JP7326562B2 - carrier - Google Patents

Description

The embodiments of the present invention relate to an article transportation control device, an article transportation control system, and a program.

A sorting system including a sorter is widely used to automate the sorting of articles such as packages. There are many types of sorters, and the sorter is selected according to the footprint, processing speed, and type of articles. Types of articles include those of different sizes, those of different weights, those of different shapes, and the like.

However, there is no sorter that accommodates all types of articles, and articles that are not compatible with sorters are handled manually by operators. The burden of sorting is heavy for logistics companies. For example, it is conceivable to install two or more kinds of sorters, but it is difficult to adopt it because the installation of two or more kinds of sorters makes the whole system larger and the cost effectiveness is low. In addition, there is concern about an increase in the burden on the operator who sorts and distributes the articles to each sorter and a delay in the processing speed.

On the other hand, there is known an automatic conveying device that places an article on it and conveys it to a target position. For example, an automatic transport device crawls under a basket truck or the like containing articles, lifts the basket truck, and conveys the articles to a target position together with the basket truck.

JP 2017-19588 A

As described above, the sorter is excellent in sorting articles, but it is difficult to handle various articles. On the other hand, automatic transport devices can handle a wide variety of items within the range that can be accommodated in the basket cart and transport them to their destinations. Reduction is desired.

SUMMARY OF THE INVENTION An object of the present invention is to provide an article transportation control device, an article transportation control system, and a program that can handle various articles and reduce the burden of sorting.

An article transportation control device according to an embodiment includes a processor and a communication unit. The processor causes a transport vehicle for transporting the article to transport the article to the transport position based on environmental information indicating the status of the transport position corresponding to the sorting destination information of the article by the sorting device for sorting the article. A transport control signal or a second transport control signal for transporting the transport vehicle to an alternate position of the transport position is selected. The communication unit transmits the first or second transport control signal to the transport vehicle.

FIG. 1 is a diagram showing an example of a schematic configuration of an article transport control system according to an embodiment. FIG. 2A is a diagram showing how articles are sent from the sorter to the wagon via the shooter of the article transport control system according to the embodiment, and shows an example in which there is a space below the shooter. FIG. 2B is a diagram showing how articles are sent from the sorter to the wagon via the shooter of the article transport control system according to the embodiment, and shows an example in which there is no space below the shooter. FIG. 3 is a block diagram showing an example of a schematic configuration of an information processing section of the article transport control system according to the embodiment. FIG. 4 is a block diagram showing an example of the schematic configuration of the sorter controller of the article transport control system according to the embodiment. FIG. 5 is a diagram showing an example of an article management table stored in the auxiliary storage device of the sorter controller of the article transport control system according to the embodiment. FIG. 6 is a block diagram showing an example of the schematic configuration of the AGV controller of the article transport control system according to the embodiment. FIG. 7 is a diagram showing an example of various management tables stored in the auxiliary storage device of the AGV controller of the article transport control system according to the embodiment. FIG. 8 is a block diagram showing an example of a schematic configuration of an AGV according to the embodiment; FIG. 9 is a flowchart showing an example of article transportation control by the sorter controller of the article transportation control system according to the embodiment. FIG. 10 is a flow chart showing an example of first transport control by the AGV controller of the article transport control system according to the embodiment. FIG. 11 is a flowchart showing an example of article transportation (corresponding to the first transportation control) by the AGV of the article transportation control system according to the embodiment. FIG. 12 is a flow chart showing an example of second transport control by the AGV controller of the article transport control system according to the embodiment. FIG. 13 is a flowchart showing an example of article transportation (corresponding to the second transportation control) by the AGV of the article transportation control system according to the embodiment.

Embodiments will be described below with reference to the drawings.
FIG. 1 is a diagram showing an example of a schematic configuration of an article transport control system according to an embodiment. As shown in FIG. 1, the article transport control system S includes an information processing section 1, a sorter 2, an AGV (automated guided vehicle) 3, and the like. The article transport control system S also includes an article input section 4, an article measuring section 5, an article information reading section 6, a branching device 7, conveyor belts 9a, 9b, 9c, 9d and 9e.

Further, the article transport control system S includes a plurality of article detection sensors, and detects articles B (for example, articles B1 to B8) conveyed by the sorter 2 and the conveyor belts 9a, 9b, 9c, 9d, and 9e. As a result, the article transport control system S can monitor detection signals from a plurality of article detection sensors, trace the transport (movement) of each article B, and detect or estimate where each article B is located. can. For example, the article transport control system S can detect or estimate that a container or a container containing articles B has been loaded onto the AGV 3 . In this embodiment, a cage truck C is taken up as an example of a container and explained. In addition, the article transport control system S provides article detection identification information (hereinafter referred to as article detection ID (identification)) for each article B detected by a plurality of article detection sensors (each article B sequentially thrown from the article insertion unit 4). information))).

Articles B to be processed by the article transport control system S are packages of various sizes, shapes, and weights. Each article B is assigned article identification information (hereinafter referred to as an article ID) in advance. For example, an article ID may be recorded directly for each article B, or a tag or the like having an article ID recorded thereon may be attached to each article B. FIG. As a method for recording the article ID, a visible printed record may be used, or an invisible printed record using ink that absorbs infrared rays or the like may be used. Alternatively, an electronic tag or wireless tag storing an article ID may be attached to the article B. FIG.

The article ID is information that includes at least unique information and is composed of one or more combinations of numbers, characters, symbols, bar codes, two-dimensional codes, and QR codes (registered trademark). Also, the item ID may include the sorting destination information, and the item management table TA11 stored in the information processing section 1 may include the sorting destination information associated with the item ID. In this embodiment, the latter is assumed and explained.

For example, the information processing unit 1 can be realized by combining one computer or a plurality of computers, communicates with other devices by wire or wirelessly, receives and stores information from other devices, and , to control other devices by transmitting control signals and the like to other devices. For example, the other devices are sorter 2, AGV 3, article input section 4, article measuring section 5, article information reading section 6, and branching device 7. Alternatively, the information processing section 1 may be realized by a plurality of computers and a plurality of storages connected to a network. The information processing unit 1 implemented by network connection will be described in detail later with reference to FIG.

The sorter 2 is a sorting device that sorts the articles B based on sorting information corresponding to the articles B to sorting destinations called sorting planes. That is, the sorter 2 sorts the articles B into one of the sorting trays based on the sorting information associated with the article ID. The sorter 2 receives the articles B conveyed by the conveying belt 9 d and sorts the received articles B into one of the sorting trays based on the sorting destination information from the information processing section 1 .

For example, the sorter 2 is a cross belt sorter, a sliding shoe sorter, or a bomb-bay sorter. The cross-belt sorter conveys the articles B on a conveying tray configured by a belt conveyor, and supplies the articles B on the conveying tray to a target sorting tray by the rotation of the belt conveyor. The sliding shoe sorter conveys the articles B on the conveying tray, tilts the conveying tray at the timing when the conveying tray reaches the intended sorting tray, and slides the articles B on the conveying tray toward the intended sorting tray. The Bombay sorter conveys articles B on a carrier tray whose bottom can be opened and closed, and opens the bottom at the timing when the carrier tray reaches a target sorting tray or a shooter that delivers the articles B to the target sorting tray. Then, drop the article B toward the target sorting tray or shooter.

