JP2017214197A - Management system, management method and information processing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable identification of each of an article and an automatic guided vehicle involved in a trouble having occurred during transportation.SOLUTION: A management system comprises a storage part for storing first identification information identifying an article associated with state information indicating a state specified to the article. A management method comprises the steps of: extracting, from a photographed image, a first optical symbol including first identification information on the article, attached to the article; acquiring first identification information from the extracted first optical symbol, and first position information indicating a position of the first optical symbol in the photographed image; and determining whether or not the article is in a state indicated by the state information associated with the first identification information, on the basis of the first position information.SELECTED DRAWING: Figure 19

Description

  The present invention relates to a management system, a management method, and an information processing apparatus.

  In recent years, in a warehouse or the like, a management system has been developed to enable management of articles to be loaded / unloaded, automation of conveyance of articles in a building, and unmanned operation.

  For example, in Patent Document 1, autonomous movement using sensor information from a sensor installed on the floor is possible, and the shelf on which the article is placed is fixed to the upper part of the docking actuator, thereby lifting the shelf. Thus, there is disclosed a moving drive unit that is adapted to carry the sheet.

  In the mobile drive unit disclosed in Patent Document 1, an article (shelf) to be conveyed is conveyed so as to be lifted. For example, depending on the article to be transported, the article may be pulled and transported by an automatic guided vehicle (AGV). For example, when the article to be transported has a size and weight of a certain level or more and the article is provided with a caster for movement, it is more efficient to move the article by traction. Conceivable.

  When an article is pulled and conveyed by AGV, an abnormality that requires identification of the article and the AGV may occur during conveyance. As an example of such an abnormality, a case where a connection portion between an article and an AGV that is pulling the article is disconnected during conveyance can be considered. In addition, when the operator connects the article and the AGV, the AGV may be connected to an article different from the article to be originally connected. However, conventionally, there has been a problem that it is difficult to identify each article and AGV in which an abnormality has occurred during conveyance.

  The present invention has been made in view of the above, and an object of the present invention is to make it possible to identify each of an article and an AGV in which an abnormality has occurred during conveyance.

  In order to solve the above-described problems and achieve the object, the present invention relates to a storage unit that stores first identification information for identifying an article and state information indicating a state designated for the article, and imaging A first optical symbol including the first identification information of the article attached to the article is extracted from the image, the first identification information is acquired from the extracted first optical symbol, and the first optical symbol in the captured image is acquired. Whether the article is in a state indicated by the state information associated with the first identification information based on the information on the first position information and the information acquisition unit that acquires the first position information indicating the position of one optical symbol And a determination unit for determining whether or not.

  According to the present invention, there is an effect that it is possible to identify each of an article and an AGV in which an abnormality has occurred during conveyance.

FIG. 1 is a diagram showing an outline of an automatic warehouse system to which the management system according to the first embodiment can be applied. FIG. 2 is a diagram illustrating a state in which the display medium on which the image of the optical symbol according to the first embodiment is formed is attached to the article. FIG. 3 is a perspective view of an example schematically showing an appearance of an AGV applicable to the first embodiment. FIG. 4 is a top view of the AGV and the coupling mechanism applicable to the first embodiment. FIG. 5 is a functional block diagram of an example for explaining functions of the local system in the automatic warehouse system according to the first embodiment. FIG. 6 is a diagram illustrating an example of photographing the entire inventory area using a plurality of cameras, which can be applied to the first embodiment. FIG. 7 is a diagram illustrating an example of a photographing method when the angle of view is narrowed by the zoom function according to the first embodiment. FIG. 8 is a flowchart of an example showing the warehousing process in the automatic warehouse system according to the first embodiment. FIG. 9 is a flowchart illustrating an example of inventory processing according to the first embodiment. FIG. 10 is a flowchart illustrating an example of the inventory area management method according to the first embodiment. FIG. 11 is a diagram illustrating a first address management method applicable to the first embodiment. FIG. 12 is a diagram illustrating an example in which a photographed image includes an image of an article according to the first embodiment. FIG. 13 is a diagram illustrating an example in which an optical symbol straddles two divided regions according to the first embodiment. FIG. 14 is a diagram illustrating an example in which a plurality of articles are stored in an area of an inventory area corresponding to one address according to the first embodiment. FIG. 15 is a diagram illustrating an example of a map applicable to the first embodiment. FIG. 16 is a diagram illustrating an example of a travel map applicable to the first embodiment. FIG. 17 is a diagram illustrating an example of an optical symbol applicable to the first embodiment. FIG. 18 is a diagram for explaining an optical symbol decoding method applicable to the first embodiment. FIG. 19 is a diagram for explaining an abnormality in an article conveying operation by AGV according to the second embodiment. FIG. 20 is a diagram for explaining an abnormality in the article transport operation by the AGV according to the second embodiment. FIG. 21 is a diagram for explaining an abnormality in the article transport operation by the AGV according to the second embodiment. FIG. 22 is a diagram for explaining an abnormality in the article transport operation by the AGV according to the second embodiment. FIG. 23 is a functional block diagram of an example for explaining functions of the local system in the automatic warehouse system according to the second embodiment. FIG. 24 is a block diagram illustrating a configuration of an example of a detection device according to the second embodiment. FIG. 25 is a flowchart illustrating an example of a method for determining a transport operation according to the second embodiment.

  Exemplary embodiments of a management system, a management method, and an information processing apparatus will be described below in detail with reference to the accompanying drawings.

(First embodiment)
FIG. 1 shows an outline of an automatic warehouse system to which the management system according to the first embodiment can be applied. In FIG. 1, the automatic warehouse system includes an automatic warehouse 1, a management server 3 and a management database (DB) 4, and a code generation device 20 at a shipping source 6.

The automatic warehouse 1 includes a local system 2, an automatic guided vehicle (AGV) 40, a storage gate 50, a temporary storage area 100, an inventory area 110, usage areas 120 ₁ , 120 ₂ ,. # 1 and # 2), and cameras 130, 131, 132 ₁ , 132 ₂ , 132 ₃ ,. The automatic warehouse 1 receives an article 30 shipped from the shipping source 6 and manages the received article 30 as an inventory.

  The management server 3 is communicably connected to the local system 2 via the network 5. In the example of FIG. 1, the code generation device 20 at the shipping source 6 is also connected to the management server 3 via the network 5 so as to be communicable. The network 5 is, for example, a WAN (Wide Area Network). Not limited to this, the network 5 may be the Internet.

  The management server 3 is connected to the management DB 4 and performs registration and search of information with respect to the management DB 4. The management DB 4 includes an inventory management table that manages information on articles 30 that are loaded into and unloaded from the automatic warehouse 1 and an address management table that manages addresses corresponding to at least the areas of the inventory area 110 in the automatic warehouse 1.

  The local system 2 includes an inventory control system 12, a camera system 13, and an AGV server 14 that are connected to the network 11. The network 11 is connected to the network 5 via the connection path 10, whereby the inventory control system 12, the camera system 13, and the AGV server 14 included in the local system 2 can communicate with the management server 3. Each of the inventory control system 12, the camera system 13, and the AGV server 14 is configured using one or more computers. It is also possible to configure the inventory control system 12, the camera system 13, and the AGV server 14 using a single computer.

  The inventory control system 12 controls the entry / exit of articles 30 in the automatic warehouse 1 based on information registered in the inventory management table and the address management table in the management DB 4. The inventory control system 12 stores a map in the automatic warehouse 1 in advance. The AGV server 14 is connected to an access point (AP) 15 by wireless communication such as a wireless LAN (Local Area Network), for example, and controls the operation of the AGV 40 by wireless communication in accordance with an instruction from the inventory control system 12.

The camera system 13 controls a photographing operation by the cameras 130, 131, 132 ₁ , 132 ₂ , 132 ₃ ,. The camera system 13 receives the captured images output from the cameras 130, 131, 132 ₁ , 132 ₂ , 132 ₃ ,..., And analyzes the received captured images.

The camera 130 is provided at the warehousing gate 50. The camera 131 is provided, for example, on the ceiling of the temporary storage 100, and outputs a captured image obtained by overlooking the temporary storage 100. The cameras 132 ₁ , 132 ₂ , 132 ₃ ,... Are provided, for example, on the ceiling of the stock area 110 and output a photographed image overlooking the stock area 110. In this example, the entire inventory area 110 is looked down on the basis of the captured images of the plurality of cameras 132 ₁ , 132 ₂ , 132 ₃ ,. Also in the temporary storage place 100, a plurality of cameras 131 may be provided so that the entire temporary storage place 100 can be looked down on the basis of images taken by the plurality of cameras 131. Furthermore, cameras that can be taken by taking a bird's-eye view of the whole can also be provided in the use-specific areas 120 ₁ , 120 ₂ ,.

  In FIG. 1, the shipping source 6 acquires identification information for identifying each article 30, 30,. As the identification information, for example, the model and serial number of each article 30, 30,... Can be used. In the shipping source 6, the code generation device 20 encodes each identification information acquired from each article 30, 30,... According to a predetermined encoding method to generate an image of the optical symbol 21.

  Further, the code generation device 20 transmits each identification information acquired from each article 30, 30,... To the management server 3 via the network 5. The management server 3 receives the identification information transmitted from the code generation device 20 and registers the received identification information in the management DB 4 as the identification information of each article 30 scheduled to enter the automatic warehouse 1.

  The code generation device 20 forms an image of the generated optical symbol 21 on the display medium 22. The display medium 22 is, for example, a paper medium, and the code generation device 20 forms an image of the optical symbol 21 on the display medium 22 using a printer device. The display medium 22 on which the image of the optical symbol 21 is formed is attached to, for example, the upper surface of the article 30 and attached to the article 30.

  FIG. 2 shows a state in which the display medium 22 on which the image of the optical symbol 21 according to the first embodiment is formed is attached to the article 30. In this way, the display medium 22 is attached to the upper surface of the article 30 with the surface on which the image of the optical symbol 21 is formed facing up.

  The optical symbol 21 is configured so that it can be easily extracted and identified from a photographed image photographed including the optical symbol 21, for example. Although details will be described later, in the first embodiment, the optical symbol 21 is configured by connecting cells of a predetermined size, and information included in the optical symbol 21 is acquired by detecting a color transition between the cells. It is possible. In the first embodiment, the optical symbol 21 is configured by forming a comb shape by the connected cells.

  When each display medium 22 on which the optical symbol 21 is formed is attached to the goods 30, 30,... To be shipped at the shipping source 6, each article 30, 30,. Shipped from the shipping source 6. The articles 30, 30,... Shipped with the display medium 22 attached are transported to the automatic warehouse 1 (route A in FIG. 1).

  When the articles 30, 30,... Arrive at the automatic warehouse 1, they pass through the storage gate 50 one by one and are carried into the automatic warehouse 1. At this time, the article 30 passing through the warehousing gate 50 is photographed by the camera 130 from above. This photographing is performed by the camera 130 so that the photographed image includes the optical symbol 21 formed on the display medium 22 attached to the article 30. A captured image including the optical symbol 21 is supplied from the camera 130 to the camera system 13.

