JP2020104986A - Article shipping method, program, and article shipping system - Google Patents

Abstract

To provide an article shipping method, a program, and an article shipping system which allow for smoothly shipping an object article from a facility.SOLUTION: An article shipping method comprises the steps of picking, loading, connecting, and conveying. In the picking step, an object article 91 is taken out from a plurality of articles present in a facility 90 at the picking area A1 set in the facility 90. In the loading step, the object article 91 is loaded on a carriage 3 at the picking area A1. The carriage 3 is used for carrying the object article 91 out of the facility 90. In the connecting step, a conveying device 1 is connected to the carriage 3 at the picking area A1. In the conveying step, the carriage 3 is conveyed by the conveying device 1 from the picking area A1 to a shipping area A2 set in the facility 90.SELECTED DRAWING: Figure 1

Description

The present disclosure generally relates to a product shipping method, a program, and a product shipping system, and more particularly, to a product shipping method, a program, and a product shipping system used when shipping a target product in a facility from the facility.

Patent Document 1 discloses that a distribution company operating a distribution center owns a delivery vehicle and a transportation device (car trolley) and delivers a delivery item from a delivery source to a delivery destination. A large number of transporting devices are stacked on a delivery vehicle in a state where delivered items are stored and transported from a delivery source to a number of delivery destinations. The transporting device is unloaded at the delivery destination, and then emptied of the delivered product, reloaded on the delivery vehicle, returned from the delivery destination to the delivery source, and circulated.

JP, 2006-168943, A

In the case of shipping an article together with a carrying device such as a cart as in Patent Document 1, it is necessary to load the article into the carrying device. In particular, when the storage location of the article and the delivery vehicle are distant from each other, it takes a lot of time to convey the article until the article is loaded into the transportation device.

The present disclosure has been made in view of the above circumstances, and an object of the present disclosure is to provide an article shipping method, a program, and an article shipping system capable of smoothly shipping a target article from a facility.

An article shipping method according to an aspect of the present disclosure includes a picking step, a loading step, a connecting step, and a carrying step. The picking step is a step of taking out a target article from a plurality of articles in the facility in a picking area set in the facility. The loading step is a step of loading the target article on a transportation device in the picking area. The carrying device is a device for carrying the target article out of the facility. The connecting step is a step of connecting a carrying device to the carrying device in the picking area. The carrying step is a step of carrying the carrying device from the picking area to a shipping area set in the facility by the carrying device.

A program according to an aspect of the present disclosure is a program for causing one or more processors to execute the article shipping method.

An article shipping system according to an aspect of the present disclosure is a system used when shipping a target article together with the carrying device from the facility in a state where the target article in the facility is loaded on the carrying apparatus. The article shipping system includes a transport device and a control system that controls the transport device. In the picking area set in the facility, the control system connects the carrying device to the carrying device on which the target article taken out from the plurality of articles in the facility is loaded. The control system moves the transport device connected to the transport device from the picking area to a shipping area set in the facility.

According to the present disclosure, there is an advantage that it is possible to smoothly ship the target article from the facility.

FIG. 1 is a schematic plan view showing a usage example of the article shipping method according to the first embodiment. FIG. 2A to FIG. 2D are explanatory views showing an example of use of the above-described article shipping method and showing respective scenes shown by “Za” to “Zd” in FIG. 1. FIG. 3 is a schematic block diagram showing the article shipping system according to the first embodiment. FIG. 4 is a perspective view showing appearances of a first transfer device and a transfer device used in the above-described article shipping method. FIG. 5: is a perspective view which shows the external appearance of the 2nd conveyance apparatus and movable shelf which are used with the goods shipping method same as the above. FIG. 6A is a plan view showing a first transfer device and a second transfer device used in the same article shipping method, and FIG. 6B is a front view showing a first transfer device and a second transfer device used in the same article shipping method. It is a figure. FIG. 7 is a flowchart showing the article shipping method of the above. FIG. 8 is a schematic perspective view showing a usage example of the article shipping method according to the second embodiment. FIG. 9 is a schematic plan view showing a usage example of the article shipping method according to the third embodiment.

(Embodiment 1)
Hereinafter, the article shipping method, the program, and the article shipping system according to the present embodiment will be described with reference to FIGS. 1 to 7.

(1) Overview The article shipping method according to the present embodiment is a method used when shipping a target article 91 in the facility 90 from the facility 90, as shown in FIGS. 1 to 2D. More specifically, the article shipping method according to the present embodiment is used when the target article 91 in the facility 90 is loaded on the transport device 3 and the target article 91 is shipped from the facility 90 together with the transport device 3. .. “Loading” in the present disclosure generally means placing an object on a moving body or the like. Therefore, the manner in which the target article 91 is loaded on the transport device 3 is a mode in which the target article 91 is placed on the transport device 3, a mode in which a plurality of target articles 91 are stacked on the transport device 3, and a transport device. 3 includes a mode in which the target article 91 is housed.

This article management method can be realized by, for example, a computer system having one or more processors. That is, the program according to the present embodiment is a program for causing one or more processors to execute the article shipping method. Further, this article management method is realized by, for example, the article shipping system 10.

The “facility” in the present disclosure is a facility in which a plurality of articles 910 (see FIG. 2A) including the target article 91 are placed, and for example, a warehouse, a distribution center (including a distribution center), a factory, a construction site. , Stores, offices, parks, houses, schools, hospitals, stations, airports or parking lots. Furthermore, for example, when shipping an article (target article 91) housed in a moving body such as a ship, an airplane, or a train from the moving body, the moving body becomes the facility 90. In the present embodiment, as an example, a case where the facility 90 is a warehouse will be described.

The “target article” as referred to in the present disclosure is an article that can be loaded on the transportation device 3, and includes, for example, deliverables, industrial products (including parts), building materials, food and drink, clothing, daily necessities, books, recording media, and the like. Various objects. In the present embodiment, as an example, a case will be described in which the target article 91 is a delivered item (including a box) in a state of being housed in a box.

Further, the “transportation device” in the present disclosure is a device (apparatus) for carrying out the target article 91 to the outside of the facility 90, and includes, for example, a roll box pallet (car cart), a flat pallet, a box pallet, a container, A chest, a tray, a cooler box, or a dolly. That is, the carrying device 3 may be any device (apparatus) that can load the target article 91 and can be loaded on the transportation means such as the truck 92 (see FIG. 1), and its size, shape, function, and the like. Is not particularly limited. In the present embodiment, as an example, a case where the transport device 3 is a roll box pallet (car cart) will be described.

The article shipping method according to the present embodiment includes a picking step, a loading step, a connecting step, and a carrying step. The picking step is a step of taking out the target article 91 from the plurality of articles 910 in the facility 90 in the picking area A1 set in the facility 90. The loading step is a step of loading the target article 91 on the transportation device 3 in the picking area A1. The carrying device 3 is a device (apparatus) for carrying the target article 910 out of the facility 90, as described above. The connecting step is a step of connecting the carrying device 1 to the carrying device 3 in the picking area A1. The carrying step is a step of carrying the carrying device 3 from the picking area A1 to the shipping area A2 set in the facility 90 by the carrying device 1.

That is, according to the article shipping method, in the picking area A1, the target article 91 is loaded on the carrier device 3 for carrying the target article 91 out of the facility 90, and then the target article 91 is transported by the transport device 1. The entire device 3 can be transported to the shipping area A2. Therefore, from the shipping area A2 of the facility 90, the target article 91 can be carried out of the facility 90 together with the transporting device 3 on which the target article 91 is loaded. Therefore, it is possible to smoothly carry out the shipping of the target article 91 from the facility 90 (shipping area A2) while realizing the transport of the target article 91 from the picking area A1 to the shipping area A2 by the transport device 1.

“Coupled” in the present disclosure means that an object is mechanically connected to a moving body or the like, and when the carrier device 1 is connected to the carrier device 3, when the carrier device 1 moves, the carrier device 3 is connected. Moves with the carrier 1. Examples of the “connection” between the carrier device 1 and the carrier device 3 include a mode in which the carrier device 1 sinks under the carrier device 3 to hold the carrier device 3, and a mode in which the carrier device 1 pulls the carrier device 3. , And the transport device 1 pushes the transport device 3 (from the rear). In addition, the aspect of “connection” also includes an aspect in which the transport device 1 lifts the transport device 3 with a robot arm, a crane or the like.

The article shipping method according to the present embodiment further includes a shelf moving step. Here, the plurality of articles 910 are stored in the plurality of movable shelves 4. The plurality of movable shelves 4 are arranged in the storage area A3 set in the facility 90. In the shelf moving step, the target article 91 of the plurality of moving shelves 4 is accommodated in the picking area A1 from the storage area A3 by the second carrier device 2 different from the first carrier device 1 which is the carrier device 1. This is a step of moving the movable rack 4. In the picking step, the target article 91 is taken out from the moving shelf 4 in the picking area A1.

As described above, in the present embodiment, since the second transport device 2 different from the transport device 1 is also used, the first transport device 1 and the second transport device 2 are referred to in order to distinguish the two. .. However, the first transfer device 1 may be simply referred to as the “transfer device 1”.

According to the article shipping method of the present embodiment, the movable rack 4 in which the target article 91 is stored among the plurality of movable racks 4 is moved by the second transport device 2. That is, the second transport device 2 transports the movable rack 4 containing the target article 91 from the storage area A3 to the picking area A1. In this way, the target article 91 is taken out from the moving shelf 4 moved to the picking area A1 and loaded on the transport device 3. Therefore, for example, even if a person does not enter the storage area A3, the target article 91 stored in the storage area A3 can be taken out from the moving shelf 4 in the picking area A1.

(2) Configuration Hereinafter, configurations of the article shipping system 10, the first transport device 1, and the second transport device 2 according to the present embodiment will be described in detail with reference to FIGS. 3 to 6B.

(2.1) Article Shipping System First, the overall configuration of the article shipping system 10 according to the present embodiment will be described.

As shown in FIG. 3, the article shipping system 10 according to the present embodiment includes a first transfer device 1 and a control system 5. In the present embodiment, the article shipping system 10 further includes a second carrying device 2 and a picking device 6 in addition to the first carrying device 1 and the control system 5. Further, here, the article shipping system 10 includes a plurality of first transporting devices 1 and a plurality of second transporting devices 2. Further, the article shipping system 10 also includes a plurality of picking devices 6.