In this embodiment, the sorter 2 is explained as a Bombay sorter, and instead of sorting trays, wagons (without casters) 21b, wagons (without casters) 22b, mail bags 23b, and wagons (with casters) 24b are applied as sorting destinations. Describe the case. For example, the sorter 2 has a looped transport path, and the transport path has a plurality of transport trays. These multiple transport trays rotate along the transport path. The articles B conveyed by the conveying belt 9d are sent to the conveying trays on the conveying path of the sorter 2, and one conveying tray is loaded with one article B and rotates along the conveying path. The sorter 2 opens the bottom gate 21a, 22a, 23a, or 24a at the timing when the transport tray reaches the position corresponding to the intended sorting destination wagon 21b, wagon 22b, mail bag 23b, or wagon 24b, and sorts the articles. B is dropped, and the article B is sent to the wagon 21b, the wagon 22b, the mail bag 23b, or the wagon 24b through the shooter.

2A and 2B are diagrams showing how articles are sent from the sorter to the wagon via the shooter of the article transport control system according to the embodiment. FIG. 2A shows an example in which the shooter 25 has a space below it, and FIG. 2B shows an example in which the shooter 25 does not have a space below it.
As shown in FIG. 2A, the sorter 2 opens the bottom gate 24a at the timing when the transport tray reaches the position corresponding to the wagon 24b, which is the intended sorting destination, and drops the articles B through the shooter 25. The article B is sent to the wagon 24b.

Here, with reference to FIGS. 2A and 2B, the transport position L11 and the alternate positions L21 and L31 that replace the transport position L11 will be described. As shown in FIG. 2A, when there is a space under the shooter 25, the position corresponding to the wagon 24b to be sorted (for example, the position adjacent to the wagon 24b) is set as the transport position L11, and the position that replaces the transport position L11. An alternative position L1 is assumed, and an alternative position L31 is assumed to substitute for the alternative position L21.

Further, as shown in FIG. 2B, when there is no space under the shooter 25, a position corresponding to the sorting destination wagon 24b (for example, a position slightly away from the wagon 24b) is set as the transport position L11, and instead of the transport position L11, A position that is the substitute position L1, and a position that substitutes for the substitute position L21 is designated as the substitute position L31.

The transport position L11 and the alternate positions L21 and L31 can be set at arbitrary positions according to the configuration of the article transport control system S (for example, presence or absence of space below the shooter 25). Conveyance control of the article B by the AGV 3 to the conveying position L11, the alternate position L21, and the alternate position L31 will be described later in detail.

AGV3 is a transport vehicle that transports article B unmanned. The AGV 3 transports the received article B to the target position based on a transport control signal including map data, target position data, current position data, and the like. For example, the AGV 3 transports the received article B to the transport position L11 based on the transport control signal S21 including the position information L12 indicating the transport position L11 corresponding to each sorting destination. Alternatively, the AGV 3 transports the received article B to the alternate position L21 based on the transport control signal S22 including the position information L22 indicating the alternate position L21 that replaces the transport position L11. Alternatively, the AGV 3 transports the received article B to the alternate position L31 based on the transport control signal S23 including the position information L32 indicating the alternate position L31 that is a substitute for the alternate position L21.

For example, the AGV 3 crawls under the basket truck C, lifts the basket truck C, and conveys the basket truck C. A plurality of wheels are attached to the bottom surface of the cage carriage C, and a gap of about 350 mm is created between the bottom surface of the cage carriage C and the floor surface. The AGV 3, which has a height of 300 mm or less, slips into the gap between the bottom surface and the floor surface of the cage carriage C, fixes the cage carriage C with the cage carriage fixing mechanism, and lifts the cage carriage fixing mechanism to lift the cage carriage C. lift off the floor. By moving the AGV 3 to the target position in this state, the article B can be transported to the target position together with the cart C.

The AGV 3, which transports the empty basket carriage C, stops at the standby position E2 (see FIG. 1) for receiving the article B according to the transport control signal from the information processing section 1, and moves the article B fed by the transport belt 9e into the basket. The basket carriage C containing the article B is transported to a target position. After arriving at the target position, the AGV 3 lowers the cage truck fixing mechanism to lower the cage truck C to the floor surface, releases the cage truck C from the cage truck fixing mechanism, and moves to the specified position. As a result, the basket carriage C containing the articles B can be transported and arranged at the target position.

The article input section 4 receives an article B that is input by an operator or an article B sent by a conveyor belt or the like.

The article measuring section 5 measures at least one of the size, shape, and weight of the article B to be conveyed, and outputs article measurement information obtained by the measurement to the information processing section 1 . For example, the article measurement unit 5 measures the size (size in the X-axis, Y-axis, and Z-axis directions) and shape of the article B based on a combination of sensing results of the article B from multiple directions by a plurality of sensors, and , the weight of the article B is measured with a weighing scale. For example, a laser distance sensor that measures the distance from the light source to the article B is applied as the sensor. Alternatively, the article measuring section 5 may take images of the article B from various angles using a camera or the like, analyze the images obtained by the photography, and measure the size and shape of the article B. FIG. The conveying belt 9 b conveys the article B measured by the article measuring section 5 to the article information reading section 6 .

The article information reading unit 6 reads the article ID from the article B. FIG. For example, the article information reading section 6 includes a camera, which is provided at a position facing the conveyor belt 9b or 9c and photographs the article B conveyed by the conveyor belt 9b or 9c. For example, a plurality of cameras are arranged to photograph the article B conveyed by the conveying belt 9b or 9c from various angles. The article information reading section 6 reads an article ID included in image data obtained by photographing with a camera, and outputs the read article ID to the information processing section 1 . When the article ID is a QR code, the article information reading section 6 functions as a QR code reader. If the article ID is information stored in a wireless tag, the article information reading unit 6 functions as a wireless reader and reads the article ID from the wireless tag through wireless communication. The conveying belt 9 c conveys the article B whose article ID has been read by the article information reading section 6 to the branching device 7 .

The branching device 7 supplies the articles B to the sorter 2 or the AGV 3 based on the branching control signal S11 or the branching control signal S12 transmitted from the information processing section 1 . For example, the branching device 7 distributes the article B conveyed by the conveying belt 9c to the conveying belt 9e based on the branching control signal S11 transmitted from the information processing section 1, and the conveying belt 9e conveys the article B to the sorter 2. , sort the articles B to the sorter 2 . In addition, the branching device 7 distributes the article B conveyed by the conveying belt 9c to the conveying belt 9e based on the branching control signal S12 transmitted from the information processing section 1, and the conveying belt 9e conveys the article B to the AGV 3, and distributes the article B to the conveying belt 9e. B is sent to the cage truck C on AGV3. Note that the branching device 7 may have a configuration such as a robot arm, and the robot arm or the like may pick up the articles B and supply them to the sorter 2 or the AGV 3 .

FIG. 3 is a block diagram showing an example of a schematic configuration of an information processing section of the article transport control system according to the embodiment.
As shown in FIG. 3, the information processing section 1 includes a sorter controller 11, an AGV controller 12, and a storage 13, which are connected via a network. Note that the sorter controller 11 and the AGV controller 12 may be realized by one controller. Alternatively, a host server may be connected to the network and the sorter controller 11 and the AGV controller 12 may be controlled by this host server.

