JP7481977B2 - CONTROL DEVICE, CONTROL METHOD, AND LOADING SYSTEM - Google Patents

Description

Embodiments of the present invention relate to a control device, a control method, and a loading and unloading system.

Traditionally, in logistics, transport aids are used to load and transport goods, and automatic unloading machines are used as a means for unloading the goods loaded onto the transport aids.

However, some items are difficult to unload using an automatic unloading machine. When an automatic unloading machine attempts to unload such items, it may fail to unload, resulting in reduced work efficiency.

JP 2013-86914 A

The objective of this embodiment is to provide a control device, a control method, and a loading and unloading system that enable efficient unloading using an automatic unloading machine.

The control device of the present embodiment includes a communication unit, a storage unit, and a control unit. The communication unit acquires information about attribute information of the items loaded on the transport aid. The storage unit
The attribute information of an item that can be unloaded by an automatic unloading machine is the loading and unloading speed of the item by the automatic unloading machine.
At least one of the following: unloadable weight, specular reflection, fixed shape, or loading pattern
The control unit calculates an estimated average weight of the item based on attribute information of the item obtained from the information acquired through the communication unit, and stores information about one of the items in the storage unit.
By judging whether the weight is smaller than the weight that can be unloaded of the stored item, it is judged whether the item can be unloaded by an automatic unloading machine that unloads the item from the transport aid, and if it is judged that the item can be unloaded by the automatic unloading machine, a judgment result is output so that the transport aid is transported to a location where the automatic unloading machine is installed, and if it is judged that the item cannot be unloaded by the automatic unloading machine, the transport aid is transported to a location where the item can be unloaded manually.

The control method of the present embodiment includes an acquisition step and an output step. The acquisition step includes acquiring attribute information of the article loaded on the transport aid, the attribute information being stored in the transport aid.
The weight of the object that can be unloaded by an automatic unloading machine that unloads the object from the equipment, the mirror reflection
The output step calculates an estimated average weight of the items based on attribute information of the items obtained from the information obtained in the acquisition step, and determines whether the estimated average weight of the items is less than the unloadable weight of the items.
By determining whether the size is small or not, it is determined whether the item can be unloaded by an automatic unloading machine that unloads items from the transport aid, and if the automatic unloading machine determines that the item can be unloaded, the transport aid is transported to a location where the automatic unloading machine is installed, and if the automatic unloading machine determines that the item cannot be unloaded, a determination result is output to transport the transport aid to a location where the item can be unloaded manually.

In addition, the loading and unloading system of this embodiment includes an autonomous guided vehicle, an automatic unloading machine, a control device,
The autonomous guided vehicle transports the transport aid loaded with the item. The automatic unloading machine includes:
The control device controls the automatic unloading of the article from the transport auxiliary tool as attribute information of the article loaded on the transport auxiliary tool .
The weight of the item that can be unloaded by the machine, the presence or absence of specular reflection, the shape of the item, or the loading pattern
and calculating an estimated average weight of the items based on attribute information of the items obtained from the obtained information, and storing the estimated average weight of the items in a storage unit .
The system determines whether the weight of the detected item is less than the weight that can be unloaded of the item by the automatic unloading machine, and if the automatic unloading machine determines that the item can be unloaded, it transports the transport aid to a location where the automatic unloading machine is installed, and if the automatic unloading machine determines that the item cannot be unloaded, it outputs a determination result such that the transport aid is transported to a location where unloading can be done manually, and based on the determination result, a destination for the autonomous transport vehicle is decided and information on the destination is output.

FIG. 1 is a schematic diagram showing an example of a schematic configuration of a cargo handling system according to an embodiment. FIG. 2 is a perspective view of the information acquisition device according to the embodiment. FIG. 3 is a block diagram showing an example of the configuration of a cargo handling system according to an embodiment. FIG. 4 is a block diagram showing an example of a schematic configuration of an unloading means determination device according to an embodiment. FIG. 5 is a data table showing an example of various management tables stored in the auxiliary storage device of the unloading means determination device according to the embodiment. FIG. 6 is a block diagram showing an example of a schematic configuration of the AGV controller according to the embodiment. FIG. 7 is a data table showing an example of various management tables stored in the auxiliary storage device of the AGV controller according to the embodiment. FIG. 8 is a flowchart showing an example of an operation flow of a processor included in the unloading determination device according to the embodiment.

Below, we will explain the embodiment of the invention with reference to the drawings.

FIG. 1 is a diagram showing an example of a schematic configuration of a cargo handling system S according to an embodiment. As shown in FIG. 1, the cargo handling system S according to an embodiment includes a forklift 101, an AGV 102 (automated guided vehicle) which is an autonomous guided vehicle, an information acquisition device 103, an unloading means determination device 104, an automatic unloader 105, a manual unloading area 106, and a transport conveyor 107. The cargo handling system S also includes a storage area A1, a temporary storage area A2, and an unloading area A3, and these areas include transport positions L1 to L23 indicating the transport destination of the AGV 102. In this embodiment, as shown in FIG. 1, the AGV 102 is taken as an example of an autonomous guided vehicle, and a pallet P is taken as an example of a transport aid.

The loading and unloading system S has a plurality of AGVs 102 that transport pallets P (P1 to P10) on which stored items B are loaded. An information acquisition device 103 is provided on the route along which the pallets P are transported. The information acquisition device 103 acquires information on attribute information of the items B loaded on the pallets P. The unloading means determination device 104 acquires information on attribute information of the items B loaded on the pallets P from the information acquisition device 103. Then, based on the attribute information obtained from the acquired information, the unloading means determination device 104 outputs a determination result that the transport position of the pallet P is transported to the installation position of the automatic unloader 105 or the manual unloading area 106. Based on the determination result, the AGV 102 transports the items B from the pallets P to the unloading area A3 where the items B are unloaded from the pallets P to the transport conveyor 107. Note that the means for transporting the pallets P is not limited to an autonomous transport vehicle such as the AGV 102, and may be a cart.