The control system 5 is configured to be able to communicate with each of the first transport device 1, the second transport device 2, and the picking device 6. In the present disclosure, "communicable" means that information can be exchanged directly or indirectly through a network or a relay by an appropriate communication method such as wired communication or wireless communication. That is, the control system 5 and each of the first transport device 1, the second transport device 2, and the picking device 6 can exchange information with each other. In the present embodiment, the control system 5 and each of the first transport device 1, the second transport device 2, and the picking device 6 can bidirectionally communicate with each other. Therefore, the control system 5 transmits information to each of the first transport device 1, the second transport device 2 and the picking device 6, and controls from each of the first transport device 1, the second transport device 2 and the picking device 6. Both the transmission of information to the system 5 is possible.

The control system 5 has a communication unit 51, a processing unit 52, and a storage unit 53. In the present embodiment, the control system 5 mainly has a computer system including a memory and a processor. That is, the functions of the control system 5 are realized by the processor executing the program recorded in the memory of the computer system. The program may be recorded in advance in a memory, may be provided through an electric communication line such as the Internet, or may be recorded and provided in a non-transitory recording medium such as a memory card.

The communication unit 51 communicates with each of the first transport device 1, the second transport device 2, and the picking device 6 directly or indirectly via a network, a relay, or the like. As a communication system between the communication unit 51 and each of the first carrier device 1, the second carrier device 2, and the picking device 6, a suitable communication system such as wireless communication or wire communication is adopted. In the present embodiment, as an example, the communication unit 51 conforms to a standard such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or a low power wireless that does not require a license (specific low power wireless). Adopts compliant wireless communication using radio waves as a communication medium.

Further, the communication unit 51 is configured to be able to communicate with the host system 100 installed outside the facility 90 via a network such as the Internet. In this case, for example, the control system 5 can send information to or receive information from the host system 100. As an example, the control system 5 receives the shipping instruction information instructing the shipping of the target article 91 from the host system 100. The host system 100 is realized by a server or the like. In the present embodiment, the host system 100 is not included in the components of the article shipping system 10, but the host system 100 may be included in the components of the article shipping system 10.

The processing unit 52 executes various processes such as control of each of the first transfer device 1, the second transfer device 2 and the picking device 6 or state monitoring. Specifically, the processing unit 52 performs control for moving the first transfer device 1 by outputting information such as an electronic map and control instructions to the first transfer device 1, for example. At this time, the processing unit 52 estimates at least the current position of the first transfer device 1 from the detection result of the detection unit 112 of the first transfer device 1 to be described later, and the first transfer device to the target point (target node). The movement route of 1 is determined (route planning). The processing unit 52 controls the first transfer device 1 so that the first transfer device 1 moves along this movement path. Thereby, remote control of the first transfer device 1 is realized. Similarly, the processing unit 52 also remotely controls the second transfer device 2 and the picking device 6.

The storage unit 53 stores at least information such as an electronic map necessary for controlling or monitoring the states of the first transport device 1, the second transport device 2, and the picking device 6. Further, the storage unit 53 stores information (address or the like) for identifying each of the first transport device 1, the second transport device 2, and the picking device 6. The storage unit 53 includes a rewritable nonvolatile memory such as an EEPROM (Electrically Erasable Programmable Read-Only Memory).

The control system 5 further has a user interface and the like. The user interface is a device for receiving a user (worker) operation and presenting information to the user. Accordingly, in the present embodiment, the user can directly give a shipping instruction to the control system 5 by operating the user interface.

The first carrier device 1 and the second carrier device 2 are both unmanned guided vehicles (AGVs). That is, each of the first transfer device 1 and the second transfer device 2 autonomously travels on a flat moving surface 901 (see FIG. 4) that is, for example, the floor surface of the facility 90. Here, as an example, the first carrier device 1 and the second carrier device 2 each include a storage battery, and operate using electric energy stored in the storage battery.

In the present embodiment, as shown in FIG. 2C, the first transport device 1 travels on the moving surface 901 while being connected to the transport device 3. As a result, the first transfer device 1 can transfer the transfer device 3 placed at a certain place in the facility 90 to another place in the facility 90, for example.

As shown in FIG. 2A, the second transfer device 2 travels on the moving surface 901 while being connected to the moving rack 4. Accordingly, the second transfer device 2 can transfer, for example, the movable rack 4 placed at a certain place in the facility 90 to another place in the facility 90.

The configurations of the first transport device 1 and the second transport device 2 will be described in detail in the sections of "(2.3) First transport device" and "(2.4) Second transport device".

The picking device 6 is a device that performs a picking operation to take out the target article 91 from the plurality of articles 910 in the facility 90 in the picking area A1. In the present embodiment, the picking device 6 is a stationary device installed in the picking area A1 of the facility 90. Then, the picking device 6 performs a work of taking out the target article 91 from the moving shelf 4 in the picking area A1. That is, the picking device 6 does not move around in the facility 90, but takes out the target article 91 from the moving shelf 4 that has been transported to the picking area A1 by the second transport device 2.

As shown in FIG. 2B, the picking device 6 has a base 61 and an articulated arm portion 62. In the picking device 6, the base 61 is fixed at a fixed position in the picking area A1, and the operation of the arm portion 62 causes the tip portion of the arm portion 62 to move. The picking device 6 moves the target article 91 by moving the tip end portion of the arm portion 62 while holding the target article 91 at the tip end portion of the arm portion 62. As a result, the work of taking out the target article 91 from the movable shelf 4 is realized. The holding of the article 910 (target article 91) at the tip portion of the arm portion 62 is realized by an appropriate means such as suction (air or magnetic force), gripping or adhesion.

Each of the first transport device 1, the second transport device 2, and the picking device 6 can communicate with the control system 5 as described above, and operates in response to a control instruction from the control system 5.

In other words, the article shipping system 10 according to the present embodiment is a system used when the target article 91 in the facility 90 is loaded on the transport device 3 and the target article 91 is shipped from the facility 90 together with the transport device 3. is there. The article shipping system 10 includes a first transport device 1 and a control system 5 that controls the first transport device 1. In the picking area A1 set in the facility 90, the control system 5 connects the first transport device 1 to the transport device 3 in which the target article 91 taken out from the plurality of articles 910 in the facility 90 is loaded. To do. Further, the control system 5 moves the first transfer device 1 connected to the transport device 3 from the picking area A1 to the shipping area A2 set in the facility 90. With such an article shipping system 10, an article shipping method can be realized.

(2.2) Transport Equipment and Mobile Shelf Next, the configurations of the transport equipment 3 transported by the first transport apparatus 1 and the mobile shelf 4 transported by the second transport apparatus 2 will be described with reference to FIGS. 4 and 5. Will be described with reference to.

As described above, the carrying device 3 is a roll box pallet (car cart) as an example in the present embodiment. Therefore, as shown in FIG. 4, the carrying device 3 includes a car body 31 and a plurality (four here) of casters 32 (casters).

The car body 31 as a whole is formed in a shape whose height is larger than its width and depth, that is, a rectangular parallelepiped shape which is long in the vertical direction. Of the outer periphery of the car body 31 in plan view, three sides are surrounded by fences and one side is open. In the present embodiment, as an example, the car body 31 has a substantially square shape in a plan view.

The plurality of casters 32 are attached to the lower surface 311 of the car body 31. The plurality of casters 32 are arranged at the four corners of the lower surface 311 of the car body 31. Each of the plurality of casters 32 is a swivel vehicle in which the direction of the rotation axis in plan view is variable.

The carrying device 3 configured as described above can travel on the moving surface 901 including the floor of the facility 90 while rotating the casters 32 while the target article 91 is loaded on the car body 31. As shown in FIG. 4, a plurality of target articles 91 can be loaded on the car body 31. Further, since the car body 31 is floated from the moving surface 901 by the plurality of casters 32, there is a space of a certain height between the lower surface 311 of the carrying device 3 (the car body 31) and the moving surface 901. Secured.

On the other hand, the movable shelf 4 has a shelf body 41 and one or more (here, three) shelf plates 42, as shown in FIG.

The shelf main body 41 as a whole is formed in a shape in which the height is larger than the width and the depth, that is, a rectangular parallelepiped shape that is long in the vertical direction. The shelf main body 41 is formed in a box shape with five surfaces surrounded by plates and one surface (front surface) opened. In the present embodiment, as an example, the shelf main body 41 has a substantially square shape in plan view. Further, a plurality of (four in this case) leg portions 412 project from the four corners of the lower surface 411 of the shelf body 41. The internal space of the shelf body 41 serves as a storage space for articles 910 including the target article 91.

In particular, in the present embodiment, the internal space of the shelf body 41 has a shape in which the height is larger than the width and the depth, that is, a rectangular parallelepiped shape that is long in the vertical direction. Therefore, in order to efficiently store the articles 910 in such an internal space, a plurality of shelves 42 (here, three) are provided to store the articles 910 in a plurality of stages in the vertical direction. That is, one or more (here, three) shelf boards 42 partition the internal space of the shelf body 41 into a plurality (four here) in the vertical direction, and the articles 910 can be housed in each partitioned space. To do.

The movable rack 4 configured as described above is not fixed to a structure such as a pillar or a wall in the facility 90, and is used in a state of being placed on the moving surface 901 of the facility 90. For example, a plurality of mobile shelves 4 are arranged side by side in the storage area A3 (see FIG. 1) of the facility 90. As a result, a plurality of articles 910 (including the target article 91) can be stored in the plurality of movable shelves 4, and the space of the storage area A3 can be effectively used. Further, since the lower surface of the movable shelf 4 is floated from the moving surface 901 by the plurality of legs 412, a constant height is provided between the lower surface 411 of the movable shelf 4 (shelf body 41) and the movable surface 901. Space is secured.

(2.3) First Transfer Device Next, the configuration of the first transfer device 1 used in the article shipping method according to the present embodiment will be described in more detail with reference to FIG. In the present embodiment, the article shipping system 10 includes a plurality of first transporting devices 1. However, in the following description, an arbitrary one first transporting device 1 will be described unless otherwise specified. .. The following description can be similarly applied to all the remaining first transport devices 1.

As described above, the first transfer device 1 is an unmanned transfer vehicle and autonomously travels on the moving surface 901 of the facility 90. Further, the first transfer device 1 is connected to the transfer device 3 formed of a roll box pallet (car cart) as described above and has a function of transferring the transfer device 3.

