JP7091409B2 - Luggage transport system - Google Patents

Description

The present embodiment relates to a luggage transport system.

In recent years, the labor shortage in the logistics industry has become serious, and the automation of logistics facilities is being promoted. In order to automate such distribution facilities, a system has been developed in which an automatic guided vehicle (AGV) automatically transports packages in the facility.

Japanese Patent No. 6574899

However, the conventional luggage transport system has not been sufficiently efficient, and even if the automatic guided vehicle transports the luggage, it takes time to collect the individual luggage.

Therefore, we provide a cargo transport system that allows automated guided vehicles to efficiently transport cargo.

The luggage transport system according to the present embodiment continuously connects a first area including a plurality of collection zones in which a plurality of luggages are arranged according to the attributes of the luggage and a second area for inspecting or packing the collected luggage. Information on the transport path, multiple robots that can travel on the transport path, information on the luggage to be collected, information on the collection zone with the luggage to be collected among the multiple collection zones, and information on the collection zone with the luggage to be collected, and collection among the multiple robots. It includes a management unit that generates picking processing information associated with the robot identifier, and a controller that controls a plurality of robots according to the collection zone information and the robot identifier.

The transport path may have a first truck on which a plurality of robots can go around, and a second truck on which a collection zone is provided and one of the plurality of robots can stop.

The transport path has a magnetic sheet that stores unit area identification information given for each unit area on the transport path, and a plurality of robots have a reader that can read the unit area identification information provided on the transport path. You may have.

A plurality of terminals provided in each of the plurality of collection zones, communicably connected to the management unit, and displaying picking processing information may be further provided.

A plurality of terminals provided in each of the plurality of collection zones, communicably connected to the management unit, and displaying task information may be further provided.

The robot may travel on the first truck to move along the transport path according to the information of the pickup zone obtained from the controller and the identifier of the robot, move to the second truck, and stop at the pickup zone.

When the robot receives its own identifier and the unit area identification information of the collection zone, it may travel on the transport path to the collection zone and stop when it detects the unit area identification information of the collection zone.

When generating the picking processing information, the management unit may generate the picking processing information by assigning the same robot identifier to the same order information.

The same order information may correspond to the same packaging.

The controller may repeatedly move the robot to a plurality of collection zones in sequence and stop the robot, stop the robot in each of all the collection zones corresponding to the robot, and then move to the second area.

The management unit has the identifier of the first robot included in the plurality of first picking processing information having the same order information or the same robot identifier among the plurality of picking processing information, and the information of the plurality of collection zones corresponding to the identifiers. Is transmitted to the controller, the controller moves the first robot corresponding to the identifier of the first robot to the first collection zone among the plurality of collection zones corresponding to the identifiers of the first robot, and the first robot moves the first robot to the first collection zone. Upon arriving at the first pickup zone, an arrival notification may be transmitted to the controller, the management unit may transmit a picking command to the terminal of the first pickup zone, and the terminal may display the picking process information and the picking command.

After the first robot loads the load, the terminal sends a completion notification to the management unit, the management unit sends a completion notification to the controller, and the controller corresponds the first robot to the identifier of the first robot. You may move to the second collection zone out of the plurality of collection zones.

The first track of the transport path is further divided into a plurality of subtracks, and the robot may travel a part of the subtracks in one direction and travel the other subtracks in the other direction.

The transport path may include a plurality of first areas, and the plurality of first areas may project in a comb-tooth shape with respect to a common second area.

The control method of the luggage transport system according to the present embodiment can travel on a transport path that continuously connects a first area including a plurality of collection zones and a second area that inspects or packs collected luggage and a transport path. Picking processing information that associates information on a plurality of robots and luggage to be collected, information on a collection zone containing the luggage to be collected from a plurality of collection zones, and an identifier of a robot that collects the luggage among a plurality of robots. A control method for a luggage transport system, comprising a management unit that generates
The management unit generates picking processing information by assigning the same robot identifier to the same order information, and the controller repeatedly moves the robot to a plurality of collection zones and stops the robot repeatedly. It comprises stopping in each of the corresponding collection zones and then moving to the second area.

The management unit has the identifier of the first robot included in the plurality of first picking processing information having the same order information or the same robot identifier among the plurality of picking processing information, and the information of the plurality of collection zones corresponding to the identifiers. Is transmitted to the controller, the controller moves the first robot corresponding to the identifier of the first robot to the first collection zone among the plurality of collection zones corresponding to the identifiers of the first robot, and the first robot moves the first robot. Each time it arrives in one pickup zone, an arrival notification is sent to the controller, and the management unit sends a picking command to a terminal provided in each of the plurality of collection zones and connected to the management unit so as to be communicable with the management unit. The terminal at may further comprise displaying picking processing information and picking commands.

After the first robot loads the load, the terminal sends a completion notification to the management unit, the management unit sends a completion notification to the controller, and the controller corresponds the first robot to the identifier of the first robot. It may be further provided to move to the second collection zone among the plurality of collection zones.