Next, the transportation of item B will be described. First, pallet P on which item B is loaded is stored in storage area A1 of loading system S. For example, a forklift 101 transports pallet P on which item B is loaded from a berth (not shown) to an available transport position among transport positions L1 to L5 belonging to storage area A1. The means for transporting from the berth to storage area A1 may be an AGV 102, or transport by cart or manual labor.

The AGV 102 is an example of an autonomous transport vehicle, and is a transport vehicle that transports a pallet P loaded with an item B without any driver. The AGV 102 transports the pallet P to a destination position based on a transport control signal including map data, destination position data, current position data, and the like. For example, the AGV 102 transports the pallet P transported to transport positions L1 to L5 belonging to the storage area A1 to transport positions L11 to L18 belonging to the temporary storage area A2 via the information acquisition device 103. Alternatively, the AGV 102 transports the pallet P transported to transport positions L11 to L18 belonging to the temporary storage area A2 to transport positions L21 to L23 belonging to the unloading area A3.
Regarding transportation by the AGV 102, the goods may be transported directly from the storage area A1 to the unloading area A3, or may continue to be transported from the berth to the unloading area A3.

The information acquisition device 103 is a device for acquiring information regarding attribute information about an item B loaded on a pallet P, which is a transport aid.

When the AGV 102 arrives at a predetermined position, the information acquisition device 103 acquires information about attribute information from the item B loaded on the pallet P being transported by the AGV 102. The information about the attribute information of the item B is, for example, information about at least one of the size, shape, or arrangement of the item. For example, the information acquisition device 103 has a camera and acquires information about the attribute information of the item B from a captured image.

The timing of acquiring information related to the attribute information may be such that the information acquiring device 103 detects that the AGV 102 has arrived at a predetermined position using a sensor, or may notify the information acquiring device 103 that the AGV 102 has arrived at a predetermined position. In addition, the AGV 102 may perform a specific operation such as temporarily stopping or rotating in order to acquire information related to the attribute information, or may run without stopping at a predetermined position of the information acquiring device 103. The configuration of the information acquiring device 103 will be described in detail later.

A pallet P about which information on the attribute information has been acquired by the information acquisition device 103 is transported to an available transport position among transport positions L11 to L18 belonging to the temporary storage area A2. Note that a pallet P about which information on the attribute information has been acquired by the information acquisition device 103 may be transported directly to transport positions L21 to L23 belonging to the unloading area A3, instead of the temporary storage area A2.

Based on the attribute information obtained from the information on the attribute information acquired by the information acquisition device 103, the unloading means determination device 104 determines whether the item B loaded on the pallet P for which the attribute information was acquired can be unloaded by the automatic unloader 105. For example, the unloading means determination device 104 acquires the size, shape, and arrangement of the item as information on the attribute information based on the image of the package of the item B captured by the information acquisition device 103. Based on the information on the acquired attribute information, the unloading means determination device 104 acquires the estimated average weight of the item B, the presence or absence of mirror reflection, fixed object information, or loading pattern as attribute information. For example, the estimated average weight may be calculated from the estimated loading size and the estimated number. For example, the estimated loading size may be obtained by recognizing the length of each side of the entire package from the captured image of the item B and calculating the size of the entire package. The estimated number may be calculated by recognizing the number of items on the top surface from the captured image of the top surface of the item B, recognizing the number of layers of items from the image of the side of the item B, and multiplying the two. The presence or absence of specular reflection may be determined, for example, based on whether there is a reflection in the captured image of item B or on the image capture state. For fixed-shape information, the shape may be recognized from an image of the packaging of item B, and it may be determined whether item B has a non-standard shape such as a cylindrical or rectangular shape. For the loading pattern, when there are multiple items B loaded on a pallet P, the arrangement may be recognized from an image of the side of item B, and it may be determined whether the heights of the top surfaces of multiple items B are uniform. For example, regularity is defined as the packaging of items B as shown in FIG. 2, where the heights of the cargo on each tier are uniform, or the same type of items B are loaded.

The unloading means determination device 104 also determines whether item B conforms to the specifications of items that can be unloaded by the automatic unloader 105 based on the attribute information. The determination may be made by storing attribute information of items that can be unloaded by the automatic unloader 105 in advance, and comparing attribute information obtained from information acquired from the information acquisition device 103 with the stored attribute information. Alternatively, the unloading means determination device 104 may store attribute information of items that cannot be unloaded by the automatic unloader 105, and comparing attribute information of items obtained from information acquired from the information acquisition device 103 with the stored attribute information.

The unloading means determination device 104 also determines the destination of the autonomous guided vehicle based on the determination result and outputs information about the destination. For example, if it is determined that unloading by the automatic unloader 105 is possible, it outputs the transfer position L21 or transfer position L22 in the unloading area A3 as the destination of the pallet P. If it is determined that unloading by the automatic unloader 105 is not possible, it outputs the transfer position L23 in the unloading area A3 as the destination of the pallet P. The unloading means determination device 104 transmits the transfer position, which is the output determination result, to the AGV controller. The AGV controller (described in detail later) transmits a transfer control signal to the AGV 102 based on the received transfer position to move the AGV 102 to the received transfer position.

The result output by the unloading means determination device 104 may be transmitted to the AGV controller, outputting only whether or not unloading by the automatic unloader 105 is possible. The AGV controller may determine a transport position based on the received determination result of whether or not unloading by the automatic unloader 105 is possible, and transmit a transport control signal to the AGV 102 to move it to the transport position.

The automatic unloading machine 105 is a device for automatically unloading items B from a pallet P. For example, the automatic unloading machine 105 unloads items B from a pallet P transported to transport position L21 or L22 belonging to the unloading area A3. The automatic unloading machine 105a unloads items B from a pallet P transported to transport position L21, and the automatic unloading machine 105b unloads items B from a pallet P transported to transport position L22. The automatic unloading machine 105 grasps items B loaded on a pallet P and moves them to the transport conveyor 107 to unload them. Depending on the specifications, the automatic unloading machine 105 can unload some items and cannot unload others. Items that cannot be unloaded by the automatic unloading machine 105 are unloaded manually in the manual unloading area 106. For example, items that exceed a certain weight, items whose surfaces are covered with vinyl, items with irregular shapes, pallets on which items are irregularly loaded, and pallets on which items are regularly loaded but with a mixture of different types of items cannot be unloaded by the automatic unloader 105 and are unloaded in the manual unloading area 106. The unloading method by the automatic unloader 105 may be gripping by suction or gripping by clamping.

