JP7484042B2 - AGV route search server, AGV route search system, AGV route search method, program, and recording medium - Google Patents

Description

The present invention relates to an AGV route search server, an AGV route search system, an AGV route search method, a program, and a recording medium, all based on the principle of maximum speed pathfinding (Dijkstra's algorithm).

Traditionally, conveyors have been used to transport goods in logistics centers. However, existing walls and pillars are everywhere in logistics centers, making layout difficult and transport routes sometimes taking a long route. Moreover, it is difficult to obtain permission under the Fire Service Act, and fixed equipment is expensive. Therefore, in recent years, a method has been proposed in which automated guided vehicles (hereinafter referred to as AGVs) are used to transport goods to designated locations while avoiding existing walls and pillars.

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However, in the past, when multiple self-propelled bodies were used inside a logistics center, movement became difficult when these bodies were close to each other, which actually limited the freedom of layout. Particularly in the case of a fixed grid where the grid spacing is set to a fixed value, if the grid spacing is wide and the running route of the self-propelled bodies is set to avoid obstacles, the running route will be long and the shelf installation volume must be reduced. Furthermore, if the self-propelled bodies decide that they can save time after stopping before colliding, one of them may choose a route that turns back, which actually takes more time. Furthermore, with the reduced grid pitch used until now, it takes a lot of time for the self-propelled bodies to run around the perimeter where the shelves are lined up.

The present invention has been devised in consideration of the various circumstances that existed in the past as described above, and aims to provide an AGV route search server, AGV route search system, AGV route search method, program, and recording medium that improve the degree of freedom in the layout of multiple autonomous vehicles within a logistics center, and in particular, makes it easier to transport them to their destinations in the shortest distance (in the shortest time), and is safer.

In order to solve the above-mentioned problems, the present invention provides an AGV route search server for searching for a route for a specific self-propelled body when the self-propelled body is driven by itself in an AGV system using a plurality of self-propelled bodies and a plurality of grids as markers for the driving of the self-propelled bodies within a logistics center, the AGV route search server comprising:
The server includes a calculation means for virtually calculating coordinates based on conditions for route search;
a communication means for transmitting and receiving the coordinate data calculated by the calculation means between the self-propelled body and the server in real time;
a setting means for appropriately resetting the coordinate data from the communication means based on conditions for the route search for a self-propelled body that moves on the basis of the coordinates;
The present invention is characterized by comprising:

According to this configuration, a setting means is provided that appropriately resets the coordinate data from the communication means when the self-propelled body that moves on the basis of coordinates reaches an area containing an obstacle. Therefore, even if multiple self-propelled bodies 10 come close to each other based on the conditions for route search, this can be immediately avoided based on the coordinate data reset by the setting means.

The setting means allows the AGV to variably reset the coordinate pitch in areas where there are obstacles.

With this configuration, the coordinate pitch is variable and reset, so when an AGV travels around a perimeter where shelves are lined up, the coordinate pitch can be made larger and there can be two grids for the start and end points, making it faster.

The conditions for the route search are characterized in that they include the appearance of obstacles to the self-propelled body while moving, the traveling speed of the self-propelled body while moving, the type of self-propelled body while moving, the size of the self-propelled body while moving, the number of self-propelled bodies while moving, the traveling density of the self-propelled bodies while moving in a certain area, the type of shelf, the size of the shelf, the number of shelves, the number density of the shelves in a certain area, and the relationship between the self-propelled body and the equipment connected to it.

This configuration allows the vehicle to move at high speed based on the conditions for route search, improving the efficiency of package collection and delivery.

The server communicates grid-based commands between the self-propelled body and the server in real time, allowing the self-propelled body to move on its own based on the grid method in areas without obstacles, and in areas with obstacles, the self-propelled body switches to the grid method and reduces the grid pitch.

With this configuration, in areas without obstacles, it is possible to transport goods to the destination in the shortest distance (in a short time), and in areas with obstacles, by reducing the grid pitch, it is possible to travel while avoiding collisions with obstacles, improving the efficiency of collection and delivery of goods. Moreover, it is possible to travel without having to reduce the installation volume of the shelves, and the self-propelled body 10 can be made faster.

The server sends grid-based commands to the autonomous vehicle and expands or reduces the grid pitch depending on the size of the item storage rack.

This invention allows the AGV to travel while avoiding collisions with storage racks, improving the efficiency of parcel collection and delivery, and therefore allowing the AGV to travel at high speed.

If an obstacle appears in front of the self-propelled body while it is moving, or if the traveling speed of the self-propelled body changes, the pitch of the coordinate interval is made variable.

This configuration allows the self-propelled vehicle to travel without colliding with obstacles.

When the type of moving self-propelled body, the size of moving self-propelled body, the number of moving self-propelled bodies, or the running density of moving self-propelled bodies in a certain area changes, if the type or size of the self-propelled body becomes smaller and the number of bodies increases, the spacing is narrowed to adjust the coordinate pitch, and if the number of bodies per certain area increases, the spacing is narrowed accordingly.

With this configuration, even if the number of self-propelled bodies increases, they can travel smoothly without colliding with each other.

For racks, the coordinate pitch spacing is adjusted based on the type, size, quantity, and density per given area.

This configuration allows the self-propelled body to move smoothly without colliding with the rack.

If there is other material handling equipment such as conveyors or automated warehouses within the logistics center, the distance is reduced and precise control is performed when approaching the material handling equipment.

This invention allows the self-propelled body to travel smoothly without colliding with material handling equipment.

The spacing of the grid can be variably changed in areas with obstacles, depending on the size of the racks, the size of the self-propelled bodies, and when the self-propelled bodies and racks are crowded together in the warehouse.

With this configuration, the grid spacing can be variably changed, enabling precise driving control of the self-propelled body and ensuring protection of the self-propelled body.

