CN107922119A - Shelf configuration system, transfer robot and shelf collocation method - Google Patents

Abstract

Shelf configuration system has：At least two transfer robots (200), it has the sensor (210) of measure circumferential shape and stores the storage part of map datum, and is used for Transport cargo rack (100)；And management terminal (300), its action sent to the transfer robot (200) carries data as defined in carrying out, the transfer robot (200) is after the position specified by the carrying data is moved to, the direction specified by the carrying data is measured using the sensor (210), the position of the shelf (100) and angle are adjusted based on the geometry for other transfer robots (200) for being adjusted the angle relative to wall.

Description

Shelf configuration system, transfer robot and shelf collocation method

Technical field

The present invention relates to using more transfer robots come configure the shelf of multiple shelf configuration system, transfer robot with And shelf collocation method.

Background technology

With the expansion of circulation market in recent years and the variation of customer demand, the cargo handled in logistics warehouse Scatteredization continue to develop.Accompany with this, logistics service variation, complicate, operating cost increase relevant with collection etc.. On the other hand, labouring population are reduced, it is desirable to the automation of operation.As one of scheme for making operation automation, exist and be responsible for The transport operation that cargo (to take care of in shelf or be taken care of in the article of shelf) is moved from a certain place to another place Device referred to as automatic guided vehicle or AGV (Automatic Guided Vehicle), at warehouse, factory, harbour etc. Imported in facility.

In order to it is accurate, safe, transport goods at high speed, automatic guided vehicle, which needs to have to be arranged, shelf and to be removed Fortune car can carry out moving at this 2 points while self-position is identified exactly.One of method as identification self-position, There are following method：Using be equipped on carrier laser distance sensor identify around geometry, by with map Control treatment grasp self-position.This is premised on it there is the geometry as reference around, but is for example existed It is arranged with the traveling in the warehouse of shelf, in the case where being only configured shelf foot as the geometry of reference, Sometimes the identification of self-position becomes difficult.This is because it is equipped on range sensor small-sized as carrier using In the case of, it can not move while catching the shelf foot in the place being slightly separated exactly.After all it is because removing Included in measurement data outside error, laser not necessarily reaches the small shelf foot of area.

For recording the document with the relevant formerly technology of automatic guided vehicle, there is such as patent document 1,2.Patent text Offer 1 and record following content, " side that the vehicle body of the automatic guided vehicle AGV1 of cooperation position 9 is stopped in traveling first is set Reflecting plate 20.The side that the automatic guided vehicle AGV2 of cooperation position 9 is stopped in traveling afterwards is set by detection reflecting plate 20 Sensor 16 is used in the second stopping that photoelectric sensor is formed.The automatic guided vehicle AGV2 reached afterwards to stopped before nobody The reflecting plate 20 of carrier AGV1 is detected and travels stopping " (with reference to summary).

In addition, following technology is recorded in patent document：" carrier 3 possesses transporting vehicle body 3a, is arranged at carrying Distance measuring sensor 50, map datum DB42, proximal line calculating section 47 and the position calculating section 46 of vehicle main body 3a.Transporting vehicle body 3a is travelled in the path of the second area beyond comprising first area and the first area.Proximal line calculating section 47 is first In the A of region, the intensity with light more than defined threshold value in the multiple determination datas determined based on distance measuring sensor 50 The set of determination data calculate proximal line, in second area B, approximation is calculated based on the set of multiple determination datas Line.Position calculating section 46 calculates the position of transporting vehicle body 3a by compareing proximal line with map datum " (with reference to making a summary).

Citation

Patent document

Patent document 1：Japanese Unexamined Patent Publication 2005-85116 publications

Patent document 2：Japanese Unexamined Patent Publication 2013-161399 publications

The content of the invention

The subject that the invention solves

In short, patent document 1 is recorded with the unmanned carrying first stopped in the two of parallel traveling automatic guided vehicle On the basis of the reflecting plate installed on car, to determine the technology of the stop position of follow-up automatic guided vehicle, patent document 2 records Gathering to calculate the technology of the position of itself based on determination data, do not contemplate and multiple shelf are arranged using automatic guided vehicle Arrange the situation of configuration.After all, in the relevant existing system of the automatic guided vehicle with being moved in warehouse, shelf are used for Reference position is provided, rather than is that object (shelf are set as reference position) is set.Assuming that by described in patent document 1,2 Technology be applied to shelf carrying, be adjusted to advise since there is no by the angle between multiple shelf (or multiple automatic guided vehicles) The structure of fixed angle, therefore spread configuration can not be carried out to multiple shelf.

The present invention provides following technology：Even if lack position in the space that shelf are set or the deduction of direction is required In the case of geometry, also shelf can automatically be arranged in a manner of making angle as defined in shelf and wall holding Configuration.

Solution

In order to solve the above problems, the present invention is using the structure described in such as technical solution.This specification includes multiple For solving the scheme of the above subject, if but enumerate its an example, for " a kind of shelf configure system, have：At least two carryings Robot, it has the storage part of the sensor of measure circumferential shape and storage map datum, and is used for Transport cargo rack；And pipe Terminal is managed, its action sent to the transfer robot carries out defined carrying data, and the transfer robot is being moved to After the position specified by the carrying data, the direction specified by the carrying data is surveyed using the sensor It is fixed, and the position of the shelf is adjusted based on the geometry for other transfer robots for being adjusted the angle relative to wall Put and angle ".

Invention effect

According to the present invention, even if lacking the required geometry of deduction of position or direction in the space for setting shelf In the case of, also can automatically it be arranged to shelf in a manner of making angle as defined in shelf and wall holding.On Problem, structure and effect beyond stating are given clearly by the explanation of following embodiment.

Brief description of the drawings

Fig. 1 is the figure for the Sketch for showing the shelf configuration system in embodiment 1.

Fig. 2 is the figure illustrated to the configuration image of the shelf in embodiment 1.

Fig. 3 is the functional block diagram of the transfer robot and management terminal in the present embodiment.

Fig. 4 is the flow chart illustrated to the shelf configuring action performed in management terminal.

Fig. 5 is the figure illustrated to the image of map datum, shelf topology data, shelf configuration sequence data.

Fig. 6 is to show that shelf obtain the figure of the data example of destination coordinate and shelf setting data.

Fig. 7 is the flow chart for the elemental motion for showing transfer robot.

Fig. 8 is the figure illustrated to the action example for carrying the transfer robot of first shelf.

Fig. 9 is the figure illustrated to the action example for carrying the transfer robot of second shelf.

Figure 10 is the figure illustrated to the action example for carrying the transfer robot of the 3rd shelf.

Figure 11 is to show that there is no the situation of the transfer robot of shape reference and the carrying implement there are shape reference The different figures of the sensing data of the situation of device people.

Figure 12 be show just there is provided first row last shelf after transfer robot action figure.

Figure 13 is the figure of the action of transfer robot when showing to the front Transport cargo rack of secondary series.

Figure 14 is the figure for the adjustment example for showing the position angle between shelf and transfer robot.

Figure 15 is the figure for another adjustment example for showing the position angle between shelf and transfer robot.

Figure 16 is that shelf are obtained with the figure that the modification method of the present coordinate values at position illustrates.

Figure 17 is the figure that the shelf being shown with the case of 12 transfer robots 200 set data example.

Figure 18 is the figure for being shown with the shelf configuration example in the case of 12 transfer robots 200.

Figure 19 is the flow chart of the action of transfer robot when showing to rearrange existing shelf.

Figure 20 is the figure of an examples of carrying data for showing to use when rearranging.

Embodiment

Hereinafter, embodiments of the present invention are illustrated based on attached drawing.It should be noted that embodiments of the present invention Embodiment described later is not limited to, various modifications can be carried out in the range of its technological thought.