The manual unloading area 106 is an area where items B are manually unloaded from the pallet P. For example, a person M unloads items B loaded on a pallet P to be transported to the transport position L23 from the pallet P onto the transport conveyor 107.

The transport conveyor 107 is, for example, a conveyor for transporting the item B unloaded at the automatic unloader 105 or the manual unloading area 106 to another destination. The unloaded item B may be placed on the floor as is, or the AGV 102 may transport it to another destination.

The receiving area A1 is a place for temporarily waiting pallet P when it is transported from the berth to the information acquisition device 103, and has, for example, transport positions L1 to L5 which are the destination positions of the AGV 102. Note that the receiving area A1 may be omitted if the pallet P is transported directly from the berth to the information acquisition device 103.

The temporary storage area A2 is a place for temporarily waiting the pallet P when the pallet P is transported from the information acquisition device 103 to the automatic unloader 105 or the manual unloading area 106, and has, for example, transport positions L11 to L18 which are the destination positions of the AGV 102. Note that the temporary storage area A2 may be omitted if the pallet P is transported directly from the information acquisition device 103 to the automatic unloader 105 or the manual unloading area 106.

The unloading area A3 is a location where the items B loaded on the pallet P are unloaded, and has, for example, transport positions L21 to L23 which are the destination positions of the AGV 102. The transport positions L21 to L23 correspond to the automatic unloader 105 and the manual unloading area 106. The automatic unloader 105 and the manual unloading area 106 unload the pallet P that has been transported to the corresponding transport positions L21 to L23.

Figure 2 is a perspective view of the information acquisition device 103 according to the embodiment. The information acquisition device 103 has a housing 201, a sensor 202, and a camera 203.

The housing 201 is configured to have, for example, four housing pillars 201a and four housing beams 201b provided at the upper ends of the four housing pillars 201a. The length of the four housing beams 201b is such that the AGV 102 and the pallet P carrying the goods B being transported by the AGV 102 can pass under the housing beams 201b. The housing 201 fixes the sensor 202 and the camera 203 at predetermined positions. In this embodiment, the sensor 202, the camera 203a, and the camera 203b are fixed to the housing pillars 201a. The housing 201 may be configured such that one or more sensors 202 or cameras 203 are provided on one housing pillar 201a. The housing 201 may have any configuration as long as the sensor 202 or the camera 203 can be fixed.

The sensor 202 is a sensor that detects that the AGV 102 has arrived at a predetermined position of the information acquisition device 103. The means for detecting that the AGV 102 has arrived at the predetermined position may be a distance sensor that detects a change in value, or a camera that performs image recognition. Alternatively, the AGV controller may directly notify the unloading means determination device 104 that the AGV 102 has arrived at the predetermined position without using the sensor 202.

For example, when the sensor 202 detects that the AGV 102 has arrived at a predetermined position, the camera 203 captures an image of the package of the item B loaded on the pallet P. In this embodiment, the camera 203a and the camera 203b are installed to capture images of all surfaces of the package of the item B except for the bottom surface. The configuration of the camera 203 to be installed is not limited as long as it can capture images of at least the top surface and one side surface of the package of the item B. These cameras 203a and 203b are used to obtain information related to the attribute information of the items.

Figure 3 is a block diagram showing an example of the configuration of the loading and unloading system S according to the embodiment. As shown in Figure 3, the unloading means determination device 104 is connected to the information acquisition device 103, the AGV controller 307, the upper server 311, and the automatic unloading machine controller 312 via a network. The upper server 311 controls the unloading means determination device 104, the AGV controller 307, and the automatic unloading machine controller 312. The unloading means determination device 104 controls the information acquisition device 103. The AGV controller 307 controls one or more AGVs 102. The automatic unloading machine controller 312 controls one or more automatic unloading machines 105.

The unloading means determination device 104 receives an image of the item B loaded on the pallet P from the information acquisition device 103. The unloading means determination device 104 determines whether the item B loaded on the pallet P can be unloaded by the automatic unloader 105, determines the destination of the pallet P based on the determination, and transmits information about the destination to the AGV controller 307.

The AGV controller 307 receives information on the transport destination from the unloading means determination device 104, determines the AGV 102 that will transport the pallet, and transmits a transport control signal to the AGV 102 to transport the pallet P. It also receives a signal from the AGV 102 indicating that the transport is complete, and notifies the automatic unloader controller 312 that the transport of the pallet P is complete.

The automatic unloader controller 312 receives a signal from the AGV controller 307 indicating that the transportation of the pallet P has been completed, and transmits a signal to the automatic unloader 105 to control the unloading of the item B loaded on the pallet P. It also receives a signal from the automatic unloader 105 indicating that the unloading of the pallet P has been completed, and notifies the upper server 311 that the unloading of the item B loaded on the pallet P has been completed.

The functions of the upper server 311 may be realized by the unloading means determination device 104. Also, the functions of the unloading means determination device 104, the AGV controller 307, and the automatic unloader controller 312 may be realized on a single piece of hardware.

Figure 4 is a block diagram showing an example of the schematic configuration of the unloading means determination device 104 according to an embodiment. As shown in Figure 4, the unloading means determination device 104 has a processor 401, a ROM 402 (read-only memory), a RAM 403 (random-access memory), an auxiliary storage device 404, a communication interface 405, and an input/output unit 406.

The processor 401 corresponds to the central part of a computer that performs the calculations and control required for the processing of the unloading means determination device 104, and performs integrated control of the entire unloading means determination device 104. The processor 401 executes control to realize various functions of the unloading means determination device 104 based on programs such as system software, application software, or firmware stored in the ROM 402 or the auxiliary storage device 404. The processor 401 is, for example, a CPU (central processing unit), an MPU (micro processing unit), or a DSP (digital signal processor). Alternatively, the processor 401 is a combination of two or more of these.