  The camera system 13 analyzes the captured image supplied from the camera 130 and extracts the optical symbol 21 included in the captured image. The camera system 13 detects a color transition between cells in the optical symbol 21 extracted from the captured image, and decodes the optical symbol 21 based on the detected color transition. The camera system 13 transmits the identification information acquired by decoding the optical symbol 21 to the management server 3 via the network 5.

  The management server 3 receives the identification information transmitted from the code generation device 20 and registers the received identification information in the management DB 4 as identification information indicating the article 30 received in the automatic warehouse 1.

  The article 30 that has passed through the warehousing gate 50 is carried to the temporary storage 100 (path B in FIG. 1). The temporary storage place 100 is an area in which the articles 30 received in the automatic warehouse 1 are temporarily placed. Here, the article 30 is transported from the warehousing gate 50 to the temporary storage place 100 by hand, for example. The article 30 can be placed at an arbitrary position on the temporary storage place 100.

  The camera 131 provided in the temporary storage place 100 captures the temporary storage place 100 at a predetermined time interval, for example, an interval of 1 second to several seconds. An image captured by the camera 131 is supplied to the camera system 13. The camera system 13 analyzes the captured image supplied from the camera 131 and performs a process of extracting the optical symbol 21 from the captured image.

  When the optical symbol 21 is extracted from the captured image, the camera system 13 acquires the position of the extracted optical symbol 21 in the captured image. In addition, the camera system 13 decodes the extracted optical symbol 21 and obtains identification information included in the optical symbol 21. The camera system 13 associates the identification information acquired from the optical symbol 21 with the position information indicating the position of the optical symbol 21 in the captured image, and passes it to the inventory control system 12.

  The inventory control system 12 receives the identification information and the position information acquired based on the photographed image obtained by photographing the temporary storage 100 by the camera 131 passed by the camera system 13 and associated with each other, and the received identification information and position information. Is stored as information on the article 30 that has been received and placed in the temporary storage 100. That is, in the automatic warehouse system according to the first embodiment, in the temporary storage 100, the position information indicating the position of the article 30 and the identification information for identifying the article 30 acquired from the image captured by the camera 131 are associated with each other. Managed.

  The inventory control system 12 uses each identification information registered in the management DB 4 by the management server 3 and transmitted from the code generation device 20 of the shipping source 6 and each optical symbol 21 included in a photographed image obtained by photographing the temporary storage 100. The acquired identification information is compared. The inventory control system 12 schedules warehousing, that is, shipment, when each of the identification information from the code generation device 20 of the shipping source 6 and each of the identification information based on the photographed image obtained by photographing the temporary storage place 100 all match. It is determined that all the articles 30 scheduled to be shipped in the original 6 have been received into the automatic warehouse 1.

  If the inventory control system 12 determines that the warehousing has been completed, the inventory control system 12 starts moving the article 30 placed in the temporary storage area 100 to the inventory area 110. The inventory control system 12 detects and detects the article 30 placed at a movable position in the temporary storage place 100 based on the identification information and position information of the article 30 in the temporary storage place 100 registered in the management DB 4. The article 30 to be moved is specified from the articles 30 that have been moved.

  The inventory control system 12 acquires an address where the article 30 is not placed in the inventory area 110, that is, an empty address, based on the address management table included in the management DB 4. Details of the address management will be described later.

  The inventory control system 12 instructs the AGV server 14 to move the article 30 specified as a movement target, which is placed in the temporary storage area 100, to a position corresponding to an empty address in the inventory area 110. At this time, the inventory control system 12 creates map information indicating the movement route of the AGV 40 based on, for example, the map in the automatic warehouse 1 stored in advance and the empty address of the inventory area 110, and the AGV 40 along with the movement instruction of the AGV 40. To the server 14.

  In response to this instruction, the AGV server 14 transmits map information including information indicating the travel route of the AGV 40 to the AGV 40 by wireless communication, and moves to the position of the article 30 to be moved in the temporary storage 100 with respect to the AGV 40. Instruct them to do so. When the AGV 40 reaches the position of the moving object 30, the AGV 40 connects the objects 30.

  A configuration of an example of the AGV 40 applicable to the first embodiment will be described with reference to FIGS. 3 and 4. 3 and 4, the AGV 40 sets the direction of the arrow in the figure as the traveling forward direction.

  FIG. 3 is a perspective view of an example schematically showing the appearance of the AGV 40 applicable to the first embodiment. 3, the AGV 40 includes a range sensor 400, a controller 401, a driver 402, a battery 403, wheels 404, 404,... Provided on the bottom surface, and an indicator lamp 405. The AGV 40 connects the article 30 by the connecting mechanism 410.

  The range sensor 400 can be a laser scanner that acquires spatial position information of an object using a laser beam such as an infrared laser. The controller 401 includes a CPU (Central Processing Unit), a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory), various interfaces, and a wireless communication unit for performing wireless communication with the AP 15. Further, the controller 401 stores identification information for identifying the AGV 40 of the own device in advance in, for example, a ROM.

Note that identification information for identifying the AGV 40 may be further created as the optical symbol 21. In this case, the optical symbol 21 including identification information for identifying the AGV 40 is formed as an image on the display medium 22, and the display medium 22 is attached to, for example, the upper surface of the AGV 40. By doing this, it is possible to acquire the identification information of the AGV 40 based on the photographed images obtained by photographing the AGV 40 with the cameras 130, 131, 132 ₁ , 132 ₂ , 132 ₃ ,.

  Driver 402 includes a motor for driving wheels 404, 404,... Provided on the bottom surface of AGV 40, and a drive circuit for driving and controlling the motor, and causes AGV 40 to travel according to instructions from controller 401. In this example, the AGV 40 drives the left or right wheel set among the wheels 404, 404,... And stops the other wheel set, and the left and right wheel sets are opposite to each other. The traveling direction is changed by using the super-revolution driving that is driven at the same time. Not only this but AGV40 may employ | adopt the steering system which changes direction by changing the angle of the group of the wheel of a front side or a rear side as a system of a direction change.

  The battery 403 supplies power to each part of the AGV 40. The indicator lamp 405 performs display indicating the state of the AGV 40 in accordance with a control signal output from the controller 401.

  The controller 401 controls the driver 402 based on the movement instruction and map information transmitted from the AGV server 14 and the output of the range sensor 400, and causes the AGV 40 to travel along the movement route indicated by the map information.

  FIG. 4 is a view of the AGV 40 and the coupling mechanism 410 applicable to the first embodiment as viewed from above. In FIG. 4, the same reference numerals are given to portions common to FIG. 3, and detailed description is omitted. The coupling mechanism 410 includes a component 411 that is mounted on the AGV 40 and includes a joint portion 413a, and a component 412 that is mounted on the article 30 and includes a joint portion 413b. By joining the joint part 413a and the joint part 413b, the AGV 40 and the article 30 are connected, and the article 30 moves as the AGV 40 travels. An existing structure can be applied to the joint portions 413a and 413b. The joint portions 413a and 413b are structured to be automatically joined by applying pressure by bringing the joint portions 413a and 413b into contact with each other in a predetermined direction, for example. Not only this but joint part 413a and 413b may be the structure joined manually.

  Returning to the description of FIG. 1, when the article 30 is connected, the AGV 40 travels according to the route indicated in the map information (route C in FIG. 1), and the article 30 is located at the designated empty address in the inventory area 110. Move to. The stock area 110 is a storage area for storing the articles 30 received in the automatic warehouse 1. Each article 30 stored in the stock area 110 is registered and managed in the management DB 4 as stock in the automatic warehouse 1, for example. When the movement of the article 30 is completed, the AGV 40 releases the connection of the article 30 by the connecting mechanism, disconnects the article 30, and moves to a predetermined standby position.

Like the camera 131 described above, the cameras 132 ₁ , 132 ₂ , 132 ₃ ,... Provided in the stock area 110 take pictures of the stock area 110 at a predetermined time interval, for example, 1 to several seconds. Images taken by the cameras 132 ₁ , 132 ₂ , 132 ₃ ,... Are respectively supplied to the camera system 13. The camera system 13 analyzes the captured image supplied from the cameras 132 ₁ , 132 ₂ , 132 ₃ ,... And performs processing for extracting the optical symbol 21 from the captured image.

  When the optical symbol 21 is extracted from the captured image, the camera system 13 acquires the position of the extracted optical symbol 21 in the captured image. In addition, the camera system 13 decodes the extracted optical symbol 21 and obtains identification information included in the optical symbol 21. The camera system 13 associates the identification information acquired from the optical symbol 21 with the position information indicating the position of the optical symbol 21 in the captured image, and transmits it to the management server 3.

The management server 3 receives the identification information and position information transmitted in association with each other from the camera system 13, and uses the received identification information and position information as information on the article 30 added to the stock area 110 in the management DB 4. sign up. That is, in the automatic warehouse system according to the first embodiment, in the inventory area 110, the position information indicating the position of the article 30 acquired based on the images taken by the cameras 132 ₁ , 132 ₂ , 132 ₃ ,. Is managed in association with identification information for identifying the.

The inventory control system 12 moves the article 30 placed in the inventory area 110 to a designated area among the use-specific areas 120 ₁ , 120 ₂ ,... By the AGV 40 according to an instruction from the host system, for example (FIG. 1). Path D). The articles 30 placed in the use-specific areas 120 ₁ , 120 ₂ ,... Are shipped from the automatic warehouse 1 in accordance with, for example, an instruction from the host system.

Further, the inventory control system 12 moves the article 30 placed in the temporary storage place 100 to the designated area among the use-specific areas 120 ₁ , 120 ₂ ,. Route E) in FIG.

The use-specific areas 120 ₁ , 120 ₂ ,... Are storage areas that store the articles 30 received in the automatic warehouse 1 according to the uses of the articles 30. For example, when the article 30 is an electronic device such as an MFP (Multi Function Printer), the use of the article 30 is, for example, part extraction and recycling. The shipping destination of the goods 30 delivered from the automatic warehouse 1 may differ for each use, for example. Each article 30 stored in the use-specific areas 120 ₁ , 120 ₂ ,... Can be registered and managed in, for example, the management DB 4 as in the case of the stock area 110.

  The use of the article 30 shipped from the shipping source 6 is designated for each article 30 at the shipping source 6. In the shipping source 6, the designated use is associated with the identification information of the article 30 and transmitted to the management server 3. The management server 3 receives the identification information and usage transmitted from the shipping source 6 and registers the received identification information and usage in the management DB 4.

In the above description, the automatic warehouse 1 has been described to include the inventory area 110 and the use-specific areas 1201, 1202,..., But this is not limited to this example. For example, the automatic warehouse 1 according to the first embodiment may include one of an inventory area 110 and usage-specific areas 120 ₁ , 120 ₂ ,.