(1) embodiment 1

In the present embodiment, illustrate before using logistics warehouse (state for being not provided with any device in warehouse), to make The shelf being automatically arranged to shelf in a manner of making shelf parallel with wall with multiple transfer robots configure system System.

The overall structure of (1-1) system

Fig. 1 shows the Sketch for the shelf configuration system contemplated in the present embodiment.Shelf configuration system includes two The transfer robot 200 (200a, 200b) and management terminal 300 that shelf above are more than 100, two.In the present embodiment Shelf 100 substantially have four legs, and being provided between shelf foot and shelf foot only can be for transfer robot 200 freely Mobile space.That is, between undermost frame plate and ground, being provided with using shelf foot only can be for transfer robot 200 spaces moved freely.

Transfer robot 200 is one kind of so-called automatic guided vehicle.The transfer robot 200 of the present embodiment is included substantially The apparatus main body of rectangular shape, the laser distance sensor 210 for being installed on its direction of advance front surface, be installed on apparatus main body Upper surface dockboard 220 and be installed on the wheels 230 of left and right sides.It should be noted that in the peace of wheel 230 Consider in dress method in the method for the left and right of apparatus main body installation pair of wheels, in two pairs of wheels of the left and right of apparatus main body installation The various installation methods such as method, the method for installing pair of wheels and an auxiliary wheel in the left and right of apparatus main body.

Laser distance sensor 210 includes：Irradiate laser light source (such as laser diode, the LED (light of laser Emitting diode)), receive the photo detector of the laser from measuring object and calculated based on the light received The direction of measuring object and the operational part of distance.It should be noted that also operational part is configured at other equipment side sometimes.This reality In the case of applying example, a laser is only equipped with the side (front surface) facing with the direct of travel of transfer robot 200 Range sensor 210.Sensed it is of course also possible to be provided with more than two laser distances relative to a transfer robot 200 Device 210.In the case where the same face sets more than two laser distance sensors 210, if vertically setting, can measure Distance under different height, if being set along left and right, can disposably measure large-scale distance.In addition, laser distance senses Device 210 can also be installed on multiple sides of transfer robot 200.Laser distance sensor 210 is installed in multiple sides In the case of, even if being changed without direction, for transfer robot 200, can single-time measurement away from multiple sides away from From.It should be noted that as described later, laser distance sensor 210 in the present embodiment can regulation angular region (such as 180 °) interior scanning laser.

Dockboard 220 is the general name for the mechanism being driven up and down relative to apparatus main body, has plate main body, by plate main body edge The first drive division for driving up and down and the second drive division that convolution driving is carried out to plate main body.This mechanism is known.Dress Plate 220 is unloaded for making the action or make what is lifted that shelf 100 are lifted relative to the apparatus main body slipped under shelf 100 The action that shelf 100 decline.Due to the presence of the first drive division, transfer robot 200 can make shelf 100 relative to device Main body moves in the state of lifting.In addition, the second drive division can make plate main body circle round relative to apparatus main body.Pass through the work( Can, transfer robot 200 can in the state of shelf 100 have been lifted relative to apparatus main body variations or modifications shelf 100 Direction.The function can by shelf 100 relative to wall when datum level be adjusted to as defined in angle when use.

The wheel 230 of the left and right side of apparatus main body makes transfer robot 200 keep straight on by rotating in the same direction, Transfer robot 200 is set to circle round by rotate in the opposite direction.If make conveying robot in the state of shelf 100 have been lifted People 200 is circled round, then can carry out the change of the moving direction of shelf 100 or the angle adjustment of shelf 100.It should be noted that When dockboard 220 is circled round relative to apparatus main body, while making transfer robot 200 in the side opposite with the convolution direction Upwards during convolution, the direction of transfer robot 200 can be only changed in the state of 100 remains stationary of shelf.

Management terminal 300 be with multiple transfer robots 200 it is respective between via wireless network the end of transceiving data End.Management terminal 300 is laid out according to the configuration of shelf, action to each transfer robot 200 (comprising mobile, convolution, and The movement and rotation along the vertical direction of workbench main body) indicated.

(1-2) configures the action image of shelf

First, based on Fig. 2, the image configured to the shelf in the present embodiment illustrates.Fig. 2 is represented using two carryings The shelf handling system of robot 200a and 200b.The arrayed feature of shelf in the present embodiment is, is used instead of wall The side this point of the transfer robot 200a of one side.

First, the first transfer robot 200a is being lifted and is being kept travelling in the state of first shelf 100, is moved to energy The first shelf setting place of two walls is enough measured using laser distance sensor 210.Reach the first shelf setting place The first transfer robot 200a to the sensing data (sensing data described later that is obtained using laser distance sensor 210 404) map (map datum 400 described later) in the space with configuring shelf 100 is compareed, so that itself is relative to positive The mode that wall and the wall on right side become defined angle adjusts self-position and posture, stops at the time of adjusting and terminating Only, first shelf 100 is down to ground.In case of the present embodiment, the first transfer robot 200a is the second carrying implement Device people 200b provides reference position, therefore, slack in the place.

In the next step, the second transfer robot 200b rows in the state of lifting and keeping second shelf 100 Sail, be moved to the second shelf setting place that can be measured to the side of the first transfer robot 200a.Reach the second goods Second transfer robot 200b of frame setting place is to the sensing data (biography described later that is obtained by laser distance sensor 210 Sensor data 404) with added the first transfer robot 200a side view space map (map datum described later 400) compareed, so that itself side view and the right side relative to the first transfer robot 200a stopped in the front of itself The wall of side and adjust self-position and posture as the mode of defined angle, at the end of adjustment, the is made in the place Two shelf 100 decline.At the end of the setting of second shelf 100, the first transfer robot 200a is set from the first shelf Moved to the setting position of the 3rd shelf 100 in place.Next time, the second transfer robot 200b are the first transfer robot 200a Reference position is provided.Therefore, the second transfer robot 200b rests on the second shelf setting place.

In next step, the first transfer robot 200a in the state of lifting and keeping the 3rd shelf 100, It is moved to the 3rd shelf setting place that can be measured to the second transfer robot 200b.Reach the 3rd shelf setting place The first transfer robot 200a to the sensing data (sensing data described later that is obtained by laser distance sensor 210 404) map (map datum 400 described later) with the space for the side view for having added the second transfer robot 200b carries out pair According to so that itself relative to the side view of the second transfer robot 200b and the wall on right side stopped in the front of itself into Self-position and posture are adjusted for the mode of defined angle, stops at the time of adjusting and terminating, the 3rd is made in the place Shelf 100 decline.

First transfer robot 200a and the second transfer robot 200b basically by alternately repeating these actions, It is arranged in a manner of making angle as defined in multiple shelf 100 and wall holding to multiple shelf 100.

The function block structure of (1-3) transfer robot and management terminal

Here, the transfer robot 200 of the present embodiment and the function block structure of management terminal 300 are said using Fig. 3 It is bright.

The functional block of (1-3-1) management terminal

Management terminal 300 be by operator plan shelf configuration when use and according to the layout of made shelf The terminal that carrying action to transfer robot 200 is managed.The management terminal 300 of the present embodiment with computer (CPU, RAM, ROM, hard disk) it is basic structure, function described later is provided by the execution of program.Shelf configuring portion 351 is based on The map datum 400 and shelf topology data 401 in warehouse and generate shelf set data 420.Shelf set data 420 to include： (1) order of shelf configuration；(2) coordinate value on configuration purpose ground；(3) shape reference object is (in the configuration of shelf in order to certainly Positioning is put, posture and azimuth or direction present in certain geometry of reference), (4) show which transfer robot 200 Undertake the fitted out vehicles evidence of corresponding operation；(5) acted after the setting of the mobile destination of the transfer robot after setting is shown.