The first transfer device 1 includes a vehicle body part 11 and an elevating part 12. The vehicle body portion 11 is formed in a rectangular parallelepiped shape that is rectangular in a plan view. The vehicle body portion 11 can travel on the moving surface 901. The elevating part 12 covers at least a part of the upper surface of the vehicle body part 11. It is configured to be able to move up and down with respect to the vehicle body section 11. The elevating unit 12 receives power from a power source (motor or the like) and moves up and down relatively to the vehicle body unit 11. In other words, the height of the upper surface 121 of the elevating part 12 from the moving surface 901 is variable. When the elevating part 12 rises, the height of the upper surface 121 of the elevating part 12 from the moving surface 901 increases, and when the elevating part 12 descends, the height of the upper surface 121 of the elevating part 12 from the moving surface 901 decreases. Become.

By the way, in the connecting step included in the article shipping method, the first transfer device 1 is connected to the transfer device 3 in the picking area A1. Therefore, the first transfer device 1 has a function of connecting to the transfer device 3. In the present embodiment, the first carrier device 1 sinks under the carrier device 3 and holds the carrier device 3, whereby the first carrier device 1 is connected to the carrier device 3. Therefore, the first transport device 1 is configured to be sufficiently low so as to be able to enter the space between the lower surface 311 of the transport device 3 and the moving surface 901. Further, the first transfer device 1 is configured to have a width that can be accommodated between the plurality of casters 32.

Specifically, the first transport device 1 first travels on the moving surface 901 and enters the space between the lower surface 311 of the carrying device 3 and the moving surface 901, so that the first carrying device 1 moves below the carrying device 3. Go under. In FIG. 4, the 1st conveyance apparatus 1 of the state which was submerged under the conveyance apparatus 3 is shown by the imaginary line (two-dot chain line). In the state where the first transport device 1 is thus submerged under the transport device 3, the first transport device 1 at least raises the elevating part 12 to a position where it contacts the lower surface 311 of the transport device 3. The upper surface 121 of the elevating part 12 comes into contact with the lower surface 311 of the carrying device 3 to establish a tentative connection between the first carrying device 1 and the carrying device 3. That is, even if the first carrier device 1 does not lift the carrier device 3 by the elevating part 12, the elevating part 12 makes contact with the lower surface 311 of the carrier device 3 to move the first carrier device 1 to the carrier device 3. "Linking" is realized by connecting them together.

In addition, in the present embodiment, the first transport device 1 further raises the elevating unit 12 from the state where the elevating unit 12 is in contact with the lower surface 311 of the carrying device 3 to the position where the caster 32 is separated from the moving surface 901. As a result, the carrying device 3 including the casters 32 is completely floated from the moving surface 901. Therefore, when the first transport device 1 moves in this state (the transport device 3 including the casters 32 is completely separated from the moving surface 901), the transport device 3 moves together with the first transport device 1. At this time, since the casters 32 are not in contact with the moving surface 901, the first transfer device 1 can move on the moving surface 901 without being restricted by the orientation of the casters 32 of the carrying device 3.

More specifically, as shown in FIG. 4, the vehicle body unit 11 includes a plurality of (here, two) drive wheels 111 and a detection unit 112.

The plurality of drive wheels 111 are arranged at positions which are the central portion in the longitudinal direction of the vehicle body portion 11 and the both ends in the lateral direction in a plan view. In this embodiment, all of the plurality of drive wheels 111 receive power from a power source (motor or the like). By individually driving the plurality of drive wheels 111, the vehicle body portion 11 can move in all directions along the moving surface 901. That is, the vehicle body unit 11 can move on the moving surface 901 in all directions of front, rear, left, and right by the rotation of each of the plurality of drive wheels 111. Each of the plurality of drive wheels 111 may be, for example, an omnidirectional wheel such as an omni wheel.

Specifically, the two drive wheels 111 rotate by receiving power from individual power sources. Therefore, when the two drive wheels 111 rotate at different angular velocities, the vehicle body portion 11 can rotate (turn) in a plan view. In addition, the two drive wheels 111 rotate at the same angular velocity, so that the vehicle body portion 11 can move linearly. Therefore, the first transport device 1 can perform forward movement, backward movement, and turning in the left-right direction. The turning referred to herein includes a turning turning by stopping one driving wheel 111 and rotating only the other driving wheel 111, and a super turning turning by rotating two driving wheels 111 in opposite directions.

Further, the vehicle body portion 11 has a plurality of auxiliary wheels. The plurality of auxiliary wheels are arranged, for example, at the four corners of the vehicle body portion 11 in plan view. Unlike the drive wheels 111 described above, the auxiliary wheels are wheels (driven wheels) that do not receive power from the power source and that move according to the movement of the vehicle body unit 11 by the plurality of drive wheels 111.

The detection unit 112 detects the behavior of the vehicle body unit 11, the surrounding conditions of the vehicle body unit 11, and the like. The “behavior” here means an action, a state, and the like. That is, the behavior of the vehicle body section 11 includes the operating state of the vehicle body section 11 indicating that the vehicle body section 11 is running/stopped, the speed (and speed change) of the vehicle body section 11, the acceleration acting on the vehicle body section 11, and the vehicle body section 11. Including the posture of.

Specifically, the detection unit 112 includes, for example, sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and these sensors detect the behavior of the vehicle body unit 11. The detection unit 112 includes, for example, sensors such as an image sensor (camera), a sonar sensor, a radar, and a LiDAR (Light Detection and Ranging), and these sensors detect the surroundings of the vehicle body unit 11. The surroundings of the first transfer device 1 include, for example, the presence/absence of an object (obstacle, etc.) existing in the forward direction of the first transfer device 1 and the position (distance and azimuth) of the object. The obstacles also include the other first transport device 1, the transport device 3, and the person. The detection unit 112 further includes a plurality of step sensors and a plurality of bumper sensors. The step sensor is, for example, an optical distance measuring sensor, and applies light to the moving surface 901 to detect the step of the moving surface 901. The bumper sensor detects that the vehicle body unit 11 has come into contact with an obstacle while moving.

The detection unit 112 also includes a position specifying unit that specifies the position of the vehicle body unit 11, that is, the current position of the first transport device 1. The position specifying unit includes, for example, a receiver that receives beacon signals transmitted by radio waves from a plurality of transmitters. The plurality of transmitters are arranged at a plurality of places within the range in which the first carrier device 1 moves. The position specifying unit measures the position of the vehicle body unit 11 based on the positions of the plurality of transmitters and the received signal strength of the beacon signal at the receiver. The position specifying unit may be realized by using a satellite positioning system such as GPS (Global Positioning System).

Further, the detection unit 112 measures the rotation speed of the drive wheel 111 and estimates the position of the vehicle body unit 11 based on the measured information such as the rotation speed of the drive wheel 111. That is, in the present embodiment, the position of the vehicle body portion 11 is estimated mainly by the electronic map acquired in advance, the detection results of the various sensors described above, and so-called dead-reckoning (DR).

The vehicle body unit 11 autonomously moves on the moving surface 901 by individually driving the plurality of drive wheels 111 based on the detection result of the detection unit 112. The first transport device 1 determines a movement route of the vehicle body unit 11 to a destination based on at least the current position of the vehicle body unit 11 (route planning), so that the vehicle body unit 11 moves along this movement route. Then, the vehicle body section 11 is operated. As a result, autonomous traveling of the first transfer device 1 is realized.

The first carrier device 1 is appropriately provided with a configuration other than the above, for example, a communication circuit, a storage battery charging circuit, a user interface, and the like.

(2.4) Second Transfer Device Next, the configuration of the second transfer device 2 used in the article shipping method according to the present embodiment will be described in more detail. In the present embodiment, the article shipping system 10 includes a plurality of second transfer devices 2. However, in the following description, an arbitrary one second transfer device 2 will be described unless otherwise specified. .. The following description can be similarly applied to all the remaining second transfer devices 2.

As described above, the second transfer device 2 is an unmanned transfer vehicle and autonomously travels on the moving surface 901 of the facility 90. Further, the second transfer device 2 is connected to the movable rack 4 as described above and has a function of transferring the movable rack 4.

The second transfer device 2 includes a main body portion 21 and a plurality of (here, four) wheels 22. The main body 21 is formed in a rectangular parallelepiped shape that is a square shape in a plan view. The wheels 22 support the body portion 21. The main body 21 can travel on the moving surface 901 by rotating the plurality of wheels 22. The protrusion amounts of the plurality of wheels 22 from the lower surface of the main body portion 21 are variable. The plurality of wheels 22 receives power from a power source (motor or the like) and changes the amount of protrusion from the lower surface of the main body portion 21. In other words, the height of the upper surface 211 of the main body 21 from the moving surface 901 is variable. If the protrusion amount of the plurality of wheels 22 increases, the height of the upper surface 211 of the main body portion 21 from the moving surface 901 increases, and if the protrusion amount of the plurality of wheels 22 decreases, the upper surface 211 of the main body portion 21 moves. The height from the surface 901 becomes low.

By the way, in the shelf moving step included in the article shipping method, the second transfer device 2 is connected to the moving shelf 4 in the storage area A3. Therefore, the second transfer device 2 has a function of connecting to the movable rack 4. In the present embodiment, the second transfer device 2 is connected to the movable rack 4 by sneaking under the movable rack 4 and holding the movable rack 4. Therefore, the second transfer device 2 is configured to have a height that allows it to enter the space between the lower surface 411 of the movable rack 4 and the moving surface 901. In addition, the second transfer device 2 is configured to have a width that can be accommodated between the plurality of leg portions 412.

Specifically, first, the second transport device 2 travels on the moving surface 901 and enters the space between the lower surface 411 of the moving shelf 4 and the moving surface 901, so that the second carrying device 2 is moved to the lower side of the moving shelf 4. Go under. In FIG. 5, the second transport device 2 that is under the movable shelf 4 is indicated by an imaginary line (two-dot chain line). The second transport device 2 makes the plurality of wheels 22 project from the lower surface of the main body portion 21 and makes the upper surface 211 of the main body portion 21 come into contact with the lower surface 411 of the movable shelf 4 in the state where the second transport device 2 is thus submerged under the movable shelf 4. At least raise to the position where you want to. The upper surface 211 of the main body portion 21 comes into contact with the lower surface 411 of the movable shelf 4 to establish a tentative connection between the second transport device 2 and the movable shelf 4. That is, even if the second transfer device 2 does not lift the movable shelf 4 by the main body portion 21, the main body portion 21 contacts the lower surface 411 of the movable shelf 4 so that the second transfer device 2 is mechanically attached to the movable shelf 4. "Linking" is realized by connecting them together.

