Automatic movement device, management device, conveyance system, control method, and management method

Abstract

An automatic movement device according to the present disclosure is used in a conveyance system that conveys a conveyance object, and said device comprises a movement control unit that controls a drive unit so as to move a conveyance object to a conveyance position therefor, and if the conveyance object cannot be disposed at the conveyance position, move and dispose the conveyance object at the conveyance position of the next conveyance object.

Description

Automatic moving device, management device, transport system, control method and management method

[0001] The present specification discloses an automatic moving device, a management device, a transport system, a control method, and a management method.

[0002] Conventionally, an automatic transport device has been proposed that provides attribute data for each transported object, including the next processing location of the transported object or the type of the transported object, and selects an alternative destination based on the attribute data when the object cannot be transported to the scheduled destination (see, for example, Patent Document 1). This automatic transport device is said to be able to transport the object to an appropriate alternative destination.

[0003] Japanese Patent Application Laid-Open No. 2003-285906

[0004] However, in the above-mentioned Patent Document 1, it is necessary to set an alternative destination for each transported object, which makes the process complicated. Thus, it has been desired to simplify the process in the transport system and to execute the movement of the transported object.

[0005] The present disclosure has been made to solve such problems, and its main purpose is to provide an automatic moving device, a management device, a conveying system, a control method, and a management method that can execute the placement of conveyed items in a position that is as close to the plan as possible using a relatively simple method.

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The automatic moving device disclosed herein is an automatic moving device used in a conveying system for conveying an object, and is equipped with a movement control unit that moves the object to its conveying position, and when the object cannot be placed at that position, controls a drive unit to move and place the object at the conveying position of the next object.

[0008] When an item cannot be placed at the appropriate transfer position, the automatic transfer device moves and places the item at the transfer position of the next item. This automatic transfer device can place the item as close to the planned position as possible using a relatively simple method, without the need to specify an alternative position.

[0009] 1 is a schematic explanatory diagram showing an example of a delivery system 10 and a transport system 11. An explanatory diagram showing an example of a store 60. An explanatory diagram showing an example of an automatic moving device 30. A three-sided view of the automatic moving device 30 connected to a cart 12. An explanatory diagram showing an example of transport positions A-1 to A-22 and a temporary storage area T in a store 60. An explanatory diagram showing an example of transport job information 65 stored in a memory unit 63. A flowchart showing an example of a work command processing routine. An explanatory diagram showing an example of a process for updating the transport job information 65. An explanatory diagram showing an example of transport by automatic transport processing in a store 60. A flowchart showing an example of an automatic transport processing routine.

[0010] An embodiment of the present disclosure will be described with reference to the drawings. FIG. 1 is a schematic explanatory diagram showing an example of a delivery system 10. FIG. 2 is an explanatory diagram showing an example of a store 60. FIG. 3 is an explanatory diagram showing an example of an automatic moving device 30. FIG. 4 is a three-sided view of the automatic moving device 30 connected to a cart 12, with FIG. 4A being a plan view, FIG. 4B being a front view, and FIG. 4C being a side view. FIG. 5 is an explanatory diagram showing an example of transport positions A-1 to A-22 and a temporary storage area T of a store 60 included in map information 64 stored in a storage unit 63. FIG. 6 is an explanatory diagram showing an example of transport job information 65 stored in a storage unit 63.

[0011] The delivery system 10 includes a transport system 11 that distributes goods from a delivery source to a delivery destination, such as delivery of goods from a logistics center 20 to a store 60 and delivery from the store 60 to the logistics center 20, and transports goods within the logistics center 20 or the store 60. The transport system 11 has an automatic moving device 30 that automatically moves goods as transported items within a specific space and performs a process to transport the goods. In this delivery system 10, the transport of goods is described as using a cart 12 as an example, but this is not limited to this. The cart 12 may be omitted, or other components such as a pallet may be used. The transport system 11 in the logistics center 20 may include a logistics PC 21, an automatic moving device 30, and a cart 12. The transport system 11 in the store 60 may include a store PC 61, an automatic moving device 30, and a cart 12. Here, the "items" are not particularly limited as long as they are transported, and examples thereof include industrial products including machines, devices, device units, and parts, as well as commonly used daily commodities, food, and fresh produce. Examples of the "source of delivery" and the "destination of delivery" include a logistics center 20 that collects and delivers items, a warehouse that stores items, and a store 60 that sells items. For ease of explanation, the following description will focus on the automated transport device 30 that transports items to the store 60 as the delivery destination, as the transport system 11 of the delivery system 10.