In addition, shelf configuring portion 351 obtains destination to the shelf for giving the acquirement place for the shelf 100 to be arranged Coordinate data 410 is set.In case of the present embodiment, it is one that shelf, which obtain destination coordinate data 410,.That is, exist After shelf 100 are handled upside down the carrying of robot 200, another shelf 100 is configured at identical place by artificial etc..But In the case of determining the coordinate of the position before the arrangement of multiple shelf 100 and being known, also these coordinate values can be set as goods Frame obtains destination coordinate data 410.

Carry data generating section 352 and generate carrying as defined in the action to be performed to single transfer robot 200 progress Data 430.Carrying data 430 includes the various data needed for transport operation, such as (1) shelf obtain destination coordinate data 410th, (2) shelf configuration purpose ground seat of shelf for having set of coordinate data 422, (3) shape reference object data 423, (4) Mark (shelf coordinate Value Data 440 has been set), (5) with reference to shape transfer robot coordinate (shape reference robot coordinate Value Data 441), (6) set after action data 425.The data for forming carrying data 430 set data basically by from shelf 420 extract the data of corresponding job numbers and generate.

The coordinate value (having set shelf coordinate Value Data 440) of the shelf 100 set is in corresponding job number The coordinate value of all shelf 100 set before, with reference to coordinate (the shape reference machine of the transfer robot 200 of shape People's coordinate value 441) it is the coordinate value of setting and the transfer robot 200 stopped before corresponding job number.Generate herein Carrying data 430 to setting the fitted out vehicles corresponding with corresponding job number in data 420 by shelf according to definite carrying Robot 200 is sent.

Data sending and receiving department 353 sends to next transfer robot 200 for wanting operation and carries data 430, also, from end The transfer robot 200 of operation receives the notice of this order of the end of job.The knot of operation is being received from transfer robot 200 In the case of Shu Tongzhi, data sending and receiving department 353 sets next job number generation of data 420 to carry data based on shelf 430, sent to corresponding transfer robot 200 and carry instruction.It should be noted that the generation for carrying data 430 can not also It must be started with being received as trigger event of end notification of operation.

There is storage in storage part (such as RAM, hard disk)：(1) started at from the ground in the warehouse of the object configured as shelf A certain height sectional view (map datum 400)；(2) shelf topology data 401；(3) shelf obtain destination coordinate data 410；(4) shelf generated by shelf configuring portion 351 set data 420；(5) shelf coordinate Value Data 440 has been set； (6) robot coordinate Value Data 441 is used in shape reference；(7) data 430 are carried；(8) the measure model of laser distance sensor 210 Enclose (range sensor measurement range 403).

The functional block of (1-3-2) transfer robot

Transfer robot 200 is automatic running and to automatically configure the nothing of the shelf 100 as moving object in warehouse People's carrier.As it was previously stated, the front surface (front side) in the apparatus main body for forming transfer robot 200 is provided with pair and week The laser distance sensor 210 that the distance between collarette border is measured, also, be provided with the upper surface of apparatus main body and make goods 100 rise and fall of frame and the dockboard 220 for making shelf 100 circle round relative to apparatus main body.In addition, in the left and right sides of apparatus main body Face is provided with wheel 230.

The setting place that transfer robot 200 is moved to the shelf 100 as moving object (obtains destination to sit by shelf The place that mark data 410 are specified) and slip under shelf 100, it is moved to purpose with keeping the state after shelf 100 are lifted Ground, shelf 100 are set in a manner of shelf 100 is become defined position and angle relative to wall.In transfer robot The inside of 200 apparatus main body possesses the driving mechanism of dockboard 220, the driving mechanism of wheel 230 and controls the dynamic of them The computer (CPU, RAM, ROM) of work.Function described later is provided by the execution of the program carried out by computer.

Data sending and receiving department 251 by internet 600 and with 300 wireless connection of management terminal, from management terminal 300 receive with Shelf carry relevant information and carry data 430, and the end of carrying is notified to management terminal 300.Detecting means 252 will be by The data that laser distance sensor 210 measures deposit in storage part (RAM) as sensing data 404.Handling part 253 is right Driving mechanism (not shown) is controlled, so as to control the rise and fall and/or convolution of dockboard 220.Map rejuvenation portion 254 will The map datum 400 for depositing in storage part is updated to and current state consistency.Map rejuvenation portion 254 is based on from management terminal The 300 carrying data 430 received (have not put shelf coordinate Value Data 440, shape reference robot coordinate Value Data 441) And the shelf feet shape data 405 and transfer robot shape data 406 of the storage part of itself are deposited in, to depositing in The map datum 400 in storage portion adds the shape data of shelf foot and transfer robot.

Drive division 255 is the driving mechanism for being driven to wheel 230 and moving transfer robot 200.Mobile control Portion 256 is controlled drive division 255 after instruction is received from management terminal 300 so that transfer robot 200 along Moved based on the mobile data path 431 for carrying the generation of data 430, so as to control movement of the transfer robot 200 in warehouse. In case of the present embodiment, mobile control division 256 not only controls drive division 255, goes back the everything in control device main body.

Have in storage part (such as RAM) storage：(1) map datum 400；(2) it is provided with the height of laser distance sensor 210 Sectional view, that is, shelf feet shape data 405 of shelf foot under degree；(3) it is provided with the height of laser distance sensor 210 Under transfer robot sectional view, that is, transfer robot shape data 406；(4) the carrying number received from management terminal 300 According to 430；(5) mobile data path 431 in the path of acquirement position or shelf setting position from current location to shelf is shown； (6) expression determined and the sensing data 404 of the distance between surrounding environment using laser distance sensor 210；(7) By the control treatment of sensing data 404 and map datum 400 and the current location data 432 that calculates.

Shelf configuring action in (1-4) management terminal

The shelf configuring that Fig. 4 shows to be performed by the management terminal 300 of the present embodiment acts.The action passes through by not scheming The execution for the program that the computer that shows carries out and be provided.First, read in map datum 400 in shelf configuring portion 351, and Shelf topology data 401 (step S101) is inputted on to the map datum 400 of reading.Shelf configuring portion 351 is according to the goods Frame topology data 401 and generate to transfer robot 200 indicate instruction data., it is necessary to carry in the generation of instruction data Robot 200 will go to obtain the place of the shelf 100 as moving object.In this regard, shelf configuring portion 351 is to obtaining shelf The coordinate value in 100 place, that is, shelf obtain destination coordinate data 410 and are set (step S102).

Then, shelf configuring portion 351 sets (step S103) order for setting shelf 100.In addition, shelf Configuring portion 351 is to the direction (reference object) (step S104) present in the shape of reference when setting shelf 100.With Make multiple shelf 100 relative to wall keep as defined in the mode of angle be configured (arrangement) when, be initially required first It can identify that the place of wall sets first shelf 100.First shelf 100 is arranged to be carried in transfer robot 200 Laser distance sensor 210 measurement in the range of fall into the places of two walls.In addition, in order to become the setting of shelf 100 Obtain easily, basic flow is, from the back side to nearby side (that is, along from away from the place (initial position) that obtain shelf 100 Place move closer to shelf 100 to be obtained place direction) set shelf 100.

(1-5) various layouts

Fig. 5 shows the various layouts used in the present embodiment, i.e. map datum 400, shelf topology data 401, shelf Configuration sequence data 402.It is a certain that map datum 400 is that the ground out of warehouse as the configuration object of shelf 100 is counted Sectional view (top plan view) under height.The meter of the laser distance sensor 210 highly carried with transfer robot 200 The height in survey face is identical.Based on the stop position sent when transfer robot 200 sets shelf 100 every time to management terminal 300 Put and gesture data, to map datum 400 on additional shelf foot shape.The addition is by mobile control division 256 described later Perform.As shown in figure 3, map datum 400 not only deposits in management terminal 300, all transfer robots 200 are also deposited in.