The processor 401 functions as a control unit, and determines whether or not the item B can be unloaded by the automatic unloading machine 105 that unloads the item B from the pallet P, based on the attribute information obtained from the information related to the attribute information of the item B acquired by the information acquisition device 103. If it is determined that the item B can be unloaded by the automatic unloading machine 105, the processor 401 outputs a determination result such that the pallet P is transported to a location where the automatic unloading machine 105 is installed, and if it is determined that the item B cannot be unloaded by the automatic unloading machine 105, the processor 401 outputs a determination result such that the pallet P is transported to a location where the item P will be unloaded manually.

For example, the processor 401 acquires an image of the packaging of item B captured by the camera 203 of the information acquisition device 103 via the communication interface 405, which is a communication unit. The processor 401 also acquires information related to the attribute information of item B based on the acquired image of the packaging of item B. A recognition process is performed on the image to recognize item B one by one, and acquire information related to the size, shape, and arrangement of item B. The processor 401 also acquires attribute information based on the information related to the attribute information. The processor 401 then compares the attribute information of item B with the attribute information of items that can be unloaded by the automatic unloader 105 stored in the auxiliary storage device 404, and determines whether the items loaded on the pallet P can be unloaded by the automatic unloader 105. This eliminates the need for a person to determine whether item B loaded on the pallet P can be unloaded. In addition, pallets P loaded with items B that can be unloaded by the automatic unloader 105 can be classified and managed into pallets P loaded with items that cannot be unloaded by the automatic unloader 105.

The processor 401 also determines the destination of the autonomous guided vehicle based on the judgment result and outputs information about the destination. For example, the processor 401 determines the destination of the AGV 102 from among the transport positions L21 to L23 of the unloading area A3 based on the judgment, and transmits information about the transport position to the AGV controller 307 via the communication interface 405. This allows the pallet P carrying the item B, which has been judged as being capable of being unloaded by the automatic unloader 105, to be associated with and managed as one or more transport positions corresponding to the automatic unloader 105 and the manual unloading area 106. The AGV controller 307 can automatically control the route for transporting the pallet P carrying the item B that can be unloaded by the automatic unloader 105 and the route for transporting the pallet P carrying the item B that cannot be unloaded by the automatic unloader 105.

The processor 401 also acquires the waiting time until the installed automatic unloader 105 can unload the goods B, and outputs a determination result based on the acquired waiting time to transport the pallet P to the automatic unloader 105 to a manual unloading location. For example, the processor 401 calculates an estimated waiting time for the transport positions of the unloading area A3 based on the number of waiting pallets for each transport position specified based on the determination result and the total number of waiting goods for each pallet. If the calculated estimated waiting time of the automatic unloader 105 is longer than a predetermined time, even if the pallet P is determined to be unloadable by the automatic unloader 105, the processor 401 outputs the transport position L23 corresponding to the manual unloading area 106 for the pallet P, and transmits the information of the transport position L23 to the AGV controller 307 via the communication interface 405. As a result, when unloading by the automatic unloader 105 takes too long, unloading can be performed manually, which can equalize the amount of work done by the equipment and people, and shorten the time from loading to completing unloading.
The estimated waiting time may be calculated by receiving the current processing status from the automatic unloader controller 312, or the waiting time managed by the upper server 311 may be received.

ROM 402 corresponds to the main memory device of a computer with processor 401 at its core. ROM 402 is a non-volatile memory used exclusively for reading data. ROM 402 stores the above-mentioned programs. ROM 402 also stores data or various setting values used by processor 401 when performing various processes.

RAM 403 corresponds to the main memory device of a computer with processor 401 at its core. RAM 403 is a memory used for reading and writing data. RAM 403 is used as a so-called work area for storing data that is temporarily used when processor 401 performs various processes.

The auxiliary storage device 404 corresponds to an auxiliary storage device of a computer with the processor 401 at its core. The auxiliary storage device 404 is, for example, an EEPROM (electrical erasable programmable read-only memory) (registered trademark), a HDD (hard disk drive), or an SSD (solid state drive). The auxiliary storage device 404 may also store the above programs. The auxiliary storage device 404 also stores data used by the processor 401 in performing various processes, data generated by the processes in the processor 401, various setting values, etc.

The programs stored in the ROM 402 or the auxiliary storage device 404 include a program for controlling the unloading means determination device 104. As an example, the unloading means determination device 104 is transferred to the manager of the unloading means determination device 104 with the program stored in the ROM 402 or the auxiliary storage device 404. However, the unloading means determination device 104 may be transferred to the manager without the program being stored in the ROM 402 or the auxiliary storage device 404. The program for processing the item B may be transferred separately to the manager and written to the auxiliary storage device 404 under the operation of the manager or a serviceman. The transfer of the program in this case may be realized by recording it on a removable storage medium such as a magnetic disk, a magneto-optical disk, an optical disk, or a semiconductor memory, or by downloading it via a network, etc.

The communication interface 405 functions as a communication unit, and is an interface for communicating with other devices via a network or the like, either wired or wirelessly, receiving various information transmitted from other devices, and transmitting various information to other devices. For example, the communication interface 405 receives attribute information of items that can be unloaded by the automatic unloader 105 from the upper server 311 of the loading system S before the loading system S starts unloading the items. The communication interface 405 also acquires information regarding the attribute information of item B loaded on the pallet P. For example, the communication interface 405 acquires an image of the packaged state of item B from the information acquisition device 103. The communication interface 405 also receives a signal that detects that the AGV 102 has arrived at a predetermined position of the information acquisition device 103. The communication interface 405 also communicates with the AGV controller 307 that controls the AGV 102 that transports the pallet P. For example, the communication interface 405 transmits information on the destination to the AGV controller 307.

The input/output unit 406 includes a keyboard, a numeric keypad, a mouse, and a touch panel display. The input/output unit 406 accepts instructions input from an operator and notifies the processor 401. The touch panel display also displays various information to the operator.