The external view which shows an example of the robot used for the luggage transport system by this embodiment. A block diagram showing a configuration example of a robot. The plan view which shows the structural example of a transport path. A conceptual diagram showing a unit area in which a transport path is virtually divided into a mesh shape. A conceptual diagram showing the operation of the luggage transportation system. The schematic block diagram which shows the configuration example of the baggage-carrying system by this embodiment. A table showing an example of picking processing information. The flow diagram which shows an example of the operation of the baggage-carrying system by this embodiment. The flow diagram which shows an example of the operation of the baggage-carrying system by this embodiment. The flow diagram which shows an example of the operation of the baggage-carrying system by this embodiment. The figure which shows an example of the picking process information, a picking command, and a picking completion button displayed on the display of a terminal. The figure which shows an example of the inspection / packing instruction, the picking process information, and the inspection / packing completion button displayed on the display of a terminal. The flow diagram which shows an example of the charge processing of a luggage transport system. The flow diagram which shows an example of the modification of the operation of a luggage transport system. The figure which shows the picking process information of a modification. The figure which shows the picking process information of a modification. The figure which shows the picking processing information of another modification. The plan view which shows the structural example of the transport path by 2nd Embodiment.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings. The present embodiment is not limited to the present invention. The drawings are schematic or conceptual, and the ratio of each part is not always the same as the actual one. In the specification and the drawings, the same elements as those described above with respect to the existing drawings are designated by the same reference numerals, and detailed description thereof will be omitted as appropriate.

FIG. 1 is an external view showing an example of a robot used in the luggage transport system according to the present embodiment. The robot 10 is a self-propelled robot including a housing 11, a tray 12, and wheels 13. The robot 10 can freely move back and forth and left and right on a smooth surface with a load (not shown) placed on the tray 12.

FIG. 2 is a block diagram showing a configuration example of the robot 10. The robot 10 includes a motor 14, a battery 15, a CPU (Central Processing Unit) 16, a memory 17, an RFID reader 18, an interface 19, and a button 20. These components are housed in the housing 11.

The motor 14 is a power source for rotationally driving the wheels 13, and operates by receiving electric power from the battery 15. The rotation of the motor 14 causes the wheels 13 to rotate, allowing the housing 11 and the tray 12 to move.

The battery 15 supplies electric power to the entire robot 10 including the motor 14.

The CPU 16 controls the motor 14 based on the information detected by the RFID reader, the information received from the interface 19, and the information stored in the memory 17, and moves the robot 10 in a predetermined direction at a predetermined speed. As a result, the robot 10 can move to a predetermined position and stop.

The memory 17 stores map information of the transport path 30 (see FIG. 3) on which the robot 10 travels, unique robot ID information for recognizing itself, a program for traveling the robot 10, and the like. Further, the memory 17 temporarily stores the tag information detected by the RFID reader, the command and the position information received from the interface 19.

The RFID reader is provided to read information from the RFID tag provided in the transport path 30 described later, confirm the position of the robot 10 in the transport path 30, or identify the collection zone.

The interface 19 is wirelessly connected to a control system outside the robot 10. The interface 19 is connected to the control system via, for example, the Internet, WiFi, or the like. The interface 19 receives commands, position information, etc. from the control system, and conversely, transmits work completion information, etc. to the control system.

The button 20 is used to start or shut down the robot 10.

With such a configuration, the robot 10 can move in the transport path 30 according to a command from the control system.

FIG. 3 is a plan view showing a configuration example of the transport path 30. The transport path 30 is divided into a transport area A1 and a work area A2, and is provided so as to go around the picking zones Z1A to Z1F.

The transport area A1 as the first area is separated into a main track MT and a sub track ST, and the sub track ST is provided with picking zones Z1A to Z1F.

The main track MT as the first track is a lane for the robot 10 to travel and move. The robot 10 travels on the main track MT to the vicinity of a predetermined picking zone (any of Z1A to Z1F) set as a destination. In the main track MT, the robot 10 basically does not stop.

The sub-track ST as the second track is a lane provided for the robot 10 to enter a predetermined picking zone and stop. The robot 10 travels on the main track MT to the vicinity of the predetermined picking zone, then moves to the sub-track ST and stops at the predetermined picking zone.

The picking zones Z1A to Z1F as the collection zone are zones in which a plurality of packages are arranged according to the attributes of the packages. The attributes of a package are arbitrary elements that can distinguish the package, such as the type, shape, color, weight, manufacturer, etc. of the package. An operator is waiting in each of the picking zones Z1A to Z1F, and the operator places a predetermined load on the tray 12 of the robot 10 stopped in the picking zones Z1A to Z1F.

The work area A2 as the second area includes an inspection / packing zone Z2, a charging zone Z3, and a standby zone Z4. The inspection / packing zone Z2 is a zone in which the operator inspects and packs the luggage collected and transported by the robot 10. The charging zone Z3 is a zone in which the robot 10 charges. The standby zone Z4 is a zone in which the robot 10 waits until the next command. As described above, the work area A2 is an area in which the operator performs work such as checking and packing the cargo, and the robot 10 prepares for the next operation.

The transport area A1 and the work area A2 are connected substantially smoothly and continuously so that the robot 10 can travel on the entire transport path 30.