FIG. 4 is a block diagram showing an example of the schematic configuration of the sorter controller of the article transport control system according to the embodiment.
As shown in FIG. 4 , the sorter controller 11 includes a processor 111 , a ROM (read-only memory) 112 , a RAM (random-access memory) 113 , an auxiliary storage device 114 , a communication interface 115 and an input/output unit 116 .

The processor 111 corresponds to a central portion of a computer that performs processing such as calculation and control necessary for processing the article B. FIG. The processing of the article B includes operations such as transportation, supply, and sorting of the article B. FIG. The processor 111 executes control to implement various functions of the sorter controller 11 based on programs such as system software, application software, or firmware stored in the ROM 12 or the auxiliary storage device 14 . The processor 111 is, for example, a CPU (central processing unit), an MPU (micro processing unit), or a DSP (digital signal processor). Alternatively, processor 111 is a combination of several of these. The processor 111 assigns an article detection ID to each article B to be detected based on detection signals from a plurality of article detection sensors, and also traces the transportation (movement) of each article B to determine where each article B is located. Detect or estimate whether

The ROM 112 corresponds to a main storage device of a computer centered on the processor 111 . The ROM 112 is a non-volatile memory exclusively used for reading data. ROM 112 stores the above program. The ROM 112 also stores data or various setting values used by the processor 111 in performing various processes.

A RAM 113 corresponds to a main storage device of a computer centered on the processor 111 . A RAM 113 is a memory used for reading and writing data. The RAM 113 is used as a so-called work area for storing data temporarily used when the processor 111 performs various processes.

The auxiliary storage device 114 corresponds to an auxiliary storage device of a computer centered on the processor 111 . The auxiliary storage device 114 is, for example, an EEPROM (electric erasable programmable read-only memory) (registered trademark), a HDD (hard disk drive), or an SSD (solid state drive). Auxiliary storage device 114 may store the above program. In addition, the auxiliary storage device 114 stores data used by the processor 111 to perform various processes, data generated by the processes performed by the processor 111, various setting values, and the like.

Programs stored in ROM 112 or auxiliary storage device 114 include programs for processing article B. FIG. As an example, the sorter controller 11 is transferred to an administrator or the like of the sorter controller 11 with the program stored in the ROM 112 or the auxiliary storage device 114 . However, the sorter controller 11 may be transferred to the administrator or the like without the program stored in the ROM 112 or the auxiliary storage device 114 . Then, the program for processing the item B may be separately transferred to the administrator or the like, and written to the auxiliary storage device 114 under the operation of the administrator or the serviceman. Transfer of the program at this time can be realized by recording it on a removable storage medium such as a magnetic disk, magneto-optical disk, optical disk, or semiconductor memory, or by downloading it via a network or the like.

The communication interface 115 is an interface for wired or wireless communication with another device via a network or the like, receiving various information transmitted from the other device, and transmitting various information to the other device. . For example, the communication interface 115 receives the item ID of the item B and the sorting destination information associated with the item ID from the host server of the item transport control system S before the item transport control system S starts processing the item. The communication interface 115 also receives a sensing signal from the article detection sensor, article measurement information from the article measurement section 5 and an article ID from the article information reading section 6 . The communication interface 115 also transmits the sorting destination information to the sorter 2 and the branching control signal S11 or S12 to the branching device 7 . The communication interface 115 also receives information read from the storage 13 and transmits information to be stored in the storage 13 .

The input/output unit 116 includes a keyboard, numeric keypad, mouse, touch panel display, and the like. The input/output unit 116 receives an instruction input from the operator and notifies the processor 111 of it. Also, the touch panel display displays various information to the operator.

FIG. 5 is a diagram showing an example of an article management table stored in the auxiliary storage device of the sorter controller of the article transport control system according to the embodiment.
As shown in FIG. 5, the auxiliary storage device 114 functions as a storage unit and stores an article management table TA11 and the like. The article management table TA11 stores article IDs, sorting destination information, article measurement information, article supply destination information, and AGV identification information (hereinafter referred to as AGVID ). If the article IDs can be acquired from all the articles B processed by the article transportation control system S, the article detection IDs are not essential, and the article management table TA11 associates the acquired article IDs with the sorting destinations. information, article measurement information, article destination information, and AGV identification information. In this case, the processor 111 traces the movement of the items B1-B8 corresponding to the item ID and detects or estimates where the items B1-B8 are located. In this embodiment, the case where the auxiliary storage device 114 of the sorter controller 11 stores the article management table TA11 will be described, but the storage 13 connected to the network may store the article management table TA11.

FIG. 6 is a block diagram showing an example of the schematic configuration of the AGV controller of the article transport control system according to the embodiment.
The AGV controller 12 corresponds to an article transportation control device that controls the transportation operation of the article B (basket carriage C) by the AGV 3 . For example, the AGV controller 12 collects and transports the basket truck C waiting at a predetermined position by the AGV 3, transports the article B (basket truck C) to the target position by the AGV 3, and transports the article B (basket truck C) to the target position. Controls the operation of lowering and arranging. As shown in FIG. 6, the AGV controller 12 includes a processor 121, a ROM 122, a RAM 123, an auxiliary storage device 124, a communication interface 125, and an input/output unit 126.

The processor 121 corresponds to a central portion of a computer that performs processing such as calculation and control necessary for transporting the article B. FIG. The processor 111 executes control to implement various functions of the AGV controller 12 based on programs such as system software, application software, or firmware stored in the ROM 12, auxiliary storage device 14, or the like. Processor 111 is, for example, a CPU, MPU, or DSP. Alternatively, processor 111 is a combination of several of these.

The ROM 122 corresponds to a main storage device of a computer centered on the processor 121 . The ROM 122 is a non-volatile memory exclusively used for reading data. ROM 122 stores the above program. In addition, the ROM 122 stores data or various setting values that the processor 121 uses when performing various processes.

The RAM 123 corresponds to a main storage device of a computer centered on the processor 121 . The RAM 123 is a memory used for reading and writing data. The RAM 123 is used as a so-called work area for storing data temporarily used when the processor 121 performs various processes.

The auxiliary storage device 124 corresponds to an auxiliary storage device of a computer in which the processor 121 is central. Auxiliary storage device 124 may store the above program. In addition, the auxiliary storage device 124 stores data used by the processor 121 to perform various processes, data generated by the processes performed by the processor 121, various setting values, and the like.

Programs stored in ROM 122 or auxiliary storage device 124 include programs for controlling transport of AGV 3 . As an example, the AGV controller 12 is transferred to an administrator of the AGV controller 12 with the program stored in the ROM 122 or the auxiliary storage device 124 . However, the AGV controller 12 may be transferred to the administrator or the like without the program stored in the ROM 122 or the auxiliary storage device 124 . Then, the program for controlling the transportation of the article B may be separately transferred to the administrator or the like, and written to the auxiliary storage device 124 under the operation of the administrator or the serviceman. Transfer of the program at this time can be realized by recording it on a removable storage medium such as a magnetic disk, magneto-optical disk, optical disk, or semiconductor memory, or by downloading it via a network or the like.

The communication interface 125 is an interface for wired or wireless communication with another device via a network or the like, receiving various information transmitted from the other device, and transmitting various information to the other device. . For example, the communication interface 125 receives information from the sorter controller 11 and also transmits transport control signals and the like to the AGV 3 .