[0012] As shown in FIG. 1, the delivery system 10 includes a logistics PC 21, a store PC 61, an automatic transport device 30, and a management server 70. The trolley 12 is a transport object used to transport goods, and as shown in FIGS. 1 and 4, includes a loading section 13 and casters 14. The loading section 13 is a flat member on which goods are loaded. The casters 14 have wheels that allow the trolley 12 to travel and are disposed on the underside of the loading section 13. The trolley 12 may be a basket trolley. The delivery vehicle 18 is a vehicle that loads one or more trolleys 12 and delivers goods. The delivery vehicle 18 loads the trolleys 12 into its cargo compartment at a logistics center 20, delivers the goods to the delivery destination, and returns the empty trolley 12 to the logistics center 20.

[0013] The logistics center 20 is a place where goods are collected and delivered to stores 60 in various locations or to other logistics centers 20. As shown in FIG. 1 , the logistics center 20 has one or more automatic moving devices 30, which can automatically move the carts 12. At this logistics center 20, workers or arm robots (not shown) perform the task of loading goods onto the carts 12 corresponding to the delivery destinations. The automatic moving devices 30 collect the carts 12 with specified delivery destinations and carry them in and out.

[0014] The logistics PC 21 is installed in the logistics center 20 and is configured as a management device that manages products at the logistics center 20 and manages the automated transport device 30. The logistics PC 21 includes a management control unit 22, a memory unit 23, and a communication unit 27. The management control unit 22 has a CPU and controls the entire device. The memory unit 23 stores various application programs and various data files. The memory unit 23 stores map information 24, transport job information 25, and the like. The map information 24 includes a map of the logistics center 20 as a specific space. The map information 24 defines the structurally movable area of ​​the building, including the shapes of the walls, columns, and the like of the logistics center 20. The transport job information 25 includes information used to transport items by the automated transport device 30, such as the transport order, type, weight, and size of the items, as well as the initial location of the source, the destination, and a rough transport route. The communication unit 27 wirelessly communicates with external devices such as the automated transport device 30. The communication unit 27 exchanges information with the management server 70 and the store PC 61 via the network 15 .

[0015] As shown in FIGS. 2 to 4 , the automatic moving device 30 is a vehicle that automatically moves a cart 12 serving as a transport object for transporting goods. The automatic moving device 30 slides into the space between the casters 14 on the underside of the mounting portion 13 of the cart 12, lifting the mounting portion 13 from below to load goods, or is coupled to the cart 12 so as to engage with the mounting portion 13 and tow the cart 12, thereby moving the cart 12. The automatic moving device 30 may be an automatic guided vehicle (AGV) that moves along a line formed on a road surface, a wall surface, or an autonomous mobile robot (AMR) that senses its surroundings and moves along a free route. As shown in FIG. 3 , the automatic moving device 30 includes a control device 31, a vehicle body 37, a lifting / lowering unit 38, a communication unit 39, a drive unit 40, a coupling unit 42, a detection unit 50, and an illumination unit 56.

[0016] The control device 31 is a controller that controls the entire automatic moving device 30 and includes a movement control unit 32 such as a CPU and a storage unit 33 such as a flash memory. The movement control unit 32 outputs control signals to the lifting unit 38, the driving unit 40, the communication unit 39, and the detection unit 50, and also receives signals from the communication unit 39 and the detection unit 50. The movement control unit 32 controls the coupling unit 42 by controlling the lifting unit 38. The movement control unit 32 determines the movement direction, movement distance, and current position of the automatic moving device 30 based on the driving status of the driving unit 40. The movement control unit 32 controls the movement and stopping of the automatic moving device 30 based on information from the detection unit 50 and determines whether an object is present at the transfer position. The storage unit 33 stores various application programs and various data files. The storage unit 33 stores, for example, map information 34 and transfer job information 35. For example, when the automatic moving device 30 is used in the logistics center 20, the map information 34 is information about a map of the logistics center 20, and when the automatic moving device 30 is used in the store 60, the map information 34 is information about a map of the store 60. The transport job information 35 is information used to transport items, and is similar to the transport job information 25 and the transport job information 65. The map information 34 and the transport job information 35 are acquired via communication from a management device such as the logistics PC 21, the store PC 61, or the management server 70.