In this way, the sub-track ST is provided in the transport area A1, and the picking zones Z1A to Z1F are arranged in the sub-track ST. As a result, the robot 10 can stop in the picking zones Z1A to Z1F without interfering with the running of the other robots 10. Therefore, the plurality of robots 10 can smoothly travel in the transport path 30.
Further, the transport path 30 is provided in an annular shape in the transport area A1 and is continuous endlessly over the picking zones Z1A to Z1F. As a result, the robot 10 can reach the target picking zones Z1A to Z1F again by orbiting even after passing the target picking zones Z1A to Z1F. In addition, in this embodiment, the transport path 30 is not limited to an annular shape, and may have another shape such as a comb shape. In this case, the control system CS controls the position of each robot 10 so that the robots 10 do not collide with each other. Alternatively, the robot 10 itself has a sensor so as not to collide with each other. Thereby, in the system according to this embodiment, the transport path 30 can be freely designed.

In order for the robot 10 to recognize its own position in the transport path 30, a magnetic sheet is laid on the transport path 30. The magnetic sheet is divided into unit areas, and ID information is stored in each area. Therefore, the magnetic sheet functions as an ID tag divided into each unit area area (unit area). For example, FIG. 4 is a conceptual diagram showing a unit region A5 in which the transport path 30 is virtually divided into a mesh shape. The magnetic sheet stores different ID information (unit area identification information) for each unit area A5. The ID information of each unit area A5 of the entire transport path 30 is stored in the memory 17 of the robot 10 or the control system as map information of the transport path 30. This ID information may be, for example, the coordinate information of the corresponding unit area A5. The coordinate information can be expressed by, for example, the plane coordinates of each unit area A5 with one end of the transport path 30 as the origin.

The robot 10 can recognize its own position based on the map information of the transport path 30 by reading the ID information stored in the magnetic sheet of the unit area A5 with the RFID reader 18.

Further, the information of the transport area A1, the work area A2, the picking zones Z1A to Z1F, the inspection / packing zone Z2, the charging zone Z3, the standby zone Z4, the main truck MT, and the subtrack ST is associated with the ID information of the unit area A5. It is included in the map information of the transport path 30. This allows the robot 10 or the control system to know in which area, zone, and track the robot 10 is located.

The area of the unit region A5 is preferably substantially the same as or smaller than the area when the robot 10 is viewed from above in a plan view. This allows the robot 10 or the control system to know the more detailed position of the robot 10.

FIG. 5 is a conceptual diagram showing the operation of the luggage transport system 1. In the luggage transport system 1, the plurality of robots 10 travel in the same direction on the transport path 30 in the direction indicated by the arrow. When the robot 10 moves in the transport area A1, the robot 10 travels on the main truck MT, moves to the picking zones Z1A to Z1F of the sub-track ST in response to a command, and stops. The operator waiting in each picking zone Z1A to Z1F places a predetermined load on the tray 12 of the robot 10 stopped in the corresponding picking zone. In this embodiment, the robot 10 is moving in the same direction on the transport path 30. However, the robot 10 may allow two-way carriageway on the transport path 30 in one direction and in the opposite direction. In this case, the main truck MT of the transport path 30 is divided into a plurality of lanes (sub-trucks), and the robot 10 travels in one of the lanes in one direction and the other lane in the other direction (reverse direction). Drive to.

Terminals T1A to T1F are provided in the picking zones Z1A to Z1F, respectively. The terminals T1A to T1F may be, for example, a mobile terminal such as a tablet terminal, a PC or the like. The terminals T1A to T1F are operated by the operators of the picking zones Z1A to Z1F. As described with reference to FIG. 6, the terminals T1A to T1F are communicably connected to the management system MS, display a command (picking process information) transmitted from the management system MS, and perform picking. When finished, a picking completion notification is sent to the management system MS.

When the operator places a predetermined load on the robot 10, the operator presses (touches or clicks) the picking completion button using the terminals T1A to T1F. As a result, the picking completion notification is transmitted from the terminals T1A to T1F to the management system MS. The management system MS controls the robot 10 via the control system CS, and the robot 10 returns to the main track MT and resumes running. After that, the robot 10 moves to the next picking zone and stops according to the command.

In this way, the robot 10 repeatedly moves and stops to all the picking zones included in the command. As a result, the robot 10 can load all the luggage included in the command on the tray 12. After moving and stopping to all the picking zones included in the series of commands, the robot 10 moves to the inspection / packing zone Z2 of the work area A2.

In the inspection / packing zone Z2, the operator checks and packs the luggage mounted on the robot 10. When the operator presses (touches or clicks) the inspection / packing completion button displayed on the terminal T2, the robot 10 moves to the standby zone Z4 and waits for the next command. Further, when the charging state of the battery 15 is lower than the predetermined value, the robot 10 moves to the charging zone Z3 and charges the battery 15.

In this way, the robot 10 picks up a predetermined load in the transport area A1 and transports the load to the work area A2 in accordance with the command. At this time, the robot 10 can pick up a plurality of packages in a single run and transport them to the inspection / packing zone Z2, instead of transporting each package individually. As a result, the robot 10 can efficiently transport the load and collect the load in a short time.

For example, it is assumed that the parts A to F are arranged in the picking zones Z1A to Z1F, respectively. When there is an order to ship parts B, D, and F among parts A to F, one robot 10 repeatedly moves to zones Z1B, Z1D, and Z1F and stops repeatedly, and parts B, D, and F are repeated. And move to the inspection / packing zone Z2. The operator may pack and ship the parts B, D, and F mounted on the one robot 10.