Shelf topology data 401 is the figure for showing how to configure shelf 100 on the map datum 400 in warehouse.Shelf are matched somebody with somebody Put the figure that alphabetic data 402 is the configuration sequence for showing the shelf 100 on shelf topology data 401.It is suitable in the shelf configuration of Fig. 5 Ordinal number according in 402, the position of configuration shelf 100 with numeral (such as 1,2 ... 24) configuration sequences of shelf 100 is shown, but Shelf configuration sequence data 402 without being kept in the form of drawing, the shelf of Fig. 6 that can also be as be described hereinafter set data 420 that Sample is kept with data mode.

(1-6) shelf obtain destination coordinate data and shelf set data

Fig. 6 shows the data example that shelf obtain destination coordinate data 410 and shelf set data 420.Obtained in shelf In destination coordinate data 410 storage have the position (initial position) of supply source as shelf 100 on map datum 400 Coordinate value.In shelf set data 420, (1) shelf numbering data 421, (2) have been stored respectively according to the configuration sequence of operation Shelf configuration purpose coordinate data 422, (3) shape reference object data, (4) fitted out vehicles according to 424, (5) set after act number According to 425.

Shelf numbering data 421 are the volumes of the shelf setting destination described in shelf configuration sequence data 402 (Fig. 5) Number.Storage has the coordinate value that the shelf on map datum 400 set destination in coordinate data 422 in shelf configuration purpose (x, y).The side for having and showing the setting position in order to finally determine shelf 100 and confirming is stored in shape reference object data 423 To or azimuthal data.The setting position of shelf 100 is with (the range sensor measurement range around transfer robot 200 In the range of data 403) occur geometry (side of wall or other transfer robots 200) on the basis of and be identified.

Here, shelf configuring portion 351 is based on map datum 400, shelf set precalculated position (shelf topology data 401).Position, the institute of transfer robot 200 as the stopping of transfer robot 200 beyond the transfer robot 200 of denoted object The measurement scope (range sensor measurement range 403) of the laser distance sensor 210 of carrying determines direction etc., and will determine should The data in direction deposit in shape reference object data 423.Direction is determined on the basis of map datum 400 (Fig. 5).

Such as wall enter transfer robot 200 front-surface side in the case of direction show that wall enters right side side with " F " In the case of direction shown with " R ", wall enter left side side in the case of direction shown with " L ".Such as in other carrying implements In the case that device people 200 stops at the place of " 5 " of shelf configuration sequence data 402 (Fig. 5), when transfer robot 200 is carried During the 6th shelf 100, storage " 5 " and " R " is used as shape reference object data.

There is the numbering for the transfer robot 200 for determining to be used in the carrying of shelf 100 in storage during fitted out vehicles are according to 424 (robot numbering).After setting in action data 425, by the transfer robot for the carrying after the setting of shelf 100 200 rest on storage " stay " in the case of the place, will moved for the transfer robot 200 of the carrying to other places In the case of storage be used to determine " numbering " of mobile destination.It should be noted that in figure 6, by the goods of mobile destination The numbering of frame is documented in after setting in action data 425, but can also record the coordinate value of mobile destination.

It should be noted that in the explanation of Fig. 6, to represent sequence number " No. " unduplicated side of the execution sequence of action Formula is registered, but in the case of desired while mobile more transfer robots 200, can also be by with identical sequence number " No. " Row registration it is multiple.Such as by " 1,2,3,4 ... 6,6,7,8 ... in a manner of as 23,24 " by " 6 " register it is multiple.

The action that (1-7) is performed in transfer robot

Fig. 7 shows the elemental motion of transfer robot 200.Following action is led to by the CPU for being equipped on transfer robot 200 Cross the execution of program and realize.Specifically, performed by mobile control division 256.First, data sending and receiving department 251 is from management terminal 300 receive carrying data 430 (step S201).Data 430 are carried including shelf acquirement destination coordinate data 410, shelf to match somebody with somebody Put destination coordinate data 422, shape reference object data 423, set after action data 425, shelf coordinate value number has been set Robot coordinate Value Data 441 is used according to 440 and shape reference.

The shelf coordinate of setting Value Data 440 that map rejuvenation portion 254 is included based on the carrying data 430 received, Robot coordinate Value Data 441, transfer robot shape data 406 and shelf feet shape data 405 are used in shape reference, to The map datum 400 for depositing in the storage part of itself adds the shape data of transfer robot 200 and the shape number of shelf foot According to.Thus, map datum 400 is updated to newest state (step S202) by map rejuvenation portion 254.Which with from management eventually The situation that end 300 receives newest map datum 400 in real time is compared, and can reduce traffic load.

Then, mobile control division 256 make transfer robot 200 be moved to by shelf obtain destination coordinate data 410 refer to Fixed coordinate position, the shelf 100 (step S203) for setting object are used as to obtain.Being moved through by mobile control division here The control of 256 drive divisions 255 carried out is realized.Transfer robot 200 is reached by shelf acquirement destination coordinate data 410 During the coordinate position shown, carry out shelf 100 and matched with the position/attitude of itself.Specific method aftermentioned (Figure 13, Figure 14, figure 15)。

Mobile control division 256 coordinate data 422 and present bit based on the shelf configuration purpose received by step S201 Data 432 are put to set the mobile route (step S204) of transfer robot 200.The mobile route set is as mobile route Data 431 deposit in the storage part of itself.After the setting of mobile route, mobile control division 256 is based on mobile data path 431 And start the movement of transfer robot 200.

In the case of not laying traveling guide or locative terrestrial reference on the ground, mobile control division 256 usually passes through The control treatment of the sensing data that is obtained by laser distance sensor 210 and map 400 identifies self-position.But In the case of there's almost no the object as target in environment, the information of needs can not be obtained.That is, 256 nothing of mobile control division Method uses foregoing method.In this case, mobile control division 256 uses the wheel 230 based on transfer robot 200 Rotation information calculates the mensuration of displacement distance, is moved near destination (step S205).

The measurement of displacement distance and direction is being obtained by the anglec of rotation and angular velocity of rotation of accumulative or so wheel 230 In method, the error that is produced by the skidding on wheel 230 and ground, with size of wheel diameter or transfer robot 200a etc. be Because the influence of parameter error accumulated with the increase of displacement distance, accurate place can not be reached.Around be not present into Under place for the geometry of reference, the location estimating based on mensuration is carried out, but in case of the present embodiment, in purpose Near ground, also there are geometry of other transfer robots 200 etc. in addition to wall.In this regard, mobile control division 256 exists It is based on the sensing data 404 exported from laser distance sensor 210 and ground by pattern switching when near arriving at Diagram data 400 and carry out location estimating processing (step S206).That is, mobile control division 256 is worked as what is calculated by mensuration Front position, sensing data 404 and map 400 are set to input to correct self-position.

Mobile control division 256 is compareed by sensing data 404 and map datum 400, so that transfer robot 200 The center mode consistent with destination moves (step S207).In the present embodiment, due to by multiple shelf 100 relative to With defined angle spread configuration as a purpose, therefore, mobile control division 256 changes the direction of transfer robot 200 to wall For the direction stored in the shape reference object data 423 that receive in step s 201, by that can measure in this direction Geometry and map datum 400 compare, to adjust the position of transfer robot 200 and angle (step S208).In step In rapid S208 at the end of the adjustment of position and angle, under the control of handling part 253, fall dockboard 220.Thus, by removing Fortune robot 200 carries the shelf 100 come and is down to ground (step S209).When making shelf 100 be down to ground, mobile control division 256 according to action data after setting 425 instruction, state that position stops in the place or the movement of downward a place.It Afterwards, mobile control division 256 is provided with by data sending and receiving department 251 to the notice of management terminal 300.