For example, when the automatic warehouse 1 includes the stock area 110 and does not include the use-specific areas 120 ₁ , 120 ₂ ,..., Each article 30 stored in the stock area 110 is sent from the host system by the stock control system 12, for example. Shipped directly from the stock area 110 according to the instructions.

Further, for example, when the automatic warehouse 1 does not include the stock area 110 but includes the use-specific areas 120 ₁ , 120 ₂ ,..., The stock control system 12 sends each article 30 placed in the temporary storage place 100 from, for example, a host system. Are moved directly from the temporary storage area 100 to each use-specific area 120 ₁ , 120 ₂ ,. At this time, the inventory control system 12 selects each of the articles 30 placed in the temporary storage area 100 based on the identification information included in the optical symbol 21 of each article 30 among the areas 120 ₁ , 120 ₂ ,. Move to the specified area from the host system.

(Detailed description of the first embodiment)
FIG. 5 is a functional block diagram illustrating an example of functions of the local system 2 in the automatic warehouse system according to the first embodiment. The local system 2 includes an inventory control unit 200, an AGV control unit 201, ID / location acquisition units 202 and 203, and an inventory management unit 204. In addition, the inventory control unit 200 includes an entry / exit management unit 210 and a conveyance control unit 211.

  Among these, the inventory control unit 200 and the inventory management unit 204 are included in the inventory control system 12 of FIG. The AGV control unit 201 is included in the AGV server 14. The ID / position acquisition units 202 and 203 are included in the camera system 13. Each of these units (the inventory control unit 200, the AGV control unit 201, the ID / position acquisition units 202 and 203, and the inventory management unit 204) includes a computer (the inventory control system 12, the camera system 13, and the AGV server 14). It is realized by the program that operates above. However, the present invention is not limited to this, and each of these units may be configured by a hardware circuit that operates in cooperation with each other.

In FIG. 5, cameras 132 ₁ , 132 ₂ , 132 ₃ ,... That photograph the stock area 110 are represented by cameras 132. Further, the inventory management table 205 and the address management table 206 are respectively included in the management DB 4. The local system 2 can acquire information registered in the inventory management table 205 and the address management table 206 by communicating with the management server 3 through the inventory management unit 204.

  The inventory management table 205 manages information on the articles 30 for each piece of identification information for identifying the articles 30. Table (1) shows an example of each item included in the record for each identification information in the inventory management table 205 applicable to the first embodiment.

  Each record includes “ID”, “display item # 1”, “display item # 2”, “print target”, “storage area”, “storage position”, “status code”, “use category”, “creation date” "And" update date "items.

  In the item “ID”, identification information for identifying the article 30 is stored. For example, the serial number of the article 30 can be used as the identification information. In the items “display item # 1” and “display item # 2”, information indicating the model of the article 30 is stored. The values of the items “display item # 1” and “display item # 2” and the value of the item “ID” may be combined to provide identification information for identifying the article 30.

In the item “print target”, a flag indicating whether or not the article 30 is a target to which the optical symbol 21 is attached is stored. The item “storage position” stores coordinate information of a position where the article 30 is placed. The item “status code” stores status information indicating the status of the article 30. The state information is information indicating at least whether or not the article 30 is being transported. For example, the state information may be any of a waiting state for storage, a temporary storage area 100, an inventory area 110, areas for each use 120 ₁ , 120 ₂ ,. It shows a state where it is placed or stored, a state where it is connected to the AGV 40 and is being transported, and the like. In the item “use category”, a category of use of the article 30 (for parts collection, recycling, etc.) is stored. The items “creation date” and “update date” store the creation date and update date of the record, respectively.

The address management table 206 manages the addresses of the stock area 110 for storing the articles 30. The address registered in the address management table 206 is based on the coordinates on the captured image captured by the cameras 132 ₁ , 132 ₂ , 132 ₃ ,. A more specific example of the address registered in the address management table 206 will be described later. If the angle of view and the photographing direction of the cameras 132 ₁ , 132 ₂ , 132 ₃ ,... Are known, it is easy to convert the coordinates on the photographed image to the actual coordinates of the stock area 110 included in the photographed image. is there.

The address management table 206 may further manage the addresses of the usage-specific areas 120 ₁ , 120 ₂ ,. On the other hand, the temporary storage 100 is not managed by address.

  The ID / position acquisition unit 202 controls the photographing operation of the camera 131 and photographs the temporary storage place 100. The ID / position acquisition unit 202 extracts the optical symbol 21 from the photographed image obtained by photographing the temporary storage 100 with the camera 131, position information indicating the position of the extracted optical symbol 21 in the photographed image, and the optical symbol 21. The included identification information (ID) is acquired. The ID / position acquisition unit 202 passes the acquired position information and identification information to the storage management unit 210 in the inventory control unit 200. The entry / exit management unit 210 stores the position information and identification information passed from the ID / position acquisition unit 202 in association with each other.

  The ID / position acquisition unit 203 controls the photographing operation of the camera 132 and photographs the stock area 110. The ID / position acquisition unit 203 extracts the optical symbol 21 from the photographed image obtained by photographing the stock area 110 by the camera 132, position information indicating the position of the extracted optical symbol 21 in the photographed image, and the optical symbol 21. The included identification information (ID) is acquired. The ID / position acquisition unit 203 passes the acquired position information and identification information to the inventory management unit 204. The inventory management unit 204 transmits the location information and identification information passed from the ID / location acquisition unit 203 to the management server 3 and requests the management server 3 to register in the inventory management table 205.

  The storage management unit 210 also receives identification information included in the optical symbol 21 extracted from the captured image captured by the camera 130 at the storage gate 50. The entry / exit management unit 210 stores identification information based on the captured image of the camera 130.

  The entry / exit management unit 210 inquires of the inventory management unit 204 about the vacant address of the inventory area 110 as the storage destination of the article 30 placed in the temporary storage 100. In response to this inquiry, the inventory management unit 204 acquires a vacant address from the address management table 206 and passes the acquired vacant address to the warehouse management unit 210. Further, the entry / exit management unit 210 receives from the inventory management unit 204 a delivery request including identification information of the articles 30 to be delivered from the stock area 110.

  The conveyance control unit 211 issues a conveyance instruction for causing the AGV 40 to convey the article 30 to the AGV control unit 201 in accordance with an instruction from the storage management unit 210. For example, the conveyance control unit 211 passes position information indicating the position of the article 30 in the temporary storage 100 stored in the storage management unit 210 to the AGV control unit 201. In addition, the transport control unit 211 stores position information indicating the actual position of the stock area 110 corresponding to the empty address acquired from the address management table 206 by the storage management unit 210 via the stock management unit 204. To pass.

  The AGV control unit 201 conveys the article 30 by the AGV 40 based on the position information given from the conveyance control unit 211 and indicating the position of the article 30 in the temporary storage area 100 and the position information of the stock area 110 corresponding to the empty address. A travel map indicating the route for the travel is created. The AGV control unit 201 transmits the created travel map to the AGV 40 and issues a drive instruction to the AGV 40.

  In addition, the AGV control unit 201 associates the identification information of each AGV 40, the state information indicating the state, and the travel map, and manages them as AGV management information. The state information includes, for example, information indicating whether the AGV 40 is transporting the article 30, is moving without accompanying the article 30, or is waiting.

  The AGV 40 receives the travel map transmitted from the AGV control unit 201 and stores the received travel map. The AGV 40 is driven according to the conveyance route shown in the stored travel map based on the output of the range sensor 400 in accordance with the drive instruction. The AGV 40 can also transmit the output of the range sensor 400 to the AGV control unit 201.

Next, a method for photographing the temporary storage area 100 and the stock area 110 using the cameras 131 and 132 will be described. Here, a description will be given by taking the stock area 110 as an example. For example, the stock area 110 may be wider than the range that can be captured by one camera 132. In this case, as shown in FIG. 1, the inventory area 110 is divided and photographed using a plurality of cameras 132 ₁ , 132 ₂ ,.

FIG. 6 shows an example in which the entire inventory area 110 applicable to the first embodiment is photographed using a plurality of cameras 132 ₁ , 132 ₂ , 132 ₃ and 132 ₄ . Each of the cameras 132 ₁ , 132 ₂ , 132 _3, and 132 ₄ has shooting ranges 133 ₁ , 133 ₂ , 133 _3, and 133 ₄ , respectively. Each camera 132 ₁ , 132 ₂ , 132 _3, and 132 ₄ shoots each area obtained by dividing the stock area 110 into four by each shooting range 133 ₁ , 133 ₂ , 133 _3, and 133 ₄ .

In the figure, the sides of the respective shooting ranges 133 ₁ , 133 ₂ , 133 _3, and 133 ₄ are shown shifted for the sake of explanation.

Each captured image obtained by capturing each imaging range 133 ₁ , 133 ₂ , 133 _3, and 133 ₄ with each camera 132 ₁ , 132 ₂ , 132 _3, and 132 ₄ is supplied to the ID / position acquisition unit 203. The ID / position acquisition unit 203 analyzes each captured image to extract the optical symbols 21, 21,... Included in each captured image, and detects the position of each extracted optical symbol 21 in the captured image.

Here, the position of each camera 132 ₁ , 132 ₂ , 132 _3, and 132 ₄ with respect to the inventory area 110, and the shooting direction and angle of view of each camera 132 ₁ , 132 ₂ , 132 _3, and 132 ₄ are known. To do. In this case, each position in the photographed image can be associated with the actual position of the inventory area 110.

For example, the warehousing / extracting management unit 210 sets each position (pixel coordinate) in each photographed image obtained by photographing each photographing range 133 ₁ , 133 ₂ , 133 _3, and 133 ₄ and the actual position (coordinate) of the inventory area 110. Is stored in advance as a table (referred to as a position correspondence table). However, the storage management unit 210 may store in advance a calculation formula that associates each position in each captured image with the actual position of the inventory area 110. Thereby, the warehouse management part 210 can acquire the position coordinate which shows the actual position of the stock area 110 corresponding to the requested address.

It should be noted that the association between the positions in the respective captured images obtained by capturing the respective photographing ranges 133 ₁ , 133 ₂ , 133 _3, and 133 ₄ and the actual positions of the inventory area 110 is obtained by photographing the temporary storage place 100 by the camera 131. In this case, the same applies.

  That is, if the position of the camera 131 with respect to the temporary storage place 100 and the shooting direction and angle of view of the camera 131 are known, for example, the warehousing / disposal management unit 210 sets the position in the captured image obtained by shooting the temporary storage place 100, A position correspondence table that correlates the actual position in the storage 100 is stored in advance. Also in this case, as described above, a calculation formula that associates each position in each captured image with the actual position of the temporary storage place 100 may be stored in advance. As a result, the storage management unit 210 can acquire position information indicating the actual position of the temporary storage 100 corresponding to the requested position in the captured image.