If the robot 10 transports the parts B, D, and F individually, the three robots 10 pick up and transport the parts B, D, and F, respectively, or one robot 10 travels three times. It is necessary to pick up and transport the parts B, D, and F individually. In this case, the operator needs to confirm the three robots 10 or wait until the robot 10 conveys all of the parts B, D, and F. For this reason, the operator makes a mistake in the included parts, and it takes time to ship.

On the other hand, in the present embodiment, one robot 10 picks up the necessary luggage in one trip and conveys it to the inspection / packing zone Z2. Therefore, the operator can pack the package accurately in a short time.

FIG. 6 is a schematic block diagram showing a configuration example of the luggage transport system 1 according to the present embodiment. The luggage transport system 1 includes a plurality of robots 10, a transport path 30, a control system CS, a management system MS, and terminals T1A to T1F. For convenience, although three robots 10 are shown in FIG. 6, the number of robots 10 existing in the transport path 30 may be two or less or four or more.

The management system MS as a management unit generates picking processing information. The picking processing information includes information on the package to be collected in the inspection / packing zone Z2, ID information in the unit area A5 of the picking zones Z1A to Z1F where the package to be collected is located, an order ID for identifying each order, and collection. This is information associated with the ID information of the robot to be used. When the management system MS generates the picking process information, the management system MS generates the picking process information by assigning the ID information of the same robot to the same order ID. The order ID is an identifier given when a plurality of packages are collected as one group. For example, the same order ID is given to a plurality of packages to be put into one package. Of the picking processing information, the ID information of the picking zones Z1A to Z1F and the ID information of the robot are transmitted to the control system CS and the terminals T1A to T1F as commands.

The control system CS as a controller receives the ID information of the picking zones Z1A to Z1F and the ID information of the robots (hereinafter, also referred to as control commands) from the management system MS, and controls a plurality of robots 10 according to the control commands. Since the control command includes the ID information of the robot 10, the robot 10 can recognize that the command from the control system CS is a command to itself.

The terminals T1A to T1F and T2 are arranged in the picking zones Z1A to Z1F and the inspection / packing zone Z2, and may be, for example, a mobile terminal such as a tablet terminal, a PC, or the like. The terminals T1A to T1F and T2 are communicably connected to the management system MS, receive picking processing information transmitted from the management system MS, and display the contents on the display. This makes it possible to inform the operator of the contents of the picking process information. Further, the terminals T1A to T1F display a picking completion button. When the operator loads the load, he presses (touches or clicks) the picking complete button. As a result, the terminals T1A to T1F transmit the picking completion notification to the management system MS. Upon receiving the picking completion notification, the management system MS can control the robot 10 via the control system CS and restart the running of the robot 10.

Further, the terminal T2 displays an inspection / packing completion button. When the operator completes the inspection and packing, press (touch or click) the inspection / packing complete button. As a result, the terminal T2 transmits the inspection / packing completion notification to the management system MS. The management system MS can control the robot 10 via the control system CS, move the robot 10 to the standby zone Z4, and put it in the standby state.

FIG. 7 is a table showing an example of picking processing information. Each picking processing information includes the processing number, the product name of the luggage to be collected by the robot 10, the number of the luggage, and the ID information of the unit area A5 of the picking zones Z1A to Z1F in which the luggage is arranged (hereinafter, the picking zone ID). It is also referred to as), order ID of the cargo, status information indicating unprocessed / processed, ID information of the robot 10 in charge of collection (hereinafter, also referred to as robot ID), and the like.

The management system MS assigns the same order ID to a plurality of packages included in the same package, and assigns the same robot ID. In this case, the picking zones Z1A to Z1F to which the robot 10 should stop in a series of travelings are indicated by one or a plurality of picking processing information.

For example, FIG. 7 shows five picking process information. The number of picking processing information is not particularly limited. No. 1 and No. The picking processing information of No. 3 is the order ID "001", which is a command to the robot 10 of the robot ID "01", and indicates that the robot 10 B and Z1D are moved to the picking zones and stopped. The robot 10 picks up two products SKU01 in the picking zone Z1B and four products SKU03 in the picking zone Z1D. The pick-up of the product is completed by the operator of each picking zone mounting the target product on the tray 12 of the robot 10. Similarly, No. 2 and No. The picking processing information of No. 4 is an order ID "006", which is a command to the robot 10 of the robot ID "03", and indicates that the robot 10C and Z1F are moved to the picking zones and stopped. The robot 10 picks up one product SKU10 in the picking zone Z1C and three product SKU05 in the picking zone Z1F. In this way, the picking process information is set so that the robot 10 can pick up and efficiently transport a plurality of packages in a series of traveling.

Next, the specific operation of the luggage transport system 1 will be described.

8 to 10 are flow charts showing an example of the operation of the luggage transport system 1 according to the present embodiment. First, the robot 10 is waiting in the standby zone Z4 of the work area A2. The robot 10 in the standby state transmits its own robot ID and the standby notification to the control system CS (S100). The wait notification is information indicating that the user is in the standby state. The control system CS manages the robot ID in the standby state and the standby notification.