[0017] The body 37 is a flat housing that fits under the cart 12. Wheels 41 are disposed on the underside, and a coupling unit 42 is disposed on the upper side. The body 37 houses the control device 31, a communication unit 39, a drive unit 40, and the like. A detection unit 50 is disposed on the exterior of the body 37. The communication unit 39 is an interface that wirelessly exchanges information with external devices such as the logistics PC 21 and the store PC 61. The movement control unit 32 exchanges information with external devices via the communication unit 39. The drive unit 40 is a motor connected to each wheel 41 of the body 37 and drives the automatic moving device 30 by rotating the connected wheels 41. The automatic moving device 30 has four wheels 41 and moves by rotating the wheels 41. The wheels 41 may be Mecanum wheels or omniwheels that can move vertically and horizontally with four independently driven wheels. The connecting part 42 is disposed on the upper surface of the vehicle body part 37 and is a unit that can be connected to and disconnected from the carriage 12 as a transported object by rising and falling. The connecting part 42 is a structure that loads the carriage 12 or engages with the carriage 12 to move the carriage 12. The lifting part 38 is a drive part that raises and lowers the connecting part 42.

[0018] The detection unit 50 is disposed in the vehicle body 37 and detects the state of the automated mobile device 30, as well as objects present in at least a portion of the periphery of the automated mobile device 30 and their distance. The detection unit 50 may detect the presence and distance of an object by, for example, irradiating the surroundings with light such as a laser or sound waves and detecting reflected waves. The detection unit 50 may be, for example, one or more of an inertial measurement unit, a laser scan sensor, an imaging camera, a stereo camera, and a sonar sensor. The detection unit 50 may include a stereo camera disposed in front of the vehicle or a light detection and ranging (LiDAR) disposed on the front, side, or rear of the vehicle body 37. The illumination unit 56 is an LED light that illuminates the surroundings.

[0019] As shown in FIGS. 1 and 2 , the store 60 is a commercial facility where delivered goods are displayed and sold. The store 60 has one or more automatic transport devices 30, which can automatically move the carts 12. The store 60 includes a specific space where the goods are moved, a road surface along which the carts 12 pass within the specific space, and display shelves 69 on which the goods are displayed. As shown in FIG. 2 , the store 60 includes a backyard 68 where goods from the delivery trucks 18 are carried in and out, and a specific space in which the display shelves 69 are arranged. The goods are mainly transported from the backyard 68. The store PC 61 is installed in the store 60 and is configured as a management device that manages merchandise in the store 60. The store PC 61 includes a management control unit 62, a memory unit 63, and a communication unit 67. The store PC 61 also includes a display unit and an input device. The display unit is a display that displays images. The input device includes a keyboard, a mouse, etc. that accept input from the worker M. The management control unit 62 has a CPU and is responsible for controlling the entire device. The memory unit 63 stores various application programs and various data files. The memory unit 63 stores map information 64 of the store 60, transport job information 65 including jobs for transporting items by the automatic transport device 30, etc.