The camera 131 and the cameras 132 ₁ , 132 ₂ ,... Can also shoot with a narrowed angle of view using a zoom function. If the optical symbol 21 is included as a larger image in the captured image, it is preferable because the optical symbol 21 can be easily extracted from the captured image. For example, in each of the cameras 132 ₁ , 132 ₂ , 132 _3, and 132 ₄ , the shooting range is narrowed by reducing the angle of view using the zoom function, and the image of the optical symbol 21 included in the captured image can be enlarged. it can.

FIG. 7 shows an example of a photographing method when the angle of view is narrowed by the zoom function according to the first embodiment. Here, an example in which a part of the inventory area 110 (upper left part in the example of FIG. 6) is photographed as the photographing range 133 ₁ using the camera 132 ₁ is shown. When the angle of view of the camera 132 ₁ is narrowed by the zoom function, the shooting range 133 ₁ may not be able to cover the entire area that the camera 132 ₁ should shoot in the stock area 110. In this case, the shooting direction of the camera 132 ₁ is moved as indicated by the arrow a in the figure, and the shooting range 133 ₁ is moved to the shooting ranges 133 _1-1 , 133 _1-2 , 133 _1-3 . (Indicated by arrow b in the figure).

Thereby, even when the zoom function is used in the camera 132 ₁ , the entire predetermined area can be photographed by the camera 132 ₁ . In addition, the position of the camera 132 ₁ with respect to the stock area 110 is known, and by obtaining the angle of view at the time of photographing and the photographing direction of the camera 132 ₁ , each position in the photographed image and the stock area 110 It is possible to associate the actual position. In this case, the storage management unit 210 stores in advance a table or calculation formula that associates the angle of view, the shooting direction, the position in the captured image, and the actual position in the inventory area 110.

  Next, processing in the automatic warehouse system according to the first embodiment will be schematically described. FIG. 8 is a flowchart of an example showing the warehousing process in the automatic warehouse system according to the first embodiment. In step S <b> 10, the inventory management unit 204 acquires a list of identification information of articles 30 to be received from the inventory management table 205. The inventory management unit 204 passes the acquired list of identification information to the warehouse management unit 210.

  In next step S <b> 11, the storage management unit 210 checks the stored articles 30 at the storage gate 50. More specifically, the camera system 13 photographs the article 30 passing through the warehousing gate 50 from above with the camera 130 and extracts the optical symbol 21 included in the photographed video. The camera system 13 acquires identification information included in the extracted optical symbol 21. The acquired identification information is handed over to the storage management unit 210, for example.

  In addition, the storage management unit 210 acquires a list of identification information of the articles 30 scheduled to be stored from the stock management table 205 via the stock management unit 204. The entry / exit management unit 210 compares the acquired list of identification information with the identification information based on the photographed image from the entry gate 50, and checks the article 30 that has been received.

  In the next step S <b> 12, the article 30 that has been checked for receipt at the entry gate 50 is moved to the temporary storage place 100. The movement of the article 30 is performed manually, for example. In next step S <b> 13, the storage management unit 210 determines whether or not the storage check of all the articles 30 on the list of identification information of the articles 30 scheduled to be stored is completed. If it is determined that the process has not been completed (step S13, “No”), the process returns to step S11. On the other hand, when it is determined that the processing has been completed (step S13, “Yes”), a series of processes according to the flowchart of FIG.

  FIG. 9 is a flowchart illustrating an example of inventory processing according to the first embodiment. Here, the inventory process refers to a process of moving the article 30 placed in the temporary storage area 100 to a predetermined address in the inventory area 110. Further, the process according to the flowchart of FIG. 9 is started from the state where the process according to the flowchart of FIG. 8 described above is completed and the movement of the article 30 to the temporary storage place 100 is completed.

  In step S <b> 20, the entry / exit management unit 210 acquires, from the ID / position acquisition unit 202, position information indicating the position of each article 30 placed in the temporary storage place 100 in the captured image and identification information. For example, the ID / position acquisition unit 202 uses the center of gravity of the shape of the optical symbol 21 as a position representing the optical symbol 21, and detects the position by regarding the position as the position in the captured image of the optical symbol 21. Assumed to be performed.

  In the next step S <b> 21, the warehouse management unit 210 acquires a vacant address in the inventory area 110. More specifically, the entry / exit management unit 210 inquires of the stock management unit 204 about an empty address. In response to this inquiry, the inventory management unit 204 acquires a vacant address from the address management table 206 and passes the acquired information to the warehouse management unit 210.

  In next step S <b> 22, the warehouse management unit 210 associates the identification information of the article 30 to be moved with an empty address. More specifically, the entry / exit management unit 210 associates the identification information of each article 30 in the temporary storage area 100 acquired in step S20 with each vacant address acquired in step S21.

  In the next step S <b> 23, the warehouse management unit 210 moves the AGV 40 to the position of the designated article 30 in the temporary storage 100. More specifically, the entry / exit management unit 210 instructs the transport control unit 211 to move the AGV 40 to the position of the designated article 30 in the temporary storage area 100. Here, the article 30 designated as the movement target is selected from those that can be connected to the AGV 40 from the outside of the temporary storage place 100 based on the position information of each article 30 placed in the temporary storage place 100.

  In step S <b> 23, the entry / exit management unit 210 needs to select the article 30 to be moved based on the latest position information indicating the position of the article 30 placed in the temporary storage place 100. As already described, the camera 131 captures the temporary storage place 100 at a predetermined time interval. In step S <b> 23, the storage management unit 210 obtains the latest position information of the article 30 in the temporary storage 100 acquired from the ID / position acquisition unit 202 according to the shooting timing of the predetermined time interval by the camera 131. Based on this, the item 30 to be moved is selected.

  The position information indicating the position of each article 30 is based on the position information indicating the position in the captured image acquired in step S20 based on the captured image obtained by capturing the temporary storage place 100 with the camera 131, and the temporary storage place 100 described above. Can be obtained by referring to the position correspondence table.

  In accordance with an instruction from the entry / exit management unit 210, the conveyance control unit 211 adds position information indicating the position of the article 30 to be moved to the AGV control unit 201 and issues a conveyance instruction.

  The AGV control unit 201 designates the AGV 40 to be used for movement from the waiting AGV 40, and moves the AGV 40 to be moved based on position information indicating the position of the designated AGV 40 and position information indicating the position of the article 30 to be moved. A travel map indicating a route for moving to the position of the article 30 is created. The AGV control unit 201 transmits the created travel map to the AGV 40 and issues a drive instruction to the AGV 40. The AGV 40 is moved to the position of the article 30 to be moved in accordance with this drive instruction.

  In next step S <b> 24, the warehouse management unit 210 moves the AGV 40 connected to the movement target article 30 to a vacant address associated with the identification information of the article 30. More specifically, the storage management unit 210 instructs the transport control unit 211 to move the AGV 40 from the position of the article 30 to be moved to a position in the inventory area 110 corresponding to the empty address. put out. The position in the inventory area 110 corresponding to the vacant address can be acquired based on the vacant address with reference to the position correspondence table of the inventory area 110 described above.

  The conveyance control unit 211 issues a conveyance instruction including position information indicating the position of the article 30 to be moved and an empty address to the AGV control unit 201 in accordance with an instruction from the warehouse management unit 210.

  The AGV control unit 201 determines the AGV 40 connected to the moving object 30 based on the position information indicating the position of the moving object 30 and the position information indicating the position corresponding to the empty address included in the conveyance instruction. A travel map indicating a route for moving to a position corresponding to an empty address is created. The AGV control unit 201 transmits the created travel map to the AGV 40 and issues a drive instruction to the AGV 40. The AGV 40 is moved to a position corresponding to an empty address according to this drive instruction.

  In next step S <b> 25, the storage / retrieval management unit 210 determines whether or not the movement of all the articles 30 placed in the temporary storage place 100 to the stock area 110 is completed. For example, when the optical symbol 21 is no longer extracted from the image captured by the camera 131 that captures the temporary storage 100 based on the information passed from the ID / position acquisition unit 202, the storage management unit 210 enters the temporary storage 100. It is determined that the movement of all the placed articles 30 to the inventory area 110 has been completed.

  When it is determined that the movement has been completed (step S25, “Yes”), the series of processes in the flowchart of FIG. 9 is terminated. On the other hand, if the entry / exit management unit 210 determines in step S25 that the movement has not been completed (step S25, “No”), the process returns to step S23.

  As described above, in the first embodiment, the article 30 received through the storage gate 50 is temporarily moved to the temporary storage place 100. After all the articles 30 scheduled to be stored are moved to the temporary storage place 100, the movement of each article 30 placed in the temporary storage place 100 from the temporary storage place 100 to the stock area 110 using the AGV 40 is started. Therefore, the movement of each article 30 received to the inventory area 110 can be executed in a time zone where there is a margin in time such as at night. Therefore, the moving work can be completed by repeatedly operating a small number of AGVs 40, and the warehousing work can be executed at low cost.

  Note that in step S20 described above, the storage management unit 210 stores the positional information and identification information of the article 30 acquired from the ID / position acquisition unit 202 in association with each other, and manages the article 30 in the temporary storage 100. Do. At this time, the entry / exit management unit 210 associates corresponding position information and identification information with respect to the article 30 stationary in the temporary storage area 100. In other words, when the entry / exit management unit 210 recognizes the stop (stationary) of the article 30 without associating the position information and the identification information with respect to the article 30 moving in the temporary storage 100, the article 30 Associates position information and identification information.

  More specifically, the ID / position acquisition unit 202 stores captured images that are supplied from the camera 131 and are captured at predetermined time intervals. The ID / position acquisition unit 202 extracts the optical symbol 21 from the captured image supplied from the camera 131 at a certain timing. Further, the ID / position acquisition unit 202 acquires, from the stored captured image, a captured image captured at one or more timings retroactive to the past from the acquisition timing of the captured image from which the optical symbol 21 is acquired. The optical symbols 21 are extracted from the acquired captured images.

  The ID / position acquisition unit 202 uses the positions of the optical symbols 21 extracted from the plurality of captured images in this manner and the identification information acquired from the optical symbols 21 as the optical symbols in the captured images. Each symbol 21 is compared. As a result of the comparison, the ID / position acquisition unit 202 determines that the optical symbol 21 having the same identification information and position between the optical symbols 21 is the stationary optical symbol 21. The ID / position acquisition unit 202 passes the identification information and position information of the optical symbol 21 determined to be stationary to the storage management unit 210. The entry / exit management unit 210 manages the identification information and the position information in association with each other.

  FIG. 10 is a flowchart of an example illustrating a management method for the inventory area 110 according to the first embodiment. In step S30, the ID / position acquisition unit 203 controls the camera 132 to capture the stock area 110 and acquires a captured image. Note that the camera 132 may autonomously shoot regardless of the control of the ID / position acquisition unit 203.