(1-8) carrying acts

Hereinafter, to carrying out Transport cargo rack 100 using two transfer robots 200 in the case of action illustrate.With Under explanation in, the side in two transfer robots 200 is set to transfer robot 200a, the opposing party is set to conveying robot People 200b.

Fig. 8 shows to move the situation of first shelf 100 using transfer robot 200a.First, transfer robot 200a Received from management terminal 300 and carry data 430_1 (step S201).Carrying data 430_1 includes being used to make transfer robot 200a obtains shelf 100 from shelf place to place and is arranged at the information on configuration purpose ground.Specifically, including shelf obtain mesh Ground coordinate data 410, shelf configuration purpose coordinate data 422, shape reference object data 423, shelf coordinate has been set Value Data 440, shape with reference to robot coordinate value 441, setting after act 425.In the configuration of first shelf 100, energy Enough other transfer robots 200 used in the reference of shape there is not yet in warehouse.Therefore, on map datum 400 Two walls positioned at front and the right side are designated as shape reference object.Therefore, shape reference object data 423 are (F, R).

According to foregoing explanation, at the moment, the renewal for making a reservation for perform map datum 400 handles (step S202), but by At the time of the carrying of first shelf 100 is being started, there is no existing shelf 100 or other carrying implements of shape are should refer to Device people 200b, therefore, without the renewal of map 400.(1)~(5) in figure are the transfer robots in top view warehouse The figure of the action of 200a.Map datum 400 is the top plan view in warehouse, depicts and shows under certain height from ground Warehouse wall and pillar etc..After the setting of shelf 100 or in the case of the stopping of transfer robot 200, its shape is chased after It is added on map datum 400.

In moment (1), the first transfer robot 200a obtains mesh positioned at the position i.e. shelf of the supply shelf 100 to be set Ground coordinate (x0, y0).First transfer robot 200a is moved since the position.In moment (2), mobile control division 256 exists Mobile starting position, that is, shelf, which obtain destination coordinate (x0, y0) and generate between coordinate (x1, y1) with shelf configuration purpose, to be moved Dynamic path.Mobile route is for example expressed as (x0, y0) → (x0, y1) → rotate counter-clockwise 90 ° → (x1, y1).In this implementation In the case of example, the first transfer robot 200a infers self-position based on mensuration, sits with being moved to shelf configuration purpose Mark near (x1, y1).

Moment (3) (at the time of with reaching shelf configuration purpose near coordinate (x1, y1)), mobile control division 256 from Infer that the pattern switching of self-position is the sensing by being obtained in range sensor measurement range data 403 based on mensuration Device data 404 and map datum 400 are compareed to calculate the pattern (step S206) of self-position and posture.That is, mobile control Portion 256 compares near the current location obtained by mensuration, to map datum 400 with sensing data 404, repaiies Positive self-position and posture.

In moment (4), transfer robot 200a with being moved to shelf configuration purpose (steps near coordinate (x1, y1) S207).Here, mobile control division 256 with reference to carry in the shape reference object data 423 that are included of data 430_1 with " F " The shape positioned at positive wall specified, is (step parallel with positive wall by the position of transfer robot 200a and angle modification Rapid S208).

In moment (5), mobile control division 256 is with reference to carrying in the shape reference object data 423 that are included of data 430_1 The right wall specified with " R " shape, be the shape parallel with the right side by the position of transfer robot 200a and angle modification. At this time, transfer robot 200a main body circled round to 90 degree clockwise and correction position and angle (step S208).Time at this time It is spun in the state of the direction for not changing shelf 100 and carries out.Specifically, by one side make dockboard 220 relative to main body around Circle round counterclockwise, while making main body circle round clockwise using pair of wheels 230 to carry out.When the amendment of position and posture terminates When, handling part 253 falls dockboard 220.Thus, shelf 100 are down to ground (step S209).Afterwards, mobile control division 256 In the state of the place is stopped at, the completion (step set is sent to management terminal 300 by data sending and receiving department 251 S210)。

Fig. 9 shows to move the situation of second shelf 100 using transfer robot 200b.First, transfer robot 200b Received from management terminal 300 and carry data 430_2 (step S201).Carrying data 430_2 includes shelf acquirement destination coordinate Data 410, shelf configuration purpose coordinate data 422, shape reference object data 423, shelf coordinate Value Data has been set 440th, action data 425 after shape reference robot coordinate Value Data 441, setting.Map rejuvenation portion 254 is to map datum The shelf of setting coordinate (x1, y1) and shape on 400 are carried with reference to the position of robot coordinate value (x1, y1) is additional respectively Robot shape data 406 and shelf feet shape data 405 (step S202).

(1)~(5) in figure are the figures of the action of the transfer robot 200b in top view warehouse.In moment (1), remove The transfer robot 200a for having transported first shelf 100 stops at the coordinate (x1, y1) for being provided with first shelf 100.It is another Aspect, transfer robot 200b stop at position (that is, the shelf acquirement destination for being arranged to the shelf 100 of second and being supplied to Coordinate (x0, y0)).The action of moment (2) and (3) is identical with the action of moment illustrated in fig. 8 (2) and (3).

In moment (4), transfer robot 200b with being moved to shelf configuration purpose (steps near coordinate (x1, y1) S207).Here, mobile control division 256 with reference to carry in the shape reference object data 423 that are included of data 430_2 with " 1 " The side view of the transfer robot 200a stopped under first shelf 100 specified, by the position of transfer robot 200b It is (step S208) parallel with transfer robot 200a to put with angle modification.That is, transfer robot 200b is directed to upper side in figure To, based on the geometry that have adjusted the transfer robot 200a of angle relative to wall geometry in itself adjust from The position of body and angle.In this case, mobile control division 256 has added transfer robot shape data 406 and goods by being forced The map datum 400 of frame feet shape data 405 identifies the position of itself and appearance with the control treatment of sensing data 404 Gesture, performs the amendment of angle.For example, transfer robot 200b is with sensing data 404 and transfer robot shape data 406 With reference to adjusting the position of itself in a manner of making the center of transfer robot 200a consistent with the center of itself.

In moment (5), the shape reference object data 423 that data 430_2 is included are carried in transfer robot 200b references In the right wall specified with " R " shape, be parallel with right wall by the position of transfer robot 200a and angle modification. In this case, transfer robot 200b, which also makes main body circle round clockwise 90 degree, comes correction position and angle (step S208).When At the end of the amendment of position and posture, handling part 253 falls dockboard 220.Thus, shelf 100 are down to ground (step S209).That is, transfer robot 200b is directed to right direction in figure, is adjusted relative to wall the geometry of the direction in itself It is whole itself position and angle.Afterwards, mobile control division 256 passes through data sending and receiving department 251 in the state of the place is stopped at The completion (step S210) set is sent to management terminal 300.

Figure 10 shows to move the situation of the 3rd shelf 100 using transfer robot 200a.First, transfer robot 200b is received from management terminal 300 and is carried data 430_1 (step S201).In carrying data 430_1 herein, as having set Shelf coordinate Value Data 440 and store have (x1, y1) and (x1, y2), as shape with reference to use robot coordinate Value Data 441 and Storage has (x1, y2).In this regard, map rejuvenation portion 254 to the shelf of the setting coordinate (x1, y1) on map datum 400 and (x1, Y1) additional shelf feet shape data 405, conveying robot is added to shape with reference to the position of robot coordinate value (x1, y1) People's shape data 406 (step S202).In this case, in moment (1), transfer robot 200a is moved to shelf and obtains purpose Ground coordinate (x0, y0).Hereafter the action of (2)~(5) is identical with Fig. 8 and content illustrated in fig. 9 at the time of.That is, carrying implement Device people 200a is directed to upper side direction in figure, and the transfer robot 200b's based on the angle relative to wall by Indirect method is several What shape adjusts the position of itself and angle.On the other hand, transfer robot 200a is directed to right direction in figure, with the direction Wall geometry in itself on the basis of directly adjust the position of itself and angle.