Figure 5 is a data table showing an example of various management tables stored in the auxiliary storage device 404 of the unloading means determination device 104 according to the embodiment. As shown in Figure 5, the auxiliary storage device 404 functions as a storage unit, and stores a pallet information table TA11, an unloading means determination criteria table TA12, a pallet transport destination table TA13, an unloading area waiting table TA14, etc.

The pallet information table TA11 stores information on the attribute information of item B acquired from the information acquisition device 103 via the communication unit, and attribute information of items acquired from the information on the attribute information. For example, the pallet information table TA11 stores the camera 203a image and the camera 203b image in association with the pallet transport ID. The pallet transport ID is uniquely assigned when it is detected that the pallet P has arrived at a specified position of the information acquisition device 103. In addition, as an example of the size of item B, the estimated loading size of the overall package of items B loaded on the pallet P and the estimated number of items are stored, and the estimated average weight is stored as attribute information. In addition, from the information on the attribute information of item B, the presence or absence of mirror reflection and information on fixed shapes are acquired and stored as attribute information from the information on the shape of item B. In addition, from the information on the attribute information of item B, the loading pattern is stored as attribute information from the information on the arrangement of item B.

The unloading means determination criteria table TA12 stores attribute information of item B that can be unloaded by the automatic unloader 105. The unloading means determination criteria table TA12 only needs to store information on at least one of the weight that can be unloaded by the automatic unloader 105, the presence or absence of mirror reflection, the fixed object, and the loading pattern as attribute information of item B. The unloading means determination criteria table TA12 also stores attribute information of items that cannot be unloaded by the automatic unloader 105. For example, the unloading means determination criteria table TA12 stores the weight that can be unloaded by the automatic unloader, the presence or absence of mirror reflection, the fixed object, and the loading pattern in association with the unloading means.

The pallet transport destination table TA13 stores the storage area transport position, temporary storage area transport position, and unloading area transport position in association with the pallet transport ID. The unloading area waiting table TA14 stores the unloading means, number of waiting pallets, total number of waiting items, and estimated waiting time in association with the unloading transport position.

The processor 401 compares the attribute information of the item B acquired through the communication unit with the attribute information stored in the auxiliary storage device 404 to determine whether the item B can be unloaded by the automatic unloader 105. For example, the processor 401 compares the attribute information stored in the pallet information table TA11 with the attribute information stored in the unloading means determination criteria table TA12 to determine whether the item B loaded on the pallet P can be unloaded by the automatic unloader 105. Based on the result of the determination and the unloading area waiting table TA14, the processor 401 determines the destination of the pallet P from the transport positions of the unloading area A3 (transport position L21, transport position L22, transport position L23, etc.) and stores it in the pallet transport destination table TA13. The processor 401 transmits the transport position information stored in the pallet transport destination table TA13 to the AGV controller 307.

Figure 6 is a block diagram showing an example of a schematic configuration of the AGV controller 307 according to an embodiment. As shown in Figure 6, the AGV controller 307 has a processor 501, a ROM 502, a RAM 503, an auxiliary storage device 504, a communication interface 505, and an input/output unit 506.

The processor 501 corresponds to the central part of a computer that performs the calculations and control processes required for transporting the pallet P, and performs integrated control of the entire AGV controller 307. The processor 501 executes control to realize various functions related to the running of the AGV 102 based on programs such as system software, application software, or firmware stored in the ROM 502 or the auxiliary storage device 504. The processor 501 is, for example, a CPU, an MPU, or a DSP. Alternatively, the processor 501 is a combination of two or more of these.

ROM 502 corresponds to the main memory device of a computer with processor 501 at its core. ROM 502 is a non-volatile memory used exclusively for reading data. ROM 502 stores the above-mentioned programs. ROM 502 also stores data or various setting values used by processor 501 when performing various processes.

RAM 503 corresponds to the main memory device of a computer with processor 501 at its core. RAM 503 is a memory used for reading and writing data. RAM 503 is used as a so-called work area for storing data that is temporarily used when processor 501 performs various processes.

The auxiliary storage device 504 corresponds to an auxiliary storage device of a computer with the processor 501 at its core. The auxiliary storage device 504 may also store the above-mentioned programs. The auxiliary storage device 504 also stores data used by the processor 501 when performing various processes, data generated by the processes in the processor 501, various setting values, etc.

The programs stored in the ROM 502 or the auxiliary storage device 504 include a program for controlling the AGV controller 307. As an example, the AGV controller 307 is transferred to the administrator of the AGV controller 307 with the program stored in the ROM 502 or the auxiliary storage device 504. However, the AGV controller 307 may be transferred to the administrator without the program being stored in the ROM 502 or the auxiliary storage device 504. The program for processing the item B may be transferred separately to the administrator and written to the auxiliary storage device 504 under the operation of the administrator or a serviceman. The program may be transferred in this case by recording it on a removable storage medium such as a magnetic disk, a magneto-optical disk, an optical disk, or a semiconductor memory, or by downloading it via a network, for example.

The communication interface 505 is an interface for communicating with other devices via a network or the like, either wired or wirelessly, receiving various information transmitted from other devices, and transmitting various information to other devices. For example, the communication interface 505 receives origin and destination information of the AGV 102 from the upper server 311 and the unloading means determination device 104, and receives a signal from the AGV 102 indicating that the AGV 102 has arrived at a specified transport position. The communication interface 505 also transmits transport control signals, etc. to the AGV 102.

The input/output unit 506 includes a keyboard, a numeric keypad, a mouse, and a touch panel display. The input/output unit 506 accepts instructions input from an operator and notifies the processor 501. The touch panel display also displays various information to the operator.

Figure 7 is a data table showing an example of various management tables stored in the auxiliary memory device of the AGV controller 307 according to the embodiment. As shown in Figure 7, the auxiliary memory device 504 functions as a memory unit, and stores an AGV management table TA21 and an AGV transport task table TA22.

The AGV management table TA21 stores the transport status, current position, and transport destination in association with the AGVID, which is the identification information of the AGV102. The AGV transport task table TA22 stores the transport source position, transport destination position, and AGVID in association with the task ID assigned to each transport task performed by the AGV102.