Next, when a task occurs, the management system MS generates picking process information (S130). For example, when the operator inputs the information (product name, quantity, etc.) of the package to be collected and the order ID into the management system MS, the management system MS generates the picking process information shown in FIG. 7. At this time, the management system MS assigns a processing number, a picking zone with the cargo, and a status. All statuses are initially unprocessed. Further, the management system MS selects a robot (first robot) 10 that executes the picking process from the robots 10 in the standby state. At this time, the management system MS assigns the same robot ID to the same order ID. In this way, the management system MS generates picking processing information. Then, the management system MS transmits the order ID and the robot ID (control command) to the control system CS and the terminals T1A to T1F (S140).

Upon receiving the control command, the terminals T1A to T1F display the picking process information on the display (S150). As a result, the operators of the picking zones Z1A to Z1F can know the occurrence of the task and its contents.

On the other hand, when the control system CS receives the control command, the picking process information No. The free state of the picking zone Z1B is confirmed based on 1 (S160). The vacant state of the picking zone Z1B can be confirmed by whether or not the other robot 10 is stopped in the picking zone Z1B based on the position information of the other robot 10.

When the picking zone Z1B is empty, the control system CS transmits the picking zone ID of the picking zone Z1B together with the robot ID (S170). As a result, the selected robot 10 can move to the picking zone (first collection zone) Z1B, which is the first destination.

The selected robot 10 starts moving from the work area A2 to the transfer area A1 (S180). The selected robot 10 arrives at the unit area A5 of the picking zone Z1B and stops. At this time, the selected robot 10 transmits an arrival notification to the control system CS together with the picking zone ID and the robot ID (S190). The arrival notification is information indicating that the robot 10 has arrived at the target picking zone Z1B. Upon receiving this arrival notification, the control system CS transmits the arrival notification and the corresponding control command to the management system MS (S200).

When the management system MS receives the arrival notification and the control command (S210), the management system MS transmits the picking command together with the picking processing information to the terminals T1A to T1F (S220).

When the terminals T1A to T1F receive the picking command and the picking processing information, they determine whether or not the picking command corresponds to their own picking zone based on the picking processing information. When the picking zone ID included in the corresponding picking processing information is its own picking zone, the terminal (any of T1A to T1F) displays the picking command and the picking processing information to be processed on the display (S230). For example, the picking process information No. When executing 1, the selected robot 10 (for example, robot ID = 01) is stopped in the picking zone Z1B. In this case, the terminal T1B displays the picking process information, the picking command, the picking completion button, and the like on the display. For example, FIG. 11 is a diagram showing an example of picking processing information, a picking command, and a picking completion button displayed on the display of the terminal T1B. The picking command is, for example, an indication "Please process". The picking processing information to be processed is, for example, the picking processing information No. surrounded by a broken line frame. It is 1. The picking complete button is, for example, a display of "OK".

The operator mounts the two product SKU01s on the robot 10 stopped in the picking zone Z1B according to the display of the terminal T1B (S240). After that, the operator touches or clicks “OK” in FIG. 11 (S250). As a result, the terminal T1B transmits the picking completion notification to the management system MS. The picking completion notification is information indicating that the processing in the picking zone Z1B indicated by the picking processing information is completed.

Upon receiving the picking completion notification, the management system MS updates the status of the corresponding picking processing information (for example, No. 1) to "processed". At the same time, the management system MS transmits a picking completion notification to the control system CS together with the control command (S260).

Upon receiving the picking completion notification or the like, the control system CS shifts to the execution of the next picking processing information (for example, No. 3) corresponding to the robot ID “01”. Steps S160 to S270 may also be executed for the next picking process information.

In step S160, if another robot 10 is present in the picking zone Z1B, the control system CS may execute the other picking processing information first. In this case, the order of the picking process information is deviated, but since the picking process information includes the status information, the management system MS can distinguish between the processed picking process information and the unprocessed picking process information. The management system MS may execute the unprocessed picking processing information later.

When the status of all the picking processing information corresponding to the robot ID "01" becomes "processed" (S280), the management system MS transmits a task completion notification to the control system CS together with the control command (S290). The task completion notification is information indicating that all picking processes have been completed.

When the control system CS receives the task completion notification and the control command (S300), the control system CS transmits the ID of the unit area A5 of the inspection / packing zone Z2 (hereinafter, also referred to as the inspection / packing zone ID) together with the robot ID (S310). .. As a result, the robot 10 that has completed the task moves to the inspection / packing zone Z2 in the work area A2. In this way, the robot 10 moves to the work area after stopping in each of the picking zones of the plurality of picking processing information in the transport area A1.

After the task is completed, the selected robot 10 starts moving from the transport area A1 to the work area A2 (S320). The robot 10 arrives at the unit area A5 of the inspection / packing zone Z2 and stops (S330). At this time, the robot 10 transmits an arrival notification to the control system CS together with the inspection / packing zone ID and the robot ID. The control system CS transmits this arrival notification to the management system MS together with the inspection / packing zone ID and the robot ID (S340).

Upon receiving the arrival notification, the inspection / packing zone ID and the robot ID, the management system MS transmits the inspection / packing command, the inspection / packing zone ID and the corresponding picking processing information to the terminal T2 of the inspection / packing zone Z2 (S350). ).