The acquirement example of (1-9) sensing data

Figure 11 show there is no shape with reference to transfer robot 200 in the case of sensing data 404a with depositing The difference of sensing data 404b in the case of the transfer robot 200 of shape reference.There is no shape with reference to use Transfer robot 200 in the case of sensing data 404a in, the number that is obtained in the forward direction of transfer robot 200 Strong point discretely occurs.In such sensing data 404a, datum line can not be determined, accordingly, it is difficult to adjust conveying robot The position of people 200 and posture.That is, shelf 100 can not be made to be arranged relative to other shelf 100.On the other hand, there are shape In sensing data 404b in the case of the transfer robot 200 of reference, taken in the forward direction of transfer robot 200 The data point obtained is continuous.By the way that the data point range is used as datum line, other positive carrying implements positioned at itself can be realized Device people 200 and itself the distance between and angle determine.That is, can be with other carrying implements with the front stopping at itself On the basis of 200 corresponding data point of device people, to correct the position of itself and posture.

(1-10) just there is provided the action of the transfer robot after the last shelf of first row

Figure 12 shows that just there is provided the action of the transfer robot 200 after the last shelf 100 of first row.Here, by Transfer robot 200b carries the last shelf 100 of first row.Management terminal 300 is in order to indicate the last of first row Shelf 100 carrying, sent to transfer robot 200b and carry data 430_6.Carry data 430_6 and foregoing carrying number It is same according to 430_1~430_3 (Fig. 8~Figure 10).Therefore, transfer robot 200b is in the same manner as the situation of Fig. 8~Figure 10, successively Perform the action at moment (not shown) (1)~moment (5).That is, transfer robot 200b is using the map datum 400 after updating With being moved to shelf configuration purpose near coordinate (x1, y6) after, adjusted with reference to the side view of transfer robot 200a Shelf 100 are arranged at ground by position and posture.

At this time, transfer robot 200b is directed to upper side direction in figure, is adjusted indirectly based on the wall relative to the direction The geometry of transfer robot 200a at the position of the numbering of angle " 5 ", adjusts position and the angle of itself.The opposing party Face, the geometry of walls of the transfer robot 200b based on right side in figure in itself, directly adjusts position and the angle of itself.When When being provided with of shelf 100, mobile control division 256 is with reference to action data after setting 425.In this case, acted after setting Storage has " 0 " as the numbering for determining mobile destination in data 425.Coordinate corresponding with numbering " 0 " is that shelf obtain purpose Ground coordinate (x0, y0).Therefore, in moment (6), transfer robot 200b starts to obtain destination coordinate (x0, y0) to shelf It is mobile.When transfer robot 200b obtains the mobile completion of destination coordinate (x0, y0) to shelf, management terminal 300 to Transfer robot 200a, which is sent, carries data 430_7.

It should be noted that transmissions of the data 430_7 to transfer robot 200a will be carried from what management terminal 300 carried out It can be any time as long as after the setting of shelf 100 is completed by transfer robot 200b.Such as can also be with removing Fortune robot 200b starts to be carried out at the same time to the movement for obtaining destination coordinate (x0, y0).In each row most by afterbody configuration goods In the case of frame 100, by using at the time of the configuration earthward of shelf 100 is completed by this order from transfer robot to The mechanism that management terminal 300 is sent, is moved while can realizing foregoing transfer robot 200a and transfer robot 200b.

In the carrying data 430_7 that transfer robot 200a is received, do not include setting relevant information with shelf, only Including action data 425 after having set shelf coordinate data 440 and having set.This is because the movement of transfer robot 200a The carrying that it is shelf 100 that purpose, which is not, but used in the carrying the wall on the right side of replacing of shelf 100 of next column.Figure 12's Moment (7) represents shift action at this time.

Transfer robot 200a is based on having set shelf coordinate data 440 to add shelf foot to map datum 400 During shape data 405, using the map datum 400 after renewal to be recorded in set after action data 425 numbering " 1 " position It is mobile.The coordinate for numbering " 1 " is (x1, y1).Moment (8) represents the action.In this case, transfer robot 200a passes through biography The control treatment of sensor data 404 and map datum 400 infers the position of itself and posture, with relative to the wall positioned at front It is modified and stops as the mode of defined angle with the wall relative to right side.Shape reference object at this time can be pre- First program, can also be when other be moved in the same manner as, recorded as shape reference object data 423.

Figure 13 the front position Transport cargo rack 100 to secondary series is shown in the case of transfer robot 200b action. In this case, sent from management terminal 300 to transfer robot 200b and carry data 430_8.Shape reference object data 423 In be written with (F, 1).The data represent to should refer to the shape of the wall in front and the transfer robot 200a positioned at numbering " 1 ".When The action for carving (2)~(5) is same with the action shown in Fig. 8~Figure 10.Moment (5) ' corresponds to being surrounded by dotted line in the moment (5) Part enlarged drawing.As shown in the drawing, transfer robot 200b makes main body circle round clockwise 90 degree, is pointed to first row The geometry of the transfer robot 200a of front is identified.Thus, transfer robot 200b can with transfer robot The mode of distance and angle as defined in 200a holdings adjusts position and the posture of itself.That is, transfer robot 200b is for figure In upper side direction, position and the angle of itself are directly adjusted based on wall geometry in itself, for right direction in figure, The position of itself and angle are adjusted based on the geometry for the transfer robot 200a that have adjusted angle relative to wall.

It should be noted that the remaining shelf 100 of secondary series are configured according to the step same with Fig. 8~Figure 10. Such as the transfer robot 200a of second position Transport cargo rack 100 to secondary series is directed to upper side direction in figure, based on basis Wall geometry in itself and have adjusted the geometry of the transfer robot 200b of angle, adjust the position and angle of itself Degree.In addition, being directed to upper side direction in figure to the transfer robot 200b of the 3rd position Transport cargo rack 100 of secondary series, it is based on The geometry of transfer robot 200a relative to the angle of wall by Indirect method adjusts the position of itself and angle. At this time, the transfer robot 200 of new configuration shelf 100 is ginseng with sensing data 404 and transfer robot shape data 406 Examine, adjusted in a manner of making the center of the transfer robot 200 on the side that direction stops in figure consistent with the center of itself The whole position of itself.Thus, even if in the case where using two transfer robots 200, can also be arranged relative to wall more A shelf 100.

The adjustment of the position angle of (1-11) between shelf and transfer robot

In order to realize being arranged for shelf 100, it is necessary to grasp and adjust exactly and slip under shelf 100 and by goods Position relationship between transfer robot 200 and shelf 100 that frame 100 lifts.

Figure 14 shows an example of the method for adjustment of the position angle between shelf 100 and transfer robot 200.Work as shelf 100 size, the size of the shelf foot of shelf 100, position, the size of transfer robot 200, transfer robot 200 are with swashing , can be according to the sensing data measured by laser distance sensor 210 when the relative position of electrical distance sensor 210 is known The distribution of 404 data point, calculates the transfer robot 200 when transfer robot 200 slips into shelf 100 relative to shelf 100 relative position and angle.