Further, in the present embodiment, the second transfer device 2 further extends the upper surface 211 of the main body portion 21 from the state where the main body portion 21 is in contact with the lower surface 411 of the movable shelf 4 to the position where the leg portions 412 are separated from the moving surface 901. To raise. As a result, the movable rack 4 including the legs 412 is completely floated from the movable surface 901. Therefore, when the second transport device 2 moves in this state (the state where the movable rack 4 is completely separated from the moving surface 901 including the leg portions 412), the movable rack 4 moves together with the second transport device 2. .. At this time, since the leg portion 412 is not in contact with the moving surface 901, the second transport device 2 moves on the moving surface 901 without being restricted by frictional resistance between the leg portion 412 and the moving surface 901. It is possible.

More specifically, all of the plurality of wheels 22 are drive wheels that rotate by receiving power from a power source (motor or the like). By driving the plurality of wheels 22 individually, the main body 21 can move in all directions along the moving surface 901. That is, the body portion 21 can move on the moving surface 901 in all directions of front, rear, left, and right by the rotation of each of the plurality of wheels 22. Each of the plurality of wheels 22 may be, for example, an omnidirectional wheel such as an omni wheel.

Further, the main body portion 21 has the same function as the detecting portion 112 of the first conveying device 1. The detection unit detects the behavior of the main body 21, the peripheral condition of the main body 21, the position of the main body 21 (the current position of the second transport device 2), and the like. The main body portion 21 autonomously moves on the moving surface 901 by individually driving the plurality of wheels 22 based on the detection result of the detection portion. The second transport device 2 determines a movement route of the body portion 21 to the destination based on at least the current position of the body portion 21 (route planning), and causes the body portion 21 to move along this movement route. Then, the main body 21 is operated. As a result, autonomous traveling of the second transfer device 2 is realized.

The second carrier device 2 is appropriately provided with a configuration other than the above, for example, a communication circuit, a charging circuit for a storage battery, a user interface, and the like.

By the way, in the present embodiment, as shown in FIGS. 6A and 6B, the first transfer device 1 and the second transfer device 2 have different structures. That is, since the first transport device 1 is a device for transporting the transport device 3, it has a structure adapted to the transport device 3, while the second transport device 2 is for transporting the movable rack 4. Since it is a device, it has a structure adapted to the movable rack 4.

Specifically, as shown in FIG. 6A, the occupied area of the second transfer device 2 during the rotation operation in plan view is smaller than that of the first transfer device 1. The "rotation operation" here refers to a super-spinning turning, that is, an operation of turning without moving the rotation center of the first transfer device 1 (or the second transfer device 2). Then, at the time of the rotation operation of the first transfer device 1 (super-displacement turning), the first transfer device 1 occupies at least the area indicated by the virtual circle C1 in FIG. 6A. On the other hand, at the time of the rotation operation of the second transfer device 2 (super-displacement turning), the second transfer device 2 occupies at least the area indicated by the virtual circle C2 in FIG. 6A. Here, since the diameter D2 of the imaginary circle C2 is smaller than the diameter D1 of the imaginary circle C1 (D1>D2), the occupying area in the rotation operation in plan view is larger than that of the first transport device 1 than that of the second transport device 2. Obviously the smaller one. In other words, the second transfer device 2 can perform a rotating operation with a smaller occupied area than the first transfer device 1, and therefore, a small turn can be achieved.

Further, as shown in FIG. 6B, the height H1 of the first transfer device 1 is lower than the height H2 of the second transfer device 2 (H1<H2). The “height” here is from the moving surface 901 in the state where the lifting unit 12 is lowered to the lower limit in the case of the first transport device 1 and in the state where the main body unit 21 is lowered to the lower limit in the case of the second transport device 2. Say the height of. In this state, as shown in FIG. 6B, it is clear that the first transfer device 1 is sufficiently lower than the second transfer device 2. In other words, the first carrier device 1 can enter even a narrower gap in the vertical direction than the second carrier device 2. Therefore, for example, the first transfer device 1 can enter the space between the lower surface 311 of the carrying device 3 and the moving surface 901, but the second transfer device 2 cannot enter.

(3) Operation Hereinafter, the operation of the article shipping system 10 according to the present embodiment, that is, the article shipping method according to the present embodiment will be described with reference to FIGS. 1 to 2D and 7. FIG. 1 is a schematic plan view of the facility 90. 2A to 2D are explanatory diagrams showing the respective scenes indicated by "Za" to "Zd" in FIG. The white arrow in the drawing only represents the moving direction of the object (for example, the moving shelf 4) and does not have a substance.

(3.1) Premise The article shipping system 10 according to the present embodiment starts a series of operations when the control system 5 receives the shipping instruction information from the host system 100. The shipping instruction information is information for instructing the shipping of the target article 91, and includes article information for identifying the target article 91, delivery destination information indicating the delivery destination of the target article 91 that is a delivery, and the like. The “article information” referred to in the present disclosure is information for identifying the article 910, and is, for example, an identification code such as a JAN (Japanese Article Number) code used in Japan. This type of identification code includes, in addition to JAN code, EPC (Electronic Product Code), EAN (European Article Number) code used in Europe, etc., and UPC (Universal Product Code) used in the United States etc. There is. Further, the item information is not limited to the information for identifying the type (type) of the item 910, and may include information such as serial information for individually identifying the item 910 of the same type. Thereby, even when there are a plurality of articles 910 of the same type, each of the plurality of articles 910 of the same type can be specified by the item information.

Here, as shown in FIG. 1, the facility 90 is divided into a plurality of areas including at least a picking area A1, a shipping area A2, and a storage area A3. The picking area A1, shipping area A2, and storage area A3 are arranged in the order of the storage area A3, the picking area A1, and the shipping area A2. In other words, the picking area A1 is sandwiched between the shipping area A2 and the storage area A3. Therefore, both the shipping area A2 and the storage area A3 can be accessed from the picking area A1. In the present embodiment, each area such as the picking area A1, the shipping area A2, and the storage area A3 is not physically separated from other areas. Therefore, for example, the first transfer device 1 (or the second transfer device 2) can move between the picking area A1 and the shipping area A2 or between the picking area A1 and the storage area A3.

The picking area A1 is an area in which a loading step of loading the target articles 91 on at least the transportation device 3 is executed. The shipping area A2 is an area for carrying out the target article 91 from the facility 90 for each of the transportation devices 3 loaded with the target article 91. The storage area A3 is an area in which a plurality of articles 910 (including the target article 91) are stored. In this embodiment, in particular, a plurality of movable shelves 4 accommodating a plurality of articles 910 are arranged in the storage area A3.

In the present embodiment, the shipping area A2 is an area for loading the transportation device 3 on a transportation means that transports the transportation device 3 from the facility 90 to another facility. The "transportation means" as referred to in the present disclosure is a transportation organization capable of transporting the transportation device 3 from the facility 90 to another facility, and is a vehicle such as a truck 92, a wagon vehicle or a bus, a railway (including freight train), a ship. Or includes airplanes. Further, the “other facility” referred to in the present disclosure is a facility different from the facility 90, for example, a destination of the target article 91 shipped from the facility 90, and a final delivery destination such as a store or a house. Or a distribution center or the like. Further, while carrying the transportation device 3 from the facility 90 to another facility, the transportation device 3 may be transferred to a plurality of transportation means.

Further, in the present embodiment, the shipping area A2 is a truck berth for loading the transportation device 3 on the truck 92 as a transportation means. That is, in this embodiment, the transportation means is the truck 92. The shipping area A2 is a truck berth on which the transportation device 3 is loaded on the transportation means (truck 92). In other words, the transportation device 3 is loaded onto the truck 92 while the truck 92 is stopped at the truck berth as the shipping area A2.

Further, in the present embodiment, it is assumed that all the steps included in the article shipping method are executed by the devices (picking device 6, first transfer device 1 and second transfer device 2). This makes it possible to automate all the steps of the article shipping method. That is, with the article shipping method according to the present embodiment, it is possible to ship the target article 91 from the facility 90 even in the unmanned facility 90. However, the present invention is not limited to the unmanned facility 90, and the manned facility 90 can adopt the article shipping method according to the present embodiment.

Further, the devices (the picking device 6, the first transfer device 1, and the second transfer device 2) for realizing the article shipping method are integratedly controlled by the control system 5. Accordingly, the control system 5 can integrally control the devices (the picking device 6, the first transfer device 1 and the second transfer device 2) for realizing the article shipping method, and operate each device efficiently. You can

In the following, as shown in FIGS. 1 to 2D, the shipping instruction information instructs the shipping of a specific plurality of target articles 91 among the plurality of articles 910 stored in the storage area A3, and the plurality of target articles 91. Is assumed to be shipped from the facility 90. Further, the plurality of target articles 91 are loaded together with the transportation device 3 on a truck 92 serving as a transportation means that is stopped in the shipping area A2 (truck berth), and the transportation device 3 is transferred from the facility 90 to another facility on the truck 92. It is supposed to be carried. With such a flow, the plurality of target articles 91 specified by the shipping instruction information are shipped from the facility 90.

(3.2) Specific Example As described above, the article shipping method according to the present embodiment includes the shelf moving step, the picking step, the loading step, the connecting step, and the carrying step.

The article shipping method according to the present embodiment further includes a shipping step. The shipping step is a step of loading the transportation device 3 on the transportation means (the truck 92) in the first transportation device 1 in the shipping area A2.

The article shipping method according to the present embodiment further includes an information acquisition step of acquiring identification information unique to the transportation device 3. The “identification information” referred to in the present disclosure is information for identifying the carrying device 3, and is, for example, a JAN code, an EPC, an EAN code, a UPC, or the like, like the “article information”.

First, when the control system 5 receives the shipping instruction information from the host system 100, the control system 5 identifies the position of the target article 91 identified by the shipping instruction information. As an example, the shipping instruction information is output from the higher-level system 100 with the arrival of the truck 92 or the approach of the truck 92 as a trigger in the shipping area A2 (track berth). The plurality of articles 910 including the target article 91 are stored in the plurality of movable shelves 4 arranged in the storage area A3. Therefore, the control system 5 selects the movable rack 4 in which the target article 91 is stored from the plurality of movable racks 4.