In an AGV system using a plurality of self-propelled bodies and a plurality of grids as markers for the travel of the self-propelled bodies within a logistics center, an AGV route search system is provided for searching for a route for a specific self-propelled body when the self-propelled body is driven by itself, comprising:
The system includes a calculation means for virtually calculating coordinates based on conditions for route search;
a communication means for transmitting and receiving the coordinate data calculated by the calculation means between the self-propelled body and the server in real time;
A setting means for appropriately resetting the coordinate data from the communication means based on the conditions for the route search for a self-propelled body that moves on the basis of the coordinates, and the communication means for transmitting the newly calculated coordinate data by the setting means to the self-propelled body.

With this configuration, even if multiple self-propelled bodies come close to each other, this can be avoided immediately based on the coordinate data reset by the setting means, collisions between self-propelled bodies can be avoided in advance, and the vehicles can be transported to their destinations in the shortest distance (in the shortest time), improving the efficiency of package collection and delivery. An AGV route search system can be easily constructed.

In an AGV system using a plurality of self-propelled bodies and a plurality of grids as markers for the travel of the self-propelled bodies within a logistics center, an AGV route search method for searching for a route for a specific self-propelled body when the self-propelled body is caused to travel independently, comprising the steps of:
The method includes a step of virtually calculating coordinates based on conditions for route search;
transmitting and receiving the calculated coordinate data between the self-propelled body and the server in real time;
and a step of appropriately resetting the coordinate data based on the conditions for the route search for the self-propelled body that moves on the basis of the coordinates.

With this configuration, this can be avoided immediately based on the re-set coordinate data, collisions between self-propelled bodies can be avoided in advance, and the destination can be transported in the shortest distance (in the shortest time), improving the efficiency of cargo collection and delivery, making it easy to create an AGV route search method.

The present invention improves the freedom of layout of autonomous vehicles within a logistics center, making it easier to transport them to their destinations over the shortest distance (in the shortest time), and is also safer.

1A is a perspective view of a self-propelled body during Bluetooth (registered trademark) communication, and FIG. 1B is a perspective view of the self-propelled body during wireless Wi-Fi communication, showing one embodiment of the present invention. FIG. 2 is a diagram showing functional blocks of the present system. FIG. 13 illustrates a status acquisition command. FIG. 13 illustrates a response to a status acquisition command. FIG. 13 illustrates a response to a status acquisition command. FIG. 13 illustrates a response to a status acquisition command. FIG. 13 illustrates a response to a status acquisition command. FIG. 11 is a diagram showing commands for position identification operation control. FIG. 13 is a diagram showing a response to a position identification operation control command. FIG. 4 is a diagram showing commands for driving control. FIG. 13 is a diagram showing commands for setting basic driving information. A diagram showing commands of driving extension information 1. A diagram showing commands of driving extension information 2. FIG. 13 is a diagram showing a quantitative operation command. FIG. 13 illustrates a map switching command. FIG. 11 illustrates course data read/write commands. FIG. 2 is a flowchart showing the system. FIG. 2 is a diagram illustrating a software configuration. FIG. 2 is a diagram showing the local coordinate system of the AGV system. FIG. 2 illustrates a 2D coordinate system. FIG. 21(a) is a diagram showing a two-dimensional coordinate/2D code comparison table, and (b) is a diagram showing the correspondence between two-dimensional coordinates and 2D codes on the AGV management software screen. FIG. 13 is a diagram showing an abnormal message sequence. FIG. 13 is a diagram showing details of a message header. FIG. 13 is a diagram showing details of an ACK message. FIG. 13 is a diagram showing details of a manual operation. FIG. 11 is a diagram showing details of an automatic driving request. FIG. 13 is a diagram showing the operation at the time of stopping. FIG. 13 is a diagram showing details of an autonomous driving request response. FIG. 11 is a diagram showing details of status data. FIG. 13 is a diagram showing default values at the time of starting up the AGV system. FIG. 4 is a diagram showing details of an operation command. FIG. 2 is a diagram showing the emergency stop and release operations of the AGV system. FIG. 1 is a diagram showing an outline of a sequence. FIG. 11 is a diagram showing a message sequence when the AGV system is started. FIG. 13 is a diagram showing a message sequence in a normal state. FIG. 13 is a diagram showing a message sequence when there is no response to a connection disconnection determination. FIG. 13 is a diagram showing a message sequence without a request for connection disconnection determination. FIG. 13 is a diagram showing a message sequence when an abnormality occurs. FIG. 13 is a diagram showing a connection recovery sequence. FIG. 13 is a diagram showing a message undelivered sequence. FIG. 13 is a diagram showing a sequence of error correction. FIG. 13 is a diagram showing a sequence upon normal termination. FIG. 13 is a diagram showing a sequence at the time of abnormal termination. FIG. 11 is a diagram showing a cycle stop/release (restart) sequence. FIG. 11 is a diagram showing a cycle stop/release (order clear) sequence. FIG. 11 is a diagram showing an emergency stop/release sequence. FIG. 11 is a diagram showing a sequence for releasing an emergency stop. FIG. 11 is a diagram showing a sequence of a manual operation mode.

Below, an embodiment of the AGV route search model (AGV route search server, AGV route search system, AGV route search method) according to the present invention will be described in detail with reference to the drawings. Note that in this embodiment, the route is a single road in each direction, but two roads may pass each other legally.

As shown in FIG. 1, the AGV route search model according to this embodiment is composed of a self-propelled body 10 and a server 20. The self-propelled body 10 refers to a self-propelled cart (self-propelled body 10) that runs on a grid and its control system, and the self-propelled body 10 is a self-propelled running cart of the self-propelled body 10. The self-propelled body 10 is an unmanned guided cart that uses its own laser sensor to create a map of features within its travel area under the command of the server 20, and travels while estimating its own position based on the map.