Such as above figure is such, in four not parallel situations while with the four of transfer robot 200 of shelf 100 Under, being distributed in the range sensor measurement range data 403 in fan-shaped broadening for the data point of sensing data 404 is not a left side It is right symmetrical.On the other hand, below figure is such, if four of shelf 100 parallel and goods while with the four of transfer robot 200 The center of frame 100 is consistent with the center of transfer robot 200, then being distributed in for the data point of sensing data 404 is expanded in fan-shaped It is symmetrical in wide range sensor measurement range data 403, and shelf foot is located at range sensor measurement range The inner side of specific distance from end of data 403.The distribution relation in order to obtain, transfer robot 200 to shelf 100 with Position and angle between itself are adjusted.Pass through relation, 200 energy of transfer robot as defined in the distribution satisfaction of data point It is enough to lift shelf 100 in the center of the underface of shelf 100.

Figure 15 shows the another method for being adjusted to the position angle between shelf 100 and transfer robot 200. In the case of Figure 15, the bottom shelf mark 101 of plane bar code etc. is installed in the bottom shelf of shelf 100.Shelf bottom Portion's mark 101 is pasted on the center of bottom shelf by its four exactly in a manner of parallel with during the four of shelf 100. On the other hand, it is provided centrally with camera 240 in the upper surface of dockboard 220.The upper space of camera 240 is configured than dockboard The position of 220 upper surface in the inner part.Therefore, when lifting dockboard 220, camera 240 will not be abutted with bottom shelf.

In the case of using the structure of Figure 15, the camera of the transfer robot 200 slipped under shelf 100 is utilized 240 carry out shooting shelf bottom marker 101.Due to the position relationship between bottom shelf mark 101 and shelf 100 be it is known, Therefore, it is possible to the image according to bottom shelf mark 101, to calculate relative position of the transfer robot 200 relative to shelf 100 And angle.If the position angle of transfer robot 200 is micro-adjusted based on the value, can make transfer robot 200 with The underface center of shelf 100 is stopped at four parallel modes in side of shelf 100.In this case, conveying robot The image that people 220 photographs to storage part storage, foregoing calculating is performed by image processing part (not shown) and adjustment is dynamic Make.

(1-12) shelf obtain the modification method of the present coordinate values at position

Figure 16 shows that shelf obtain an example of the modification method of the present coordinate values at position.As it was previously stated, conveying robot People 200 fetches the shelf 100 as moving object to the coordinate position specified by shelf acquirement destination coordinate data 410, but Shelf 100 might not be arranged at shelf exactly and obtain destination coordinate value (x0, y0).Therefore, Figure 14, Tu15Zhong are being used The method of explanation have modified after the relative position of shelf 100 and transfer robot 200 and angle, it is necessary to identify map datum Current coordinate value on 400.

Obtained in shelf near destination coordinate value (x0, y0) has the several of feature there are the corner portion of wall etc. In the case of what shape, mobile control division 256 passes through sensing data 404 and pair of the wall corner portion of map datum 400 According to processing, current location is calculated.Even if in the case of the geometry with feature there is no the corner of wall etc., when Such as wall etc. for obtaining near position of shelf is provided with position, terrestrial reference 501 or 502 known to shape etc. when, mobile control division 256 also compare the sensing data 404 for achieving the terrestrial reference with map datum 400, identify current location exactly.

Terrestrial reference 501 is the example for the multiple reflecting plates for having used length different.Terrestrial reference 502 is that depth is different with width Three-dimensional (tool is irregular) object is arranged at the example of wall., will if considering setup cost and the reflection to map datum 400 It is integrally unpractical that terrestrial reference for inferring self-position, which is arranged at warehouse,.But if it is only used for specific place, operation Cost is almost disregarded.

(1-13) uses the example of the transfer robot 200 of more than three

More than, it is illustrated to two transfer robots 200 are used alternatingly to configure the method for shelf 100, but carry The number of units of robot 200 is not limited to this.Here, the situation using 12 transfer robots 200 is illustrated.Figure 17 is represented Using 12 transfer robots 200 and to the shelf in the case of row six shelf 100 of configuration, data 420 are set.In the example In the case of, after each position of first row finishes the carrying of shelf 100, the transfer robot 200 for carrying also stops It is only motionless in the place.Therefore, in the carrying of the 7th corresponding with secondary series~the 12nd shelf 100, for each carrying Transfer robot 200 is instead of the wall positioned at right side and with reference to the shape of the transfer robot 200 stopped in first row.

Such as the shape reference object data 423 used in the carrying of the 7th shelf 100 are (F, 1), in the 8th goods The shape reference object data 423 used during the carrying of frame 100 are (7,2).Figure 18 shows to set data 420 to match somebody with somebody according to the shelf The situation of shelf 100 is put.As shown in painted block in Figure 18, shelf 100 are arranged alternately column by column.As it was previously stated, substantially, The transfer robot 200 of rank rear configuration adjusts positioning and angle based on the geometry of the transfer robot 200 stopped in forefront Degree.It should be noted that in the case of the configuration of the bottom right of Figure 18, also may be used in the transfer robot 200 of the row configuration of left end With the shape with reference to left wall.

The effect of (1-14) embodiment

The shelf handling system of the present embodiment can only even be observed in the range of the measurement of laser distance sensor 210 , also can be right in the space of the geometry of the position and orientation of shelf foot etc., shortage for inferring transfer robot 200 Multiple shelf 100 are arranged.Specifically, transfer robot 200 is with reference to the measurement abreast stopped relative to wall In the range of other transfer robots geometry, for itself position and angle adjustment.Thus, transfer robot 200 be able to can make as defined in shelf 100 and wall holding from the viewpoint of both direction into the adjustment of row position and angle The mode of angle automatically arranges shelf 100.In addition, by alternately repeating the configuration operation, can with wall It is arranged in the state of angle as defined in holding to multiple shelf 100.It should be noted that due to transfer robot 200 possess the function being adjusted to itself position and angle between shelf 100, therefore, it is possible to keep transfer robot The precision of position and angle during 200 configuration shelf 100.

(2) embodiment 2

In the foregoing embodiments, the situation that multiple shelf 100 are automatically configured in warehouse is illustrated. This, illustrates the rearranging method of shelf 100.Even if being arranged after firm set, the shelf sometimes in the utilization Confusion also occurs for 100 arrangement.If such as sometimes due in operation people collision and make shelf 100 position and angle offset, Then when the carrying of shelf 100 is repeated, the position of shelf 100 and angle shift sometimes.

When being continued with the state of there occurs offset, what transfer robot 200 on the move collided shelf 100 can Energy property becomes higher, therefore, it is desirable to make shelf 100 be periodically returned to the state arranged.Figure 19 shows to arrange shelf 100 again Action during row performed by transfer robot 200.In Figure 19, pair label identical with the corresponding part mark of Fig. 7 and show.From Easily know in Figure 19, elemental motion is identical with the action shown in Fig. 7.It is but different from Fig. 7, it is not necessary to get shelf 100 The action (action of step S203) of shelf supply position.

Mobile control division 256 in step S204, to from the current location of transfer robot 200 to shelf configuration purpose The mobile route of coordinate is set.This is because in shelf when rearranging, existing around transfer robot becomes ginseng The geometry examined.In case of the present embodiment, mobile control division 256 is without the mobile control based on measurement, and passes through Carried out autonomous is compareed based on sensing data 404 and map datum 400, is moved to and matches somebody with somebody as the shelf of destination Put destination coordinate (step S207).Then, mobile control division 256 performs step S207_2.Step S207_2 is newly increased Processing, mobile control division 256 are aligned between shelf 100 and transfer robot 200, shelf 100 are lifted.In shelf 100 with the contraposition of transfer robot 200, using the method illustrated by Figure 14 and Figure 15.Later action and embodiment 1 are (i.e. When shelf configure) it is identical.That is, the corresponding sensor of the geometry in the direction pair with being specified by shape reference object data 423 Data 404 and map datum 400 are compareed, to adjust the position of shelf 100 and angle.