The input/output unit 126 includes a keyboard, numeric keypad, mouse, touch panel display, and the like. The input/output unit 126 receives an instruction input from the operator and notifies the processor 111 of it. Also, the touch panel display displays various information to the operator.

FIG. 7 is a diagram showing an example of various management tables stored in the auxiliary storage device of the AGV controller of the article transport control system according to the embodiment.
As shown in FIG. 7, the auxiliary storage device 124 functions as a storage unit, and the auxiliary storage device 124 stores a sorting destination corresponding position management table TA21, an AGV management table TA22, an AGV conveying article management table TA23, and the like.

The sorting destination corresponding position management table TA21 is associated with the sorting destination information indicating each sorting destination, the position information L12 indicating the transport position L11 corresponding to the sorting destination, and the position information L22 indicating the alternative position L21 that substitutes for the transport position L11. , position information L32 indicating an alternative position L31 that is an alternative to the alternative position L21, and environment information. The AGV management table TA22 also stores the current position information and the destination (position information L12 of the wagon 24b, etc.) in association with the AGVID. The AGVID of the AGV 3 waiting with an undecided destination is associated with position information of the standby position as the current position information and undecided as the destination. Also, the AGV transported article management table TA23 stores sorting destination information in association with the article ID of the article B conveyed by the AGV3.

In this embodiment, a case will be described in which the destination corresponding position management table TA21 includes position information of two alternative positions (the first alternative position L21 and the second alternative position L31). Include location information. Alternatively, the auxiliary storage device 124 stores the size information of the wagon carriage C, and the definition information that defines where the n-th alternative position is arranged based on the position information of the transport position on the map data. , the registration of the location information of the alternative location in the destination-corresponding location management table TA21 may be omitted. In a case where many wagon trucks C are transported to the same sorting destination, it is excellent in that it is not necessary to predetermine alternative positions for many wagon trucks C and to hold the information in advance.

Moreover, the environmental information includes information that dynamically changes due to the arrangement of the car carriage C by the AGV 3 and the like. For example, the processor 121 sets environmental information INF0 indicating that there is an obstacle 10 at the transport position L11 corresponding to the wagon 21b indicated by the sorting destination information, and sets the wagon 22b, the mail bag 23b, and the wagon 22b indicated by the sorting destination information. And environment information INF1 indicating that there is no basket carriage C at the transport position L11 corresponding to the wagon 24b is set. Note that the processor 121 may set the environment information INF0 according to information input by an operator or the like. In addition, the processor 121 moves the basket to the transport position L11 corresponding to the wagon 24b indicated by the sorting destination information in response to a situation change (completion notification indicating that the basket carriage C has been placed at the transport position L11 corresponding to the wagon 24b). Environment information INF1 indicating that there is no truck C is updated to environment information INF2 indicating that there is a basket truck C at the transport position L11 corresponding to the wagon 24b indicated by the destination information. Further, the processor 121 transfers the environment information INF2 to the alternative position L21 of the wagon 24b indicated by the sorting destination information in response to a change in situation (completion notification indicating that the cart C has been placed at the alternative position L21 of the wagon 24b). The environment information INF3 is updated to indicate that the car carriage C is present. Instead of updating the environment information INF2 to the environment information INF3, the environment information INF2 may include the number of the cage carts C installed. The obstacle 10 may be a fixed object such as a pillar of a facility. In this case, the environmental information includes information on fixed objects (static information).

The processor 121 determines the sorting destination of each article B based on the sorting destination corresponding position management table TA21, the AGV management table TA22, the AGV conveying article management table TA23, etc., and the transportation destination corresponding to the determined sorting destination ( transport position L11, alternate position L21, alternate position L31, etc.), selects one AGV 3 based on the current position information of each AGV 3, and transmits a transport control signal including the transport destination to the selected AGV 3. The AGV 3 moves to the transport destination based on the transport control signal. Details of the transport control of the AGV 3 will be described later.

FIG. 8 is a block diagram showing an example of a schematic configuration of an AGV according to the embodiment;
The AGV 3 is a self-propelled robot with wheels, and based on a transport control signal from the AGV controller 12, transports an empty basket carriage C or a basket carriage C containing articles B to a target position. For example, the AGV 3 transports the cart C to the target position based on map data, target position data, and current position data included in the transport control signal. For example, the AGV 3 self-runs to the target position while detecting the moving distance and moving direction. Alternatively, the AGV 3 follows a magnetic tape or a two-dimensional bar code attached to the travel path and self-travels to the target position. In addition, the AGV 3 is equipped with a laser detection sensor or camera that detects obstacles (including other AGV 3), and obstacles detected by the laser detection sensor or obstacles detected by image analysis captured by the camera You can also run while avoiding objects.

As shown in FIG. 8, the AGV 3 has a processor 31, a ROM 32, a RAM 33, an auxiliary storage device 34, a communication interface 35, and a driver 36.
The processor 31 corresponds to a central portion of a computer that performs processing such as calculation and control required for the movement of the cart C for transportation. The processor 31 executes control to implement various functions of the AGV 3 based on programs such as system software, application software, or firmware stored in the ROM 32, auxiliary storage device 34, or the like. Processor 31 is, for example, a CPU, MPU, or DSP. Alternatively, processor 111 is a combination of several of these. For example, the AGV controller 12 transmits a transport control signal for moving the AGV 3 to a target position, and the processor 31 processes the map data, target position data, and current position contained in the transport control signal transmitted from the AGV controller 12. It outputs a drive signal according to data or the like. Alternatively, the processor 31 outputs a drive signal for coupling according to the coupling control signal included in the transport control signal transmitted from the AGV controller 12 .

The ROM 32 corresponds to a main storage device of a computer centered on the processor 31 . The ROM 32 is a non-volatile memory exclusively used for reading data. The ROM 32 stores the above program. In addition, the ROM 32 stores data or various set values used by the processor 31 in performing various processes.

The RAM 33 corresponds to a main storage device of a computer having the processor 31 as its core. The RAM 33 is a memory used for reading and writing data. The RAM 33 is used as a so-called work area for storing data temporarily used when the processor 31 performs various processes.

The auxiliary storage device 34 corresponds to an auxiliary storage device of a computer in which the processor 31 is central. Auxiliary storage device 34 may store the above program. In addition, the auxiliary storage device 34 stores data used by the processor 31 to perform various processes, data generated by the processes performed by the processor 31, various setting values, and the like.

The communication interface 35 is an interface for wirelessly communicating with another device via a network or the like, receiving various information transmitted from the other device, and transmitting various information to the other device. For example, the communication interface 35 receives transport control signals from the AGV controller 12 . In addition, the communication interface 35 transmits to the AGV controller 12 a transportation completion notification indicating completion of transportation and placement of the basket carriage C. As shown in FIG.

The drive unit 36 includes a motor, wheels rotated by the motor, a steering mechanism for switching the traveling direction, and the like. The drive unit 36 rotates or stops the motor based on the drive signal output from the processor 31, controls the steering mechanism, and moves the AGV to the target position. Further, the driving unit 36 fixes the cage carriage C by the cage carriage fixing mechanism, raises the cage carriage fixing mechanism to lift the cage carriage C, and lowers the cage carriage fixing mechanism to lower the cage carriage C. Unlock.