The server 20 is a system server of the AGV route search model, and is stored in the system monitoring PC 30. In an AGV system using a self-propelled body 10 and a plurality of grids that serve as markers for the travel of the self-propelled body 10, the self-propelled body 10 that moves on its own based on coordinates appropriately resets the coordinate data based on the conditions for the route search (setting means). As shown in FIG. 1, communication between the self-propelled body 10 and the server 20 is performed by Bluetooth communication or wireless Wi-Fi communication. This specification is supported by updating the firmware of the standard self-propelled body to dedicated software. That is, the software configuration of this embodiment, as shown in FIG. 18, consists of AGV travel optimization software 31 and AGV management software 32 in the system monitoring PC 30, and the wireless communication software 13, inter-grid movement control software 14, and control software 16 in the base robot 15 are connected by USB to the self-propelled body 10's autonomous travel control CPU 12. Messages are then sent and received between the system monitoring PC 30, which is the server 20, and the self-propelled body 10, with connection confirmation being performed by periodically sending and receiving messages, and message arrival confirmation being performed by a response message.

The communication interface's wireless Wi-Fi communication has set communication standards, frequency bands, communication speeds, security, communication formats, and communication cycles, and both Bluetooth communication and wireless Wi-Fi communication use the same communication format. All commands are handled by responses from the self-propelled unit 10 to commands from the server 20. In addition, data formats that use multiple bytes are big endian.

As a condition for route search, if an obstacle appears in front of the self-propelled body 10 while it is moving, or if the traveling speed of the self-propelled body while it is moving changes, the pitch of the coordinate interval is made variable, and if the type, size, number of self-propelled bodies 10 while it is moving, or the traveling density in a certain area changes, if the type or size of the self-propelled bodies 10 becomes smaller and the number of bodies increases, the interval becomes narrower in terms of adjusting the coordinate pitch, and if the number of bodies per certain area increases, the interval becomes narrower accordingly. In addition, for shelves, the interval of the coordinate pitch needs to be adjusted depending on the type, size, number, and density per certain area. Furthermore, if there are other material handling devices such as conveyors and automated warehouses in the logistics center, there is a possibility of connecting with these devices, and in that case, the interval of the coordinate pitch needs to be controlled. In particular, when approaching material handling devices, it becomes necessary to narrow the interval and control it finely.

As shown in FIG. 17, the server 20 virtually calculates coordinates based on the conditions for the above-mentioned route search (step 10: calculation means), has communication means capable of transmitting and receiving the calculated coordinate data between the self-propelled body 10 and the server in real time, and has transmission means (step 20) of the server 20 that transmits the data to the receiving means of the self-propelled body 10 (step 30). The self-propelled body 10 starts traveling based on the calculated coordinate data (step 40). The AGV local coordinate system is defined below.

That is, as shown in FIG. 19, the origin: the position of the self-propelled body 10 (the position of the 2D code directly below), the U-axis: the travel axis of the self-propelled body 10 used when traveling, parallel to the X-axis. C-axis: the rotation axis with the front of the self-propelled body 10 at 0°, used when rotating, with the Z-axis as the center. The 2d coordinate system is defined as follows. That is, as shown in FIG. 20, FIG. 21(a), and FIG. 21(b), it is a plane orthogonal coordinate system with X and Y axes, and the coordinates are in grid (2D code on the floor) units. FIG. 21(a) is the current 2D coordinate/2D code correspondence table of the AGV management software 32, with the left end and the lowest being 2D coordinates, and the rest being 2D codes. FIG. 21(b) shows the correspondence between the 2D code and 2D coordinates on the AGV management software 32 screen.

Based on the coordinates, it is determined whether the self-propelled body 10, which is moving by itself, has reached an area containing an obstacle (step 50). If this determination is not satisfied, it travels based on the coordinate data. If the determination is satisfied, information indicating the presence of an obstacle is transmitted from the self-propelled body 10 (step 60) to the server 20 (step 70). This triggers the appropriate re-setting of the coordinate data from the transmission means (step 80: setting means). In other words, the grid pitch is reduced. This setting data is transmitted to the self-propelled body 10 (step 90), and the self-propelled body 10 receives it (step 100).

The server 20 also transmits a grid-based command to the self-propelled body 10, and expands or reduces the grid pitch depending on the size of the item storage rack. The server 20 also makes it possible to variably change the grid spacing when the self-propelled body 10 is in an area with an obstacle. That is, the server 20 transmits a grid-based command to the self-propelled body 10, and when the self-propelled body 10 is in an area without obstacles, the self-propelled body 10 can self-propel based on the grid method, and when the rack is large, when the self-propelled body 10 is large, when the self-propelled body 10 and the rack are crowded in the warehouse, or when the self-propelled body 10 is in an area with an obstacle, the self-propelled body 10 may replace the grid method with a reduced grid. The reduced grid in an area with an obstacle may have a variable coordinate pitch and the size of the grid method may be variably changed.

Next, the interface specifications of the grid-type AGV system will be explained. First, the message format will be explained with reference to Figure 23. The message format consists of a message header and a message body. That is, the message header has a start code, version, message type, message ID, sender ID, receiver ID, message number, return code, message length, sending date and time: year, month, day, hour, minute, second, millisecond, message body and end code. The return code in the message header is the result of validity verification of the received message, and consists of a request/notification message and an ACK message.

As shown in FIG. 22, the message sequence when an abnormal message occurs is as follows: the AGV management software 32 sends an abnormal message to the self-propelled body 10. The self-propelled body 10 verifies the validity of the received message. The self-propelled body 10 sends an ACK return code and stops moving/rotating. The AGV management software 32 stops the operation of the self-propelled body 10 and notifies the user. As shown in FIG. 24, the ACK message includes a start code, version, message type, message ID, sender ID, receiver ID, message number, return code, message length, transmission date and time: year, month, day, hour, minute, second, millisecond, and end code. In the definition data (MVCD), the self-propelled body 10 sets its system clock to the date and time notified by this message. After receiving the definition data, the "AGV status" in the status data (MVST) is set to "definition data set". Immediately after the self-propelled body 10 is started, the operation mode inside the self-propelled body 10 is set to "1: automatic".