Upon receiving the inspection / packing command, the inspection / packing zone ID, and the picking processing information, the terminal T2 displays the inspection / packing command and the picking processing information on the display (S360). For example, the terminal T2 displays an inspection / packing command, picking processing information, and an inspection / packing completion button on the display. At this time, the robot 10 (for example, Robo01) that has completed the task is stopped in the inspection / packing zone Z2. For example, FIG. 12 is a diagram showing an example of an inspection / packing command, picking processing information, and an inspection / packing completion button displayed on the display of the terminal T2. The inspection / packing command is, for example, an indication "Please inspect / pack". The picking processing information indicates that all the statuses are "processed". The inspection / packing completion button is, for example, an indication of "inspection / packing OK".

The operator inspects and packs the product mounted on the robot 10 according to the display of the terminal T2 (S370). After that, the operator touches or clicks "Inspection / Packing OK" in FIG. 12 (S380). As a result, the terminal T2 transmits the inspection / packing completion notification together with the picking process information to the management system MS. The inspection / packing completion notification is information indicating the completion of inspection / packing.

When the management system MS receives the inspection / packing completion notification and the picking processing information, the management system MS updates the picking processing information to processed. At the same time, the management system MS transmits an inspection / packing completion notification together with the robot ID to the control system CS (S390).

Upon receiving the inspection / packing completion notification and the robot ID, the control system CS transmits a standby command to the robot 10 together with the robot ID (S400). The standby command is information indicating the ID of the unit area A5 of the standby zone Z4 (hereinafter, also referred to as a standby zone ID).

When the robot ID is its own robot ID, the robot 10 moves to the standby zone Z4 (S410). Upon arriving at the standby zone Z4, the robot 10 stops and transmits its own robot ID and standby information to the control system CS (S100). After that, step S110 and subsequent steps are repeatedly executed. In this way, the robot 10 can pick up a plurality of packages in a series of traveling and transport them to the inspection / packing zone Z2.
The picking process information No. 2. No. Similar to the robot ID "01", the robot with the robot ID "03" also moves to the picking zones Z1C and Z1D according to the corresponding control command, picks up one product SKU10 and three SKU05s, and inspects them. -Transport to packing zone Z2.

If there is a problem with the inspection / packing in the inspection / packing process, for example, if the baggage is insufficient, or if the baggage is defective, the operator adds the missing baggage or replaces the defective product. After that, the operator may press the inspection / packing OK button of the terminal T2.

FIG. 13 is a flow chart showing an example of the charging process of the luggage transport system 1. When the voltage of the battery 15 of the robot 10 falls below the lower limit, the robot 10 transmits an empty notification to the control system CS (S500). The empty notification is information indicating that the voltage of the battery 15 of the robot 10 has fallen below the lower limit.

Upon receiving the empty notification, the control system CS transmits the ID of the unit area A5 of the charging zone Z3 (hereinafter, also referred to as the charging zone ID) together with the robot ID (S540). As a result, the selected robot 10 starts moving to the charging zone Z3 (S550).

Upon arriving at the charging zone Z3, the selected robot 10 starts charging (S560). The charging type may be a non-contact type or a contact type. The robot 10 may move to a charging station (not shown) and connect the power connector to the power source by itself. Alternatively, the operator may manually connect the power connector of the robot 10 to the power supply.

When the battery 15 of the robot 10 exceeds the threshold value, the robot 10 ends charging. When charging is completed, the robot 10 transmits a full notification to the control system CS together with the robot ID (S580). The full notification is information indicating that the voltage of the battery 15 of the robot 10 has exceeded the threshold value.

Upon receiving the full notification, the control system CS transmits a standby command to the robot 10 together with the robot ID (S620). Steps S610 and S620 may be the same as steps S400 and S410, respectively. As a result, the robot 10 can move to the standby zone Z4. After that, step S110 is executed, and the robot 10 waits in the standby zone Z4.

The operation of the luggage transport system 1 can be executed simultaneously for a plurality of robots 10. As a result, the cargo transport system 1 can efficiently transport, inspect, and pack the cargo.

As described above, in the luggage transport system 1 according to the present embodiment, the plurality of robots 10 collect and pick up a plurality of packages to be bundled in one run according to the picking processing information corresponding to each, and inspect and pack them. Transport to zone Z2. As a result, the luggage transport system 1 can collect the luggage efficiently and in a short time.

(Modification example)
FIG. 14 is a flow chart showing an example of a modification of the operation of the luggage transport system 1. 15 and 16 are diagrams showing picking processing information of the modified example. 15 and 16 show the display display of the terminals T1A to T1F.

The tray 12 may become full while the picking process information is being executed. In this case, one selected robot 10 cannot mount all the products having the same order ID. In this modification, in such a case, a plurality of robots 10 divide and transport a plurality of picking processing information products having the same order ID. In order to carry out such an operation, in this modification, as shown in FIGS. 15 and 16, a split button is added to the display display of the terminals T1A to T1F. Other displays of this modification may be the same as the displays of the terminals T1A to T1F of the first embodiment.

For example, as shown in FIG. 15, one robot (robot ID “01”) has picking processing information No. After the processing of No. 1, the picking processing information No. It is assumed that 3 is executed. In the picking zone Z1D, when the operator determines that the tray 12 of the robot 10 is full, the operator selects the "split" button. As a result, as shown in FIG. 14, the terminal T1D transmits the division request together with the picking process information to the management system MS (S700).

