WO2016129045A1 - Système de transport, système de commande utilisé dans le système de transport, et procédé de transport - Google Patents

Système de transport, système de commande utilisé dans le système de transport, et procédé de transport Download PDF

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Publication number
WO2016129045A1
WO2016129045A1 PCT/JP2015/053562 JP2015053562W WO2016129045A1 WO 2016129045 A1 WO2016129045 A1 WO 2016129045A1 JP 2015053562 W JP2015053562 W JP 2015053562W WO 2016129045 A1 WO2016129045 A1 WO 2016129045A1
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WIPO (PCT)
Prior art keywords
work
transport vehicle
worker
sensor
transport
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PCT/JP2015/053562
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English (en)
Japanese (ja)
Inventor
頼子 風間
譲 加藤
Original Assignee
株式会社日立製作所
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Priority to JP2016574548A priority Critical patent/JP6310579B2/ja
Priority to PCT/JP2015/053562 priority patent/WO2016129045A1/fr
Publication of WO2016129045A1 publication Critical patent/WO2016129045A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to a transport system, a controller used in the transport system, and a transport method.
  • the goods may be transported by a transport vehicle as appropriate. Since the transport vehicle arrives at an appropriate time at the place where the articles are collected, the operation of the transport vehicle is controlled according to the work contents performed by the operator.
  • Patent Document 1 describes a system that assists an operator to perform picking work on an article and a transport vehicle to load the picked article.
  • the picking operation in the warehouse refers to an operation of taking out a desired number of articles from a place where a desired number is stored.
  • a transport vehicle moves along a predetermined route, and collects and supplies articles at a stop in the route.
  • the waiting time of the worker at the stop can be shortened.
  • the route is determined in advance according to the distribution of work points, the number of workers, the number of both workers, and the progress of the target collection time. It is described that the transportation plan in Japan is simulated.
  • the main object of the present invention is to reduce the burden on the operator when working with the carrier vehicle in the carrier vehicle that supports the worker's work.
  • a transport system includes a sensor that measures data for specifying the current work position and the content of the current work performed by an operator, and a measurement for the current work. Based on the contents of the current work, a dispatching determination unit that determines whether or not a transport vehicle is to be dispatched to support the current work, and the transport vehicle determined to be dispatched are brought close to the current work position. It has a movement instruction creation unit that creates an instruction, and the transport vehicle that moves according to an instruction from the movement instruction creation unit. Other means will be described later.
  • the present invention in the transport vehicle that supports the work of the worker, it is possible to reduce the burden on the worker when cooperating with the transport vehicle.
  • FIG.1 (a) is a three-dimensional view which shows the conveyance system in a warehouse.
  • FIG. 1B is a schematic diagram when a robot picks an article in a warehouse.
  • FIG. 2A is a schematic diagram in which the operator carries the sensor.
  • FIG. 2B is a schematic diagram when the sensor is attached to the article.
  • FIG.2 (c) is a schematic diagram in case the sensor is equipped with the conveyance vehicle.
  • FIG. 3 is a configuration diagram illustrating functions of the transport system.
  • FIG. 4 is a flowchart showing processing of the transport system of FIG.
  • FIG. 5 is a functional diagram in a case where the role sharing between the controller and the transport vehicle in FIG. 3 is partially changed.
  • FIG. 6A is a Gantt chart of each work performed in the warehouse.
  • FIG. 6A is a Gantt chart of each work performed in the warehouse.
  • FIG. 6B is a Gantt chart with continuous work.
  • FIG. 7A shows an example of the measurement result DB.
  • FIG. 7B shows an example of the work instruction DB.
  • FIG. 7C shows auxiliary data of the work instruction DB.
  • FIG. 8A shows a plan view of a part of the warehouse.
  • FIG. 8B shows a plan view when a plurality of workers exist in the warehouse.
  • FIG. 9 shows a plan view when a plurality of transport vehicles exist in the warehouse.