[0020] As shown in FIG. 5 , the map information 64 includes one or more maps of the store 60 as a specific space. This map information 64 includes areas such as the transfer positions A-1 to A-22 corresponding to the transfer destination of the transported item and a temporary storage area T to which the transported item is moved if it cannot be moved to the transfer position. As shown in FIG. 6 , the transport job information 65 includes information used by the automated moving device 30 to transport the item, such as the order of transport, type, weight, and size of the item, as well as the initial location from which the item is to be transported, the transfer position to which the item is to be transported, a rough transfer route, and the time of transport. The temporary storage area T is an area where an item that cannot be moved to the transfer position is temporarily stored, and one or more areas are reserved in the map. After the transported item cannot be placed at the transfer position, the transfer position of this transport job information 65 is updated by the management control unit 62. The updated information is transmitted to the management server 70 or the like via the communication unit 67. Map information 24, map information 34, and map information 74 contain information similar to that of the map information 64, and detailed description thereof will be omitted. Further, the transport job information 25, the transport job information 35, and the transport job information 75 include the same information as the transport job information 65, and therefore detailed description thereof will be omitted.

[0021] The management server 70 is a device that manages the delivery system 10. The management server 70 includes a management control unit 72, a storage unit 73, and a communication unit 77. The storage unit 73 stores map information 74, which is a database of maps of the logistics center 20 and the store 60, and transport job information 75, which is a database used to execute and manage the transport of goods. The communication unit 77 exchanges information with external devices such as the logistics PC 21 and the store PC 61 via the network 15. The management control unit 72 transmits the map information 74 and the transport job information 75 via the communication unit 77 based on requests from the logistics PC 21 and the store PC 61.

[0022] Next, in the thus configured conveyance system 11, a process in which the automated moving device 30 conveys an object within a specific space in response to a command from the store PC 61 will be described. Here, a process in which the automated moving device 30 moves an object to a conveyance position in the store 60 in the conveyance system 11 will be described as a specific example. This process can also be executed by the management control unit 22 of the logistics PC 21, the management control unit 72 of the management server 70, or other similar devices, similar to the store PC 61. FIG. 7 is a flowchart showing an example of a work command processing routine executed by the management control unit 62 of the store PC 61. This routine is stored in the memory unit 63 and executed after the store PC 61 is started. When this routine starts, the management control unit 62 of the store PC 61 first reads and acquires map information 64 and conveyance job information 65 from the memory unit 63 (S100). Next, the management control unit 62 determines whether it is time to issue a conveyance command to the automated moving device 30 for the object (S110). The management control unit 62 makes this determination based on the conveyance time included in the conveyance job information 65. If the current timing is not the timing for a transport command, the management control unit 62 waits as it is, and if the current timing is the timing for a transport command, the management control unit 62 selects an object to be transported based on the transport job information 65 (S120).

[0023] Next, the management control unit 62 obtains the transport position of the selected transported object from the transport job information 65, sets this transport position as the target position of the automatic transport device 30, and outputs it to the automatic transport device 30 (S130). At this time, the management control unit 62 also outputs the initial position of the transported object. In response to this, the automatic transport device 30 loads the transported object at the initial position and then moves it to the target transport position. Next, the management control unit 62 determines whether or not completed transport information has been obtained from the automatic transport device 30 (S140). Complete transport information is information output after the automatic transport device 30 has successfully placed the transported object at the transport position. If the completed transport information has not been obtained from the automatic transport device 30, the management control unit 62 determines whether or not completed placement information has been obtained from the automatic transport device 30 (S150). Complete placement information is information output by the automatic transport device 30 when another item has already been placed at the transport position where the transported object is to be placed. At this time, the automatic transport device 30 needs to move the transported object to a target position different from the current position. When the placement information is acquired, the management control unit 62 determines whether there is a possible placement position for the corresponding transported object (S160). If there is a possible placement position, the management control unit 62 designates the transfer position of the next transported object in the transport job information 65 as the target position (S170). Here, the management control unit 62 sets the target position for the transported object that has already been placed at the transfer position so that the object moves to the transfer position of the next transported object. This "transfer position of the next transported object" refers to the transfer position to which the next transported object is to be transferred in accordance with the transfer order specified in the transport job information 65 after the currently transported object. Even when the transport job information 65 is updated, the "transfer position of the next transported object" refers to the transfer position to which the next transported object is to be transferred, as specified in the updated transport job information 65. Furthermore, the management control unit 62 determines in S160 that there is no possible placement position if there is no possible placement position for the next transported object. If there is no possible placement position in S160, the management control unit 62 designates the temporary storage area T as the target position (S180).