Next, as shown in FIG. 25, manual operation (MVMO) discloses the order ID, U direction speed (straight ahead), U travel direction, number of U direction movement grids, C direction speed (rotation), and C rotation direction along with the type, length, data, and description. Also, when there is conflicting operation, i.e., when multiple operations are included in one manual operation, the self-propelled body 10 regards this as an abnormal message and does not execute the operation. In that case, the return code of the ACK message is "GE".

As shown in FIG. 26, the automatic operation request (MVAO) discloses the order ID, U-direction speed (straight), U-direction movement grid number, C-direction speed (rotation), C-direction rotation direction, stop, restart order ID, and upper order ID along with the type, length, data, and description. If multiple requests (movement, rotation, stop) are included in one automatic operation request during request conflict, the self-propelled body 10 considers it an abnormal message. The stop instruction is executed with priority over the manual operation and automatic operation request being executed. The operation of the self-propelled body 10 for the stop instruction discloses each instruction of cycle stop, stop release (resume), and stop release (order clear) along with the operation. During cycle stop, if the self-propelled body 10 receives a message other than an automatic operation request other than a data request or stop release, it considers it an abnormal message and does not execute it. In that case, the return code of the ACK message is "GE". During stop, the "AGV status" of the status data is "cycle stopped". In the restart order ID, when the stop is released (restarted), the order ID of the automatic driving request to be restarted from the AGV management software 32 is specified. If it does not match the order ID during the temporary stop, it is considered an abnormal message and will not be restarted. In that case, the return code of the ACK message is "GE".

As shown in Figure 28, the automatic driving request response (MVAR) discloses the order ID, options, response type, execution status, error status, and higher-level order ID, along with the type, length, data, and description. The autonomous vehicle 10 notifies the occurrence of an error with the error status, and the AGV management software 32 that receives the notification executes an abnormality operation. The data request (MVDR) is for confirming survival and monitoring the status of manual operation/automatic driving requests.

As shown in FIG. 29, the status data (MVST) discloses the 2D code, ANGLE, position deviation, distance, orientation, operation mode, right side speed control value, left side speed control value, right side speed measurement value, left side speed measurement value, distance measured by distance sensor ch1, distance measured by distance sensor ch2, battery voltage, remaining battery charge, fault code, error code, AGV status, execution order ID, order execution status, and execution upper order ID, along with their type, length, data, and description. The self-propelled body 10 notifies the occurrence of an error with the fault code or error code, and the AGV management software 32, which receives the notification, executes an abnormality operation. The status data at the time of startup of the self-propelled body 10 is as shown in FIG. 30.

As shown in Figure 31, the operation command (MVOC) discloses the order ID, command type, length, data, and description. The AGV that receives the error correction command executes fixed-point error correction. The AGV management software 32 detects the correction result from the "2D code," "ANGLE," and "position deviation" in the status data. The operation of the self-propelled body 10 during emergency stop and release is shown in Figure 32. During an emergency stop, if the self-propelled body 10 receives a message other than an operation command other than a data request or stop release, it considers it to be an abnormal message and does not execute it. In that case, the return code of the ACK message is "GE." During the stop, the "AGV status" in the status data is set to "emergency stop."

Next, an overview of the communication sequence will be described with reference to FIG. 33. The following shows an overview of the communication sequence from the start of the self-propelled body 10 to the operation of the self-propelled body 10. When the self-propelled body 10 is started, the AGV management software 32 detects it. The AGV management software 32 sets definition data in preparation for the operation of the self-propelled body 10, and the self-propelled body 10 receives this. When confirming survival, the AGV management software 32 starts acquiring the status of the self-propelled body 10 at regular intervals. When correcting errors, the AGV management software 32 corrects errors in the position and direction of the self-propelled body 10. When operating the self-propelled body 10, the AGV management software 32 sets the operation mode of the self-propelled body 10. The AGV management software 32 instructs the self-propelled body 10 to move and rotate. The AGV management software 32 acquires the status of the self-propelled body 10 at regular intervals and monitors the operating status. The self-propelled body 10 notifies the result when the order for the automatic driving request is completed (only for automatic driving requests). After starting up, the self-propelled body 10 sends status data to the AGV management software 32. After receiving the data, the AGV management software 32 sends definition data and starts checking the survival of the corresponding self-propelled body 10. Survival checks are performed using data requests and status data.

The normal survival confirmation message sequence is as shown in Figure 35. The disconnection determination message sequence when there is no response from the self-propelled body 10 is as shown in Figure 36. The disconnection determination message sequence when there is no request from the AGV management software 32 is as shown in Figure 37. The message sequence when an abnormality in the self-propelled body 10 is notified is as shown in Figure 38.

As shown in Figure 39, the message sequence for connection recovery is as follows: first, when the connection between the AGV management software 32 and the self-propelled body 10 is disconnected, the self-propelled body 10 transmits status data at regular intervals until a response is received. The self-propelled body 10 sends the status data to the AGV management software 32, and the AGV management software 32 causes the self-propelled body 10 to receive an ACK message. The self-propelled body 10 stops transmitting the status data at regular intervals. This procedure is repeated until the connection is restored. After that, survival confirmation is resumed.

Next, the message sequence for when a message has not been delivered will be described with reference to Figure 40. If an ACK message is not received within a preset time after a request/notification message has been sent, it is determined that the message has not been delivered and is resent. First, if the AGV management software 32 does not receive an ACK message from the autonomous vehicle 10 within a preset time from when it starts waiting for an ACK message, it resends the message a preset number of times. This procedure is repeated until the connection is restored. After that, if the AGV management software 32 determines that there is no ACK message even after sending the preset number of times, it determines that the connection has been lost.