FIG. 9 is a flowchart showing an example of article transportation control by the sorter controller of the article transportation control system according to the embodiment.
For example, the host server transmits in advance the article ID and sorting destination information of the article B to be processed to the sorter controller 11, and the processor 111 of the sorter controller 11 stores these article IDs and sorting destinations in the article management table TA11. Register information.

An article B is loaded from the article loading section 4 of the article transportation control system S, and the transportation of the article B is started by the transportation belts 9a, 9b, 9c, 9d, 9e, etc. (ST1). A plurality of article detection sensors of the article transportation control system S detect articles B that are sequentially conveyed, and transmit detection signals to the sorter controller 11 . The communication interface 115 of the sorter controller 11 receives the detection signal, and the processor 111 assigns an article detection ID to each article B based on the detection signal. That is, the processor 111 registers the article detection ID in association with each article B that is sequentially detected in the article management table TA11. At this point, the article ID has not been read from the article B to be conveyed, so the article ID pre-registered in the article management table TA11 cannot be associated with the article detection ID.

The conveying belt 9a conveys the article B to the article measuring section 5, and the article measuring section 5 measures at least one of the size, shape, and weight of the conveyed article (ST2). It transmits article measurement information to the sorter controller 11 . The communication interface 115 of the sorter controller 11 receives the article measurement information, and the processor 111 registers the article measurement information in association with the article detection ID in the article management table TA11.

The processor 111 also executes a process of determining the supply destination (sorter 2 or AGV 3) of the article B based on the article measurement information (ST3), and branches to supply articles to the sorter 2 based on the article measurement information. It selects and outputs the control signal S11 or the branch control signal S12 for supplying articles to the AGV3. The communication interface 115 transmits the branching control signal S11 or S12 to the branching device 7 .

Here, an example of the article supply destination determination processing by the processor 111 will be described. The processor 111 compares the article measurement values included in the received article measurement information with the compatibility conditions of the sorter 2 registered in the auxiliary storage device 114, and determines whether or not the article B conforms to the specifications of the sorter 2. do. For example, the compatibility condition is a determination threshold for determining that the item B can be sorted by the sorter 2 or is unsuitable for sorting. The processor 111 compares the article measurement value with the determination threshold value, and determines that the article B can be sorted by the sorter 2 or is unsuitable for sorting based on the comparison result.

For example, the suitability condition of the sorter 2 includes the upper limit or lower limit of the total size of the article B in the X-axis, Y-axis, and Z-axis directions (hereinafter referred to as three side sizes). The processor 111 compares the three-sided size contained in the article measurements with the upper limit or lower limit, and if the three-sided size exceeds the upper limit or is below the lower limit, the article B is not suitable for the sorter 2, i.e. The article B is determined to be unsuitable for sorting by the sorter 2, and if it is equal to or less than the upper limit value or equal to or greater than the lower limit value, it is determined to be suitable for the sorter 2, that is, the item B can be sorted by the sorter 2. Alternatively, the compatibility condition includes an upper limit value and a lower limit value of the three side size, and the processor 111 does not match the item B to the sorter 2 if the three side size exceeds the upper limit value or is less than the lower limit value, that is, the item B It may be determined that the item B is not suitable for sorting by the sorter 2, and that the item B is suitable for the sorter 2 if the value is equal to or less than the upper limit value and equal to or greater than the lower limit value. Furthermore, the compatibility conditions may include at least one of upper and lower weight limits, and may include shape conditions. For example, the conformance condition may include a shape parameter for making easily rolling spheres, cylinders, and the like unsuitable for sorting by the sorter 2 .

The processor 111 selects the branch control signal S11 for supplying the article B to the sorter 2 when judging that the article B conforms to the specifications of the sorter 2 and can be sorted based on the article measurement information. A branch control signal S11 is sent to the device 7. If the processor 111 determines that the article B does not conform to the specifications of the sorter 2 and is not suitable for sorting based on the article measurement information, the processor 111 selects the branch control signal S12 for supplying the article B to the AGV 3, 115 transmits a branching control signal S12 to the branching device 7;

When the processor 111 determines that the sorter 2 is the supply destination of the article B in the supply destination determination process, the processor 111 registers article supply destination information indicating the sorter 2 in association with the article detection ID of the article B in the article management table TA11. . When the processor 111 determines that the destination of the article B is AGV3 in the destination determination process, it registers the destination information indicating the AGV3 in association with the article detection ID of the article B in the article management table TA11.

The article information reading section 6 takes an image of the article B conveyed by the conveying belt 9b, acquires an article ID from the image data obtained by the photographing (ST4), and transmits the article ID to the sorter controller 11. FIG. The communication interface 115 of the sorter controller 11 receives the article ID from the article information reading section 6, and the processor 111 associates the pre-registered article ID with the received article ID in the article management table TA11. That is, in the article management table TA11, an article ID, sorting destination information, article measurement information, and article supply destination information are registered in association with the article detection ID. The processor 111 determines the sorting destination based on the article ID of the article management table TA11 (ST5).

When the branching device 7 receives the branching control signal S11 transmitted from the communication interface 115, the branching device 7 supplies the articles B conveyed by the conveyor belt 9c toward the sorter 2 based on the branching control signal S11 (ST6, YES). , the conveying belt 9d conveys the article B to the sorter 2 (ST7). The processor 111 selects the sorting destination information associated with the article detection ID of the article B, and the communication interface 115 transmits the sorting destination information of the article B to the sorter 2 determined as the supply destination of the article B. The sorter 2 receives the sorting destination information of the articles B, and sorts the articles B into one of the wagons 21b to 24b based on the sorting destination information (ST8).

Further, when the branching device 7 receives the branching control signal S12 transmitted from the communication interface 115, based on this branching control signal S12, the branching device 7 supplies the article B conveyed by the conveyor belt 9c toward the AGV 3 (ST6, NO ), the conveyor belt 9e conveys the article B toward the standby position E2 of the AGV 3 (ST9). The processor 111 selects sorting destination information associated with the article detection ID of the article B, and the communication interface 115 notifies the AGV controller 12 that controls the AGV 3 determined as the supply destination of the article B to the sorting destination of the article B. Send information. The AGV controller 12 receives the sorting destination information of the article B, executes article transportation control, and the AGV 3 conveys the article based on the article transportation control (ST10).

[First Conveyance Control]
Next, referring to FIGS. 10 and 11, the control of conveyance to the alternative position mainly by the AGV controller will be described.
FIG. 10 is a flow chart showing an example of first transport control by the AGV controller of the article transport control system according to the embodiment.
The processor 111 of the sorter controller 11 selects the article ID whose article supply destination information is determined to be AGV3 and the sorting destination information associated with the article ID, and the communication interface 115 selects the selected article ID and the article ID. Send associated shipping information. The communication interface 125 of the AGV controller 12 receives the selected article ID and the sorting destination information associated with the article ID, and the processor 121 registers the AGV transport article management table TA23. The AGV-transported article management table TA23 includes an article ID to be conveyed by the AVG3 and sorting destination information associated with the article ID.

The processor 121 communicates with each AGV 3 via the communication interface 115, acquires the current position information of each AGV 3, and manages the ID of each AGV 3 and the current position information of each AGV in association with each other in the AGV management table TA22. , controls the transport of each AGV 3 .