Then, in the shelf moving step, as shown in FIG. 2A (corresponding to “Za” in FIG. 1 ), the second transfer device 2 moves from the storage area A3 to the picking area A1 and the target articles among the plurality of moving shelves 4 are moved. The movable rack 4 accommodating 91 is moved. That is, since the plurality of movable shelves 4 are arranged in the storage area A3, the movable shelf 4 selected by the control system 5 from the plurality of movable shelves 4, that is, the movable shelf containing the target article 91. 4 is transported to the picking area A1 by the second transport device 2.

Specifically, the control system 5 determines the position information of the selected moving rack 4 (or the identification of the moving rack 4) for any one of the plurality of second transporting devices 2 of the second transporting devices 2. Control instructions including information). As a result, the second transfer device 2 that has received the control instruction is first connected to the movable shelf 4 that stores the target article 91 in the storage area A3. At this time, the second transfer device 2 is connected to the movable rack 4 by sneaking under the movable rack 4 and lifting the movable rack 4 to a position where the movable rack 4 is completely separated from the moving surface 901 (FIG. 2A). reference). Then, the second transfer device 2 transfers the movable rack 4 (in which the target article 91 is stored) from the storage area A3 to the picking area A1 while being connected to the movable rack 4. When arriving at a predetermined position in the picking area A1, the second transfer device 2 releases the movable rack 4 to release the connection with the movable rack 4.

After that, in the picking step, as shown in FIG. 2B (corresponding to “Zb” in FIG. 1), the target article 91 is taken out of the plurality of articles 910 in the picking area A1. That is, since the moving shelf 4 accommodating the target article 91 is transported to the picking area A1 in the immediately preceding shelf moving step, the target article 91 is taken out from the moving shelf 4 in the picking area A1 in the picking step. Be done. In the present embodiment, the picking step is executed by the picking device 6.

Specifically, the control system 5 sets the item information (or the target information) for specifying the target item 91 for any one of the plurality of picking devices 6 (here, two). A control instruction including the characteristics of the article 91 is transmitted. As a result, the picking device 6 that has received the control instruction first identifies the target article 91 from among the plurality of articles 910 (including the target article 91) stored in the movable rack 4. Then, the picking device 6 removes the target article 91 from the moving shelf 4 by moving the distal end portion of the arm portion 62 while holding the specified target article 91 at the distal end portion of the arm portion 62.

Subsequently, in the loading step, as shown in FIG. 2B (corresponding to “Zb” in FIG. 1 ), the target article 91 is loaded on the transport device 3 in the picking area A1. That is, since the target article 91 has been taken out from the movable rack 4 in the immediately preceding picking step, the taken out target article 91 is loaded on the transport device 3 in the loading step. In the present embodiment, the loading step is executed by the picking device 6.

Specifically, as shown in FIG. 2B, the picking device 6 that has taken out the target article 91 from the movable rack 4 loads the taken-out target article 91 on the transport device 3. At this time, the picking device 6 moves the target article 91 taken out from the movable rack 4 onto the carrier device 3 while being held (that is, without being released) by the tip portion of the arm portion 62. In this way, the picking device 6 that has received the control instruction loads the target article 91 on the transport device 3 by moving the target article 91 from the moving shelf 4 to the transport device 3.

Here, when a plurality of target articles 91 are stored in one movable shelf 4, the above-described picking step and loading step (see FIG. 2B) are repeated for all the target articles 91, so that the carrying device 3 A plurality of target articles 91 are loaded on the. On the other hand, when the plurality of target articles 91 are separately stored in the plurality of movable shelves 4, the shelf moving step (see FIG. 2A), the picking step, and the loading step are repeated for all the target articles 91. A plurality of target articles 91 are loaded on the carrier device 3.

When the target article 91 is loaded on the transport device 3, in the coupling step, the first transport device 1 is coupled to the transport device 3 in the picking area A1. That is, since the carrier device 3 in the picking area A1 needs to be transported to the shipping area A2 together with the target article 91 by the first carrier device 1, first of all, as a preparation for carrying the carrier device 3, the first carrier device 1 is first prepared. 1 and the carrying device 3 are connected.

Specifically, the control system 5 controls the position information (or the transportation) of the transportation device 3 on which the target article 91 is loaded with respect to any one of the plurality of first transportation devices 1 of the first transportation device 1. A control instruction including the identification information of the device 3) is transmitted. As a result, the first transport device 1 that has received the control instruction is coupled to the transport device 3 that carries the target article 91 in the picking area A1. At this time, the first carrier device 1 is coupled to the carrier device 3 by digging under the carrier device 3 and lifting the carrier device 3 to a position where the carrier device 3 is completely separated from the moving surface 901 (FIG. 2C). reference).

The connection step will be described in more detail. In the present embodiment, the first transfer device 1 can travel on the moving surface 901. Then, the connecting step includes an approach step and an ascending step. The entry step is a step of causing the first transport device 1 to enter the space between the lower surface 311 of the transport device 3 and the moving surface 901. The ascending step is a step of at least ascending the elevating unit 12 of the first conveyor 1 to a position where the lower surface 311 of the carrier device 3 is brought into contact with the elevating unit 12. In this way, the upper surface 121 of the elevating part 12 of the first carrier device 1 comes into contact with the lower surface 311 of the carrier device 3 to establish a tentative connection between the first carrier device 1 and the carrier device 3.

Further, in the present embodiment, the transport device 3 has casters 32 for traveling on the moving surface 901. Then, in the raising step, the raising/lowering unit 12 is further raised from the state in which the raising/lowering unit 12 is in contact with the lower surface 311 of the transport device 3 to a position where the caster 32 is separated from the moving surface 901. In other words, the elevating part 12 contacts the lower surface 311 of the carrying device 3 to realize “connection” in which the first carrying device 1 is mechanically connected to the carrying device 3, but in this embodiment, from this state Further, the transportation device 3 is lifted. As a result, the carrying device 3 is completely floated from the moving surface 901 including the casters 32 by being connected to the first carrying device 1.

Subsequently, in the carrying step, as shown in FIG. 2C (corresponding to “Zc” in FIG. 1), the first carrying device 1 carries the carrying device 3 from the picking area A1 to the shipping area A2. That is, the first transport device 1 transports the transport device 3 (on which the target article 91 is loaded) from the picking area A1 to the shipping area A2 while being connected to the transport device 3.

Specifically, as shown in FIG. 2C, the first carrier device 1 connected to the carrying device 3 in the connecting step remains connected to the carrying device 3 (that is, without releasing the carrying device 3). The moving surface 901 is moved from the picking area A1 to the shipping area A2. As a result, the first transfer device 1 transfers the target article 91 together with the transfer device 3 from the picking area A1 to the shipping area A2.

After that, in the shipping step, as shown in FIG. 2D (corresponding to “Zd” in FIG. 1), the transport device 3 is loaded on the truck 92, which is a transportation means, by the first transport device 1 in the shipping area A2. That is, the first transport device 1 that has arrived at the shipping area A2 loads the transport device 3 (on which the target article 91 is loaded) onto the truck 92 that is stopped in the shipping area A2 while being connected to the transport device 3. ..

Specifically, as shown in FIG. 2D, the first transfer device 1 in the state of being connected to the carrying device 3 gets into the truck 92 (container thereof) together with the carrying device 3 in the shipping area A2. Then, the first transport device 1 releases the transport device 3 in the truck 92 to release the connection with the transport device 3. The first transport device 1 that has been disconnected from the transport device 3 leaves the transport device 3 inside the truck 92 and moves to the outside of the truck 92 (shipping area A2). As a result, the transportation device 3 loaded with the target article 91 is loaded on the truck 92.

Here, in the shipping step, the transport device 3 transported from the picking area A1 to the shipping area A2 is loaded on the transportation means (the truck 92) by the first transport device 1 while maintaining the connection with the first transport device 1. .. That is, the first transport device 1 that has transported the transport device 3 to the shipping area A2 gets on the truck 92 while maintaining the connection with the transport device 3 (that is, without releasing the transport device 3). As a result, the first carrier device 1 loads the carrier device 3 onto the truck 92 serving as a transportation means from the time when the carrier device 3 is connected to the carrier device 3 in the connecting step without releasing the connection with the carrier device 3 even once. can do.

Until all the target articles 91 to be shipped on one truck 92 are completely loaded on the truck 92, a series of steps from the shelf moving step (see FIG. 2A) to the shipping step (see FIG. 2D) are performed. Repeat the operation of. When all the target articles 91 to be loaded on one truck 92 and shipped are loaded on the truck 92, the truck 92 departs from the facility 90 to another facility.

The article shipping method according to the present embodiment further includes a notification step for notifying the shipping of the target article 91. In the notification step, for example, the control system 5 ships to the host system 100 when all the target articles 91 to be placed on the transportation means (truck 92) and shipped are completely loaded on the transportation means (truck 92). Notify me. As a result, in the higher-level system 100, it is possible to know from the facility 90 that preparations for shipment of the target article 91 have been completed, or that shipment has been completed.

The information acquisition step of acquiring the identification information unique to the transportation device 3 is performed before and after the shipping step, as an example. That is, for example, when the first carrier device 1 loads the carrier device 3 onto the truck 92 serving as a transportation means, the identification information of the carrier device 3 is transmitted to the control system 5. At this time, for example, the first transport device 1 or a dedicated reading device reads the identification information of the transport device 3 from the transport device 3 and transmits it to the control system 5. Thereby, the control system 5 can acquire the identification information of the transport device 3 loaded on the truck 92. Therefore, the control system 5 can manage, for example, the identification information of the carrying device 3 in association with the shipping destination (other facility) of the target article 91 and track the carrying device 3.

By the way, in the present embodiment, in the carrying step, the first carrying device 1 can be separated from the carrying device 3 while the carrying device 3 is carried from the picking area A1 to the shipping area A2. That is, the first transfer device 1 can lower the transfer device 3 at any timing during the transfer of the transfer device 3 from the picking area A1 to the shipping area A2 and release the connection with the transfer device 3. Therefore, the first transport device 1 can temporarily place the transport device 3 at an arbitrary place in the facility 90 while the transport device 3 is being transported from the picking area A1 to the shipping area A2. In other words, it is possible to dynamically set the temporary storage place of the transportation device 3 in the facility 90. Therefore, in the article shipping method according to the present embodiment, it is not necessary to fixedly secure a temporary storage space for temporarily placing the transportation device 3 in the shipping area A2 or separately from the shipping area A2.