The processor 501 transmits a transport control signal for the AGV 102 based on the AGV management table TA21 and the AGV transport task table TA22. The processor 501 stores the transport source information and transport destination information received from the upper server 311 and the unloading means determination device 104 in the AGV transport task table TA22, selects one AGV 102 to perform transport based on the current status of each AGV 102 stored in the AGV management table TA21, and stores it in the AGV transport task table TA22. In addition, when the processor 501 receives a signal from the AGV 102 indicating that it has arrived at a specified transport position, it transmits a transport control signal indicating the next transport destination based on the AGV transport task table TA22.

Figure 8 is a flowchart showing an example of the operation flow of a processor in the unloading determination device according to the embodiment.

The processor 401 uses the sensor 202 to detect that the AGV 102 transporting the pallet P has arrived at a predetermined position of the information acquisition device 103 (ST10). When the arrival of the AGV 102 is detected, the processor 401 uses the camera 203 to acquire an image of the packaging state of the item B loaded on the pallet P (ST11).

The processor 401 recognizes the acquired image and acquires the size, shape, and arrangement of item B as information related to the attribute information of item B. Based on the information related to the attribute information, the processor 401 acquires the estimated loading size, estimated number, estimated average weight, specular reflection, fixed object information, and loading pattern, and stores them in the pallet information table TA11 (ST12). Acquiring an image of the packaging of item B is one example of a means for acquiring attribute information of item B. For example, the attribute information of item B may be linked to identification information for each item and stored in a database in advance, a barcode previously assigned to item B may be read to acquire identification information for each item, and the attribute information may be acquired from the database based on the identification information. Alternatively, a weighing scale may be used to acquire the weight of the item, or a laser sensor may be used to determine the presence or absence of specular reflection.

The processor 401 determines whether the imaged item B can be unloaded by the automatic unloader 105 based on the acquired attribute information (ST13). Note that the determination may be made with respect to all of the attribute information, or may be made with respect to any one of the determinations described below.

The processor 401 calculates the estimated average weight of the item B based on the attribute information of the item obtained from the information acquired via the communication unit, and judges whether the estimated average weight is smaller than the unloadable weight stored in the memory unit. For example, if the weight of the item B is heavier than a predetermined weight, it is deemed impossible to unload the item by the automatic unloading machine 105 of this embodiment. Therefore, the estimated average weight is calculated based on the estimated loading size and estimated number acquired from the image, and judges whether it is smaller than the weight of the item that can be unloaded by the automatic unloading machine 105 stored in the unloading means judgment criterion table TA12. This makes it possible to prevent the automatic unloading machine 105 from failing to unload the item B that exceeds the predetermined weight, and interrupting the entire loading and unloading operation. In addition, it is possible to avoid the risk of damage, such as dropping the item B or opening the lid of the item B, when the automatic unloading machine 105 grasps the item B that exceeds the predetermined weight.

The processor 401 also determines whether the surface of the item B is covered with a specular reflective material based on attribute information of the item B obtained from information acquired via the communication unit. For example, an item whose surface is covered with vinyl or the like cannot be unloaded by the automatic unloading machine 105 of this embodiment. Therefore, based on the captured image of the packaged state of the item B, the presence or absence of specular reflection is determined to determine whether unloading is possible. This prevents the automatic unloading machine 105 from failing to unload the item B covered with vinyl or the like, which would result in the entire loading and unloading operation being interrupted. It also prevents the risk of damage, such as tearing the vinyl or the like, when the automatic unloading machine 105 grasps the item B covered with vinyl or the like.

The processor 401 also determines whether or not the item B is a fixed-shape item based on the attribute information of the item B obtained from the information acquired via the communication unit. For example, if the item B is a non-fixed-shape item such as a cylinder, or if the item B has an irregular shape due to being made of a soft material, the automatic unloading machine 105 of this embodiment is unable to unload the item. Therefore, based on the captured image of the packaged state of the item B, it is determined whether or not the item is a fixed-shape item, and whether or not unloading is possible. This makes it possible to prevent the automatic unloading machine 105 from failing to unload the non-fixed item B and interrupting the entire loading and unloading operation. It also makes it possible to avoid the risk of damage, such as dropping the item B or opening the lid of the item B, when the automatic unloading machine 105 grasps the item B that exceeds a predetermined weight.

The processor 401 also determines whether the items B loaded on the pallet P are regularly loaded based on the attribute information of the items B obtained from the information acquired via the communication unit. For example, a pallet P on which multiple items B are irregularly loaded, such as the heights of the top surfaces of the multiple items B loaded on the pallet P being not uniform, or a pallet P on which items are regularly loaded but different types are mixed, cannot be unloaded by the automatic unloading machine 105 of this embodiment. Therefore, based on the captured image of the packaging of the items B, the loading pattern of the items is estimated and it is determined whether unloading is possible. This makes it possible to avoid the automatic unloading machine 105 failing to unload a pallet P on which multiple items B are irregularly loaded or a pallet P on which items are regularly loaded but different types are mixed, which would result in the entire loading and unloading operation being interrupted.

The determination may be made by comparing the attribute information obtained from the image with attribute information of items that can be unloaded by the automatic unloader 105 that has been obtained in advance from the upper server 311 and stored in the auxiliary storage device 404.

If it is determined that unloading by the automatic unloader 105 is possible (ST13, Yes), an estimated waiting time until unloading of the imaged items B can begin is calculated (ST14). For example, for a pallet P scheduled to be unloaded by the unloading means corresponding to each transport position of the unloading area A3, the number of waiting pallets is calculated based on the corresponding row number in the pallet transport destination table TA13, and the total number of waiting items is calculated based on the number of waiting pallets and the estimated number in the pallet information table TA11. An estimated waiting time is calculated based on the calculated number of waiting pallets and the total number of waiting items. Based on the calculated estimated waiting time, it is determined whether the estimated waiting time until unloading by the automatic unloader 105 is shorter than a predetermined time (ST15). The calculated number of waiting pallets, total number of waiting items, and estimated waiting time are stored in the unloading area waiting table TA14.