  • Fig.1 (a) is a three-dimensional view which shows the conveyance system in a warehouse.
  • the transport system includes a transport vehicle 1, a controller (computing device) 2, and a sensor 3, and these devices can communicate with each other wirelessly or by wire.
  • the controller 2 is comprised as a housing
  • Each device of the transport system (the transport vehicle 1, the controller 2, and the sensor 3) is configured as a computer having a CPU (Central Processing Unit), a memory, a hard disk (storage means), and a network interface.
  • the CPU operates each processing unit by executing a program read on the memory.
  • the transport vehicle 1 estimates the self position and notifies the controller 2 of the estimated self position.
  • the sensor 3 is installed in the surrounding environment in the warehouse, and measures the state of the worker 201 (a work situation that is a combination of the worker position and the work content).
  • the position of the worker is “the person in charge U1 exists at the coordinates (X, Y)” or the like.
  • the work content is “the person in charge U1 picks up the article A as the picking work” or the like.
  • the sensor 3 is a camera provided on a wall surface, for example, and photographs the work situation of the worker 201 with the camera.
  • the sensor 3 transmits measurement data (such as a captured image or data) to the controller 2.
  • measurement data such as a captured image or data
  • the controller 2 performs, for example, image processing for extracting a feature amount in the image indicating the position of the worker 201 and its movement as means for extracting the work situation from the captured image.
  • the controller 2 Based on the information input from the sensor 3 and the information received from the transport vehicle 1, the controller 2 presents the latest work status that the worker is currently performing and the work content that the worker is scheduled to perform next. And ask. And the controller 2 calculates
  • the transport vehicle 1 autonomously moves along the notified moving route, for example, the map data of the warehouse is held in its own storage means. For example, in FIG. 1A, the transfer route 223 from the current location 211 to the destination 222 (near the current work location) is notified to the transport vehicle 1. Thereby, the conveyance vehicle 1 collect
  • the travel route notified from the controller 2 to the transport vehicle 1 may include schedule information (scheduled arrival time at the destination 222, waiting time at the transport position 222, etc.).
  • the vehicle is controlled to travel along the movement route so as to comply with the schedule information.
  • the controller 2 or the transport vehicle 1 determines the travel path length and the travel speed of the transport vehicle 1 (including the turning speed when turning at an intersection). Based on the above, the travel time required to travel on the travel route is obtained in advance. And control such as starting traveling at a time before the estimated arrival time by a traveling time is given.
  • FIG. 1B is a schematic diagram when a robot picks an article in a warehouse.
  • the operator 201 in FIG. Similar to the worker 201, the robot 204 picks the article 203 from the shelf 202 in the warehouse.
  • the robot 204 has means for traveling so as to be able to move in the warehouse, like the transport vehicle 1.
  • the robot 204 also has means for measuring its own work situation and notifying the controller 2 of the measurement result (internal or external addition) as a function equivalent to the sensor 3 in FIG. Thereby, the transport vehicle 1 can support the work of the robot 204 as well as the worker 201.
  • FIG. 2 shows a case where the configuration of the sensor 3 is different from the transport system of FIG.
  • Each sensor (211, 212, 213) in FIG. 2 measures the work situation similarly to the sensor 3 in FIG. 1 and notifies the controller 2 of the measurement result.
  • FIG. 2A is a schematic diagram in which the operator 211 carries the sensor 211.
  • the sensor 211 acquires the position of the worker and notifies the controller 2 by wireless communication.
  • the controller 2 identifies the work status based on the output data notified from the sensor 211.
  • the sensor 211 may be able to notify the work content.
  • the work content is acquired by reading a barcode of the article 203 picked by the worker with a barcode reader possessed by the worker.
  • the sensor 211 may notify the work content using the relationship between the place and the work content based on the residence time at the point where the worker is located.
  • the operation of the worker may be measured by an accelerometer as the sensor 211, and the controller 2 may estimate the work content from the acceleration information.
  • FIG. 2B is a schematic diagram when the sensor 212 is attached to the article 203.