[0024] After S180 or S170, the management control unit 62 outputs the specified target position to the automated moving device 30 (S190). Having acquired this target position, the automated moving device 30 performs processing, for example, to determine the next transport position of the transported object or to move the transported object to temporary storage area T. After S190, or if the "arranged" information has not been acquired in S150, the management control unit 62 repeatedly executes the processing from S140 onward. On the other hand, when the "arranged" information has been acquired from the automated moving device 30 in S140, the management control unit 62 determines whether the "arranged" information has been acquired at the time of transporting the corresponding transported object (S200). If the "arranged" information has been acquired, the management control unit 62 updates the transport position in the transport job information 65 based on the "arranged" position, since the destination position of the transported object has been changed at least once (S210).

[0025] FIG. 8 is an explanatory diagram showing an example of a process for updating the transport job information 65. FIG. 9 is an explanatory diagram showing an example of transport by automatic transport processing in the store 60. FIGS. 8 and 9 show an example in which the transported item with ID #5 could not be placed at the transport position A-5 and was placed at the transport position A-6 for the next transported item. The management control unit 62 changes the original transport position A-5 for the #5 transported item to the previously placed transport position A-6, and sets sequentially lower transport positions for the next and subsequent transported items, for example, the transport position A-7 for the #6 transported item. Furthermore, the transport position A-11 for the #7 transported item, which is not a consecutive transport position, is not changed because the transported item can be placed at a position between the two. In this way, if the transported item is placed at the next transport position, there will already be an object placed there when the next transported item is moved, requiring the transport position to be changed one after another. However, by updating the transport job information 65, the next transported item can be moved to the transport position more reliably.

[0026] After S210, or if the placement information has not yet been acquired in S200, the management control unit 62 determines whether there are any untransported objects based on the transport job information 65 (S220). If there are any untransported objects, the management control unit 62 executes the processes from S100 onwards. That is, the management control unit 62 repeatedly executes processes such as acquiring the latest map information 64 and transport job information 65, selecting an object, and outputting the selected object's transport position as a target position to the automatic moving device 30. On the other hand, if there are no untransported objects in S220, the management control unit 62 outputs a command to the automatic moving device 30 to move to a standby position, causing the automatic moving device 30 to move to the standby position (S230), and then ends this routine.

[0027] Next, the processing by the control device 31 of the automatic moving device 30 will be described. Here, processing in the conveyance system 11 in which the automatic moving device 30 autonomously conveys an object to be conveyed within a specific space without receiving a command from the store PC 61 will be described. FIG. 10 is a flowchart illustrating an example of an automatic movement processing routine executed by the control device 31 of the automatic moving device 30. This routine is stored in the memory unit 33 and executed by the movement control unit 32 after the automatic moving device 30 is started. When this routine is started, the movement control unit 32 first reads and acquires map information 34 and transport job information 35 from the memory unit 33 (S300). Note that the movement control unit 32 may also acquire the map information 34 and transport job information 35 from the store PC 61. Next, the movement control unit 32 determines whether it is time to convey the object to be conveyed (S310). The movement control unit 32 makes this determination based on the transport time included in the transport job information 35. If the current timing is not the transport timing, the movement control unit 32 waits as it is, and if the current timing is the transport command timing, the movement control unit 32 selects an object to be transported based on the transport job information 35 (S320).

[0028] Next, the movement control unit 32 acquires the transport position of the selected object from the transport job information 35 and sets this transport position as the target position (S330). At this time, the movement control unit 32 also acquires the initial position of the object. Next, the movement control unit 32 moves to the initial position, connects the object (S340), and moves it to the target transport position (S350). At this time, the movement control unit 32 may move along the transport path included in the transport job information 35. Next, the movement control unit 32 determines whether the automatic transport device 30 has arrived at the transport position (S360). If the automatic transport device 30 has not arrived at the transport position, the process of S350 is executed. On the other hand, when the automatic transport device 30 has arrived at the transport position, the movement control unit 32 determines whether the object can be placed at the transport position (S370). Based on the detection value from the detection unit 50, the movement control unit 32 determines whether an object has already been placed at the transport position. If the object cannot be placed at the transport position, the movement control unit 32 outputs placement information to the store PC 61 (S380). Upon receiving this, the store PC 61 performs a management process for the transported item and stores in the storage unit 63 information indicating that the transported item will not be placed at the original transport position.