The processor 121 communicates with the predetermined AGV 3 via the communication interface 115, and transmits a transport control signal S24 for transporting the empty car truck C waiting at the standby position E1 to the standby position E2. The processor 31 of the AGV 3 receives the transport control signal S24 via the communication interface 35 and controls transport based on the transport control signal S24. By this control, the AGV 3 moves to the standby position E1, crawls under the empty basket truck C, lifts the basket truck C, transports the basket truck to the standby position E2, and waits at the standby position E2.

The processor 121 acquires the sorting destination of the article B corresponding to the article ID based on the sorting destination corresponding position management table TA21 and the AGV conveying article management table TA23, and determines the transport position L11 (that is, the position information L12) is acquired (ST21), and environment information indicating the situation of the transport position L11 is acquired (ST22).

Further, the processor 121 outputs a transport control signal S21 for transporting the AGV3 to the transport position L11, a transport control signal S22 for transporting the AGV3 to the alternate position L21 instead of the transport position L11, or the AGV3 based on the environmental information. A transport control signal S23 for transporting to the alternate position L31 instead of the alternate position L21 is selected (ST23). In addition, the transport control signals S22 and S23 may include a connection control signal for controlling the connection of the cage carriage C. FIG. The connection of the cage carriage C will be described later in detail.

For example, the environment information includes information that dynamically changes as the cart C containing the article B is transported and arranged by the AGV 3 . The processor 121 sets environment information INF0 indicating that there is an obstacle at the transport position L11 corresponding to the wagon 21b, and confirms that there is no basket carriage C at the transport position L11 corresponding to the wagon 22b, the mail bag 23b, and the wagon 24b. The environment information INF1 indicating is set.

For example, the processor 121 selects the transport control signal S21 based on the environment information INF1 (ST23), the processor 121 transmits the selected transport control signal S21 to the AGV 3 via the communication interface 125, and controls the transport of the AGV 3. control (ST24).
When the AGV 3 transports and arranges the basket carriage C to the transport position L11 corresponding to the wagon 24b based on the transport control signal S21, the AGV 3 outputs a transport completion signal indicating completion of transport of the basket carriage C to the transport position L11 corresponding to the wagon 24b. Send notifications.
The communication interface 125 receives the transport completion notification indicating that the basket carriage C has been transported to the transport position L11 corresponding to the wagon 24b (ST25). environment information INF1 corresponding to is updated to environment information INF2 indicating that the cart C is at the transport position L11 (ST26).

Alternatively, the processor 121 selects the transport control signal S22 based on the environment information INF2 (ST23). The processor 121 transmits the selected transport control signal S22 to the AGV 3 via the communication interface 125 to control the transport of the AGV 3 (ST24). When the AGV 3 conveys and arranges the basket carriage C to the alternate position L21 instead of the transport position L11 corresponding to the wagon 24b based on the transport control signal S22, it indicates that the transport of the basket carriage C to the alternate position L21 has been completed. Send a delivery completion notification.
The communication interface 125 receives the transportation completion notification indicating that the transportation of the basket carriage C to the alternative position L21 is completed (ST25), and the processor 121, based on the reception of this transportation completion notification, sets the environment corresponding to the wagon 24b. The information INF2 is updated to environment information INF3 indicating that the car carriage C is present at the alternative position L21 (ST26).

FIG. 11 is a flowchart showing an example of article transportation by the AGV (transportation operation based on the first transportation control) of the article transportation control system according to the embodiment.
The AGV 3 waits at the standby position E2 for receiving the article under the control of the AGV controller 12 (ST30). The sorter controller 11 monitors detection signals from a plurality of article detection sensors, detects or estimates that articles have been loaded onto the AGV 3, and transmits an article loading completion notice. The AGV controller 12 selects the transport control signal S21, S22, or S23 based on the environmental information, and transmits the selected transport control signal S21, S22, or S23 in response to receiving the article loading completion notification.

For example, when the AGV 3 receives the transport control signal S21 for transporting the wagon 24b to the transport position L11 corresponding to the wagon 24b (ST31, YES), it starts moving to the transport position L11 corresponding to the wagon 24b based on the transport control signal S21. (ST32). Alternatively, the AGV 3 has an article detection sensor, the AGV controller 12 transmits the transport control signal S21 at an arbitrary timing, and after the AGV 3 detects loading of the article B by the article detection sensor, the received transport control signal S21 Based on this, movement to the transport position L11 corresponding to the wagon 24b may be started.

The AGV 3 stops at the transport position L11, unloads the basket carriage C at the transport position L11 (ST35), and notifies the AGV controller 12 that the transport of the basket carriage C to the transport position L11 corresponding to the wagon 24b has been completed. is transmitted (ST36).

Further, the AGV 3 moves to the standby position E1 of the empty cage truck C (ST37), crawls under the empty cage truck C, secures the cage truck C (ST38), and moves the cage truck to the standby position E2. (ST39). When the first-arriving AGV 3 is waiting at the standby position E2, the last-arriving AGV 3 detects the first-arriving AGV 3 and waits after the first-arriving AGV 3.

Alternatively, when the AGV 3 receives the transport control signal S22 for transporting the wagon 24b to the substitute position L21 instead of the transport position L11 (ST41, YES), the transport position corresponding to the wagon 24b is determined based on the transport control signal S41. Movement is started to the alternative position L21 instead of L11 (ST42).

When the AGV 3 approaches the transfer position L11 and the alternative position L21 and detects the cage carriage C already placed at the transfer position L11 (ST43, YES), the detected cage carriage C is based on the connection control signal included in the transfer control signal S22. is executed (ST44). For example, when the AGV 3 detects the arranged cage carriage C at the transport position L11, it slows down the movement speed, and when it approaches the arranged cage carriage C, it slows down, and the arranged cage carriage C coupler (for example, recess) The coupler (for example, a convex portion) of the basket truck C conveyed to is pushed in to complete the coupling of both. The coupler may be magnetic. After completion of the connection, the AGV 3 unloads and places the basket carriage C at the alternate position L21 (ST45), and instructs the AGV controller 12 to convey the basket carriage C to the alternate position L21 instead of the transport position L11 corresponding to the wagon 24b. is transmitted (ST46).

Further, the AGV 3 moves to the standby position E1 of the empty cage truck C (ST37), crawls under the empty cage truck C, secures the cage truck C (ST38), and moves the cage truck to the standby position E2. (ST39). When the first-arriving AGV 3 is waiting at the standby position E2, the last-arriving AGV 3 detects the first-arriving AGV 3 and waits after the first-arriving AGV 3.

[Second Conveyance Control]
Next, referring to FIGS. 12 and 13, transportation to an alternative position mainly by AGV will be described. Environment information is not essential in this second transport control. It should be noted that descriptions of portions common to the first transport control will be omitted as appropriate.
FIG. 12 is a flow chart showing an example of second transport control by the AGV controller of the article transport control system according to the embodiment.
The processor 121 of the AGV controller 12 registers an AGV transported article management table TA23. The AGV-transported article management table TA23 includes an article ID to be conveyed by the AVG3 and sorting destination information associated with the article ID. The processor 121 communicates with a predetermined AGV 3, and the AGV 3 holds an empty car carriage C and waits at a standby position E2.