Then, the first carrier device 1 can adjust the arrival timing of the carrier device 3 to the shipping area A2 by temporarily interrupting the carrying of the carrier device 3 in the carrying step. As an example of adjusting the arrival timing of the transportation device 3 to the shipping area A2, when the transportation means (the truck 92) for loading the transportation device 3 has not arrived at the shipping area A2, or when the shipping area A2 is congested There are cases such as Therefore, the control system 5 can transmit a standby instruction to the first transport device 1 when, for example, the arrival of the truck 92 to the shipping area A2 is delayed, or when the shipping area A2 is congested. It is preferable to suspend the transportation of the transportation device 3 temporarily. Further, by releasing the connection with the transport device 3, the first transport device 1 can also perform work such as transport of another transport device 3.

As described above, in the article shipping method according to the present embodiment, the target article from the facility 90 is executed by executing the shelf moving step, the picking step, the loading step, the connecting step, the carrying step, the shipping step, and the information acquisition step. Realize 91 shipments. As a result, the target article 91 of the facility 90 is shipped from the facility 90 to the other facility together with the transportation device 3.

(3.3) Flowchart The operation of the above-described article shipping system 10, that is, the article shipping method is represented by the flowchart shown in FIG. 7.

The control system 5 waits for receipt of shipping instruction information from the host system 100 (S1). If the shipping instruction information is not received (S1: No), the control system 5 continues to wait for reception. When the shipping instruction information is received (S1: Yes), the control system 5 identifies the position of the target article 91 identified by the shipping instruction information (S2).

In the next shelf moving step, the second carrying device 2 moves the moving shelf 4 containing the target article 91 from the storage area A3 to the picking area A1 (S3). In the next picking step, the picking device 6 takes out the target article 91 from the moving shelf 4 in the picking area A1 (S4). In the next loading step, the picking device 6 loads the target article 91 taken out from the movable shelf 4 on the transport device 3 (S5).

When the target article 91 is loaded on the carrying device 3, the first carrying device 1 enters the space between the lower surface 311 and the moving surface 901 of the carrying device 3 in the entry step of the next connecting steps (S6). ). Then, in a raising step, the raising/lowering part 12 of the 1st conveyance apparatus 1 is raised and the conveyance apparatus 3 is lifted (S7). In the next carrying step, the carrying device 3 is carried from the picking area A1 to the shipping area A2 by the first carrying device 1 connected to the carrying device 3 (S8).

Then, in the next shipping step, the first carrying device 1 loads the carrying device 3 on the truck 92, which is a transportation means, in the shipping area A2 (S9). When all the target articles 91 to be shipped on one truck 92 have been loaded on the truck 92, the control system 5 notifies the host system 100 of the shipment in the notification step (S10).

The flowchart of FIG. 7 is merely an example of the article shipping method, and the order of the processing may be appropriately changed, or any processing may be appropriately omitted.

(4) Modified Example The first embodiment is only one of the various embodiments of the present disclosure. The first embodiment can be variously modified according to the design and the like as long as the object of the present disclosure can be achieved. Further, the functions similar to those of the article shipping method and the article shipping system 10 according to the first embodiment may be embodied in a computer program, a non-transitory recording medium having the computer program recorded therein, or the like. A program according to one aspect is a program for causing one or more processors to execute the above-described article shipping method.

The modifications of the first embodiment will be listed below. The modifications described below can be applied in appropriate combination.

In the article shipping system 10 according to the present disclosure, the control system 5 and the like include a computer system. The computer system mainly includes a processor as a hardware and a memory. The function as the control system 5 in the present disclosure is realized by the processor executing the program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through an electric communication line, or may be recorded in a non-transitory recording medium such as a memory card, an optical disk, a hard disk drive, which can be read by the computer system. May be provided. The processor of the computer system is composed of one or a plurality of electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The integrated circuit such as IC or LSI referred to here is called differently depending on the degree of integration, and includes an integrated circuit called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Further, an FPGA (Field-Programmable Gate Array), which is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the connection relation inside the LSI or reconfiguring the circuit section inside the LSI, should also be adopted as a processor. You can The plurality of electronic circuits may be integrated in one chip, or may be distributed and provided in the plurality of chips. The plurality of chips may be integrated in one device or may be distributed and provided in the plurality of devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or a plurality of electronic circuits including a semiconductor integrated circuit or a large scale integrated circuit.

Further, it is not essential for the article shipping system 10 that the plurality of functions of the control system 5 are integrated in one housing. That is, the components of the control system 5 may be distributed and provided in a plurality of housings. Furthermore, at least a part of the functions of the control system 5 may be realized by, for example, a server device or a cloud (cloud computing).

Further, the control system 5 may be integrated with the first transfer device 1 or the second transfer device 2, for example. For example, the control system 5 is mounted on the first transfer device 1 to be integrated with the first transfer device 1. In this case, one housing of the first transfer device 1 accommodates the components for realizing the function of the first transfer device 1 and the components of the control system 5.

In the first embodiment, the device (picking device 6) executes the picking step and the loading step. However, this is not essential for the article shipping method, and at least a part of the steps of the picking step and the loading step may be performed by a person instead of the device. For example, in the picking step, a person may take out the target article 91 from the plurality of articles 910 in the facility 90 in the picking area A1. Similarly, in the loading step, a person may load the target article 91 on the transportation device 3 in the picking area A1. Similarly, in the first embodiment, the connection step and the shipping step are executed by the device (first transfer device 1). However, this is not essential for the article shipping method, and at least a part of the connecting step and the shipping step may be performed by a person instead of the device, like the picking step. For example, in the connecting step, a person may connect the carrier device 1 to the carrier device 3 in the picking area A1. In the shipping step, a person may load the transportation device 3 from the shipping area onto the truck 92 which is a transportation means.

As described above, the person performing any step included in the article shipping method can simplify the configuration of the system (article shipping system 10) for realizing the article shipping method. As a result, in the facility 90, the cost of the system for realizing the article shipping method can be suppressed, and the article shipping method can be easily introduced.

Further, in the raising step included in the connecting step, the raising/lowering portion 12 of the first transfer device 1 may be raised to a position at least contacting the lower surface 311 of the carrying device 3, and the raising/lowering portion 12 cannot be raised further. Not required. In other words, in the carrying step, the first carrying device 1 may carry the carrying device 3 from the picking area A1 to the shipping area A2 while being connected to the carrying device 3, and the first carrying device 1 may carry the carrying device 3 to the carrying area 3. Lifting is not a mandatory configuration. That is, since the elevating unit 12 contacts the lower surface 311 of the carrying device 3, a tentative connection between the first carrying device 1 and the carrying device 3 is established. Therefore, when the first carrying device 1 moves in this state, The carrier device 3 moves together with the first carrier device 1. In this case, since the caster 32 is in contact with the moving surface 901, the carrying device 3 moves (runs) on the moving surface 901 while rotating the caster 32. In this way, the first transport device 1 runs on the moving surface 901 by running under the carrying device 3 while the elevating part 12 is in contact with the lower surface 311 of the carrying device 3 and traveling on the moving surface 901. The carrier device 3 may be transported while sliding or rolling.

Alternatively, the carrying devices 3 may be carried by the plurality of first carrying devices 1 while the carrying devices 3 are held by the plurality of first carrying devices 1 holding the carrying device 3. The first transfer device 1 may be, for example, a hand-lift type transfer robot that is connected to the transport device 3 with a fork (claw) inserted in the transport device 3.

Further, the transport device 3 is not limited to the roll box pallet (car trolley), and may be, for example, a flat pallet, a box pallet, a container, a chest, a tray, a cooler box, or a trolley.

Further, in the shelf moving step, the main body portion 21 of the second transfer device 2 may be raised to at least a position where it comes into contact with the lower surface 411 of the movable shelf 4, and it is essential to raise the upper surface 211 of the main body portion 21 further. is not. In other words, in the rack moving step, the second transfer device 2 may transfer the transfer rack 4 from the storage area A3 to the picking area A1 while being connected to the transfer rack 4, and the second transfer device 2 may move the transfer rack 4. Lifting 4 is not a mandatory configuration. That is, since the upper surface 211 of the main body portion 21 contacts the lower surface 411 of the moving shelf 4, a tentative connection between the second carrying apparatus 2 and the moving shelf 4 is established. When moved, the movable rack 4 moves together with the second transfer device 2. In this case, since the legs 412 are in contact with the moving surface 901, the moving shelf 4 moves (runs) on the moving surface 901 while dragging the legs 412. If casters are provided on the leg portions 412, the frictional resistance between the leg portions 412 and the moving surface 901 can be suppressed to be small. As described above, the second transfer device 2 moves on the moving surface 901 by running on the moving surface 901 while the main body part 21 is in contact with the lower surface 411 of the moving shelf 4 in a state where the second carrying device 2 is submerged under the moving surface 901. The movable rack 4 may be transported while sliding or rolling.

Alternatively, the moving shelves 4 may be carried by the plurality of second carrying devices 2 while the plurality of second carrying devices 2 hold the moving shelves 4 so as to hold the moving shelves 4. The second transfer device 2 may be, for example, a hand-lift type transfer robot that is connected to the movable rack 4 with a fork (claw) inserted in the movable rack 4.

Further, as in the first embodiment, it is essential for the article shipping method that the first transport device 1 can be separated from the transport device 3 while transporting the transport device 3 from the picking area A1 to the shipping area A2. is not. For example, the first transport device 1 may not be separated from the transport device 3 while the transport device 3 is transported from the picking area A1 to the shipping area A2. In this case, it is preferable to fixedly secure a temporary storage space for temporarily placing the transportation device 3 in the shipping area A2 or separately from the shipping area A2. As a result, the first transport device 1 places the transport device 3 in the temporary storage area while transporting the transport device 3 from the picking area A1 to the shipping area A2, thereby determining the arrival timing of the transport device 3 to the shipping area A2. Can be adjusted.

Further, in the loading step, it is indispensable that the first transport device 1 connected to the transport device 3 moves to the outside of the truck 92 (shipping area A2) after getting on the truck 92 together with the transport device 3. Absent. That is, in the loading step, the first transport device 1 may stop in the truck 92 together with the transport device 3 after getting on the truck 92 together with the transport device 3. In this case, since the carrier device 3 is loaded on the truck 92 as a transport means together with the first carrier device 1, the first carrier device 1 is shipped from the facility 90 together with the carrier device 3. In this case, it is preferable that the control system 5 also enables the tracking of the first carrier device 1 by acquiring unique identification information for the first carrier device 1 as well as the carrier device 3.