If it is determined that unloading by the automatic unloader 105 is not possible (ST13, No), or if the time required for unloading by the automatic unloader 105 to be performed is longer than a predetermined time (ST15, No), the transport position L23 of the manual unloading area 106 of the unloading area A3 is output (ST19), and control ends.

If the time required for the automatic unloading machine 105 to perform unloading is shorter than a predetermined time (ST15, Yes), it is confirmed whether there are multiple automatic unloading machines 105 (ST16). If there are multiple automatic unloading machines 105, one automatic unloading machine 105 is selected as the transport destination from among the multiple automatic unloading machines 105 (ST17). For example, the estimated wait times of each automatic unloading machine 105 stored in the unloading area wait table TA14 are compared, and the automatic unloading machine 105 with the shortest estimated wait time is selected. If there is only one automatic unloading machine 105 (ST15, No), that automatic unloading machine 105 is selected. The processor 401 outputs the transport position of the selected automatic unloading machine 105 in the unloading area A3 (ST18) and ends the control. This makes it possible to avoid unloading processing being concentrated on one automatic unloading machine 105.

As described above, the loading and unloading system S of the embodiment performs a loading and unloading process using a control method that performs an acquisition step of acquiring information on attribute information of item B loaded on pallet P, and based on the attribute information of the item obtained from the information on the attribute information acquired in the acquisition step, determines whether item B can be unloaded from pallet P by automatic unloading machine 105 that unloads item B, and outputs a determination result that, if it is determined by automatic unloading machine 105 that item B can be unloaded, pallet P is transported to a location where automatic unloading machine 105 is installed, and, if it is determined by automatic unloading machine 105 that item B cannot be unloaded, pallet P is transported to a location where item P can be unloaded manually.

As described above, the loading and unloading system S of the embodiment includes an autonomous guided vehicle (AGV 102) that transports a pallet P loaded with items B, an automatic unloading machine 105 that unloads items B loaded on the pallet P, and a control device that determines whether or not the automatic unloading machine 105 can unload items B based on attribute information acquired through a communication unit that acquires attribute information of items B loaded on the pallet P, and if the automatic unloading machine 105 determines that unloading is possible, transports the pallet P to a location where the automatic unloading machine 105 is installed, and if the automatic unloading machine 105 determines that unloading is not possible, outputs a determination result that transports the pallet P to a location for manual unloading, and controls the destination of the autonomous guided vehicle based on the determination result, thereby performing loading and unloading processing.

According to the loading and unloading system S of this embodiment, the unloading means determination device 104 determines whether or not the item B can be unloaded by the automatic unloading machine 105 of this embodiment based on the attribute information of the item B. Furthermore, the automatic unloading machine 105 unloads only the item B that is determined by the unloading means determination device 104 to be unloadable by the automatic unloading machine 105. This makes it possible to avoid system delays and interruptions caused by unloading the item B that cannot be unloaded by the automatic unloading machine 105 of this embodiment.

The loading system S also unloads in the manual unloading area 106 only pallets P that are loaded with items that do not conform to the specifications of the automatic unloader 105 or that are loaded in a position that cannot be unloaded by the automatic unloader 105. This makes it possible to efficiently unload items that cannot be unloaded by the automatic unloader 105 of this embodiment.

The functions described in each of the above embodiments can be realized not only by using hardware, but also by loading a program that describes each function into a computer using software. Also, each function may be configured by selecting either software or hardware as appropriate.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims.
The following is a summary of the contents of the claims as originally filed in this application.
[1]
A communication unit that acquires information regarding attribute information of the items loaded on the transport aid.
and,
The transport unit is configured to transport the item based on attribute information of the item obtained from information acquired via the communication unit.
An automatic unloading machine that unloads items from a transport aid determines whether the items can be unloaded.
When it is determined that unloading is possible by the automatic unloading machine,
The tool is transported to a location where the automatic unloading machine is installed, and the tool is unloaded by the automatic unloading machine.
If it is determined that unloading is impossible, the transport aid will be transported to a location where unloading can be done manually.
A control unit that outputs a determination result of
A control device having the above configuration.
[2]
The automatic unloading machine has a storage unit that stores attribute information of items that can be unloaded,
The control unit stores attribute information of the item obtained from the information acquired via the communication unit.
By comparing the attribute information stored in the memory, it is possible to determine whether the item is suitable for unloading by the automatic unloading machine.
Determine whether it is possible to
The control device according to [1].
[3]
The storage unit stores, as attribute information of the item, information on the unloading of the item by the automatic unloading machine.
At least one of the following: loadable weight, specular reflection, fixed shape, or loading pattern
It stores information about
The control device according to [2].
[4]
The control unit determines whether or not the attribute information of the item is correct based on attribute information of the item obtained from information acquired via the communication unit.
Based on the calculated average weight of the items, the estimated average weight of the items is calculated, and the estimated average weight of the items is stored in the storage unit.
determining whether the weight of the object is less than the weight that can be unloaded;
The control device according to [3].
[5]
The control unit determines whether or not the attribute information of the item is correct based on the attribute information of the item obtained from the information acquired via the communication unit.
Based on this, it is determined whether the surface of the article is covered with a specular reflective material.
The control device according to [3] or [4].
[6]
The control unit determines whether or not the attribute information of the item is correct based on the attribute information of the item obtained from the information acquired via the communication unit.
Based on this, it is determined whether the article is a fixed-shape article or not.
The control device according to any one of [3] to [5].
[7]
The control unit performs a process based on attribute information of the item obtained from the information acquired via the communication unit.
and determining whether the items loaded on the transport aid are regularly loaded.
R,
The control device according to any one of [3] to [6].
[8]
The communication unit communicates with a controller that controls an autonomous transport vehicle that transports the transport auxiliary tool.
,
The control unit determines a destination of the autonomous guided vehicle based on the determination result, and
Output information,
The control device according to any one of [1] to [7].
[9]
The control unit waits until the automatic unloader is able to unload the article.
A transport assistant that acquires a waiting time and transports the vehicle to the location of the automatic unloader based on the waiting time.
and outputting a decision as to whether the tool should be transported to a location for manual unloading.
The control device according to any one of [1] to [8].
[10]
An acquisition process for acquiring information regarding attribute information of items loaded on a transport aid.
Tep,
The transport step is performed based on attribute information of the item obtained from the information obtained in the obtaining step.
An automatic unloading machine that unloads items from a transport aid determines whether the items can be unloaded.
When the automatic unloading machine determines that unloading is possible,
The automatic unloading machine is then used to transport the cargo to a location where the automatic unloading machine is installed.
If it is determined that unloading is impossible, the decision shall be made to have the transport aid transported manually to the unloading location.
an output step for outputting a result of the measurement;
The control method includes:
[11]
An autonomous transport vehicle that transports a transport aid loaded with an item;
an automatic unloading machine that unloads the items loaded on the transport aid;
Information regarding attribute information of the items loaded on the transport aid is obtained.
Get it,
Based on attribute information of the item obtained from the acquired information, the automatic unloading machine
and determining whether the article can be unloaded by the automatic unloading machine.
If so, the transport aid is transported to a location where the automatic unloading machine is installed.
If the automatic unloading machine determines that unloading is impossible, the transport aid is manually
and outputting a judgment result of whether to transport the vehicle to an unloading location by the autonomous transport system based on the judgment result.
A control device that determines a destination of the vehicle and outputs information about the destination;
A loading and unloading system having:

101 Forklift 102 AGV
103 Information acquisition device 104 Unloading means determination device 105 Automatic unloader 106 Manual unloading area 107 Transport conveyor 201 Housing 201a Housing pillar 201b Housing beam 202 Sensor 203 Camera 307 AGV controller 311 Upper server 312 Automatic unloader controller 401 Processor 402 ROM
403 RAM
404 Auxiliary storage device 405 Communication interface 406 Input/output unit 501 Processor 502 ROM
503 RAM
504 Auxiliary storage device 505 Communication interface 506 Input/output unit A1 Storage area A2 Temporary storage area A3 Unloading area B Goods L Transport position M Person P Pallet S Cargo handling system

Claims (8)

A communication unit that acquires information regarding attribute information of items loaded on the transport aid;
a control unit that determines whether or not the item can be unloaded from the transport aid by an automatic unloading machine that unloads the item based on attribute information of the item obtained from information acquired via the communication unit, and outputs a determination result such that, if it is determined that the item can be unloaded by the automatic unloading machine, the transport aid is transported to a location where the automatic unloading machine is installed, and, if it is determined that the item cannot be unloaded by the automatic unloading machine, the transport aid is transported to a location where manual unloading will be performed;
As attribute information of the goods that can be unloaded by the automatic unloading machine,
The loadable weight of the said item, the presence or absence of specular reflection, the fixed shape or the loading pattern
a storage unit for storing information relating to at least one of the above,
The control unit determines whether or not the attribute information of the item is correct based on attribute information of the item obtained from information acquired via the communication unit.
Based on the calculated average weight of the items, the estimated average weight of the items is calculated, and the estimated average weight of the items is stored in the storage unit.
determining whether the weight of the object is less than the weight that can be unloaded;
Control device. The control unit determines whether or not a surface of the object is covered with a specular reflective material based on attribute information of the object obtained from information acquired via the communication unit.
The control device according to claim 1 . The control unit determines whether the item is a fixed-shaped item based on attribute information of the item obtained from information acquired via the communication unit.
The control device according to claim 1 or 2 . The control unit determines whether the items loaded on the transport aid are regularly loaded based on attribute information of the items obtained from the information acquired via the communication unit.
The control device according to any one of claims 1 to 3 . The communication unit communicates with a controller that controls an autonomous guided vehicle that transports the transport auxiliary tool;
The control unit determines a destination of the autonomous guided vehicle based on the determination result, and outputs information about the destination.
The control device according to any one of claims 1 to 4 . The control unit acquires a waiting time until the automatic unloading machine can unload the article, and outputs a determination result for transporting a transport auxiliary tool to be transported to a location of the automatic unloading machine to a location for manual unloading based on the waiting time.
The control device according to any one of claims 1 to 5 . As attribute information of the goods loaded on the transport aid, the goods are transported from the transport aid to the
The weight of the item that can be unloaded by an automatic unloading machine, and the presence or absence of specular reflection
An acquisition step of acquiring information regarding at least one of a fixed object or a loading pattern ;
Based on the attribute information of the item obtained from the information acquired in the acquiring step,
Calculating an estimated average weight, and determining whether the estimated average weight of the item is less than the unloadable weight of the item.
an output step of determining whether or not the article can be unloaded from the transport aid by an automatic unloading machine that unloads the article by determining whether or not the article can be unloaded from the transport aid, and outputting a determination result such that if it is determined that the article can be unloaded by the automatic unloading machine, the transport aid is transported to a location where the automatic unloading machine is installed, and if it is determined that the article cannot be unloaded by the automatic unloading machine, the transport aid is transported to a location where the article can be unloaded manually;
The control method includes: An autonomous transport vehicle that transports a transport aid loaded with an item;
an automatic unloading machine that unloads the items loaded on the transport aid;
As attribute information of the goods that can be unloaded by the automatic unloading machine,
The loadable weight of the said item, the presence or absence of specular reflection, the fixed shape or the loading pattern
storing information relating to at least one of the
Acquire information regarding attribute information of the items loaded on the transport aid;
Calculating an estimated average weight of the items based on attribute information of the items obtained from the acquired information.
and determining whether the estimated average weight of the items is less than the unloadable weight of the items.
and outputting a determination result indicating whether or not the automatic unloading machine can unload the article, and if it is determined that the automatic unloading machine can unload the article, causing the transport aid to be transported to a location where the automatic unloading machine is installed, and if it is determined that the automatic unloading machine cannot unload the article, causing the transport aid to be transported to a location for manual unloading.
A control device that determines a destination of the autonomous guided vehicle based on the determination result and outputs information about the destination.
A loading and unloading system having:

Images