  • the sensor 212 is tied to the article 203. Moreover, the sensor 212 acquires the article 203 attached to itself.
  • the sensor 212 notifies the controller 2 of the position of the article by wireless communication.
  • the controller 2 can estimate the worker's position by determining the work status for the article from the notified article position and reading the worker in charge of the work from the work instruction DB 21. Thereby, the controller 2 can grasp
  • FIG. 2C is a schematic diagram when the sensor 213 is provided in the transport vehicle 1.
  • the sensor 213 is a camera, for example, and can image the periphery of the transport vehicle 1 while the transport vehicle 1 moves or stops. From the input information of the sensor 213 and the position information of the transport vehicle 1 provided with the sensor 213, the worker's position is estimated, and the worker's operation is grasped by the sensor 213, thereby grasping the worker's work content. Can do.
  • FIG. 3 is a configuration diagram illustrating functions of the transport system.
  • FIG. 4 is a flowchart showing processing of the transport system of FIG. The configuration of FIG. 3 will be described below with reference to FIG. 4 as appropriate.
  • the sensor 3 notifies the controller 2 of the measured work status (S11).
  • the work measurement unit 11 accumulates the work status notified in S11 in the measurement result DB 20.
  • the work status notified in S11 may be information at a certain time (instantaneous value) or a plurality of time-series information (history values).
  • the work status grasping unit (work related processing unit) 12 grasps the work status using the information received from the work measuring unit 11 (S12). For example, consider a picking operation in which an operator holds an article A at coordinates (X, Y) at time t.
  • the work status grasping unit 12 obtains the time during which the picking work for the article A is continued from the measurement result before the time t read from the measurement result DB 20, and sets the preset time for picking the article A. It reads out from the work instruction DB 21 and compares it to grasp the progress of the picking work of the article A.
  • the work motion predicting unit (work related processing unit) 13 receives the work content and progress information of the worker from the work status grasping unit 12 and predicts the next motion of the worker (S13). Furthermore, the work motion prediction unit 13 predicts not only the next operation of the worker but also the timing at which the transport vehicle 1 performs an operation such as collection.
  • the work motion prediction unit 13 reads, for example, an instruction from the work instruction DB 21 that the worker performs the picking work of the article B at the position (Xb, Yb) after picking the article A. Predict to move to position (Xb, Yb).
  • the movement determination unit (vehicle allocation determination unit) 14 determines whether or not the transport vehicle 1 is allocated (moved) in the vicinity of the worker (or the work robot in FIG. 2), and this is the vehicle allocation opportunity (S14, Yes). Sometimes the process proceeds to S21. On the other hand, the process is returned before S11 until the vehicle dispatch is triggered (S14, No), and the data is continuously updated in S11 to S13. For example, when the collection time read by the work motion prediction unit 13 is approaching the current time, the movement determination unit 14 determines that it is a dispatching opportunity of the transport vehicle 1 that collects the picked article.
  • the movement determination unit 14 may select the transport vehicles 1 to be dispatched to the work site that is a dispatch opportunity. For example, the movement determination unit 14 has a margin for loading the collected articles on the transport vehicle 1 based on the position / operation information of the transport vehicle 1 notified from the transport vehicle 1 and is not assigned any other work. The vehicle 1 is selected as a transport vehicle 1 that can be collected (distributed). Then, the movement determination unit 14 notifies the movement instruction creation unit 15 of information for identifying the selected transport vehicle 1.
  • the movement instruction creating unit 15 creates, as movement instructions, a destination that is the destination of the dispatch and a travel route from the current location of the transport vehicle 1 to the destination based on the work site that is the dispatch opportunity. As a pre-preparation, it is necessary to classify all the passages in the warehouse into a passage where the transport vehicle 1 can actually travel (travelable section) and a path where travel cannot be performed (travel prohibited section). .