Further, the configuration of the first transfer device 1 or the second transfer device 2 described in the first embodiment is merely an example. The first transfer device 1 or the second transfer device 2 is not limited to an automatic guided vehicle, and may be, for example, a mobile robot or a drone. The “mobile robot” referred to in the present disclosure is, for example, a wheel-type, crawler-type, or leg-type (including walking type) robot. Further, the first transfer device 1 or the second transfer device 2 is not limited to a device that moves by traveling on the moving surface 901, and may be, for example, a device that moves in the air like a drone, or on the water. It may be a device that moves in water or the like.

Each area such as the picking area A1, the shipping area A2, and the storage area A3 set in the facility 90 may or may not be physically partitioned from other areas. The partition for partitioning the plurality of areas is not limited to a configuration that completely separates (isolates) the plurality of areas, and may be, for example, a partition, a net, a rope, a chain, or the like installed at the boundary of the plurality of areas.

Further, the carrying device 3 may be any device (apparatus) for carrying the target article 91 out of the facility 90, for example, a device for carrying the target article 91 in a large facility such as a complex facility. Good. As an example, in a warehouse group including a plurality of warehouses in one site, the carrier device 3 is used to carry the target article 91 from one warehouse to another warehouse in the same site. Further, as another example, in a shopping mall including a plurality of stores on one site, the carrier device 3 is used to carry the target article 91 from one store to another on the same site. It As described above, in a large-scale facility having a plurality of facilities 90 (warehouses, shops, etc.) on the same site, even if the target article 91 is moved within the large-scale facility, the target article 91 is transferred to another facility 90. Of the target article 91, that is, the target article 91 is carried out of the facility 90. Therefore, the carrying device 3 used for moving the target article 91 in such a large facility naturally corresponds to a device (apparatus) for carrying the target article 91 out of the facility 90.

(Embodiment 2)
The article shipping method according to the present embodiment is that the target article 91 taken out from the plurality of articles 910 accommodated in the automated warehouse 7 as shown in FIG. Is different from. Hereinafter, the same components as those in the first embodiment will be denoted by the same reference numerals and the description thereof will be appropriately omitted.

The article shipping method according to the present embodiment further includes a shipping step. The plurality of articles 910 are stored in the automated warehouse 7 installed in the facility 90. The shipping step is a step of shipping the target article 91 from the automated warehouse 7 to the picking area A1. In the picking step, the target article 91 put out in the picking area A1 is taken out from the automatic warehouse 7.

That is, in the first embodiment, the target article 91 is taken out from the moving shelf 4 (see FIG. 1) transported to the picking area A1, whereas in the present embodiment, the target article 91 is taken out from the automated warehouse 7 to the picking area A1. The article 91 is taken out.

The automated warehouse 7 is installed in the storage area A3 in the facility 90. As shown in FIG. 8, the automated warehouse 7 is a “three-dimensional automated warehouse” including a plurality of storage containers 71 arranged three-dimensionally. That is, in the automated warehouse 7, the plurality of storage containers 71 are arranged side by side in the width direction and the depth direction along the horizontal plane, and also in the height direction orthogonal to the horizontal plane. Each of the plurality of storage containers 71 stores one or more articles 910 (including the target article 91). That is, the plurality of articles 910 are stored in the automatic warehouse 7 in a state of being stored in the plurality of storage containers 71.

The automated warehouse 7 further includes a container moving device 72 and a delivery duct 73. The container moving device 72 is a device that moves each of the plurality of storage containers 71. The container moving device 72 can move in the width direction and the depth direction along the upper surface of the automated warehouse 7 while holding the storage container 71. The delivery duct 73 is a duct for taking out the article 910 (including the target article 91) in the storage container 71 moved by the container moving device 72, and the article 910 (including the target article 91 is included in the delivery port 74. ) Is issued. The automated warehouse 7 receives the control instruction from the control system 5 and issues the target article 91 to the delivery port 74. The exit port 74 is arranged in the picking area A1. Therefore, leaving the target article 91 at the exit port 74 is equivalent to leaving the target article 91 from the automated warehouse 7 to the picking area A1.

Then, in the picking step, the target article 91 that has been unloaded at the shipping port 74 is taken out in the picking area A1. That is, since the target article 91 has been delivered to the delivery port 74 in the previous delivery step, the target article 91 is taken out from the delivery port 74 in the picking area A1 in the picking step. In the present embodiment, the picking step is executed by the picking device 6. The processes after the picking step (the loading step and the like) are the same as those in the first embodiment.

According to the article shipping method according to the present embodiment described above, the second transfer device 2 for moving the movable shelf 4 is not necessary, and the system (article shipping system 10) for realizing the article shipping method is configured. It is possible to simplify. As a result, in the facility 90, the cost of the system for realizing the article shipping method can be suppressed, and the article shipping method can be easily introduced.

The various configurations described in the second embodiment can be employed in appropriate combination with the various configurations (including modified examples) described in the first embodiment.

(Embodiment 3)
As shown in FIG. 9, the article shipping method according to the present embodiment ships the target article 91 taken out from the plurality of articles 910 accommodated in the fixed shelf 8, and thus the article shipping according to the first embodiment. Different from the method. Hereinafter, the same components as those in the first embodiment will be denoted by the same reference numerals and the description thereof will be appropriately omitted.

In the article shipping method according to this embodiment, the plurality of articles 910 are stored in the fixed shelf 8 arranged in the picking area A1. In the picking step, the picking device 81 takes out the target article 91 from the fixed shelf 8.

That is, in the first embodiment, the target article 91 is taken out from the moving shelf 4 (see FIG. 1) transported to the picking area A1, whereas in the present embodiment, the picking device 81 moves to move the target article 91 from the fixed shelf 8. The article 91 is taken out.

The fixed shelf 8 is a stationary shelf installed in the picking area A1 of the facility 90. In this embodiment, in particular, a plurality of fixed shelves 8 accommodating a plurality of articles 910 are arranged in the picking area A1. Then, the picking device 81 moves around in the picking area A1 and takes out the target article 91 from the desired fixed shelf 8. That is, in the present embodiment, the picking device 81 is configured to be able to travel on the moving surface 901.

As described above, in the article shipping method according to the present embodiment, in the picking step, the picking device 81 itself moves around in the picking area A1 to take out the target article 91 from the fixed shelf 8. At this time, the picking device 81 takes out the target article 91 by moving the tip section of the arm section while holding the target article 91 by the tip section of the arm section. As a result, the work of taking out the target article 91 from the fixed shelf 8 is realized. The holding of the article 910 (target article 91) at the tip portion of the arm portion is realized by an appropriate means such as suction (air or magnetic force), gripping, or adhesion.

Then, the picking device 81 receives the control instruction from the control system 5 and takes out the target article 91 from the fixed shelf 8. The picking device 81 conveys the target article 91 taken out from the fixed shelf 8 to the transportation device 3 and loads it on the transportation device 3. That is, the processes after the picking step (loading step, etc.) are the same as in the first embodiment.

According to the article shipping method according to the present embodiment described above, the second transfer device 2 for moving the movable shelf 4 is not necessary, and the system (article shipping system 10) for realizing the article shipping method is configured. It is possible to simplify. As a result, in the facility 90, the cost of the system for realizing the article shipping method can be suppressed, and the article shipping method can be easily introduced.

By the way, the fixed shelf 8 is preferably fixed to a structure such as a pillar or a wall in the facility 90, but it is not essential that the fixed shelf 8 is fixed to the facility 90. That is, although the fixed shelf 8 is different from the movable shelf 4 in the first embodiment in that it is not premised on the movement (conveyance) by the second transfer device 2, for example, the layout of the facility 90 is changed. It may be movable so as to correspond to.

The various configurations (including the modified examples) described in the third embodiment can be appropriately combined with the various configurations (including the modified examples) described in the first or second embodiment.

(Summary)
As described above, the article shipping method according to the first aspect includes the picking step, the loading step, the connecting step, and the carrying step. The picking step is a step of taking out the target article (91) from the plurality of articles (910) in the facility (90) in the picking area (A1) set in the facility (90). The loading step is a step of loading the target article (91) on the carrying device (3) in the picking area (A1). The carrying device (3) is a device for carrying the target article (91) out of the facility (90). The connecting step is a step of connecting the carrying device (1) to the carrying device (3) in the picking area (A1). The carrying step is a step of carrying the carrying device (3) from the picking area (A1) to the shipping area (A2) set in the facility (90) by the carrying device (1).

According to this aspect, in the picking area (A1), the target article (91) is loaded on the carrier device (3) for carrying the target article (91) out of the facility (90), and then the transport device (1). ), the target article (91) can be transported to the shipping area (A2) together with the transportation device (3). Therefore, it is possible to carry out the target article (91) from the facility (90) from the shipping area (A2) of the facility (90) together with the carrying device (3) loaded with the target article (91). Therefore, while the transport of the target article (91) from the picking area (A1) to the shipping area (A2) is realized by the transport device (1), the target article (91) is smoothly shipped from the facility (90). It is possible to do.

In the article shipping method according to the second aspect, in the first aspect, the transport device (1) can travel on the moving surface (901). The connecting step includes an approach step and an ascending step. The step of entering is a step of causing the carrier device (1) to enter the space between the lower surface (311) of the carrier device (3) and the moving surface (901). The ascending step is a step of at least ascending to a position where the elevating part (12) of the transfer device (1) is brought into contact with the lower surface (311) of the carrying device (3).

According to this aspect, since the carrier device (1) is sunk under the carrier device (3) and connected to the carrier device (3), the carrier device (1) and the carrier device (3) are combined in a plan view. It is possible to keep the occupation area of the device relatively small.

In the article shipping method according to the third aspect, in the second aspect, the carrier device (3) has casters (32) for traveling on the moving surface (901). In the ascending step, the elevating part (12) is further elevated from the state where the elevating part (12) is in contact with the lower surface (311) of the carrying device (3) to the position where the caster (32) is separated from the moving surface (901). ..

According to this aspect, the transport device (3) moves together with the transport device (1) in a state where the transport device (3) including the casters (32) is completely separated from the moving surface (901). Therefore, the transfer device (1) can move on the moving surface (901) without being restricted by the orientation of the casters (32) of the transfer device (3).

In the article shipping method according to the fourth aspect, in any one of the first to third aspects, the shipping area (A2) is a transportation device for transporting the transportation device (3) from the facility (90) to another facility. This is an area for loading 3).

According to this aspect, the transport device (3) can be loaded on the transport means in the shipping area (A2) which is the transport destination of the transport device (3) in the transport step.