After starting the self-propelled body 10, if it determines that error correction is necessary, the AGV management software 32 instructs error correction. First, to check if the self-propelled body 10 is alive, the AGV management software 32 executes a data request to the self-propelled body 10. The self-propelled body 10 starts status data. When it determines that the execution status has not ended, the AGV management software 32 detects that error correction is being executed. When the self-propelled body 10 completes error correction, the AGV management software 32 executes a data request to the self-propelled body 10 again. The self-propelled body 10 starts status data. When it determines that the execution status has ended, the AGV management software 32 detects that error correction has been completed.

The sequence when an order for an automatic driving request is normally completed is as shown in FIG. 42. The sequence when an order for an automatic driving request is abnormally completed is as shown in FIG. 43. The message sequence for cycle stop/cancel when an order is resumed is as shown in FIG. 44. First, when the self-propelled body 10 is stopped, the AGV management software 32 issues an automatic driving request (cycle stop). The self-propelled body 10 sets the AGV status to cycle stop, temporarily suspends the order being executed, stops moving/rotating on the nearest grid, and ends the cycle stop execution. The AGV management software 32 causes the self-propelled body 10 to execute an automatic driving request response (cycle stop order end notification). When the self-propelled body 10 is released from the stop state, the AGV management software 32 issues an automatic driving request (stop release). The self-propelled body 10 restores the temporary suspension order. The AGV management software 32 causes the self-propelled body 10 to execute an automatic driving request response (stop release order end notification). The autonomous vehicle 10 releases the cycle stop status of the AGV status. The order then resumes.

As shown in Figure 45, the message sequence for cycle stop/cancel when an order is cleared is as follows: first, when the self-propelled body 10 is stopped and released, the AGV management software 32 issues an automatic operation request (stop release), and the self-propelled body 10 clears the order. After that, when an automatic operation request (new order) is made, the self-propelled body 10 executes the new order. The message sequence for emergency stop/cancel is as shown in Figures 46 and 47. The message sequence in manual operation mode is as shown in Figure 48.

In FIG. 46, in the case of an AGV emergency stop, the AGV management software 32 requests an emergency stop operation command from the self-propelled body 10. The self-propelled body 10 sets the AGV status to emergency stop, and the emergency stop is initiated. To confirm survival, a data request is made to the self-propelled body 10, and the self-propelled body 10 notifies the AGV management software 32 that the status has not ended. The AGV management software 32 detects that an emergency stop is being executed. The self-propelled body 10 stops moving/rotating on the spot, and when the emergency stop is completed, a data request is sent from the AGV management software 32 to the self-propelled body 10. The self-propelled body 10 notifies the AGV management software 32 that the status has ended. The AGV management software 32 detects that the emergency stop has been completed.

In FIG. 47, when an AGV emergency stop is released, the AGV management software 32 notifies the self-propelled body 10 of an operation command to release the emergency stop. The self-propelled body 10 starts releasing the emergency stop. When confirming survival, the AGV management software 32 transmits a data request to the self-propelled body 10, and the self-propelled body 10 sends a message to the AGV management software 32 indicating that the status is not yet completed. The AGV management software 32 detects that the emergency stop is being released. The self-propelled body 10 advances at extremely low speed until it is above the 2D code, and stops after reading the 2D code. When the self-propelled body 10 completes the release of the emergency stop, it releases the AGV status from "emergency stop". When a data request is sent from the AGV management software 32 to the self-propelled body 10, the self-propelled body 10 notifies the AGV management software 32 that the status is completed. The AGV management software 32 detects that the emergency stop has been released. After that, an automatic driving request (new order) is sent from the AGV management software 32 to the self-propelled body 10, and the self-propelled body 10 executes the new order.

In FIG. 48, if the operation mode is already manual, the process is not executed, and the AGV management software 32 notifies the self-propelled body 10 of the operation mode setting. When a data request is sent from the AGV management software 32 to the self-propelled body 10 to check for survival, the self-propelled body 10 sends a status of not yet completed to the AGV management software 32. The AGV management software 32 detects that a manual operation is being performed. The self-propelled body 10 completes the manual operation. A further data request is sent from the AGV management software 32 to the self-propelled body 10. The self-propelled body 10 informs the AGV management software 32 that the execution status has completed. The AGV management software 32 detects that the manual operation has been completed.

Next, the functional blocks of this system will be described. As shown in FIG. 2, the self-propelled body 10 equipped with the AGB 11 has a control unit 10A and a communication unit 10B (receiving means) of a communication interface, and the server 20 has a list of commands set across the control unit 20A and the communication unit 20B (transmitting means) of the communication interface, including a status acquisition command 21, a destination instruction command 22 (calculating means), a quantitative operation command 23, a map switching command 24 (setting means), and a course data read/write command 25, and these commands are transmitted from the communication unit 20B, which is the transmitting means of the server 20, to the communication unit 10B, which is the receiving means of the self-propelled body 10.

First, as shown in FIG. 3, a status acquisition command 21 including a sequence number, general I/O (output) operation for the self-propelled body, a condition determination flag, etc. is sent from the server 20 to the self-propelled body 10.

In response to the command from the server 20, the autonomous vehicle 10 returns four responses. As shown in FIG. 4, the X and Y coordinates of the destination, the angle, and a condition determination flag are returned.

Also, as shown in Figure 5, error information, operation setting information, remaining battery level, battery voltage, Wi-Fi RSSI, positioning reliability, additional error information, and driving course number are returned.

Also, as shown in Figure 6, the right axis motor current, left axis motor current, marker number, self-propelled body general purpose I/O (output) operation, and self-propelled body general purpose I/O (input) are returned.

Also, as shown in Figure 7, the autonomous vehicle input information and sequence number are returned.

Next, a destination instruction command 22 (calculation means) is sent from the server 20 to the self-propelled body 10. At this time, the server 20 virtually calculates coordinates corresponding to the position of the rack inside the warehouse. As shown in FIG. 8, a position identification control code, the X coordinate of the course start point, and the Y coordinate of the course start point are sent as position identification operation control.