  In the next step S31, the ID / position acquisition unit 203 extracts the optical symbol 21 from the captured image acquired in step S30. In the next step S32, the ID / position acquisition unit 203 detects the position of the optical symbol 21 extracted in step S31 in the captured image. The ID / position acquisition unit 203 passes position information indicating the detected position to the storage management unit 210.

  In the next step S <b> 33, the ID / position acquisition unit 203 decodes the optical symbol 21 extracted in step S <b> 31 and acquires identification information included in the optical symbol 21. The ID / position acquisition unit 203 passes the acquired identification information to the warehouse management unit 210.

  In the next step S34, the storage / retrieval management unit 210 obtains the position information that is passed from the ID / position acquisition unit 203 in step S32 and indicates the position of the optical symbol 21 in the captured image, and the address of the stock area 110. Associate. In next step S35, the warehouse management unit 210 associates the address of the optical symbol 21 in the inventory area 110 with the identification information acquired from the optical symbol 21 in step S33.

  In the next step S 36, the storage / retrieval management unit 210 passes the position information, the address, and the identification information associated in steps S 34 and S 35 to the inventory management unit 204. The inventory management unit 204 registers the location information, the address, and the identification information passed from the storage / retrieval management unit 210 in the address management table 206. Further, the inventory management unit 204 updates information registered in the inventory management table 205 based on the identification information passed from the storage / retrieval management unit 210.

  In the next step S37, the warehouse management unit 210 determines whether or not the processing has been completed for all the optical symbols 21 included in the photographed image photographed in step S30. If it is determined that the process has not been completed (step S37, “No”), the process proceeds to step S31, and the next optical symbol 21 is extracted from the captured image. On the other hand, when it is determined that the process has been completed (step S37, “Yes”), a series of processes according to the flowchart of FIG. 10 is completed.

  In the above description, the processing in steps S31 to S36 has been described so as to be sequentially executed for each optical symbol 21 included in the captured image captured in step S30. However, this is limited to this example. Not. That is, the processes in steps S31 to S36 can be performed in parallel on a plurality of optical symbols 21 among the optical symbols 21 included in the captured image.

  As described above, according to the first embodiment, the address of the stock area 110 is defined on the photographed image obtained by photographing the stock area 110. And the identification information of the articles | goods 30 accommodated in the position corresponding to the said address of the stock area 110 is linked | related with this address. Therefore, it is possible to manage the articles 30 stored in the inventory area 110 without providing an indicator such as an identification tag for the inventory area 110.

  Further, according to the first embodiment, the vacant address of the stock area 110 that stores the article 30 is managed in association with the identification information of the article 30. Therefore, it is possible to manage an empty address without providing a label indicating an address such as an identification tag for the stock area 110.

(Address management method applicable to the first embodiment)
Next, an address management method applicable to the first embodiment will be described. FIG. 11 shows a first address management method applicable to the first embodiment. In the following description, it is assumed that the entire stock area 110 can be photographed by one camera 132.

11, the divided region 1321 ₁₁ of the captured image 1320 a camera 132 photographing the stock area 110 predetermined size, 1321 _12, 1321 _13, ..., 1321 _21, ..., 1321 _31, divides ... to. Each divided area 1321 ₁₁ divided, 1321 _12, 1321 _13, ..., 1321 _21, ..., 1321 _31, provide a unique address to ....

In the example of FIG. 11, the x address and the y address are given to the x direction (horizontal direction) and the y direction (vertical direction) of the photographed image 1320 in the divided unit of the photographed image 1320 from the origin. the combination of each divided region 1321 _11, 1321 _12, 1321 _13, ..., 1321 _21, ..., 1321 _31, used as ... address of. For example, the divided area 13211 ₁₁ has an x address “1” and a y address “1”, and the address “1-1” is given with the y address “1” as the first description. Further, the divided regions 1321 _22, x address "2", y address "2" is given addresses "2-2".

In the example of FIG. 11, the pixel position at the upper left corner of the captured image 1320 is the origin coordinate (1, 1), and the coordinates are defined in units of pixels in the x direction and the y direction, respectively. For example, the divided area 1321 ₁₁ address "1-1" is given, using the coordinates of the vertices of the upper left and lower right of the region 1321 _11, coordinates in the captured image 1320 (1,1) - (25, 25). Similarly, the divided region 1321 ₂₂ address "2-2" is given, the coordinates of the captured image 1320 (26, 26) - the area indicated by (50, 50).

FIG. 12 shows an example in which the captured image 1320 includes an image of the article 30 according to the first embodiment. In the example of FIG. 12, an image of one article 30 to which a display medium 22 on which an optical symbol 21 is formed is attached is included in a divided area indicated by one address. For example, each of the divided regions to which the address “1-1”, “2-1”, and “2-2” are given as the article 30 and the image of the display medium 22 attached to the article 30 and the optical symbol 21 respectively. 1321 ₁₁ , 1321 ₂₁ and 1321 ₂₂ .

  Thus, in the first management method, one article 30 is stored at the position (area) of the inventory area 110 corresponding to one address of the captured image obtained by capturing the inventory area 110. Further, addresses where the optical symbol 21 is not extracted (addresses “1-2”, “1-3”, “3-1”, etc. in the example of FIG. 12) are managed as empty addresses.

  Table (2) shows an example of the address management table 206 applicable to the first management method.

  The address management table 206 shown in the table (2) includes a record for each address, and each record includes “address”, “accommodable number”, “empty”, “coordinate # 1”, “coordinate # 2”, and Each item of “ID” is included. The item “address” stores an address. The item “number of stored items” stores the number of items 30 stored in the area of the inventory area 110 corresponding to the address.

  The item “empty” stores the number of articles 30 that can be currently stored in the area of the inventory area 110 corresponding to the address. When the value of this item “vacant” is “0”, it indicates that the address is not an empty address. The value of the item “empty” is a value obtained by subtracting the number of articles 30 actually stored in the area of the inventory area 110 corresponding to the address from the value of the item “stored number”.

  The items “coordinate # 1” and “coordinate # 2” store the coordinates of the upper left and lower right vertices of the divided area, respectively. The item “ID” stores the identification information of the article 30 stored in the area of the stock area 110 corresponding to the address. This identification information is acquired based on the optical symbol 21 included in the area.

  Referring to FIG. 12, since one article 30 is stored in the position (area) of the stock area 110 corresponding to one address of the captured image obtained by photographing the stock area 110, the item “number of stored items” The value “1” is stored.

  In the example of FIG. 12, for example, one article 30 is stored in each area of the inventory area 110 corresponding to the addresses “1-1”, “2-1”, and “2-2”. “1”, “2-1”, and “2-2” are not empty addresses. In the address management table 206 shown in the table (2), the value of the item “free” in the addresses “1-1”, “2-1”, and “2-2” is the value “0”, and these addresses are It is shown that it is not a free address.

  On the other hand, for example, the article 30 is not stored in the area of the inventory area 110 corresponding to the addresses “1-2”, “1-3”, and “3-1”, and these addresses “1-2”, “ “1-3” and “3-1” are empty addresses. In the address management table 206 shown in Table (2), the value of the item “vacant” in the addresses “1-2”, “1-3”, and “3-1” is “1”, and these addresses are empty. The address is shown.

In each divided area 1321 ₁₁ , 1321 ₁₂ , 1321 ₁₃ ,..., 1321 ₂₁ ,..., 1321 ₃₁ ,. 13, according to the first embodiment, the optical symbol 21 is divided regions 1321 ₂₂ shows an example in which across its right divided area. In this case, it is assumed that a divided region including the center coordinate 23 of the optical symbol 21 is a divided region including the optical symbol 21.

In the example of FIG. 13, the center coordinates 23 of the optical symbol 21 is included in the divided region 1321 _22. Therefore, for example, inventory management unit 204 determines that the optical symbol 21 is included in the divided region 1321 _22. Accordingly, the optical symbol 21, the address "2-2" corresponding to the divided region 1321 ₂₂ is associated. As the center coordinate 23, for example, the coordinate of the center of gravity of the optical symbol 21 can be applied. Not limited to this, other coordinates in the optical symbol 21 may be applied as the center coordinates 23.

  In this case, the article 30 corresponding to the optical symbol 21 protrudes and is stored in the adjacent area in the inventory area 110, and there is a possibility that the storing operation in this adjacent area may be hindered. Therefore, for example, the inventory management unit 204 preferably outputs some notification (such as an alert) when the optical symbol 21 straddling the boundary of the divided area is extracted from the captured image 1320.

  Next, a second address management method applicable to the first embodiment will be described. In the second management method, the number that can be stored for each address is set. In other words, in the second management method, a plurality of articles 30 can be stored in the area of the inventory area 110 corresponding to each address. For example, the second management method may be applied when the quantity of the articles 30 stored in the stock area 110 corresponding to the address is managed instead of the identification information.

FIG. 14 shows an example in which a plurality of articles 30 are stored in the area of the inventory area 110 corresponding to one address according to the first embodiment. In the example of FIG. 14, the captured image 1320 is divided into divided regions 1322 ₁₁ , 1322 ₁₂ , 1322 ₁₃ ,..., 1322 ₂₁ ,. The address assignment method is the same as the method described in FIG. In each divided area 1322 ₁₁ , 1322 ₁₂ , 1322 ₁₃ ,..., 1322 ₂₁ ,..., Four articles 30 can be stored in each area of the corresponding stock area 110.

  Table (3) shows an example of the address management table 206 applicable to the second management method.

  The address management table 206 shown in the table (3) includes a record for each address in the same manner as the address management table 206 in the table (2) described above, and each record includes “address”, “accommodable number”, “ Each item includes “empty”, “coordinate # 1”, and “coordinate # 2”. The meaning of each item is the same as the corresponding item in Table (1). Further, in the second management method, when the quantity of the article 30 corresponding to the address is managed, the item “ID” can be omitted as shown in Table (2).

In the example of FIG. 14, the divided region 1322 ₁₁ at the address "11" includes four images of the article 30, four article 30 in the area of inventory area 110 corresponding to the address "1-1" is stored I understand that That is, four of the articles 30 contained in the divided area 1322 ₁₁ each have the same address "1-1" is associated. In the address management table 206 shown in Table (3), the value of the item “empty” of the address “1-1” is a value “subtracting the number of articles 30 actually stored from the value of the item“ number of stored items ”. 0 "indicating that this address" 1-1 "is not an empty address.

On the other hand, the divided area 1322 ₁₃ at the address "1-3" includes an image of three articles 30, the three articles 30 in the area of inventory area 110 corresponding to the address "1-3" is stored I understand. In the address management table 206 shown in Table (3), the item “vacant” of the address “1-3” has a value “1”, and this address “1-3” is an empty address where one article 30 can be stored. It has been shown. Further, in FIG. 14, each divided area of the other address does not store the article 30, and the item “vacant” of each address in the address management table 206 shown in Table (3) has a value “4”. It is shown that each address is an empty address that can store four articles 30.