Next, the management system MS changes the robot ID of the picking process information requested to be divided (S710). The management system MS allocates unprocessed picking processing information of the same order ID to the waiting robot 10. As a result, the management system MS changes the robot ID of the unprocessed picking processing information requested to be divided to the robot ID of the waiting robot 10. FIG. 16 shows new picking processing information after division. For example, in the picking processing information after division, the unprocessed picking processing information No. Reference numeral 3 is assigned to the robot ID "05". In this way, the management system MS updates the existing task information with the new task information after the division. Although not shown, if there is other unprocessed picking processing information of the same order ID, the robot ID of the picking processing information is also changed to the robot ID "05".

After that, the luggage transport system 1 may execute step S140 and subsequent steps. At this time, the management system MS transmits the division notification together with the control command to the control system CS, and transmits the division notification or the picking processing information to the terminals T1A to T1F (S140).

As shown in FIG. 16, the terminal T1D displays the divided or picking process information on the display (S150). The terminal T1D may display "divided" to indicate that it has been divided. As a result, the operator can know that another robot 10 has been assigned based on the information after the division or the picking process.

The control system CS processes unprocessed picking processing information among the picking processing information after division. As a result, the other robot 10 assigned after the division starts moving to the picking zone Z1D (see S140 and later in FIGS. 8 to 10).

On the other hand, the control system CS moves the robot 10 of the picking processing information that has been processed out of the picking processing information after division to the inspection / packing zone Z2 in the same manner as when the task is completed. For example, the control system CS transmits the inspection / packing zone ID to the robot 10 together with the robot ID of the picking processing information that has been processed (S310). The robot 10 corresponding to the robot ID starts moving from the transport area A1 to the work area A2 (S320). After that, the luggage transport system 1 may execute step S330 or later. As a result, the picked baggage before the division is transported to the inspection / packing zone Z2.

As described above, the luggage transport system 1 according to the present modification divides the picking processing information and collects the luggage by the plurality of robots 10 even if the tray 12 becomes full while the picking processing information is being executed. be able to.

In this modification, the parcel may be divided into quantities in the single picking processing information. For example, FIG. 17 is a diagram showing picking processing information of another modification. In this modification, the picking process information No. The quantity (4) of the product SKU03 of 3 is divided into two. The robot "01" has the picking process information No. 1 baggage and picking processing information No. Two of the three products SKU03 will be transported. On the other hand, the other robot "05" has the picking process information No. Carry the other two packages of the three products SKU03. In this way, one picking process information may be divided into a plurality of pieces. In this case, when the management system MS updates the picking process information, the picking process information No. 3 may be divided into a plurality of parts.

(Second Embodiment)
FIG. 18 is a plan view showing a configuration example of the transport path 3 according to the second embodiment. The transport path 30 of the second embodiment is the same as that of the first embodiment in that it is divided into a transport area A1 and a work area A2. However, in the second embodiment, the transport area A1 is not on the annulus but protrudes like a comb with respect to the common (single) work area A2. Each comb-shaped tooth constitutes the main track MT and the sub track ST of the transport area A1. Therefore, in FIG. 18, seven transport areas A1 are shown, and the same work area A2 is shared. There is no space in the center of the main track MT or sub track ST. Therefore, the robot 10 can reciprocate the tooth-shaped main track MT of the comb as shown by the arrow.

A main track MT is provided at the center of each transport area A1, and a sub-track ST is provided at the outer edge of each transport area A1. The main track MT has a width of at least two unit regions A5 so that the robot 10 can pass each other.

The subtrack ST is provided with picking zones Z1A to Z1F as in the first embodiment. Then, the robot 10 can enter any of the picking zones Z1A to Z1F and stop according to the control command of the control system CS.

The work area A2 includes an inspection / packing zone Z2, a charging zone Z3, and a standby zone Z4.

As described above, in the second embodiment, in the transport path 30, the transport area A1 may be configured in the shape of a comb with respect to the work area A2. As a result, the transport path 30 can be arranged in a narrow space and can have many transport areas A1. Other configurations of the second embodiment may be the same as the corresponding configurations of the first embodiment. Thereby, the second embodiment can further obtain the effect of the first embodiment.

1 Luggage transport system, 10 robots, 11 enclosures, 12 trays, 13 wheels, 14 motors, 15 batteries, 16 CPUs, 17 memories, 18 RFID readers, 19 interfaces, 20 buttons, 30 transport paths, A1 transport area, A2 work Area, Z1A to Z1F picking zone, Z2 inspection / packing zone, Z3 charging zone, Z4 standby zone, CS control system, MS management system, T1A to T1F, T2 terminal,

Claims (15)