As shown in FIG. 9, the execution result, current map number, and permission information are returned from the self-propelled body 10 to the server 20.

Next, as shown in FIG. 10, the server 20 transmits to the self-propelled body 10 a control code, the X coordinate of the destination, the Y coordinate of the destination, and the angle of the destination as driving control, and the self-propelled body 10 transmits the execution result back to the server 20.

Next, as shown in FIG. 11, the server 20 sends basic driving information settings, such as the cart direction, speed, arc radius, acceleration time, deceleration time, and driving course number, to the self-propelled body 10, and the self-propelled body 10 returns the execution result to the server 20.

Next, as shown in FIG. 12, the obstacle avoidance direction, minimum avoidance distance, maximum avoidance distance, in-position range (the distance at which the self-propelled body is determined to have reached the target), turning speed, turning acceleration, and turning deceleration are transmitted from the server 20 to the self-propelled body 10 as driving extension information 1, and the execution result is returned from the self-propelled body 10 to the server 20.

Next, as shown in FIG. 13, the obstacle detection setting, obstacle non-detection setting (other than later), later obstacle detection setting, and later obstacle non-detection setting are transmitted as driving extension information 2 from the server 20 to the self-propelled body 10, and the execution result is returned from the self-propelled body 10 to the server 20.

After all of the above-mentioned commands for position identification operation control, driving control, driving basic information setting, driving extension information 1, and driving extension information 2 are received successfully, the self-propelled body 10 starts automatic driving.

Next, the server 20 transmits a fixed amount operation command 23 to the self-propelled body 10. That is, as shown in FIG. 14, the fixed amount operation command 23, which is an operation command, obstacle detection settings other than the rear, obstacle detection settings for the rear, acceleration time and deceleration time, before and after movement, and information on movement and turning are transmitted to the self-propelled body 10. The execution result is returned from the self-propelled body 10 to the server 20.

Next, a map switching command 24 (setting means) is sent from the server 20 to the self-propelled body 10. That is, when the self-propelled AGV reaches an area with an obstacle, the pitch of the coordinate data from the server 20 is made variable and appropriately reset. In an area with an obstacle, the AGV replaces the grid method with a reduced grid. As shown in FIG. 15, the map number setting, X-coordinate switching coordinate specification, Y-coordinate switching coordinate specification, and angle switching coordinate specification are sent to the self-propelled body 10. The execution result is returned from the self-propelled body 10 to the server 20. This result indicates whether the command was received normally.

Next, a course data read/write command 25 is sent from the server 20 to the self-propelled body 10. In other words, the course data stored on the self-propelled body 10 is read/written.

As shown in FIG. 16, the following are transmitted: R/W specifying read/write, course number specifying the target course number, NUM specifying the data to be read/rewritten, read in the upper row, and write data 6 to data 13 in the lower row. The self-propelled body 10 returns the execution result to the server 20. This result includes R/W specifying read/write, course number returning the target course number, NUM returning the data NUM that was read/rewritten, read in the upper row, and write data 6 to data 13 in the lower row. Note that it is not possible to send and receive all the course data in one packet, so NUM is incremented and specified, and transmission and reception is performed multiple times.

When QR codes (registered trademark) are attached to correspond to each rack position inside the warehouse, the amount of deviation is detected when the QR code (registered trademark) passes, and the robot moves toward the next QR code (registered trademark) while making corrections. This is travel control in a relative coordinate system, and the self-propelled body 10 is equipped with a QR code (registered trademark) reader.

When virtual markers are placed in correspondence with each rack position inside the warehouse, similar to QR codes (registered trademark), the amount of deviation is detected when passing a virtual marker, and corrections are made while moving toward the next virtual marker. In other words, the robot is positioned relative to the virtual marker using absolute coordinates. It also moves in the shortest distance for a given X coordinate, Y coordinate, and angle Θ. The accuracy of the absolute coordinate system decreases due to changes in the scenery, such as people, AGVs, forklifts, and moving shelves.

The self-propelled body 10 can take various forms depending on the application, such as transportation or picking, and in particular, the top plate portion can be provided with various attachment-type devices suited to the purpose, as described below, so that it can have many variations in form, like the bed of a truck.
(1) A form in which the top plate moves up and down: For example, a self-propelled body that can move the top plate up and down by installing a vertical movement mechanism consisting of a telescopic (registered trademark) pick mechanism or a pantograph mechanism under the top plate is considered as a solution. For example, this solution involves a self-propelled body that crawls under multiple shelves installed in a logistics center, lifts and fixes the shelves with the vertical movement mechanism of the top plate, and transports the shelves to the desired location (for example, a GTP station (GTP: abbreviation for Goods to Person)).
(2) A solution that uses two types of solutions: one in which a crane is attached to the top plate of the self-propelled body, and one in which a basket is attached to the top plate. In this solution, the crane self-propelled body stops in front of a shelf, picks up items from the shelf, and places the items in the basket of the basket self-propelled body, which then transports the items to the GTP station.
(3) A solution using a self-propelled body with a conveyor (belt conveyor or roller conveyor) on the top plate: For example, a space (goods receiving port) is provided on the transport line within a logistics center where a self-propelled body can stop. The goods sent from the transport line are received at the goods receiving port, transferred to the conveyor on the top plate, and transported to the GTP station.
(4) A solution using a self-propelled body with a structure in which the top plate can be tilted on both sides like a butterfly valve around the center line of the self-propelled body: As with solution (3), after the self-propelled body receives the goods at the goods receiving port of the conveyor line, the top plate moves in a horizontal state to the destination such as a GTP station. There is a hole at the destination, and the top plate is tilted toward the hole to drop the goods into it. In many cases, a means of transporting the goods to another location, such as a conveyor line or a truck bed, is provided below the hole.
(5) Solution of linked self-propelled bodies for transportation: Self-propelled bodies can be used not only for independent driving, but also for transport by linking together. Since the length of the self-propelled bodies increases when linked together, fine control by the variable grid helps to avoid collisions between self-propelled bodies and with other objects.
(6) A solution that combines (3) and (5): A conveyor is formed on the top plate of the self-propelled body in a direction that differs by 90 degrees from the running direction, and multiple self-propelled bodies are connected in the running direction and arranged in a circle. This type of conveyor-type self-propelled body solution has the same functions as the cross-belt sorters used in airports, etc., and since there is no need to install circular rails on the floor for running, as with cross-belt sorters, it can be installed easily and quickly, there are fewer restrictions on installation locations, and the self-propelled body can be easily attached and detached, making it easier to respond to breakdowns and maintenance.
(7) A solution in which a self-propelled body follows the movement of a person: In the case of solution (2), a self-propelled crane body is used, but a solution in which a person moves to the shelf for picking with a self-propelled basket body, places the picked items in the basket, and the self-propelled basket body moves together with the person may also be used. This is also useful when multiple large pieces of luggage must be moved by one person at an airport, etc.
As described above, being able to vary the grid pitch enables fine-grained control, such as collision avoidance, and is therefore excellent in terms of safety.