  Note that the value of the item “number of stored items” can be set as appropriate. When the value of the item “number of stored items” is set to “1”, the item “ID” of the record is validated. Management can be simplified by reducing the number of addresses included in the captured image 1320 by setting the value of the item “number of stored items” to “2” or more. When the value of the item “number of stored items” is “2” or more, for example, the item “ID” of the record is invalidated. It is also possible to mix records having different values of the item “number of stored items” in one address management table 206.

  As described above, in the first embodiment, since the address for performing position management in the stock area 110 is defined on the photographed image obtained by photographing the stock area 110, the layout in the stock area 110 is changed. Easy.

(Driving control method applicable to the first embodiment)
Next, the traveling control of the AGV 40 will be described with reference to FIGS. 15 and 16. The AGV control unit 201 stores in advance a map in which coordinates are virtually given to a plane parallel to the floor surface in the automatic warehouse 1.

  FIG. 15 shows an example of a map applicable to the first embodiment. 15, a map 150 fits a grid to a plane parallel to the floor surface in the automatic warehouse 1 and expresses each grid point 1500, 1500,... As coordinates in the grid. Each of the lattice points 1500, 1500,... Is associated with the actual coordinates of the floor surface by a table or the like, for example. Further, the map 150 includes information indicating the shapes 151a and 151b of the structures existing on the plane. Further, the map 150 may include information on the articles 30 currently placed in the temporary storage area 100 and the articles 30 currently stored in the inventory area 110.

  FIG. 16 shows an example of a travel map applicable to the first embodiment. In FIG. 16, the travel map 150 ′ shows a movement start point 152 and a movement end point 153, and a movement route R connecting the movement start point 152 to the movement end point 153 follows the respective grid points 1500, 1500,. Is set. At this time, the movement route R is set to be movable while avoiding the structure based on the information indicating the shapes 151a and 151b of the structure.

  The transport control unit 211 designates the AGV 40 used for transporting the article 30 in accordance with an instruction from the storage management unit 210. The conveyance control unit 211 includes the coordinates of the designated AGV 40 and the coordinates indicating the movement destination of the AGV 40 in the conveyance instruction and passes them to the AGV control unit 201.

  The AGV control unit 201 sets a movement start point 152 and a movement end point 153 for the map 150 based on the coordinates of the AGV 40 included in the conveyance instruction passed from the conveyance control unit 211 and the coordinates indicating the movement destination. The AGV control unit 201 sets a movement route R connecting the movement start point 152 and the movement end point 153 based on the movement start point 152 and the movement end point 153 set on the map 150, information on the structure, and the like. A travel map 150 ′ is created.

  The AGV control unit 201 transmits the created travel map 150 ′ to the designated AGV 40. The AGV 40 receives the travel map 150 ′ transmitted from the AGV control unit 201 and stores it in the RAM, for example. The AGV 40 moves on the travel route R of the travel map 150 ′ according to the control of the controller 401 based on the output of the range sensor 400 and the stored travel map 150 ′. At this time, the controller 401 confirms the position of the structure or the like based on the output of the range sensor 400 and the travel map 150 ′, and corrects the travel direction of the AGV 40 of the own aircraft while traveling the AGV 40. Control.

(Example of optical symbol applicable to the first embodiment)
Next, an example of the optical symbol 21 generated in the code generation device 20 applicable to the first embodiment will be schematically described. FIG. 17 shows an example of an optical symbol applicable to the first embodiment. In FIG. 17, an image of the optical symbol 21 is shown on the display medium 22.

  In FIG. 17, the optical symbol 21 includes a main code portion 2100 and a sub code portion 2101. The main code portion 2100 is configured by a cell row in which a plurality of adjacent cells are arranged one-dimensionally. The sub-code part 2101 is configured by cell rows each of which is connected to each cell except for the cells at both ends of the main code part 2100 and in which a plurality of cells are sequentially adjacent and arranged one-dimensionally. In the example of FIG. 17, the main code part 2100 includes 10 cells including a start cell 2102 and an end cell 2103, and each cell column of the sub code part 2101 includes 4 cells.

  The respective cell columns included in the sub-code portion 2101 are arranged at a predetermined interval from each other, and the optical symbol 21 has a comb shape as a whole. By making the optical symbol 21 into a comb shape, it is possible to easily extract the optical symbol 21 from the captured image and specify the orientation of the extracted optical symbol 21.

  The optical symbol 21 expresses information based on a color transition between adjacent cells. In other words, the optical symbol 21 encodes information using color transitions. The optical symbol 21 can be expressed by coding different information by each cell of the main code portion 2100 and each cell of each cell column included in the sub code portion 2101.

  The colors assigned to the cells constituting the main code portion 2100 and the sub code portion 2101 are not the same color between adjacent cells, and are selected from a plurality of predetermined colors. In the example of FIG. 17, each cell has four colors of R (red), G (green), B (blue), and K (black) according to a predetermined rule shown in a predetermined conversion table, for example. A color selected from the colors is assigned. The colors assigned to each cell are not limited to R, G, B, and K colors. The number of colors that can be assigned to each cell is not limited to four colors, and may be three colors or five or more colors.

  The code generation device 20 prints the optical symbol 21 generated as shown in FIG. 17 on a print medium as the display medium 22 using a printer.

  A method of decoding the optical symbol 21 applicable to the first embodiment will be schematically described with reference to FIG. First, for example, the ID / position acquisition unit 203 extracts the optical symbol 21 from the captured image by a template corresponding to the shape of the optical symbol 21 or color determination for each pixel. The ID / position acquisition unit 203 recognizes each cell from the extracted optical symbol 21 based on color information of each pixel, for example. The ID / position acquisition unit 203 uses the number of connections of each recognized cell to the adjacent cell, and the cell sequence of the main code unit 2100 included in the optical symbol 21 and each cell sequence included in the sub code unit 2101. Recognize

  That is, as shown in FIG. 18, in the cell string of the main code part 2100, the cell string of the sub code part 2101 is not connected to the start cell 2102 and the end cell 2103. In the cell string of the main code part 2100, each cell string of the sub code part 2101 is always connected to each cell sandwiched between the start cell 2102 and the end cell 2103.

  The start cell 2102, end cell 2103, and terminal cell of each cell column of the subcode portion 2101 have a connection number of “1”. On the other hand, the number of connections of each cell other than the end of each cell row of the sub code portion 2101 is “2”, whereas each cell other than the start cell 2102 and the end cell 2103 in the cell row of the main code portion 2100 is The number of connections is “3”. Therefore, it can be determined that the cell with the connection number “1” connected to the cell with the connection number “3” is the start cell 2102 or the end cell 2103.

  When recognizing each cell from the optical symbol 21, the ID / position acquisition unit 203 detects a color transition between adjacent cells. Based on the detected color transition, the ID / position acquisition unit 203 converts the color transition into information with reference to the above-described conversion table, for example, and acquires identification information included in the optical symbol 21.

  Note that the optical symbol 21 applicable to the first embodiment is not limited to the one shown in FIG. That is, in the first embodiment, as long as each optical symbol can be recognized based on a photographed image obtained by looking down on a plurality of articles each having a display medium on which an optical symbol is formed, the optical medium of another configuration is used. Symbols may be applied.

(Second Embodiment)
Next, a second embodiment will be described. In the second embodiment, a function of detecting an abnormality in the conveying operation of the article 30 by the AGV 40 is added to the automatic warehouse system according to the first embodiment described above.

First, an abnormality in the conveying operation of the article 30 by the AGV 40 according to the second embodiment will be described. Hereinafter, the following four types of abnormalities are considered as detection targets.
(1) The connection between the AGV 40 and the article 30 is disconnected.
(2) Incorrect connection between the AGV 40 and the article 30.
(3) The possibility that the article 30 is stolen.
(4) Failure of AGV40 or inability to run.

  The disconnection of (1) will be described with reference to FIG. The disconnection is a state in which the joining of the parts 411 and 412 that connect the AGV 40 and the article 30 is disconnected while the AGV 40 is transporting the article 30. In this case, since the article 30 is not conveyed by the AGV 40, it does not reach the target position and becomes abnormal. The disconnection is measured based on the optical symbol 21 corresponding to the article 30 and the optical symbol 21 ′ corresponding to the AGV 40 extracted from the image captured by the camera 132, and the distance between the AGV 40 and the article 30 being conveyed by the AGV 40. It can be determined based on the measured distance.

  In the second embodiment, each AGV 40 is given unique identification information and is managed by the AGV control unit 201. For each AGV 40, an optical symbol 21 'including identification information is generated, and the generated optical symbol 21' is formed on the display medium 22 '. The display medium 22 ′ on which the optical symbol 21 ′ is formed is attached to, for example, the upper surface of the AGV 40.

  The erroneous connection (2) will be described with reference to FIG. The erroneous connection is a state in which the AGV 40 is transporting an article different from the designated article 30. In this case, the article 30 is conveyed to a position different from the position where it should be originally conveyed, which is abnormal. The erroneous connection identifies the AGV 40 and the article 30 based on the optical symbols 21 and 21 ′ extracted from the image captured by the camera 132, and determines whether the combination of the identified AGV 40 and the article 30 is a correct combination.

  The possibility of theft in (3) will be described with reference to FIG. When the article 30 moves alone without being connected to the AGV 40 and exceeds the predetermined area 70, it can be determined that the article 30 may be stolen. That is, when the article 30 is moved alone by the hand of the person 60, if the movement is within a predetermined area 70, it can be considered that the movement is for a designated work by an operator or the like. . On the other hand, when it is determined that the article 30 is moved alone by the hand of the person 60 based on the optical symbol 21 extracted from the image captured by the camera 132 and the article 30 is moved out of the predetermined area 70, the article 30 is displayed. Suspected of being stolen.

  (4) The AGV 40 failure or inability to travel will be described with reference to FIG. As described above, the AGV 40 travels according to the route set in the travel map 150 '. Here, for example, based on the image taken by the camera 132, the route F (see FIG. 16) that is the correct travel route set in the travel map 150 ′ is different from the route F that the AGV 40 is an incorrect travel route. When it is detected that the vehicle is traveling on the route G, it can be determined that an abnormality has occurred in the traveling. Further, based on the optical symbol 21 ′ extracted from the image captured by the camera 132, if the AGV 40 that should be moving has been stopped at one place for a predetermined time or longer, the AGV 40 has failed or cannot run. It can be determined that an abnormality has occurred in traveling.

  FIG. 23 is a functional block diagram illustrating an example of functions of the local system 2 ′ in the automatic warehouse system according to the second embodiment. In the local system 2 ′ shown in FIG. 23, an abnormality detection unit 250 and a presentation unit 251 are added to the local system 2 shown in FIG. 5 described above.

  In the local system 2 ′, the ID / position acquisition unit 203 ′ extracts the stationary optical symbol 21 from the captured image supplied from the camera 132, and identifies information (stationary ID information) from the extracted optical symbol 21. Called). The ID / position acquisition unit 203 ′ passes the acquired still ID information and position information indicating the position of the still ID information on the captured image to the inventory management unit 204.