[0029] After S380, the movement control unit 32 determines whether there is a possible placement position for the corresponding transported object (S390). If there is a possible placement position, the movement control unit 32 specifies the transfer position of the next transported object in the transport job information 35 as the target position (S400). Here, the movement control unit 32 sets the target position for the transported object, for which an object has already been placed, to move to the transfer position of the next transported object. Furthermore, the movement control unit 32 determines in S390 that there is no possible placement position for the next transported object. If there is no possible placement position in S390, the movement control unit 32 specifies the temporary storage area T as the target position (S410). After S410, after S400, or if the automated transport device 30 has not arrived at the transfer position in S360, the movement control unit 32 executes the processing from S350 onwards. After S400 and S410, the movement control unit 32 performs, for example, processing to move the transported object to the transfer position of the next transported object or the temporary storage area T. To give a specific example, when the transported object with ID#5 cannot be placed at the transport position A-5, the movement control unit 32 places this transported object at the transport position A-6 of the next transported object, as shown in Figure 8. If an object has already been placed at the next transport position, the movement control unit 32 moves the transported object to the transport position of the next transported object.

[0030] On the other hand, if the transported object can be placed at the transfer position in S370, the movement control unit 32 places the transported object at the transfer position (S420) and outputs the transfer completion information to the store PC 61 (S430). The movement control unit 32 releases the connection of the connection unit 42 at the transfer position. The store PC 61, having acquired the transfer completion information, stores the transported object and the transfer position in the storage unit 63 for managing the transported object. As in S210, the movement control unit 32 updates the transfer position when outputting the placement completion information. By updating the transport job information 35, the movement control unit 32 can adjust the transfer position of subsequent transported objects. Next, the movement control unit 32 updates the transport job information 35 as necessary (S440) and determines whether there are any untransported objects based on the transport job information 35 (S450). If there are any untransported objects, the movement control unit 32 executes the processing from S300 onward. That is, the movement control unit 32 repeatedly executes processes such as acquiring the latest map information 34 and transport job information 35, selecting an object to be transported, and outputting the selected object's transport position as a target position to the automatic transport device 30. On the other hand, if there are no objects yet to be transported in S450, the movement control unit 32 moves the automatic transport device 30 to the standby position (S460) and ends this routine.

[0031] Here, the correspondence between the components of this embodiment and the components of the present disclosure will be clarified. The logistics PC 21, store PC 61, and management server 70 of this embodiment are examples of management devices of the present disclosure, the management control units 22, 62, and 72 are examples of management control units, and the transport system 11 is an example of a transport system. Furthermore, the automatic moving device 30 is an example of an automatic moving device of the present disclosure, the movement control unit 32 is an example of a movement control unit, and the drive unit 40 is an example of a drive unit. Note that in this embodiment, an example of a management method of the present disclosure will be clarified by explaining the operation of the store PC 61, and an example of a control method of an automatic moving device of the present disclosure will be clarified by explaining the operation of the automatic moving device 30.

[0032] The automatic moving device 30 of the present embodiment described above is used in the conveying system 11 that conveys an object, and includes a movement control unit 32 that controls the drive unit 40 to move the object to its intended position, and, if the object cannot be placed at that position, to move and place the object at the intended position for the next object. When the automatic moving device 30 cannot place the object at its intended position, it moves and places the object at the intended position for the next object. The automatic moving device 30 can place the object as close to the planned position as possible using a relatively simple method, without the need to specify an alternative position.

[0033] Furthermore, the movement control unit 32 repeatedly moves the transported object to the transport position of the next transported object until it reaches a transport position where the transported object can be placed. This automatic transport device 30 can more reliably place the transported object at a position as close to the plan as possible. Furthermore, when the movement control unit 32 is unable to place the transported object at the transport position associated with the transported object but is able to place the object at the transport position of the next or subsequent transported object, it updates the transport position of the next transported object according to the transport position where the object was placed. This automatic transport device 30 can more efficiently place the transported object by updating the transport position.

