63 and the second side wall 642 of the second car body 64 are opened.

[0100] Next, as shown in Figure 16, the first bottom 635 is moved horizontally using the moving part 651, thereby allowing it to enter the interior of the second vehicle body 64. Then, as shown in Figure 17, the basket 56 is moved toward the second vehicle body 64 using the conveyor 652. As a result, the basket 56 is transferred to the second vehicle body 64.

[0101] Here, an example is shown in which the first bottom 635 is equipped with a conveyor 652, but the first bottom 635 does not necessarily need to be equipped with a conveyor 652. For example, the first bottom 635 may be configured to be equipped with a plurality of rollers 636 as described in the first embodiment. In this case, the first vehicle body 63 may be equipped with, for example, an extrusion section 637 as described in the first embodiment.

[0102] (Fourth Embodiment) Figure 18 is a diagram illustrating the method of opening and closing the second opening 641 according to the fourth embodiment. As described above, since the second cart robot 52 circles the high-speed lane 60 in a constant direction, the direction of the centrifugal force applied to the basket 56 inside the second cart robot 52 is constant when the second cart robot 52 is traveling through the curved section 601. Specifically, the basket 56 is always subjected to centrifugal force toward the outward direction of the high-speed lane 60. For this reason, the basket 56 is unlikely to fall out of the second opening 641 which opens toward the inward direction of the high-speed lane 60.

[0103] Therefore, as shown in Figure 18, the second cart robot 52 may maintain the second side wall 642 open while traveling through the curved section 601. This eliminates the time required to open the second side wall 642 when transferring the basket 56 from the first cart robot 51 to the second cart robot 52, thereby enabling a more efficient transfer of the basket 56.

[0104] Furthermore, as described above, since the second bottom 645 of the second cart robot 52 slopes downward from the second opening 641, it is possible to more effectively prevent the basket 56 from falling off the second side wall 642.

[0105] On the other hand, in the case of a straight-traveling section 602 that extends in a straight line, as shown in Figure 18, no centrifugal force directed outward from the high-speed lane 60 is applied to the basket 56 in the straight-traveling section 602. Therefore, the second cart robot 52 may use the second side wall 642 to close the second opening 641 while traveling in the straight-traveling section 602. This effectively prevents the basket 56 from falling out in the straight-traveling section 602.

[0106] (Fifth embodiment) Figure 19 is a schematic diagram showing an example of the configuration of the second vehicle body 64 according to the fifth embodiment. As shown in Figure 19, the second vehicle body 64 does not necessarily need to have a second side wall 642. For example, if the high-speed lane 60 is circular or elliptical in plan view, a centrifugal force directed outward from the high-speed lane 60 will always be applied to the basket 56 housed inside the second vehicle body 64 while the second cart robot 52 is circling. Therefore, even if the second side wall 642 is not provided, that is, even if the second opening 641 is always open, it is possible to prevent the basket 56 from falling out of the second opening 641.

[0107] As described above, the picking system according to the embodiment (for example, picking system 1) comprises a first cart robot (for example, first cart robot 51) having a first body (for example, first cart robot 63) capable of accommodating luggage (for example, basket 56) and moving along a first lane (for example, low-speed lane 58), and a second cart robot (for example, second cart robot 52) ​​having a second body (for example, second cart robot 64) capable of accommodating luggage and moving along a second lane (for example, high-speed lane 60) while receiving luggage from the first cart robot and accommodating it in the second cart robot. The second lane is a circulating path and has a curved section (for example, curved section 601) that curves toward the outside of the circulating path. The second cart robot has an opening (for example, second opening 641) that opens toward the inside of the second lane. In this way, by providing an opening on the second vehicle body that opens inward towards the second lane, the transfer of goods from the first cart robot to the second cart robot can be performed efficiently. Therefore, according to the picking system of this embodiment, the efficiency of goods collection can be improved.

[0108] The second vehicle body may have a bottom on which cargo is placed. In this case, the bottom may slope downward from the opening. This effectively prevents cargo from flying out of the opening onto the outside of the second vehicle body.

[0109] The second vehicle body may have side walls that can open and close the opening. This effectively prevents luggage from flying out of the opening onto the outside of the second vehicle body.

[0110] The second lane may have a straight section that extends in a straight line. The second cart robot may use its side walls to close the opening while traveling along the straight section. This effectively improves the efficiency of cargo collection while preventing cargo from flying out of the opening onto the outside of the second vehicle.

[0111] (Embodiment of information processing device 15 and control center 3) Figure 20 is a schematic diagram showing an example of the hardware configuration of a computer 1200 that functions as an information processing device 15 or a control center 3. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the apparatus according to this embodiment, or to cause the computer 1200 to execute operations associated with the apparatus according to this 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 this 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.

[0112] The computer 1200 according to this embodiment 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.

[0113] The CPU 1212 operates according to programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 and stores it in a frame buffer provided in RAM 1214 or within itself, so that 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 this embodiment, blocks in the flowchart and block diagram may represent a stage in a process in which an operation is performed or a "part" of a device that has the role of performing an operation. A particular stage and "part" may be implemented by a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuit 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 described in the claims, specifications, and drawings is not explicitly stated as "before" or "prior to," 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," and "next," for convenience, this does not mean that it is essential to perform the operations in that order. [Explanation of symbols]

[0127] 1. Picking System 3 Control Center 15 Information Processing Devices 50 floors 51. First Cart Robot 52. Second Cart Robot 54 Storage section 56 Basket 58 Slow Lane 59 Pickup section 60 High-speed lanes 61 Parallel running section 62 Picking Arms 63. First car body 64. Second car body 68 Docking Stations 601 Curved section 602 Straight Ahead 631 First opening 632 First side wall 633 Rotation axis 635 1st bottom 636 Laura 637 Extrusion section 641 Second opening 642 Second side wall 643 Rotating axis 645 2nd bottom

Claims

1. Multiple first cart robots, each having a first vehicle body capable of accommodating cargo, move along a first lane including a pickup section adjacent to a storage area where multiple cargoes are stored, and pick up the cargo from the storage area. A plurality of second cart robots, each having a second body capable of accommodating the aforementioned cargo, move along a second lane, receive the cargo from the first cart robot, and store it in the second cart robot. Equipped with, The second lane is a circulation path and has a curved section that curves toward the outside of the circulation path. The second vehicle body is a picking system having an opening that opens toward the inward direction of the second lane.

2. The second vehicle body is equipped with a bottom on which the luggage is placed, The picking system according to claim 1, wherein the bottom slopes downward from the opening.

3. The picking system according to claim 1, wherein the second vehicle body has a side wall that can open and close the opening.

4. The second lane has a straight section that extends in a straight line, The picking system according to claim 3, wherein the second cart robot closes the opening using the side wall while traveling along the straight section.

5. The picking system according to claim 1, wherein the plurality of second cart robots move at a higher speed than the plurality of first cart robots.

6. A pickup procedure for picking up luggage from a storage section by controlling a plurality of first cart robots, each having a first vehicle body capable of accommodating luggage, and moving along a first lane that includes a pickup section adjacent to a storage section where a plurality of luggage is stored, A transfer procedure for transferring the cargo stored in the first cart body to the second cart body, by controlling a plurality of second cart robots and a plurality of first cart robots that move along a second lane, and having a second cart body capable of accommodating the cargo, and the first cart robots and the second cart robots move in parallel. Have the computer run it, The second lane is a circulation path and has a curved section that curves toward the outside of the circulation path. The second vehicle body has an opening that opens toward the inward direction of the second lane. The transfer procedure is a program for transferring the cargo from the first vehicle body to the second vehicle body through the opening.

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