  In this case, the stationary ID information corresponds to the identification information acquired from the optical symbol 21 based on the captured image captured by the camera 132 in the first embodiment, and the inventory management unit 204 acquires the ID / position. The position information and stationary ID information passed from the unit 203 are transmitted to the management server 3 and requested to be registered in the inventory management table 205.

  The ID / position acquisition unit 203 ′ further extracts the moving optical symbol 21 from the captured image supplied from the camera 132. Based on the extracted optical symbol 21, the ID / position acquisition unit 203 ′ acquires identification information (referred to as movement ID information) of the article 30 and position information indicating the position of the optical symbol 21 in the captured image. .

  Whether or not the optical symbol 21 is moving is determined by the ID / position acquisition unit 203 ′ extracting and extracting the optical symbol 21 from a plurality of captured images captured at a predetermined time interval by the camera 132, for example. This can be determined by comparing each optical symbol 21.

  For example, the ID / position acquisition unit 203 ′ stores the captured image supplied from the camera 132. The ID / position acquisition unit 203 ′ extracts the optical symbol 21 from the captured image supplied from the camera 132 at a certain timing. In addition, the ID / position acquisition unit 203 ′ obtains, from the stored photographed image, a photographed image photographed at one or more timings retroactive to the past from the timing of obtaining the photographed image from which the optical symbol 21 is extracted. The optical symbol 21 is extracted from each acquired captured image.

  The ID / position acquisition unit 203 ′ uses the positions of the optical symbols 21 extracted from the plurality of captured images in this way and the identification information acquired from the optical symbols 21 in the captured images. Each optical symbol 21 is compared. As a result of the comparison, the ID / position acquisition unit 203 ′ determines that the optical symbols 21 having the same identification information and different positions from each other are the optical symbols 21 that are moving.

  In addition, the ID / position acquisition unit 203 ′ acquires position information indicating the position in the captured image of the optical symbol 21 acquired later in time among the compared optical symbols 21.

  Similarly, the ID / position acquisition unit 203 ′ extracts the moving optical symbol 21 ′ from the captured image supplied from the camera 132, and the identification information (movement ID information) of the AGV 40 from the extracted optical symbol 21 ′. And position information indicating the position of the optical symbol 21 ′ in the captured image.

  The ID / position acquisition unit 203 ′ associates the movement ID information of the article 30 acquired as described above with the position information of the optical symbol 21 attached to the article 30, and detects the abnormality detection unit 250 and the entry / exit management unit 210. 'Supply to each. Similarly, the ID / position acquisition unit 203 ′ associates the movement ID information of the AGV 40 acquired as described above with the position information of the optical symbol 21 ′ attached to the AGV 40, and detects the abnormality detection unit 250 and the entry / exit management. Each of the units 210 'is supplied.

  If the movement of the optical symbol 21 (article 30) or the optical symbol 21 '(AGV 40) is not detected, the corresponding movement ID information is not supplied to the abnormality detection unit 250 and the entry / exit management unit 210'.

  The AGV control unit 201 passes the AGV management information including the identification information and status information of each AGV 40 to the entry / exit management unit 210 '. In addition, the AGV control unit 201 passes the travel map 150 ′ of each AGV 40 to the storage management unit 210 ′.

  Based on the AGV management information delivered from the AGV control unit 201, the entry / exit management unit 210 'designates the AGV 40 that is connected to the article 30 to be entered / exited. The identification information of the designated AGV 40 is included in the conveyance instruction in the conveyance control unit 211 and passed to the AGV control unit 201. In addition, the entry / exit management unit 210 ′ associates the identification information of the article 30 to be entered / exited with the identification information of the AGV 40 designated to be linked to the article 30, and sends it to the abnormality detection unit 250 as linked information. hand over.

  As described above, the abnormality detection unit 250 determines whether or not the operation of transporting the article 30 by the AGV 40 is normal based on each information passed from the ID / position acquisition unit 203 ′ and the warehouse management unit 210 according to a determination process described later. Determine. If the abnormality is detected in the transport operation as a result of the determination, the abnormality detection unit 250 notifies the presentation unit 251 to that effect. The presentation unit 251 presents the occurrence of an abnormality in response to the notification. Although the method of presentation is not particularly limited, display on a display or generation of a warning sound can be considered.

  Further, the abnormality detection unit 250 may further pass the identification information (movement ID information) of the AGV 40 in which the abnormality is detected to the presentation unit 251. The presentation unit 251 transmits the AGV 40 identification information passed from the abnormality detection unit 250 to the AGV control unit 201. The AGV control unit 201 transmits a control signal to the AGV 40 having the identification information according to the identification information of the AGV 40 transmitted from the presentation unit 251. The AGV 40 turns on the indicator lamp 405, for example, in response to the control signal.

  The abnormality detection unit 250 and the presentation unit 251 according to the second embodiment are configured by a program that operates on a detection device connected to the network 11 in the local system 2 ′, for example.

  FIG. 24 shows a configuration of an example of a detection device in which the abnormality detection unit 250 and the presentation unit 251 according to the second embodiment are configured. 24, the detection device 16 includes a CPU 160, a ROM 161, a RAM 162, a graphics I / F 163, a storage 165, a data I / F 166, and a communication I / F 169, and these units communicate with each other via a bus 170. Connected as possible. As described above, the detection device 16 according to the first embodiment can be realized using a general computer.

  The storage 165 is a non-volatile storage medium such as a hard disk drive or a flash memory, and stores programs and data. The CPU 160 controls the entire operation of the detection device 16 using the RAM 162 as a work memory in accordance with a program stored in the storage 165 or the ROM 161.

  The graphics I / F 163 is connected to a display 164 and generates a display signal that can be displayed on the display 164 based on display control information generated by the CPU 160 according to a program. The data I / F 166 is an interface for external data supplied from the outside of the detection device 16. The data I / F 166 can be connected to a pointing device 167 such as a mouse and a keyboard 168. The data I / F 166 can also input external data. As the data I / F 166, for example, USB (Universal Serial Bus) can be applied.

  The communication I / F 169 is connected to the network 11 by wired communication or wireless communication, and performs communication via the network 11.

  The detection program for realizing the functions of the abnormality detection unit 250 and the presentation unit 251 of the detection device 16 according to the second embodiment is a file in an installable format or an executable format, such as a CD (Compact Disk), a flexible disk. (FD), DVD (Digital Versatile Disk) and the like are provided by being recorded on a computer-readable recording medium. However, the present invention is not limited thereto, and the detection program may be provided by being stored on a computer connected to a network such as the Internet and downloaded via the network. In addition, the detection program may be provided or distributed via a network such as the Internet.

  The detection program has a module configuration including the abnormality detection unit 250 and the presentation unit 251 described above. As actual hardware, when the CPU 160 reads and executes the detection program from a storage medium such as the storage 165, the abnormality detection unit 250 and the presentation unit 251 are loaded on the main storage device such as the RAM 162, and the abnormality detection unit 250 and the presentation unit 251 are generated on the main storage device.

  FIG. 25 is a flowchart illustrating an example of a method for determining a transport operation according to the second embodiment. A series of processes according to the flowchart of FIG. 25 may be executed by the abnormality detection unit 250 in accordance with a predetermined time interval, for example, the timing of photographing by the camera 132 (1 second to several seconds interval).

  In step S100, the abnormality detection unit 250 receives the movement ID information and position information of the article 30 and the AGV 40 passed from the ID / position acquisition unit 203 ′, and the entry / exit target passed from the entry / exit management unit 210 ′. The detection of the moving body is started based on the article 30 to be connected and the identification information of each AGV 40 designated to be connected to the article 30. The moving body here includes the article 30 and the AGV 40.

  The abnormality detection unit 250 performs detection of the AGV 40 and detection of the article 30 in parallel.

  First, detection of the AGV 40 after the start of detection of the moving body in step S100 will be described. In step S110, the abnormality detection unit 250 determines whether or not the moving AGV 40 is detected based on the movement ID information of the AGV 40. For example, the abnormality detection unit 250 determines that the moving AGV 40 is detected when the movement ID information of the AGV 40 is supplied from the ID / position acquisition unit 203 ′. When it is determined that the moving AGV 40 is not detected (step S110, “No”), the abnormality detection unit 250 ends the series of processes according to the flowchart of FIG.

  On the other hand, if the abnormality detection unit 250 determines in step S110 that the moving AGV 40 is detected (step S110, “Yes”), the process proceeds to step S111. In step S111, the abnormality detection unit 250 acquires the detected position and state of the moving AGV 40 as AGV information.

  For example, the abnormality detection unit 250 acquires the position information of the optical symbol 21 ′ passed from the ID / position acquisition unit 203 ′ in step S <b> 100 as position information indicating the position of the AGV 40. Further, the abnormality detection unit 250 requests state information associated with the movement ID information to the storage / exit management unit 210 ′ based on the movement ID information of the AGV 40. In response to this request, the entry / exit management unit 210 ′ refers to the AGV management information passed from the AGV control unit 201, acquires the state information associated with the movement ID information, and detects the acquired state information as an abnormality. To part 250.

  In the next step S112, the abnormality detection unit 250 determines whether or not the current position of the AGV 40 detected in step S110 is correct.

  For example, the abnormality detection unit 250 requests the traveling management map 150 ′ corresponding to the AGV 40 from the storage management unit 210 ′ based on the movement ID information of the AGV 40. In response to this request, the entry / exit management unit 210 ′ acquires the travel map 150 ′ associated with the movement ID information from the AGV management information delivered from the AGV control unit 201, and uses the acquired travel map 150 ′. It passes to the abnormality detection unit 250. The abnormality detection unit 250 compares the travel map 150 ′ delivered from the storage / retrieval management unit 210 ′ with the position information indicating the position of the AGV 40 acquired in step S <b> 111. As a result of the comparison, the abnormality detection unit 250 determines that the current position of the AGV 40 is correct when the position indicated by the position information is within a predetermined range with respect to the travel route set in the travel map 150 ′.

  In step S112, the abnormality detection unit 250 determines that the position indicated by the position information is outside the predetermined range with respect to the travel route set in the travel map 150 ′ and the current position is not correct (step S112, “No”), assuming that an abnormality has been detected, the process proceeds to step S113. In this case, the abnormality detection unit 250 determines that some failure has occurred in the AGV 40 such as a failure. This corresponds to “(4) AGV40 failure or inability to travel” described above.

  The abnormality detection unit 250 passes to the presentation unit 251 that an abnormality has been detected, the identification information (movement ID information) of the AGV 40 in which the abnormality has been detected, and the type of abnormality (AGV40 failure). The presentation unit 251 presents the occurrence of an abnormality by a predetermined method. After the process of step S113, a series of processes according to the flowchart of FIG.