Figure 20 shows the example of the carrying data 430 sent from management terminal 300.It is to first to carry data 430_11 The example for the carrying data 430 that transfer robot 200a is sent, it is to second transfer robot 200b to carry data 430_12 The example of the carrying data 430 of transmission.It is with the difference of embodiment 1, shelf when shelf configure obtain destination and sit It is empty this point to mark data 410.

According to the present embodiment, in addition to shelf 100 not being got back to specific location, when shelf configure in the same manner as, energy Geometry around enough uses carries out the micro-adjustment of allocation position and the micro-adjustment of angle of shelf 100.Thus, can also make Shelf 100 in rearrange automation.

(3) other embodiment

The present invention is not limited to above-described embodiment, including various modifications example.For example, in above-described embodiment, in order to easily manage Solution ground explanation is of the invention and is illustrated in detail, but not necessarily possesses all inscapes illustrated in embodiment. In addition, other inscapes can be added to each embodiment, a part of inscape of each embodiment can be deleted, additionally it is possible to A part of inscape of each embodiment is replaced into other inscapes.Such as in the case of foregoing embodiment, carry Robot 200 has is mounted with the structure of wheel 230 in the left and right of main body, but is not limited to the structure.In addition, transfer robot 200 are determined the shape around itself using laser distance sensor 210, but can also carry other kinds of biography Sensor.

In addition, above-mentioned each structure, function, processing unit, processing method etc. can also be come by using such as integrated circuit Design they part or all wait and by hardware realization.In addition, above-mentioned each structure, function etc. can also pass through processor Explain and perform the program (i.e. in the form of software) for realizing each function and realize.Realize the program of each function, table, file etc. Information can deposit in storage device or IC card, SD card, the DVD such as memory, hard disk, SSD (Solid State Drive) Deng storage medium.In addition, control line and information wire show the part for being considered to need in explanation, not represent needed for product The whole control lines and information wire wanted.It can essentially think that almost all of structure is all connected with each other.

Description of reference numerals：

100... shelf；

101... bottom shelf marks；

200... transfer robot；

210... laser distance sensor；

220... dockboard；

230... wheel；

240... camera；

251... data sending and receiving department；

252... detecting means；

253... handling part；

254... map rejuvenation portion；

255... drive division；

256... mobile control division；

300... management terminal；

351... shelf configuring portion；

352... data generating section is carried；

353... data sending and receiving department；

400... map datum；

401... shelf topology data；

402... shelf configuration sequence data；

403... range sensor measurement range data；

404... sensing data；

405... shelf feet shape data；

406... transfer robot shape data；

410... shelf obtain destination coordinate data；

420... shelf set data；

421... shelf set numbering data；

422... shelf configuration purpose ground coordinate data；

423... shape reference object data；

424... fitted out vehicles evidence；

425... action data after setting；

430... data are carried；

431... mobile data path；

432... current location data；

440..., shelf coordinate Value Data has been set；

441... robot coordinate Value Data is used in shape reference.

Claims (15)

1. a kind of shelf configure system, it is characterised in that

The shelf configuration system has：

At least two transfer robots, it has the storage part of the sensor of measure circumferential shape and storage map datum, and uses In Transport cargo rack；And

Management terminal, its action sent to the transfer robot carry out defined carrying data,

The transfer robot is after the position specified by the carrying data is moved to, using the sensor to by described The direction that data are specified is carried to be measured, and based on the several of other transfer robots for being adjusted the angle relative to wall What shape adjusts the position of the shelf and angle.

2. shelf according to claim 1 configure system, it is characterised in that

The transfer robot it is described carrying data in the not specified shelf with the mobile destination postponed in the case of, The place for being configured with the shelf is stopped at, untill receiving the new carrying data.

3. shelf according to claim 2 configure system, it is characterised in that

The configuration of most leaning on afterbody of the transfer robot in the shelf nematic carried out by other transfer robots After end, to the carrying position correspondence with next column specified by the carrying data when the position in forefront is moved.

4. shelf according to claim 1 configure system, it is characterised in that

The transfer robot is by making the dockboard of the mounting shelf circle round relative to apparatus main body or by device master Body circles round to adjust the angle of the shelf.

5. shelf according to claim 1 configure system, it is characterised in that

The transfer robot is adjusted based on the distribution of the data point suitable with shelf foot determined by the sensor The relative position and angle of the shelf and the transfer robot.

6. shelf according to claim 1 configure system, it is characterised in that

The transfer robot is configured at the bottom surfaces of the shelf using the camera for the upper surface for being arranged at apparatus main body to shoot Mark, and the relative position and angle of the shelf and the transfer robot are adjusted based on the image photographed.

7. shelf according to claim 1 configure system, it is characterised in that

The transfer robot obtains destination to measure using the sensor in the shelf for preparing the shelf of carrying The terrestrial reference or geometry configured near coordinate, so as to correct the current location of the transfer robot.

8. shelf according to claim 1 configure system, it is characterised in that

The transfer robot only itself is moved to the arbitrary position specified by the carrying data, measures mobile destination Peripheral shape and position and the angle for adjusting the shelf.

9. shelf according to claim 1 configure system, it is characterised in that

The transfer robot also has：

Dockboard, it makes the shelf relative to apparatus main body rise and fall；

Detecting means, it is measured the circumferential shape of the transfer robot from the sensor input pickup data；

Map rejuvenation portion, its described carrying implement in having completed the shelf feet shape data of the shelf of configuration and having stopped The shape data of device people is appended to the map datum, and is updated to newest state；And

Mobile control division, it controls the transfer robot based on the carrying data received from the management terminal Action.

10. shelf according to claim 1 configure system, it is characterised in that

The management terminal has：

Storage part, it stores the map datum and shelf topology data at scene；

Shelf Allocation plan portion, its determine the setting order of the shelf and in the setting of the shelf reference the geometry Direction present in shape；

Data generating section is carried, it generates the carrying data；And

Data sending and receiving department, its transceiving data between the transfer robot.

A kind of 11. transfer robot, it is characterised in that

The transfer robot has：

Sensor, it is measured circumferential shape；

Storage part, it stores map datum；And

Mobile control division, it is after the transfer robot is moved to the position specified by the carrying data received, profit The direction specified by the carrying data is measured with the sensor, and based on the angle being adjusted relative to wall The geometries of other transfer robots adjust the position of shelf and angle.

12. transfer robot according to claim 11, it is characterised in that

The mobile control division by make dockboard relative to apparatus main body circle round or by make apparatus main body itself convolution come The angle of the shelf is adjusted, which makes the shelf relative to apparatus main body rise and fall.

13. transfer robot according to claim 11, it is characterised in that

The mobile control division is adjusted based on the distribution of the data point suitable with shelf foot determined by the sensor The relative position and angle of the shelf and the transfer robot.

14. transfer robot according to claim 11, it is characterised in that

The mobile control division is configured at the bottom surfaces of the shelf using the camera for the upper surface for being arranged at apparatus main body to shoot Mark, and the relative position and angle of the shelf and the transfer robot are adjusted based on the image photographed.

15. a kind of shelf collocation method, is the shelf collocation method in shelf configuration system, shelf configuration system includes：Extremely Few two transfer robots, it has the storage part of the sensor of measure circumferential shape and storage map datum, and for carrying Shelf；And management terminal, its action sent to the transfer robot carry out defined carrying data,

It is characterized in that,

The transfer robot is after the position specified by the carrying data is moved to, using the sensor to by described The direction that data are specified is carried to be measured, and based on the several of other transfer robots for being adjusted the angle relative to wall What shape adjusts the position of the shelf and angle.