The processing programs such as the above-mentioned status commands, destination instruction commands, quantitative operation commands, map switching commands, and course data read/write commands may be recorded on an appropriate recording medium rather than being stored in advance in memory (ROM). In this case, the control unit 20A of the server 20 reads and acquires the processing programs, and after acquisition, the control unit 20A executes the programs.

Although not shown individually, the present invention can be implemented with various modifications without departing from the spirit of the invention.

10... Self-propelled body 10A... Control unit 10B... Communication means (receiving means)
11...AGV system 12...Autonomous driving control CPU
13: Wireless communication software 14: Inter-grid movement control software 15: Base robot 16: Control firmware 20: Server (server)
20A: Control unit 20B: Communication means (transmission means)
21...Status acquisition command 22...Destination instruction command (calculation means)
23: Quantitative operation command 24: Map switching command (setting means)
25... Course data read/write command 30... System monitoring PC
31...AGV driving optimization shiftware 32...AGV management software

Claims (24)

In an AGV system using a plurality of self-propelled bodies and a plurality of grids as markers for the travel of the self-propelled bodies within a logistics center, an AGV route search server is provided for searching a route for a specific self-propelled body when the self-propelled body is caused to travel independently, the AGV route search server comprising:
The AGV route search server includes a calculation means for virtually calculating coordinates based on conditions for route search;
a communication means for transmitting and receiving the coordinate data calculated by the calculation means in real time between the autonomous vehicle and the AGV route search server;
a setting means for transmitting information on a map number setting, an X-coordinate switching coordinate designation, a Y-coordinate switching coordinate designation, and an angle switching coordinate designation to the self-propelled body based on the coordinates when the self-propelled body that moves by itself based on the coordinates reaches an area containing an obstacle, based on the conditions for the route search, to the self-propelled body, thereby expanding or reducing the grid pitch of the coordinates from the communication means;
An AGV route search server comprising: The AGV route search server according to claim 1, wherein the setting means reduces the grid pitch of the coordinates to allow the self-propelled body to avoid obstacles in an area containing the obstacles without making a large detour in the area, and expands the grid pitch of the coordinates to allow the self-propelled body to travel the shortest route to the destination. The AGV route search server according to claim 1, characterized in that the conditions for the route search include the appearance of an obstacle to the self-propelled body while traveling, the traveling speed of the self-propelled body while traveling, the type of a self-propelled body other than the self-propelled body while traveling, the size of the other self-propelled body while traveling, the number of the other self-propelled bodies while traveling, the traveling density of the other self-propelled bodies while traveling in a certain area, the type of shelf, the size of the shelf, the number of shelves, the number density of the shelves in a certain area, and the relationship between the self-propelled body and the device connected thereto. The AGV route search server according to claim 1, wherein the AGV route search server communicates grid-based commands between the self-propelled body and the AGV route search server in real time, and enables the self-propelled body to self-propel based on the grid method in areas without obstacles, and switches to the grid method and reduces the grid pitch of the coordinates in areas with obstacles. The AGV route search server according to claim 1, wherein the AGV route search server transmits grid-based commands to the autonomous vehicle and expands or reduces the grid pitch of the coordinates according to the size of the item storage rack. The AGV route search server according to claim 3, which varies the grid pitch of the coordinates when an obstacle appears for the self-propelled body while it is moving or when the traveling speed of the self-propelled body while it is moving changes. The AGV route search server according to claim 3, in which, when the type of the self-propelled body currently in motion, the size of the self-propelled body currently in motion, the number of the other self-propelled bodies currently in motion, or the running density of the other self-propelled bodies currently in motion in a certain area changes, if the type or size of the other self-propelled body becomes smaller and the number of bodies increases, the intervals are narrowed in adjusting the grid pitch of the coordinates, and if the number of bodies per certain area increases, the intervals are narrowed accordingly. The AGV route search server according to claim 3, which adjusts the grid pitch of the coordinates according to the type, size, quantity, and density per unit area of racks. The AGV route search server according to claim 3, wherein when there is other material handling equipment including conveyors and automated warehouses within the logistics center, when approaching the material handling equipment, the conditions for the route search are narrowed down and finely controlled. The AGV route search server of claim 4, which is capable of changing the grid pitch of the coordinates in areas with obstacles, depending on the size of the rack, the size of the self-propelled body, and when the self-propelled body and racks are crowded together in the warehouse. In an AGV system using a plurality of self-propelled bodies and a plurality of grids as markers for the travel of the plurality of self-propelled bodies within a logistics center, the AGV route search system includes an AGV route search server for searching a route for a specific self-propelled body when the self-propelled body is caused to travel independently,
The AGV route search system includes a calculation means for virtually calculating coordinates based on conditions for route search;
a communication means for transmitting and receiving the coordinate data calculated by the calculation means in real time between the plurality of autonomous mobile bodies and the AGV route search server;
a setting means for transmitting information on a map number setting, an X-coordinate switching coordinate designation, a Y-coordinate switching coordinate designation, and an angle switching coordinate designation to the self-propelled bodies based on the conditions for the route search when the self-propelled bodies that self-propel based on the coordinates reach an area containing an obstacle, thereby expanding or reducing a grid pitch of the coordinates from the communication means;