  • the movement instruction creating unit 15 receives a notification of the conveyance vehicle status (including the current position of the conveyance vehicle and the operation information of the conveyance vehicle) from the conveyance vehicle status notification unit 19 of each conveyance vehicle 1 (S21). ).
  • the current position of the transport vehicle 1 to be dispatched is used as a starting point of the travel route, and the current position of the transport vehicle 1 other than the dispatch target is used as a travel-prohibited section (obstacle).
  • the current position of the transport vehicle itself is expressed as coordinate information on a predetermined map. For example, there are the following methods for estimating the current position.
  • a method for estimating the self-location using a positioning device such as GPS (Global Positioning System).
  • the operation information of the transport vehicle 1 is, for example, “moving” according to the travel route received from the controller 2 or “standby state” where no instruction is assigned.
  • a supplementary explanation of the operation may be added to this operation information.
  • the supplementary explanation is, for example, the “article load amount” of the transport vehicle 1 when the transport vehicle 1 moves for collection and the transport vehicle 1 collects the article.
  • the loading amount of the transport vehicle 1 can be controlled by determining whether the controller 2 continuously performs the next collection operation or whether the loaded article is lowered at a certain point.
  • the movement instruction creating unit 15 receives notification of the work status of the worker about work different from the dispatch target (S22), and uses the worker position as a travel-prohibited section (obstacle) (FIG. 1). (Dotted arrow).
  • the setting process of the travel prohibited section (obstacle) by the other transport vehicles 1 can be omitted, and when there is only one worker, The setting process of the travel prohibition section (obstacle) can be omitted.
  • the movement instruction creating unit 15 integrates the travel-prohibited section (obstacle) set in S21 and S22, and the travel-prohibited section set in advance during construction to determine the travel-prohibited section in the warehouse (S23). ). That is, the movement instruction creating unit 15 sets a movement path that moves closer to the current work position without passing through the path that the worker moves from the current work position to the next work position. Note that the approach means that, for example, the transport vehicle 1 reaches within a range where the worker's hand can reach or within a few steps even if the worker moves (set such a target position).
  • “approach” is appropriately set so as to improve work efficiency in accordance with various conditions such as the purpose of the work and the situation of the work place (current work position) (the situation of the worker and the situation of the transport vehicle 1). . That is, “approaching (approaching how far)” is appropriately set within the range where the effect of improving the working efficiency is achieved on the premise that the transport vehicle 1 is brought close to the worker's position.
  • the next movement planned route of the worker to go from the current work site grasped in S12 to the next work site predicted in S13 may be included in the travel prohibited section.
  • the movement instruction creating unit 15 can prevent the transport vehicle 1 from interfering with the movement of the worker toward the next work site.
  • the movement instruction creating unit 15 sets the destination of the movement route in the vicinity of the current work site grasped in S12 and in the travelable section excluding the travel prohibition section in S23 (S24).
  • the movement instruction creation unit 15 creates a movement route for moving (approaching) from the destination of the transport vehicle 1 notified in S11 to the destination set in S24 (S25). That is, the movement route setting unit 15b creates an instruction for approaching the current work position.
  • the movement instruction creation unit 15 creates a movement route so as not to travel (detour) in the travel prohibited section in S23, so that the transport vehicle 1 collides with an obstacle in advance. Can be avoided.
  • the movement instruction creation unit 15 obtains movement route information to be notified to the transport vehicle 1 from the created movement route.
  • This movement route information includes the movement route (the (X, Y) coordinate information constituting the route on the map) followed by the transport vehicle 1 created in S25.
  • a map in the warehouse may be described by nodes and links, and link and node information may be used as the movement route information.
  • the operation time and standby time in each node may be described. Thereby, the traveling operation of the transport vehicle 1 can be finely instructed at each point.
  • the movement instruction transmission unit 16 of the controller 2 notifies the movement instruction reception unit 17 of the transport vehicle 1 of the movement route information created by the movement instruction creation unit 15.
  • the transport vehicle control unit 18 performs control for moving the transport vehicle 1 along the travel route information received from the travel instruction receiving unit 17 (S26).