  If it is determined in step S112 that the current position is correct (step S112, “Yes”), the abnormality detection unit 250 shifts the process to step S114. In step S114, the abnormality detection unit 250 determines whether or not the status information of the AGV 40 acquired in step S111 indicates “conveying”.

  When the abnormality detection unit 250 determines that the state of the AGV 40 is not “conveying” (step S114, “No”), the series of processes according to the flowchart of FIG. On the other hand, when the abnormality detection unit 250 determines that the state of the AGV 40 is “conveying” (step S114, “Yes”), the process proceeds to step S130.

  Next, detection of the article 30 after the start of detection of the moving object in step S100 described above will be described. In step S <b> 120, the abnormality detection unit 250 determines whether the moving article 30 is detected based on the movement ID information of the article 30. For example, the abnormality detection unit 250 determines that the moving article 30 is detected when the movement ID information of the article 30 is supplied from the ID / position acquisition unit 203 ′. If the abnormality detection unit 250 determines that the moving article 30 is not detected (step S120, “No”), the series of processes according to the flowchart of FIG.

  On the other hand, if the abnormality detection unit 250 determines in step S120 that the moving article 30 has been detected (step S120, “Yes”), the process proceeds to step S121. In step S121, the abnormality detection unit 250 acquires the detected position and state of the moving article 30 as article information.

  For example, the abnormality detection unit 250 acquires the position information of the optical symbol 21 passed from the ID / position acquisition unit 203 ′ in step S 100 as position information indicating the position of the article 30. Further, the abnormality detection unit 250 requests state information associated with the movement ID information to the storage / exit management unit 210 ′ based on the movement ID information of the article 30. In response to this request, the entry / exit management unit 210 ′ acquires a status code associated with the movement ID information from the inventory management table 205 via the inventory management unit 204. The entry / exit management unit 210 ′ passes state information indicating a state corresponding to the acquired state code to the abnormality detection unit 250.

  In the next step S122, the abnormality detection unit 250 determines whether or not the status information of the article 30 acquired in step S121 indicates “conveying”. If the abnormality detection unit 250 determines that the state information of the article 30 indicates “conveying” (step S122, “Yes”), the process proceeds to step S130. On the other hand, if the abnormality detection unit 250 determines that the state information of the article 30 does not indicate “conveying” (step S122, “No”), the abnormality detection unit 250 shifts the process to step S123 because an abnormality is detected.

  In this case, the abnormality detection unit 250 determines that the moving article 30 detected in step S120 may have been stolen. That is, the article 30 is not supposed to be being conveyed (moved) originally based on the corresponding state information. Therefore, it is considered that the article 30 is moving in a state where the AGV 40 is not connected, and the possibility of theft is suspected. This corresponds to “(3) Possibility of theft of the article 30” described above.

  The abnormality detection unit 250 passes to the presentation unit 251 the fact that an abnormality has been detected, the identification information (movement ID information) of the article 30 in which the abnormality has been detected, and the type of abnormality (possibility of theft). The presentation unit 251 presents the occurrence of an abnormality by a predetermined method. After the process of step S123, a series of processes according to the flowchart of FIG.

  In step S130, the abnormality detection unit 250 determines whether or not the distance between the moving AGV 40 detected in step S110 and the moving article 30 detected in step S120 is within a predetermined distance. . For example, the abnormality detection unit 250 obtains the distance between the AGV 40 and the article 30 based on the position information included in the AGV information acquired in step S111 and the position information included in the article information acquired in step S121.

  If the abnormality detection unit 250 determines that the distance between the AGV 40 and the article exceeds a predetermined distance (step S130, “No”), the abnormality detection unit 250 shifts the process to step S131 because an abnormality is detected. The predetermined distance is considered to be a distance based on the length of the coupling mechanism 410, for example, assuming that the AGV 40 coupled with the article 30 moves mainly straight.

  In this case, the abnormality detection unit 250 determines that the moving AGV 40 detected in step S110 is disconnected from the moving article 30 detected in step S120. This corresponds to the “(1) disconnection between the AGV 40 and the article 30” described above.

  The abnormality detection unit 250 presents the fact that an abnormality has been detected, the identification information (movement ID information) of the AGV 40 and the article 30 in which an abnormality has been detected, and the type of abnormality (disconnection). Pass to 251. The presentation unit 251 presents the occurrence of an abnormality by a predetermined method. After the process of step S131, a series of processes according to the flowchart of FIG.

  If the abnormality detection unit 250 determines in step S130 that the distance between the AGV 40 and the article is within a predetermined distance (step S130, “Yes”), the process proceeds to step S132. In step S132, the abnormality detection unit 250 acquires information on a combination of the moving AGV 40 detected in step S110 and the moving article 30 detected in step S120. More specifically, the abnormality detection unit 250 acquires a combination of the movement ID information of the moving AGV 40 detected in step S110 and the movement ID information of the moving article 30 detected in step S120.

  In the next step S133, the abnormality detection unit 250 determines whether or not the combination of the AGV 40 and the movement ID information of the article 30 acquired in step S132 is correct.

  For example, the abnormality detection unit 250 combines the combination of the identification information of the AGV 40 and the article 30 included in the connection information passed from the entry / exit management unit 210 ′ and the movement ID information of the AGV 40 and the article 30 acquired in step S132. Is determined to be correct. If the abnormality detection unit 250 determines that the combination is correct (step S133, “Yes”), the abnormality detection unit 250 determines that no abnormality has been detected, and terminates a series of processes according to the flowchart of FIG.

  On the other hand, if the combination of the AGV 40 and the identification information of the article 30 included in the connection information does not match the combination of the movement ID information of the AGV 40 and the article 30 acquired in step S132, the abnormality detection unit 250 is incorrect. (Step S133, “No”), the process proceeds to step S134, assuming that an abnormality has been detected.

  In this case, the abnormality detection unit 250 determines that the AGV 40 connects the wrong article 30. This corresponds to “(2) erroneous connection between the AGV 40 and the article 30” described above.

  The abnormality detection unit 250 passes to the presentation unit 251 the fact that the abnormality has been detected, the identification information (movement ID information) of the AGV 40 and the article 30 in which the abnormality has been detected, and the type of abnormality (incorrect connection). The presentation unit 251 presents the occurrence of an abnormality by a predetermined method. After the process of step S134, a series of processes according to the flowchart of FIG.

  Thus, in the second embodiment, the AGV 40 and the article 30 in which an abnormality has occurred during transportation can be specified based on the captured image captured by the camera 132.

  In the above, (1) disconnection between AGV 40 and article 30, (2) erroneous connection between AGV 40 and article 30, (3) possibility of theft of article 30, and (4) failure or running of AGV 40. Inability is detected as a series of processes, but this is not limited to this example. That is, the abnormality detection unit 250 may execute the abnormality detections (1) to (4) independently or execute any combination of two or more of the abnormality detections (1) to (4). May be.

  The above-described embodiment is a preferred embodiment of the present invention, but is not limited thereto, and various modifications can be made without departing from the scope of the present invention.

1 Automatic warehouse 2, 2 'Local system 3 Management server 4 Management DB
5 Network 6 Shipment source 12 Inventory control system 13 Camera system 14 AGV server 20 Code generation device 21, 21 ′ Optical symbol 30 Article 40 AGV
100 Temporary storage area 110 Stock area 120 ₁ , 120 ₂ ,... Application-specific area 130, 131, 132 ₁ , 132 ₂ , 132 ₃ ,... Camera 150 Map 150 ′ Travel map 200 Inventory control unit 201 AGV control unit 202, 203, 203 'ID / position acquisition unit 204 Inventory management unit 205 Inventory management table 206 Address management table 210, 210' Entry / exit management unit 211 Transport control unit 400 Range sensor 401 Controller 410 Connection mechanism 413a, 413b Joint unit 1320 Photographed image 1321 ₁₁ , 1321 ₁₂ , 1321 ₁₃ ,..., 1321 ₂₁ , 1321 ₂₂ ,..., 1321 ₃₁ , 1322 ₁₁ , 1322 ₁₂ , 1322 ₁₃ , 1322 ₂₁ divided regions

Japanese Patent No. 5681163

Claims (9)

A storage unit that associates and stores first identification information for identifying an article and state information indicating a state designated for the article;
A first optical symbol including the first identification information of the article attached to the article is extracted from the photographed image, and the first identification information is acquired from the extracted first optical symbol. An information acquisition unit for acquiring first position information indicating a position of the first optical symbol in the captured image;
A management system comprising: a determination unit that determines, based on the first position information, whether the article is in a state indicated by the state information associated with the first identification information. The management system according to claim 1, wherein the status information indicates at least whether the article is being conveyed. A transport control unit that controls a transport device that transports the article according to an instruction;
The information acquisition unit further includes:
A second optical symbol including second identification information for identifying the transport device attached to the transport device is extracted from the captured image, and the transport is performed based on the captured image and the second optical symbol. Obtaining second position information indicating the position of the device;
The determination unit
The management system according to claim 1, wherein the management system determines whether or not the article is in a state indicated by the state information based on the first position information and the second position information. The determination unit
When the distance between the position indicated by the first position information and the position indicated by the second position information is within a predetermined distance, the state of the article is in a state indicated by the state information. The management system according to claim 3 for determining. The determination unit
Whether the article is in a state indicated by the state information associated with the first identification information based on a combination of the first identification information and the second identification information acquired by the information acquisition unit The management system according to claim 3, which determines whether or not. The determination unit
Based on the first position information, the second optical symbol is not extracted within a predetermined distance from the position indicated by the first position information, and the first position information is predetermined. The management system according to claim 3, wherein, when a position outside the area is indicated, it is determined that the state of the article is not in the state indicated by the state information. The optical symbol is
A main code part having a first cell string in which a plurality of main code cells are connected in one dimension; and a sub code part having a plurality of second cell strings in which a plurality of sub code cells are connected in one dimension; A plurality of the second cell columns are connected to the plurality of different main code cells excluding the cells at the end of the first cell column among the plurality of main code cells, The management system according to any one of claims 1 to 6, wherein each cell included in the main code cell and the plurality of sub code cells is assigned a color different from that of a cell connected adjacently. An optical symbol including identification information of the article attached to the article is extracted from the photographed image, the identification information is acquired from the extracted optical symbol, and the photographing is performed based on the photographed image and the optical symbol. An information acquisition step of acquiring position information indicating the position of the optical symbol in the image;
A determination step of determining whether or not the article is in a state designated by the article indicated by the status information stored in the storage unit in association with the first identification information based on the position information; Management method to have. Based on the positional information indicating the position of the optical symbol in the captured image acquired by the captured image and the optical symbol including the identification information of the article attached to the article extracted from the captured image, The article is acquired based on the identification information acquired from the optical symbol from a storage unit that stores the identification information included in the optical symbol in association with state information indicating a state designated for the article. A determination unit for determining whether or not the state is indicated by the state information;
An information processing apparatus comprising: a presentation unit that presents information according to a determination result by the determination unit.

Images