In the article shipping method according to the fifth aspect, in the fourth aspect, the shipping area (A2) is a truck berth for loading the transportation device (3) on the truck (92) as a transportation means.

According to this aspect, it becomes possible to load the carrying device (3) on the truck (92) as a transportation means in the shipping area (A2) which is the carrying destination of the carrying device (3) in the carrying step.

The article shipping method according to the sixth aspect further includes a shipping step in the fourth or fifth aspect. The shipping step is a step of loading the transportation device (3) on the transportation means by the transportation device (1) in the shipping area (A2).

According to this aspect, by using the transport device (1) that transports the transport device (3) to the shipping area (A2) in the transport step, the transport device (3) can be loaded on the transport means.

The article shipping method according to a seventh aspect is the article shipping method according to the sixth aspect, wherein in the shipping step, the transporting device (3) transported from the picking area (A1) to the shipping area (A2) is connected to the transport device (1). While maintaining the above, the transportation device (1) loads the transportation means.

According to this aspect, it is not necessary to fixedly secure a temporary storage space for temporarily placing the transportation device (3) in the shipping area (A2) or separately from the shipping area (A2).

An article shipping method according to an eighth aspect is the article shipping method according to any one of the first to seventh aspects, wherein in the carrying step, the carrying device (3) is carried from the picking area (A1) to the shipping area (A2). The device (1) can be separated from the carrying device (3).

According to this aspect, it is not necessary to fixedly secure a temporary storage space for temporarily placing the transportation device (3) in the shipping area (A2) or separately from the shipping area (A2).

The article shipping method according to the ninth aspect further includes a shelf moving step in any one of the first to eighth aspects. A plurality of articles (910) are stored in a plurality of movable shelves (4) arranged in a storage area (A3) set in the facility (90). In the rack moving step, a plurality of moving racks are moved from the storage area (A3) to the picking area (A1) in the second transfer device (2) different from the first transfer device (1) which is the transfer device (1). This is a step of moving the movable rack (4) in which the target article (91) of (4) is stored. In the picking step, the target article (91) is taken out from the moving rack (4) in the picking area (A1).

According to this aspect, the work for preparing the target article (91) included in the plurality of articles (910) in the picking area (A1) is performed by moving the movable rack (4) to the second transfer device (2). It can be automated.

In the article shipping method according to the tenth aspect, in the ninth aspect, the first transport device (1) and the second transport device (2) have different structures.

According to this aspect, structures suitable for carrying the carrying device (3) and the moving shelf (4) can be adopted for the first carrying device (1) and the second carrying device (2). it can.

In the article shipping method according to the eleventh aspect, in the tenth aspect, the occupied area of the second transport apparatus (2) during the rotation operation in plan view is smaller than that of the first transport apparatus (1).

According to this aspect, the second transfer device (2) has a narrower turn than the first transfer device (1), so that the density of the plurality of movable shelves (4) can be increased.

In the article shipping method according to the twelfth aspect, in the tenth or eleventh aspect, the height (H1) of the first transfer device (1) is lower than the height (H2) of the second transfer device (2). ..

According to this aspect, since the first transport device (1) is lower than the second transport device (2), for example, under the transporting device (3) such as a roll box pallet whose lower surface (311) is relatively low. Even then, the first transport device (1) can sneak in.

The article shipping method according to the thirteenth aspect is the method according to any one of the first to eighth aspects, further including a shipping step. The plurality of articles (910) are housed in the automated warehouse (7) installed in the facility (90). The shipping step is a step of shipping the target article (91) from the automatic warehouse (7) to the picking area (A1). In the picking step, the target article (91) unloaded from the automatic warehouse (7) to the picking area (A1) is taken out.

According to this aspect, the work of preparing the target article (91) included in the plurality of articles (910) in the picking area (A1) can be automated by causing the automatic warehouse (7) to perform the work.

In the article shipping method according to the fourteenth aspect, in any one of the first to eighth aspects, the plurality of articles (910) are housed in a fixed shelf (8) arranged in the picking area (A1). In the picking step, the picking device (81) takes out the target article (91) from the fixed shelf (8).

According to this aspect, the work of taking out the target article (91) contained in the plurality of articles (910) from the picking area (A1) can be automated by causing the picking device (81) to perform the work.

The article shipping method according to the fifteenth aspect further includes an information acquisition step in any one of the first to fourteenth aspects. The information acquisition step is a step of acquiring identification information unique to the carrying device (3).

According to this aspect, management of the transportation device (3) such as tracking of the transportation device (3) shipped together with the target article (91) from the facility (90) becomes easy.

A program according to a sixteenth aspect is a program for causing one or more processors to execute the article shipping method according to any one of the first to fifteenth aspects.

According to this aspect, in the picking area (A1), the target article (91) is loaded on the carrier device (3) for carrying the target article (91) out of the facility (90), and then the transport device (1). ), the target article (91) can be transported to the shipping area (A2) together with the transportation device (3). Therefore, it is possible to carry out the target article (91) from the facility (90) from the shipping area (A2) of the facility (90) together with the carrying device (3) loaded with the target article (91). Therefore, while the transport of the target article (91) from the picking area (A1) to the shipping area (A2) is realized by the transport device (1), the target article (91) is smoothly shipped from the facility (90). It is possible to do.

In the article shipping system according to the seventeenth aspect, the target article (91) together with the carrying device (3) is set in the facility (90) in a state where the target article (91) in the facility (90) is loaded on the carrying device (3). It is a system used when shipping from. The article shipping system includes a carrier device (1) and a control system that controls the carrier device (1). In the picking area (A1) set in the facility (90), the control system includes a transporting device (in which a target article (91) taken out from a plurality of articles (910) in the facility (90) is loaded. The carrier device (1) is connected to 3). The control system moves the carrier device (1) connected to the carrier device (3) from the picking area (A1) to the shipping area (A2) set in the facility (90).

According to this aspect, in the picking area (A1), the target article (91) is loaded on the carrier device (3) for carrying the target article (91) out of the facility (90), and then the transport device (1). ), the target article (91) can be transported to the shipping area (A2) together with the transportation device (3). Therefore, it is possible to carry out the target article (91) from the facility (90) from the shipping area (A2) of the facility (90) together with the carrying device (3) loaded with the target article (91). Therefore, while the transport of the target article (91) from the picking area (A1) to the shipping area (A2) is realized by the transport device (1), the target article (91) is smoothly shipped from the facility (90). It is possible to do.

Not limited to the above aspects, various aspects (including modifications) of the article shipping method according to the first, second, and third embodiments can be embodied by the article shipping system (10) and a program.

The configurations according to the second to fifteenth aspects are not essential for the article shipping method and can be appropriately omitted.

1 (First) Transport Device 2 Second Transport Device 3 Transport Equipment 4 Moving Shelf 7 Automated Warehouse 8 Fixed Shelf 12 Lifting Elevator 32 Casters 81 Picking Device 90 Facility 91 Target Article 92 Truck 311 Transport Equipment Lower Surface 901 Moving Surface 910 Article A1 Picking area A2 Shipping area A3 Storage area H1 Height of first transfer device H2 Height of second transfer device

Claims (17)

In a picking area set in the facility, a picking step of taking out a target article from a plurality of articles in the facility,
In the picking area, a loading step of loading the target article on a transportation device for carrying the target article out of the facility,
In the picking area, a connecting step for connecting a carrier device to the carrier device,
In the transport device, a transport step of transporting the transport device from the picking area to a shipping area set in the facility,
Goods shipping method. The transfer device is capable of traveling on a moving surface,
The connecting step includes
An advancing step of advancing the transport device into a space between the lower surface of the transport device and the moving surface;
An elevating step of at least elevating the elevating part of the carrying device to a position where it contacts the lower surface of the carrying device.
The article shipping method according to claim 1. The carrying device has casters for traveling on the moving surface,
In the raising step, the raising/lowering unit is further raised from a state where the raising/lowering unit is in contact with the lower surface of the carrying device, to a position where the caster is separated from the moving surface,
The article shipping method according to claim 2. The shipping area is an area for loading the carrying device on a transportation means for carrying the carrying device from the facility to another facility.
The article shipping method according to claim 1. The shipping area is a truck berth for loading the transportation device on a truck as the transportation means,
The method for shipping goods according to claim 4. In the shipping area, the transportation device further includes a shipping step of loading the transportation device on the transportation means.
The article shipping method according to claim 4. In the shipping step, the transportation device transported from the picking area to the shipping area is loaded on the transportation means by the transportation device while maintaining the connection with the transportation device.
The article shipping method according to claim 6. In the carrying step, the carrying device can be separated from the carrying device while carrying the carrying device from the picking area to the shipping area.
The article shipping method according to claim 1. Further having a shelf moving step,
The plurality of articles are stored in a plurality of mobile shelves arranged in a storage area set in the facility,
In the shelf moving step, a movement in which the target article of the plurality of moving shelves is accommodated from the storage area to the picking area is performed by a second transfer device that is different from the first transfer device that is the transfer device. The step of moving the shelves,
In the picking step, the target article is taken out from the moving shelf in the picking area,
The article shipping method according to claim 1. The first transfer device and the second transfer device have different structures,
The article shipping method according to claim 9. The occupying area of the second transport device is smaller than that of the first transport device when rotating in plan view.
The article shipping method according to claim 10. The height of the first transfer device is lower than the height of the second transfer device,
The article shipping method according to claim 10. Further has a shipping step,
The plurality of items are stored in an automated warehouse installed in the facility,
The warehousing step is a step of unloading the target article from the automated warehouse to the picking area,
In the picking step, the target article unloaded from the automated warehouse to the picking area is taken out,
The article shipping method according to claim 1. The plurality of articles are housed in a fixed shelf arranged in the picking area,
In the picking step, the picking device removes the target article from the fixed shelf,
The article shipping method according to claim 1. Further comprising an information acquisition step of acquiring identification information unique to the transportation device,
The article shipping method according to claim 1. A program for causing one or more processors to execute the article shipping method according to any one of claims 1 to 15. In a state where a target article in a facility is loaded on a transporting apparatus, an article shipping system used when shipping the target article together with the transporting apparatus from the facility,
A transport device,
A control system for controlling the transfer device,
The control system is
In the picking area set in the facility, the carrier device on which the target article taken out from the plurality of articles in the facility is loaded, is connected to the carrier device,
From the picking area to the shipping area set in the facility, move the transfer device connected to the transfer device,
Goods shipping system.

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