  • FIG. 5 is a functional diagram when the role sharing between the controller 2 and the transport vehicle 1 in FIG. 3 is partially changed.
  • the function of the movement instruction creating unit 15 in the controller 2 in FIG. 3 is distributed to the destination setting unit 15a in the controller 2 and the movement route setting unit 15b in the transport vehicle 1.
  • the destination setting unit 15a executes S21 (carrier vehicle status notification process) to S24 (destination setting process) in FIG.
  • the movement instruction transmission unit 16 transmits the destination (position information) of the movement route set in S24 to the transport vehicle 1.
  • the movement route setting unit 15b creates a movement route to go to the destination set in S24 in the same manner as in S25.
  • the movement route setting unit 15 b can autonomously create a movement route by using information around the conveyance vehicle 1 by being mounted on the conveyance vehicle 1. Therefore, the transport vehicle 1 holds an in-vehicle sensor, and the transport vehicle 1 observes the surrounding state.
  • the vehicle-mounted sensor is, for example, a camera or an infrared sensor. Then, even when the movement route setting unit 15b is moving along the previous movement route set in S25 of FIG. 4, the surroundings of the transport vehicle 1 are observed in real time by the vehicle-mounted sensor, and the observed surrounding obstacles Recalculate (reroute) the travel route to bypass Thereby, the movement according to the surrounding situation can be dynamically performed.
  • the controller 2 in FIG. 3 performs the preceding stage (work measurement unit 11, work status grasping unit 12, work operation prediction unit 13, movement determination unit 14, measurement result DB 20, There may be an instruction DB 21), and the conveyance vehicle 1 may include a rear stage (movement instruction creation unit 15, conveyance vehicle control unit 18, conveyance vehicle state notification unit 19).
  • FIG. 6A is a Gantt chart of each work performed in the warehouse.
  • the horizontal axis of the Gantt chart indicates time, and the vertical axis indicates each work.
  • Each of these operations A and B is registered in advance in the operation instruction DB 21 by an administrator or the like.
  • the operation A among the estimated work periods (time t0 to time t2), there are a work completed period (time t0 to time t1) and a period before work (time t1 to time t2). You can see that you are working. Then, after the work A, a period (collection A) in which the transport vehicle 1 collects an article picked by the work is provided.
  • the movement determination unit 14 triggers the collection of the work A (that is, the transport vehicle 1). As an opportunity to dispatch a vehicle). This prevents the transport vehicle 1 from interfering with the work because the transport vehicle 1 is not dispatched at a timing when work support is not required, such as collection is not required immediately after the work is started. .
  • the movement determination unit 14 determines that the progress status (for example, 85%) of the work A obtained as a ratio of the work completed period (time t0 to time t1) ⁇ work period (time t0 to time t2) is a predetermined threshold ( For example, when the amount exceeds 80%), the work A may be collected as a trigger.
  • the work B since the current time is before the work period (from time t3) estimated in advance, all the work is before the work. And before the operation
  • the dispatching timing of the transport vehicle 1 indicated by the Gantt chart is “allocation to the work place of the work A after work (after time t2)” and “pre-work (to the work place of the work B ( To be dispatched before time t3).
  • the transport vehicle 1 supports the worker the place is not limited to the inside of the warehouse, the work performed by the worker is not limited to the picking work, and the operation of the transport vehicle 1 is not limited to the collection.
  • the movement determination part 14 may determine the opportunity of dispatch (collection etc.) so that it may illustrate below. Thereby, compared with the system which collects every time a part is picked, the number of times of collection can be reduced so as not to be a burden on the operator, and the moving cost of the transport vehicle 1 can be reduced. -When there is a work in a place different from or apart from the picking work area as a work instruction, the picked article is collected. -When the number of picked items exceeds a predetermined number, the picked items are collected. Collect after picking up certain items.