A transport path that continuously connects a first area including a plurality of collection zones in which a plurality of packages are arranged according to the attributes of the packages and a second area for inspecting or packing the collected packages.
A plurality of robots, each of which can freely travel back and forth and left and right on the surface of the transport path,
Generates picking processing information in which the information of the baggage to be collected, the information of the collection zone containing the baggage to be collected among the plurality of collection zones, and the identifier of the robot that collects the plurality of robots are associated with each other. Management department and
A controller that controls the plurality of robots according to the information of the collection zone and the identifier of the robot is provided .
The transport path has a magnetic sheet that is divided into unit regions and stores unit region identification information indicating plane coordinates given to each unit region of the transport path.
The plurality of robots have a reader provided for each unit area capable of reading the unit area identification information, and a memory for storing map information indicating the unit area identification information of each unit area of the transport path. It has, recognizes its own position in the map information by the unit area identification information read from the magnetic sheet, and runs by itself.
Luggage transport system. The luggage transport according to claim 1, wherein the transport path has a first truck on which the plurality of robots can go around, and a second truck provided with the collection zone and capable of stopping any of the plurality of robots. system. The luggage transport system according to claim 1 or 2 , further comprising a plurality of terminals provided in each of the plurality of collection zones, communicably connected to the management unit, and displaying the picking processing information. The robot travels on the first truck, moves on the transport path, moves to the second truck, and stops in the pickup zone according to the information of the pickup zone obtained from the controller and the identifier of the robot. The luggage transport system according to claim 2 or 3 . When the robot receives its own identifier and the unit area identification information of the collection zone, it travels on the transport path to the collection zone and stops when it detects the unit area identification information of the collection zone. Item 1. The luggage transport system according to item 1. Any of claims 1 to 5 , wherein the management unit generates the picking processing information by assigning the same identifier of the robot to the same order information when the picking processing information is generated. The luggage transportation system described in item 1. The luggage transport system according to claim 6 , wherein the same order information corresponds to the same packaging. The controller claims to repeatedly move and stop the robot to the plurality of collection zones, stop the robot in each of all the collection zones corresponding to the robot, and then move the robot to the second area. The luggage transport system according to any one of claims 1 to 7 . The management unit includes the identifier of the first robot included in the plurality of first picking processing information having the same order information or the same identifier of the robot among the plurality of the picking processing information, and a plurality of corresponding identifiers. Information on the pickup zone is transmitted to the controller,
The controller moves the first robot corresponding to the identifier of the first robot to the first pickup zone among the plurality of pickup zones corresponding to the identifiers of the first robot.
Upon arriving at the first pickup zone, the first robot sends an arrival notification to the controller.
The management unit transmits a picking command to the terminal in the first collection zone, and the management unit sends a picking command to the terminal.
The baggage transport system according to claim 3 , wherein the terminal displays the picking process information and the picking command. After the first robot loads the load, the terminal sends a completion notification to the management unit.
The management unit sends a completion notification to the controller, and the management unit sends a completion notification to the controller.
The baggage transfer system according to claim 9 , wherein the controller moves the first robot to a second collection zone among a plurality of collection zones corresponding to the identifiers of the first robot. The first track of the transport path is further divided into a plurality of sub-tracks.
The luggage transport system according to claim 2, wherein the robot travels a part of the sub-truck in one direction and travels the other sub-truck in the other direction. The transport path comprises a plurality of said first areas.
The luggage transport system according to any one of claims 1 to 11 , wherein the plurality of first areas project in a comb-tooth shape with respect to the common second area. A transport path that continuously connects the first area including a plurality of collection zones and the second area for inspecting or packing the collected luggage, and a plurality of transport paths that can freely travel on the surface of the transport path in the front-back and left-right directions . The picking that associates the information of the baggage to be collected, the information of the collection zone with the baggage to be collected among the plurality of collection zones, and the identifier of the robot that collects the robots among the plurality of robots. It includes a management unit that generates processing information, and a controller that controls the plurality of robots according to the information of the collection zone and the identifier of the robot.
The transport path has a magnetic sheet that is divided into unit areas and stores unit area identification information indicating the position of plane coordinates given for each unit area of the transport path, and the plurality of robots have the unit. It is a control method of a luggage transport system having a reader provided for each area and capable of reading the unit area identification information and a memory for storing map information of the transport path .
The management unit generates the picking processing information by assigning the same identifier of the robot to the same order information.
The plurality of robots recognize their position in the map information by the unit area identification information read from the magnetic sheet and self-propell.
The controller comprises repeatedly moving and stopping the robot to the plurality of collection zones, stopping the robot in each of all the collection zones corresponding to the robot, and then moving the robot to the second area. How to control the luggage transportation system. The management unit includes the identifier of the first robot included in the plurality of first picking processing information having the same order information or the same identifier of the robot among the plurality of the picking processing information, and a plurality of corresponding identifiers. Information on the pickup zone is transmitted to the controller,
The controller moves the first robot corresponding to the identifier of the first robot to the first pickup zone among the plurality of pickup zones corresponding to the identifiers of the first robot.
Each time the first robot arrives at the first pickup zone, the first robot sends an arrival notification to the controller.
The management unit is provided in each of the plurality of collection zones, and sends a picking command to a terminal communicably connected to the management unit.
13. The method of claim 13 , wherein the terminal in the pickup zone further comprises displaying the picking process information and the picking command. After the first robot loads the luggage,
The terminal sends a completion notification to the management unit, and the terminal sends a completion notification to the management unit.
The management unit sends a completion notification to the controller, and the management unit sends a completion notification to the controller.
14. The method of claim 14 , wherein the controller further comprises moving the first robot to a second pickup zone among a plurality of pickup zones corresponding to the identifier of the first robot.

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