[0034] The store PC 61 as a management device of this embodiment is used in a transport system 11 having an automatic transport device 30 that transports transported items, and includes a management control unit 62 that outputs a command to the automatic transport device 30 to move and place the item to the next transport position when the automatic transport device 30 is unable to place the item at its desired transport position. When the store PC 61 is unable to place the item at its desired transport position, it moves and places the item at the next transport position. The store PC 61 can place the item as close to the planned position as possible using a relatively simple method, without the need to specify an alternative position.

[0035] Furthermore, the management control unit 62 repeatedly outputs a command to the automatic moving device 30 to move and place the transported item at the next transport position until a transport position where the transported item can be placed is reached. This store PC 61 can more reliably place the transported item at the planned position as much as possible. Furthermore, when the management control unit 62 is unable to place the transported item at the transport position associated with the transported item, but is able to place the next transported item at the transport position, it updates the transport position of the next transported item according to the transport position where the next transported item was placed. This store PC 61 can more efficiently place the transported item by updating the transport position.

[0036] The conveyance system 11 of this embodiment includes the above-described automatic moving device 30 and the above-described store PC 61 serving as the management device. Because the conveyance system 11 includes the above-described automatic moving device 30 and the store PC 61, it is possible to place the conveyed item in a position that is as close to the plan as possible using a relatively simple method.

[0037] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0038] For example, in the above-described embodiment, the automatic moving device 30 stores the transport job information 35 and autonomously changes the transport position of the transported object regardless of instructions from the store PC 61 in the process of FIG. 10 . However, this is not particularly limited. For example, the automatic moving device 30 may not store the transport job information 35, but may acquire the transport position and transport the object only in response to instructions from the store PC 61. When the store PC 61 is unable to place the object at the transport position, it outputs a command to the automatic moving device 30 to move and place the object at the transport position of the next object. Therefore, when the automatic moving device 30 is unable to place the object at the transport position, it executes a process to move and place the object at the transport position of the next object. Therefore, even with this automatic moving device 30, it is possible to place the object as close to the planned position as possible using a relatively simple method, without the need to specify an alternative position.

[0039] In the above-described embodiment, when the management control unit 62 has acquired the arranged position information in S200, it updates the transport position in the transport job information 65 based on the arranged position in S210, but this is not particularly limited, and it is also possible to omit updating the transport job information 65. In this case, the automatic moving device 30 will have already arranged the next transported object, but the transported object will be sequentially changed to the next transport position, so it is possible to arrange the transported object in a position that is as close to the plan as possible using a relatively simple method.

[0040] In the embodiment described above, after outputting the positioned information, the movement control unit 32 updates the transport position in the transport job information 35 based on the positioned position in S440, but this is not particularly limited, and the update of the transport job information 35 may be omitted. In this case, the automatic moving device 30 will also have the next transported object positioned, but since the transport position is sequentially changed to the next transported object, it is possible to execute the placement of the transported object in a position that is as close to the plan as possible using a relatively simple method.

[0041] In the above-described embodiment, the store PC 61 is the management device, and the transportation of transported goods by the automatic moving device 30 at the store 60 is described, but this is not limited to this, and the logistics PC 21 may be the management device, and the transportation of transported goods by the automatic moving device 30 at the logistics center 20 may also be applied, or the management device may be the management server 70, and the automatic moving device 30 may transport transported goods at the logistics center 20 and / or store 60.

[0042] In the above-described embodiment, the present disclosure has been described as a store PC 61 and an automatic moving device 30, but is not limited to these and may be applied to a conveying system 11, a method for managing the automatic moving device 30, a method for controlling the automatic moving device 30, or may be a program thereof.

[0043] The present disclosure may be configured as follows: For example, a control method for an automatic moving device of the present disclosure is a control method executed by a computer that controls an automatic moving device used in a conveyance system that conveys an object, and includes a step of controlling a drive unit to move the object to a transfer position for the object, and, when the object cannot be placed at the transfer position, to move and place the object at the transfer position for the next object.