The processor 121 acquires the sorting destination of the article B corresponding to the article ID based on the sorting destination corresponding position management table TA21 and the AGV conveying article management table TA23, and obtains the transport position L11 (position information L12) is obtained (ST51). The processor 121 selects the transport control signal S21 for transporting the AGV 3 to the transport position L11 (ST52). The processor 121 transmits the selected transport control signal S21 to the AGV 3 via the communication interface 125 to control the transport of the AGV 3 (ST53).

FIG. 13 is a flowchart showing an example of article transportation by the AGV (transportation operation based on the second transportation control) of the article transportation control system according to the embodiment.
AGV 3 waits at standby position E2 for receiving the article under the control of AGV controller 12 (ST60). The sorter controller 11 monitors detection signals from a plurality of article detection sensors, detects or estimates that articles have been loaded onto the AGV 3, and transmits an article loading completion notice. The AGV controller 12 selects the transport control signal S21 and transmits the selected transport control signal S21 in response to receiving the article loading completion notification.

For example, when the AGV 3 receives the transport control signal S21 for transporting the wagon 24b to the transport position L11 corresponding to the wagon 24b (ST61, YES), it starts moving to the transport position L11 corresponding to the wagon 24b based on the transport control signal S21. (ST62).

When the AGV 3 approaches the transport position L11 and does not detect the basket carriage C that has already been placed at the transport position L11 (ST63, NO), the AGV 3 stops at the transport position L11 and lowers the basket carriage C to the transport position L11. Then (ST65), the AGV controller 12 is sent a transport completion notification indicating that the basket carriage C has been transported to the transport position L11 corresponding to the wagon 24b (ST66). Note that this transport completion notification is not essential.

Further, the AGV 3 moves to the standby position E1 of the empty cage truck C (ST67), crawls under the empty cage truck C, secures the cage truck C (ST68), and moves the cage truck to the standby position E2. (ST69). When the first-arriving AGV 3 is waiting at the standby position E2, the last-arriving AGV 3 detects the first-arriving AGV 3 and waits after the first-arriving AGV 3.

Alternatively, when the AGV 3 approaches the transport position L11 and detects the cage cart C that has already been placed at the transport position L11 (ST63, YES), it executes a connection process to the detected cage truck C (ST74). For example, when the AGV 3 detects the arranged cage carriage C at the transport position L11, it slows down its movement speed, and when it approaches the arranged cage carriage C, it slows down and conveys it to the coupler of the arranged cage carriage C. The coupler of the car carriage C is pushed in to complete the coupling of the two. After completion of the connection, the AGV 3 unloads and places the basket carriage C at the alternate position L21 (ST75), and instructs the AGV controller 12 to convey the basket carriage C to the alternate position L21 instead of the transport position L11 corresponding to the wagon 24b. is transmitted (ST76). Note that this transport completion notification is not essential.

Further, the AGV 3 moves to the standby position E1 of the empty cage truck C (ST67), crawls under the empty cage truck C, secures the cage truck C (ST68), and moves the cage truck to the standby position E2. (ST69). When the first-arriving AGV 3 is waiting at the standby position E2, the last-arriving AGV 3 detects the first-arriving AGV 3 and waits after the first-arriving AGV 3.

Note that the above-described first and second transport controls may be combined. For example, the determination of ST63 in FIG. 13 may be added after ST32 in FIG. Since a plurality of AGVs 3 transports and arranges the cart C (goods B), it is effective when the environment information cannot be updated in time. For example, a certain AGV 3 attempts to transport and arrange the basket carriage C toward the transport position L11, but another AGV 3 has already unloaded and placed the basket carriage C at the transport position L11. , the AGV 3 can place the cage cart at the alternative position L21 of the transfer position L11.

Also, in the sorting destination corresponding position management table TA21, an arbitrary transfer position L11, an arbitrary alternative position L21, and the like can be set. As shown in FIG. 2A, when there is space under the shooter 25, a position where it is easy to connect to the wagon 24b is set as the transport position L11, and a position adjacent to the transport position L11 is set as the alternate position L21. A position adjacent to the alternative position L21 is set as the alternative position L31. As shown in FIG. 2B, when there is no space under the shooter 25, after securing the working space for the wagon 24b, a position a little away from the wagon 24b is set as the transport position L11, and adjacent to the transport position L11. The position to be located is set as the alternate position L21, and the position adjacent to the alternate position L21 is set as the alternate position L31.

Alternatively, as shown in FIG. 1, if there is an obstacle 10 near the wagon 21b, the transport position L11 corresponding to the wagon 21b may be set in the preliminary position E3 away from the wagon 21b. Similarly, alternative positions L21 and L31 instead of the transfer position L11 corresponding to the wagon 21b may also be set within the preliminary position E3.

According to the embodiments described above, it is possible to provide an article transportation control device, an article transportation control system, and a program that can handle various articles and reduce the burden of sorting.
For example, the processor 121 of the AGV controller 12 refers to the sorting destination corresponding position management table TA21, the AGV management table TA22, the AGV conveying article management table TA23, etc., and determines the status of the conveying position L11 corresponding to the sorting destination information of the article B. The transport control signal S21 including the position information L12 corresponding to the transport position L11 or the transport control signal S22 including the position information L22 corresponding to the alternate position L21 of the transport position L11 is selected based on the environment information indicating the . The communication interface 125 of the AGV controller 12 transmits the transport control signal S21 or S22 to the AGV3.

The AGV 3 conveys the articles B that have been determined to be unsuitable for sorting by the sorter 2, and can handle various articles B within the range that can be accommodated in the basket carriage C. By applying such an AGV 3, the AGV controller 12, even if the article B is determined to be unsuitable for sorting by the sorter 2, allows the basket carriage C that accommodates the article B to the transport position L11 corresponding to the sorting destination. can be transported by the AGV 3, or the basket carriage C containing the article B can be transported by the AGV 3 to the alternate position L21 instead of the transport position L11. That is, the basket carriage C can be arranged in alignment at the transport position L11 corresponding to the sorting destination, or the basket carriage C can be arranged in alignment at the alternative position L21. As a result, even if the sorter 2 determines that the articles B are not suitable for sorting, the burden of manual sorting can be reduced.

In addition, since the environmental information includes information that dynamically changes according to the transportation and arrangement of the cage cart C, the AGV controller 12 can flexibly respond to dynamic changes. Even if there is, the basket carriage C can be arranged in line at the alternative position L21, and the burden of manual sorting can be reduced. In addition, when the environment information includes information (static information) on fixed objects, the AGV controller 12 can align the car carriage C at the alternative position L21 avoiding the fixed objects. Depending on the installation conditions of the article transport control system S, there may be an obstacle 10 fixed in advance at the transport position L11, but such a case can be flexibly dealt with.

In addition, since the transport control signal S22 includes a connection control signal for connecting the basket carriage C transported toward the alternative position 21 to the already arranged basket carriage C at the transport position L11, the AGV controller 12 controls the transport position L11. The arranged basket truck C can be connected to the cage truck C conveyed toward the alternative position 21 to complete the alignment arrangement. The connected basket carts C can be moved together, and the burden of manual sorting can be reduced.