  • FIG. 6B shows a case where there is a continuous operation of operation A ⁇ operation C as an example in which a plurality of workers cooperate to perform a series of operations in the same format as the Gantt chart of FIG.
  • the person in charge U1 performs operations A and B in order
  • the person in charge U2 is in charge of operation C
  • the person in charge U3 performs operations D and E in order.
  • an arrow from the work A to the work C is described. This arrow indicates a continuous work indicating that the work C is performed using the article or the like performed in the work A.
  • work A is a work-in-progress state that has been completed up to time t12 in work period t0-t13, and work D is all of work D because work period t0-t11 has elapsed. Has been completed. If there is no continuous work, the movement determination unit 14 dispatches the work D having the earlier work end time of the two works A and D first, and then dispatches the work A.
  • the movement determination unit 14 performs the recovery A of the work A, which is the previous work in the continuous work of the two works A and D. (Priority) is dispatched, and then the work D is collected D.
  • the transport vehicle 1 collects both the operations D and E at a time. In this way, by prioritizing continuous work over discontinuous work, the waiting time for preparation of work C (providing the articles recovered by work A) by the person in charge U2 can be shortened, and work efficiency for the entire worker Can be increased.
  • FIG. 7 is a data structure for generating the Gantt chart in FIG. FIG. 7A shows an example of the measurement result DB 20.
  • the measurement result DB 20 stores, as data notified from the sensor 3 by the work measurement unit 11, the current position for each person in charge and the work content (work progress level, standby state, etc.) in association with each other.
  • the work content may be expressed as information indicating the work time already performed or the remaining work time instead of the progress degree.
  • FIG. 7B shows an example of the work instruction DB 21.
  • the work instruction DB 21 is data previously input to the controller 2 by the work manager as a work plan.
  • the work instruction DB 21 is arranged in order of work IDs indicating work assigned to the person in charge for each person in charge of the work. For example, the person in charge U1 performs the operation B on the second row after performing the operation A on the first row.
  • the work instruction DB 21 may be a single table in which a plurality of workers are grouped in the “worker” column, or may be a plurality of tables in which the records of each worker are divided by worker.
  • work items, work positions, work contents, and continuous work are associated as detailed information of each work. In the “continuous work” column, a work ID indicating the next work in the continuous work is described.
  • FIG. 7C shows a detailed description table of articles described in the “work content” column of FIG. 7B as auxiliary data of the work instruction DB 21.
  • the detailed description table for each item ID, the size of the item, the cost when the picking operation is performed on the item (work time, etc.), and the cost when the packing operation is performed on the item (Working time, etc.) are associated with each other.
  • FIG. 8A shows a plan view of a part of the warehouse.
  • a plurality of shelves SH1 to SH6 are installed in the warehouse, and a plurality of different types of articles are stored in each shelf.
  • a work list is registered in advance so that the worker 303 picks the article B from the slot 306 of the same shelf SH2 after picking the article A from the slot 305 of the shelf SH2.
  • the worker 303 grasps this work list by screen output or voice output of a terminal held by the worker 303.
  • These outputs include information indicating the articles A and B and the front doors 305 and 306 that are storage locations thereof.
  • the controller 2 receives the notification of the work status from the sensor 3 (S11), and determines that the picking at the frontage 305 of the worker 303 is completed (S12). As a result, it is determined that the controller 2 has become a vehicle dispatching opportunity to collect the article A after the work (S14, Yes), and the transport vehicle 1 at the current location (S: Start) 301 is set as the current dispatch target. Therefore, the movement instruction creation unit 15 needs to create a movement route for moving the transport vehicle 1 at the current location 301 to the vicinity of the frontage 305.
  • the movement instruction creating unit 15 sets a route from the front door 305 to the front door 306 (or a peripheral section around the front door 306) as a travel-prohibited section.
  • the movement instruction creating unit 15 sets a destination (G: Goal) 302 of the movement route 300 in the vicinity of the frontage 305 and in the travelable section excluding the travel prohibition section in S23. Therefore, although it is common that the position 302 and the position 307 are in the vicinity of the frontage 305, the position 307 is excluded from the destination because it is the travel prohibited section in S23.