The AGV route search system is characterized in that the communication means transmits coordinate data newly calculated by the setting means to the plurality of self-propelled bodies. In an AGV system using a plurality of self-propelled bodies and a plurality of grids as markers for the travel of the plurality of self-propelled bodies within a logistics center, an AGV route search method is provided that uses an AGV route search server to search for a route for a specific self-propelled body when the self-propelled body is driven by itself, the method comprising:
The AGV route search method includes a step of virtually calculating coordinates based on conditions for route search;
transmitting and receiving the calculated coordinate data between the plurality of autonomous mobile units and the AGV route search server in real time;
and when the plurality of self-propelled bodies that move self-propelledly based on the coordinates reach an area containing an obstacle, expanding or reducing the grid pitch of the coordinates by transmitting each piece of information to the self-propelled bodies based on the conditions for the route search, including map number setting, X-coordinate switching coordinate designation, Y-coordinate switching coordinate designation, and angle switching coordinate designation. A program for operating a computer that is an AGV route search server for searching a route for a specific self-propelled body when the self-propelled body is driven by itself in an AGV system that uses a plurality of self-propelled bodies and a plurality of grids that serve as markers for the driving of the self-propelled bodies within a logistics center, the program comprising:
The computer,
A calculation means for virtually calculating coordinates based on conditions for route search;
a communication means for transmitting and receiving the coordinate data calculated by the calculation means in real time between the autonomous vehicle and the AGV route search server;
a setting means for transmitting information on a map number setting, an X-coordinate switching coordinate designation, a Y-coordinate switching coordinate designation, and an angle switching coordinate designation to the self-propelled body based on the coordinates when the self-propelled body that moves by itself based on the coordinates reaches an area containing an obstacle, based on the conditions for the route search, to the self-propelled body, thereby expanding or reducing the grid pitch of the coordinates from the communication means;
A program characterized by causing the program to function as a The program according to claim 13, wherein the setting means reduces the grid pitch of the coordinates to allow the self-propelled body to avoid obstacles in an area where the obstacles exist without making large detours, and increases the grid pitch of the coordinates to allow the self-propelled body to travel the shortest route to the destination. The program according to claim 13, characterized in that the conditions for the path search include the appearance of an obstacle to the self-propelled body while it is moving, the moving speed of the self-propelled body while it is moving, the type of a self-propelled body other than the self-propelled body while it is moving, the size of the other self-propelled body while it is moving, the number of the other self-propelled bodies while it is moving, the moving density of the other self-propelled bodies while it is moving in a certain area, the type of shelf, the size of the shelf, the number of shelves, the number density of the shelves in a certain area, and the relationship between the self-propelled body and the device connected thereto. The program according to claim 13, further causing the computer to function such that the AGV route search server communicates grid-based commands between the self-propelled body and the AGV route search server in real time, the self-propelled body is capable of self-propelling based on the grid method in areas without obstacles, and the self-propelled body switches to the grid method in areas with obstacles and reduces the grid pitch of the coordinates. The program according to claim 13, further causing the computer to function such that the AGV route search server transmits grid-based commands to the autonomous vehicle and expands or reduces the grid pitch of the coordinates according to the size of the item storage rack. The program according to claim 15, further causing the computer to function to vary the grid pitch of the coordinates when an obstacle appears in the self-propelled body while it is moving or when the traveling speed of the self-propelled body while it is moving changes. The program according to claim 15, further causing the computer to function such that, when the type of the self-propelled body in motion, the size of the self-propelled body in motion, the number of the other self-propelled bodies in motion, or the running density of the other self-propelled bodies in motion in a certain area changes, if the type or size of the other self-propelled body becomes smaller and the number of bodies increases, the intervals are narrowed in adjusting the grid pitch of the coordinates, and if the number of bodies per certain area increases, the intervals are narrowed accordingly. The program according to claim 15, further causing the computer to adjust the grid pitch of the coordinates according to the type, size, quantity, and density per unit area of the racks. The program according to claim 15, further causing the computer to function to narrow the intervals and finely control the conditions for the route search when approaching other material handling equipment including conveyors and automated warehouses within the logistics center. The program according to claim 16, further causing the computer to function to change the grid pitch of the coordinates in areas with obstacles depending on the size of the rack, the size of the self-propelled body, and when the self-propelled body and racks are crowded together in the warehouse. A program for operating a computer in an AGV route search system that includes an AGV route search server for searching for a route for a specific self-propelled body when the self-propelled body is driven by itself in an AGV system that uses a plurality of self-propelled bodies and a plurality of grids that serve as markers for the driving of the plurality of self-propelled bodies within a logistics center, the program comprising:
The computer,
A calculation means for virtually calculating coordinates based on conditions for route search;
a communication means for transmitting and receiving the coordinate data calculated by the calculation means in real time between the plurality of autonomous mobile bodies and the AGV route search server;
when the plurality of self-propelled bodies that self-propel based on the coordinates reach an area containing an obstacle, the self-propelled bodies transmit information on a map number setting, an X-coordinate switching coordinate designation, a Y-coordinate switching coordinate designation, and an angle switching coordinate designation based on the conditions for the route search to the self-propelled bodies, thereby functioning as a setting means capable of expanding or reducing the grid pitch of the coordinates from the communication means;
The program, wherein the communication means transmits coordinate data newly calculated by the setting means to the plurality of self-propelled bodies. A recording medium on which the program according to any one of claims 13 to 23 is recorded.

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