[0044] This control method, like the above-mentioned automatic moving device, can place the transported object in a position as close to the plan as possible using a relatively simple technique. Note that this control method for an automatic moving device may employ various aspects of the above-mentioned automatic moving device, or may include additional steps that realize each function of the above-mentioned automatic moving device.

[0045] The management method disclosed herein is used in a conveyance system having an automatic moving device that transports an object, and is executed by a computer, and includes a step of outputting a command to the automatic moving device to move and place the object to the transfer position of the next object when the automatic moving device is unable to place the object at the transfer position of the object.

[0046] In this management method, similar to the above-described management device, it is possible to execute the placement of the transported goods in the position as close to the plan as possible by a relatively simple method. Note that in this management method, various aspects of the above-described management device may be adopted, and steps may be added to realize each function of the above-described management device.

[0047] This specification also discloses the technical idea of ​​changing "an automatic moving device according to claim 1 or 2" in claim 7 originally filed to "an automatic moving device according to any one of claims 1 to 3," and the technical idea of ​​changing "a management device according to claim 4 or 5" to "a management device according to any one of claims 4 to 6."

[0048] The present disclosure is applicable to the technical field of distribution systems that transport goods.

[0049] 10 Delivery system, 11 Transport system, 12 Cart, 13 Placement unit, 14 Caster, 15 Network, 18 Delivery vehicle, 20 Logistics center, 21 Logistics PC, 22 Management control unit, 23 Memory unit, 24 Map information, 25 Transport job information, 27 Communication unit, 30 Automatic moving device, 31 Control device, 32 Movement control unit, 33 Memory unit, 34 Map information, 35 Transport job information, 37 Vehicle body unit, 38 Lifting unit, 39 Communication unit, 40 Drive unit, 41 Wheels, 42 Connection unit, 50 Detection unit, 56 Lighting unit, 60 Store, 61 Store PC, 62 Management control unit, 63 Memory unit, 64 Map information, 65 Transport job information, 67 Communication unit, 68 Backyard, 69 Display shelf, 70 Management server, 72 Management control unit, 73 Memory unit, 74 Map information, 75 transport job information, 77 communication section, A-1 to A-22 transport location, T temporary storage area.

Claims

1. An automatic moving device used in a conveying system for conveying an object, comprising: a movement control unit that controls a drive unit to move the object to its conveying position, and when the object cannot be placed at that position, to move and place the object at the conveying position of the next object.

2. The automatic moving device according to claim 1, wherein the movement control section repeatedly moves the object to the next object's transfer position until the object reaches a transfer position where it can be placed.

3. The automatic moving device of claim 1 or 2, wherein when the movement control unit is unable to place the transported object at the transport position associated with the transported object, but is able to place the object at the transport position of a next or subsequent transported object, the movement control unit updates the transport position of the next transported object according to the transport position at which the object can be placed.

4. A management device used in a transport system having an automatic moving device that transports an object, the management device comprising: a management control unit that outputs a command to the automatic moving device to move and place the object to the transport position of the next object when the automatic moving device is unable to place the object at its transport position.

5. The management device according to claim 4, wherein the management control unit repeatedly outputs a command to the automatic moving device to move and place the transported object to the transport position of the next transported object until the transported object reaches a transport position where it can be placed.

6. The management device of claim 4 or 5, wherein when the management control unit is unable to place the transported item at the transport position corresponding to the transported item, but is able to place the item at the transport position of the next or subsequent transported item, updates the transport position of the next transported item according to the transport position at which the item can be placed.

7. A transport system comprising the automatic moving device according to claim 1 or 2, and the management device according to claim 4 or 5.

8. A control method executed by a computer that controls an automatic moving device used in a transport system that transports an object, the control method including the steps of: moving the object to a transport position of the object, and, when the object cannot be placed at the transport position, controlling a drive unit to move and place the object at the transport position of the next object.

9. A management method executed by a computer and used in a transport system having an automatic moving device that transports an object, comprising the step of outputting a command to the automatic moving device to move and place the object to the transport position of the next object when the automatic moving device is unable to place the object at the transport position.

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