  • the movement instruction creating unit 15 sets the movement route 300 from the current location 301 to the destination (G: Goal) 302 within the travelable section excluding the travel prohibited section in S23.
  • the travel route 300 may be, for example, a route that is the shortest distance in the travelable section, or may be selected based on other criteria such as a small number of turns at an intersection. Accordingly, it is possible to appropriately support collection after work at the frontage 305 (support for previous work) and not hinder work at the frontage 306 (support for subsequent work).
  • the movement instruction creating unit 15 sets the route from the previous work site (frontage 305) to the current work site (frontage 306) as a travel-prohibited section, and then sets the vicinity of the frontage 306 as the destination, and What is necessary is just to obtain
  • FIG. 8B shows a case where there are other workers 311 in addition to the worker 303 to be dispatched as compared to FIG. 8A.
  • the movement instruction creation unit 15 acquires the work status of the worker 311 from the sensor 3.
  • the movement instruction creating unit 15 also adds the peripheral section of the worker 311 to the travel prohibited section in FIG. Therefore, the destination 302 other than the peripheral section of the worker 311 is selected (S24), and the travel route 310 toward the destination 302 is also different from the travel route 300 so as not to pass the peripheral section of the worker 311. Selected (to bypass).
  • the weight of the link located in the peripheral section of the worker 311 may be set to infinity, or the link may be deleted.
  • FIG. 9 shows a case where two workers 303 and 321 and two transport vehicles 1 (positions 301 and 322) exist in the warehouse.
  • the movement instruction creating unit 15 determines the state of the transport vehicle (the current position of the transport vehicle, the current position of the transport vehicle) for the other transport vehicle 1 (position 322) in addition to the current transport vehicle 1 (position 301). (Including operation information).
  • the movement instruction creating unit 15 adds the peripheral section of the other transport vehicle 1 (position 322) to the travel prohibition section of FIG. 8A in addition to the peripheral section of the other worker 321.
  • the movement instruction creating unit 15 adds the peripheral section of the other transport vehicle 1 (position 322) in addition to the peripheral section of the worker 311.
  • the route is selected so that it does not pass through (so as to detour).
  • the controller 2 may also instruct the other transport vehicles 1 to move in order to make a detour.
  • the movement instruction creating unit 15 may be provided in the transport vehicle 1.
  • the present invention described above relates to a transport system that controls the transport vehicle 1 that moves according to the operation of the operator.
  • This transport system has a sensor 3 for grasping the work status of the worker, predicts the worker's state and the next work, estimates the collection position and the collection time, and conveys to the estimated position and time.
  • the car 1 is moved. Since the transport vehicle 1 is dispatched not to the stop but to the vicinity of the worker, it is possible to perform a transport operation that does not reduce the work efficiency of the worker.
  • this invention is not limited to an above-described Example, Various modifications are included.
  • the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described.
  • a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment.
  • Each of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit.
  • Each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor.
  • Information such as programs, tables, and files for realizing each function is stored in memory, a hard disk, a recording device such as an SSD (Solid State Drive), an IC (Integrated Circuit) card, an SD card, a DVD (Digital Versatile Disc), etc. Can be placed on any recording medium.
  • a recording device such as an SSD (Solid State Drive), an IC (Integrated Circuit) card, an SD card, a DVD (Digital Versatile Disc), etc.
  • the control lines and information lines indicate what is considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.