Further, the AGV 3 may be the main body to determine the transport and arrangement of the car carriage C to the alternative position L12 without requiring the environmental information. When the AGV 3 receives the transport control signal S21 for transporting the basket carriage C to the transport position L11, it moves toward the transport position L11. When the AGV 3 detects the cage carriage C that has already been arranged at the transport position L11, it unloads and arranges the cage carriage C at the alternate position L12 instead of the transport position L11. Alternatively, while the AGV controller 12 transports and arranges the cage carriage C to the alternative position L12 using the environmental information, the AGV 3 may convey and arrange the cage carriage C to the alternative position L12 depending on the situation. can be

According to the article transport control system of this embodiment, for example, even when the AGV 3 transports the basket carriage C containing the articles B to the same sorting destination in a plurality of times, the basket carriage C is transported at the sorting destination. Since the basket trucks C are aligned or arranged after being connected to each other, the basket trucks C are not scattered at the sorting destination, and the burden of manual sorting can be reduced.

In addition, since there is no need to change the configuration near the sorting destination, there is no increase in cost. Even if there are a large number of sorting destinations, it is not necessary to provide special devices for the number of sorting destinations, and the burden of sorting can be reduced by using a fixed number of AGVs 3 regardless of the number of sorting destinations. The effect is great.

In addition, the article B conveyed by the AGV 3 is a heavy article, etc., which has been determined to be unsuitable for sorting by the sorter 2. If such an article B is manually transferred, the article B may be damaged during the work process. However, since the basket carriages C are arranged in alignment at the sorting destination, or the basket carriages C are connected and then aligned, damage and staining of the articles B can be prevented or reduced. .

In addition, the article transport control system S can be configured simply by connecting the information processing section 1, the sorter 2, the AGV 3, the article input section 4, the article measuring section 5, the article information reading section 6, and the branching device 7 to a network. So its cost-effectiveness is also great.

While several embodiments of the invention have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.
Hereinafter, the inventions described in the claims immediately before the division of the original application of the present application will be added.
[C1]
a first transport control signal for transporting a transport vehicle for transporting the articles to the transport position based on environmental information indicating the status of the transport position corresponding to the sorting destination information of the articles by a sorting device for sorting the goods; or a processor that selects a second transport control signal for transporting the transport vehicle to an alternate position of the transport position;
and a communication unit that transmits the first or second transport control signal to the transport vehicle.
[C2]
The article transportation control device according to [C1], wherein the environment information includes information that dynamically changes as the container containing the article is transported and arranged by the transportation vehicle.
[C3]
The processor selects the first transport control signal based on first environmental information indicating that there is no container at the transport position, and selects the first transport control signal based on second environmental information indicating that there is a container at the transport position. The article transport control device of [C2], wherein the second transport control signal is selected by the
[C4]
The communication unit transmits the first or second transport control signal to the transport vehicle that transports the article that is determined to be unsuitable for sorting by the sorting device according to the sorting destination information, [C1] The article transport control device according to any one of [C3].
[C5]
The article transport control device according to any one of [C1] to [C4], comprising a storage unit for storing the environmental information, the first position information indicating the transport position, and the second position information indicating the alternative position.
[C6]
The communication unit receives, from the transport vehicle, a transport completion notification indicating that transport of the container to the transport position has been completed;
The article transportation control device of [C3], wherein the processor updates the first environmental information to the second environmental information based on the reception of the transportation completion notification.
[C7]
The article transport control device of [C3], wherein the second transport control signal includes a connection control signal for connecting a container transported toward the alternative position to the arranged container at the transport position.
[C8]
the article transport control device according to any one of [C1] to [C7];
the sorting device;
and an article transportation control system, comprising: the transportation vehicle that conveys the article that is determined to be unsuitable for sorting by the sorting device based on article measurement information obtained by measuring the article.
[C9]
the transport vehicle transports the container containing the article to the transport position based on the first transport control signal, and transmits a transport completion notification;
The article transport control device receives the transport completion notification, and updates first environment information indicating that there is no container at the transport position to second environment information indicating that there is a container at the transport position. The article transport control system of [C8].
[C10]
an article transport control device for transmitting a transport control signal for transporting a transport vehicle for transporting a first container containing the articles to a transport position corresponding to the sorting destination information of the articles by a sorting device for sorting the articles;
a transport vehicle that transports the first container containing the article to the transport position based on the transport control signal;
An article transport control system in which the transport vehicle arranges the first container at an alternative position of the transport position when the transport vehicle detects the second container that has already been placed at the transport position.
[C11]
The article transport control system of [C10], wherein the transport vehicle connects the first container to the second container.
[C12]
a first transport control signal for transporting a transport vehicle for transporting the articles to the transport position based on environmental information indicating the status of the transport position corresponding to the sorting destination information of the articles by a sorting device for sorting the goods; or a procedure of selecting a second transport control signal for transporting the transport vehicle to an alternate position of the transport position;
and a procedure for transmitting the first or second transport control signal to the transport vehicle.

S: Article transport control system 1: Information processing section 2: Sorter 4: Article loading section 5: Article measuring section 6: Article information reading section 7: Branching device 9a, 9b, 9c, 9d, 9e: Conveyor belt 11: Sorter controller 12 AGV controller 13 storage 14 auxiliary storage device 25 shooter 31 processor 34 auxiliary storage device 35 communication interface 36 drive unit 111 processor 114 auxiliary storage device 115 communication interface 116 input/output unit 121 Processor 124...Auxiliary storage device 125...Communication interface 126...Input/output unit

Claims (8)

A transport vehicle that transports an article based on a first transport control signal for transporting the article to a transport position or a second transport control signal for transporting the article to an alternative position of the transport position,
Communication for receiving, from an article transportation control device, the first or second transportation control signal selected based on environment information indicating the situation of the transportation position corresponding to the sorting destination information of the articles by the sorting device for sorting the articles. an interface;
a processor that outputs a first or second drive signal in response to receiving the first or second carrier control signal;
a drive unit driven based on the first or second drive signal;
A transport vehicle with a 2. The transport vehicle according to claim 1, wherein said environment information includes information that dynamically changes as a container containing said article is transported and arranged by said transport vehicle. The first transport control signal is selected based on first environmental information indicating that there is no container at the transport position, and the second transport control signal is selected based on first environmental information indicating that there is a container at the transport position. 3. The vehicle of claim 2, selected based on two environmental information. 4. The transport vehicle according to any one of claims 1 to 3, which transports said articles determined by said sorting apparatus to be unsuitable for sorting according to said sorting destination information. The communication interface transmits a transport completion notification indicating completion of transport of the container to the transport position to the article transport control device;
The article transport control device stores the environment information, the first position information indicating the transport position, and the second position information indicating the alternative position. 4. The vehicle of claim 3, wherein environmental information is updated to said second environmental information. the second transport control signal includes a connection control signal for connecting a container transported toward the alternative position to the placed container at the transport position;
4. The transport vehicle according to claim 3, wherein said transport vehicle connects a container to be transported toward said alternative position to said arranged container at said transport position based on said connection control signal. A transport vehicle for transporting an article based on a transport control signal for transporting a first container containing the article to a transport position,
a communication interface for receiving the transport control signal from an article transport control device;
a processor that outputs a drive signal in response to receiving the carrier control signal;
a drive unit driven based on the drive signal;
with
A transport vehicle that transports the first container to an alternate position of the transport position when a second container that has already been placed at the transport position is detected. 8. The vehicle of claim 7, wherein said first container is connected to said second container.