  • Transport vehicle 2 Controller (computing device) 3 Sensor 11 Work measurement part 12 Work condition grasping part (work related processing part) 13 Work motion prediction unit (work related processing unit) 14 Movement judgment part (Vehicle allocation decision part) DESCRIPTION OF SYMBOLS 15 Movement instruction

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de transport, comprenant : un capteur (3) qui mesure un opérateur ; un système de commande (2) qui, sur la base d'une description de tâche présente qui est mesurée par rapport à une tâche présente, détermine s'il faut envoyer un véhicule de transport (1) pour aider dans la tâche présente, qui lit à partir d'un moyen de conservation une position de tâche suivante qui est une position d'une tâche dont l'exécution est programmée après la tâche présente pour laquelle l'envoi est effectué, et qui calcule un but qui sera une destination de l'envoi et un chemin de mouvement vers le but qui se trouve au voisinage de la position de tâche présente et qui ne croise pas un chemin sur lequel l'opérateur se déplace de la position de tâche présente à la position de tâche suivante ; et le véhicule de transport (1) qui se déplace le long d'un chemin de mouvement indiqué.
PCT/JP2015/053562 2015-02-09 2015-02-09 Système de transport, système de commande utilisé dans le système de transport, et procédé de transport WO2016129045A1 (fr)

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PCT/JP2015/053562 WO2016129045A1 (fr) 2015-02-09 2015-02-09 Système de transport, système de commande utilisé dans le système de transport, et procédé de transport

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CN107193265A (zh) * 2017-06-14 2017-09-22 浙江德尚智能科技有限公司 一种移动机器人多点调度通信方法
JP2018507829A (ja) * 2015-02-12 2018-03-22 ワイズ，メロニー ロボットを用いた注文実行のためのシステム及び方法
JP6344831B1 (ja) * 2017-06-12 2018-06-20 三菱ロジスネクスト株式会社 配車システム
WO2018116718A1 (fr) * 2016-12-22 2018-06-28 シャープ株式会社 Système de transport de marchandises et véhicule à guidage automatique
CN108805316A (zh) * 2017-04-27 2018-11-13 北京京东尚科信息技术有限公司 货物搬运方法和装置
JP2019048691A (ja) * 2017-09-11 2019-03-28 株式会社シーネット 倉庫管理システム
JP2019077530A (ja) * 2017-10-23 2019-05-23 プロパティエージェント株式会社 物品搬送装置
CN109995824A (zh) * 2017-12-29 2019-07-09 阿里巴巴集团控股有限公司 一种对等网络中的任务调度方法及装置
WO2019155552A1 (fr) * 2018-02-07 2019-08-15 日本電気株式会社 Système de gestion de répartition de véhicules, support d'enregistrement et procédé
JP2019218197A (ja) * 2018-06-21 2019-12-26 株式会社ダイフク 搬送システム
JP2020101846A (ja) * 2018-12-19 2020-07-02 オムロン株式会社 予測装置、搬送制御システム、および予測方法
JP2020160508A (ja) * 2019-03-25 2020-10-01 日本電気株式会社 管理方法、管理装置、プログラム
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JP2021101303A (ja) * 2019-12-24 2021-07-08 楽天グループ株式会社 運搬システム、制御装置、及び、方法
JP2022035999A (ja) * 2020-08-20 2022-03-04 ハイ ロボティクス カンパニー リミテッド 倉庫ロボットのナビゲーションルート予約
CN114265371A (zh) * 2020-09-15 2022-04-01 株式会社日立制作所 协调动作控制系统、协调动作控制装置以及协调动作控制方法
WO2022149285A1 (fr) * 2021-01-08 2022-07-14 株式会社LexxPluss Système de transport et procédé de commande de transport
JP2022107501A (ja) * 2021-01-08 2022-07-21 株式会社LexxPluss 搬送システム、及び搬送制御方法
JP7347349B2 (ja) 2020-07-07 2023-09-20 トヨタ自動車株式会社 情報処理装置、情報処理システム、及び情報処理方法

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JP6344831B1 (ja) * 2017-06-12 2018-06-20 三菱ロジスネクスト株式会社 配車システム
JP2019001561A (ja) * 2017-06-12 2019-01-10 三菱ロジスネクスト株式会社 配車システム
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JP2019077530A (ja) * 2017-10-23 2019-05-23 プロパティエージェント株式会社 物品搬送装置
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