WO2021039595A1 - 搬送システム、制御装置、搬送方法、及びプログラム - Google Patents

搬送システム、制御装置、搬送方法、及びプログラム Download PDF

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Publication number
WO2021039595A1
WO2021039595A1 PCT/JP2020/031493 JP2020031493W WO2021039595A1 WO 2021039595 A1 WO2021039595 A1 WO 2021039595A1 JP 2020031493 W JP2020031493 W JP 2020031493W WO 2021039595 A1 WO2021039595 A1 WO 2021039595A1
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WO
WIPO (PCT)
Prior art keywords
transport
article
transfer
robot
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/031493
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English (en)
French (fr)
Japanese (ja)
Inventor
隆介 對馬
潤一郎 土屋
裕志 吉田
安田　真也
太一 熊谷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NEC Corp
Original Assignee
NEC Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NEC Corp filed Critical NEC Corp
Priority to JP2021542818A priority Critical patent/JP7416072B2/ja
Priority to US17/633,633 priority patent/US12339669B2/en
Publication of WO2021039595A1 publication Critical patent/WO2021039595A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • 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
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • 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
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • 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
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/698—Control allocation
    • G05D1/6987—Control allocation by centralised control off-board any of the vehicles
    • 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
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles

Definitions

  • the present invention relates to a transfer system, a control device, a transfer method, and a program.
  • a transfer robot (AGV; Automated Guided Vehicle) is used to move these articles.
  • the transport robot only needs to transport a limited number of goods by a fixed route.
  • a transfer robot that attaches a magnetic tape or a QR code (registered trademark) to the floor and moves by relying on the magnetic tape or the like is often used.
  • a transfer robot called SLAM (Simultaneous Localization and Mapping) that estimates its own position and moves to its destination may be used.
  • Patent Document 1 discloses a shelf arrangement system in which a transfer robot lifts and moves a shelf.
  • Patent Document 2 discloses a transfer robot that controls traveling according to route information received from a control device.
  • the transfer robot acquires coordinate data related to the movement of the shelves from the management terminal and determines the movement route according to the data. Further, the transfer robot disclosed in Patent Document 2 acquires information on a movement source and a movement destination from a user (worker), and determines a movement route according to the information.
  • a main object of the present invention is to provide a transport system, a control device, a transport method, and a program that contribute to facilitating the input of information regarding the movement of articles.
  • the control device includes a transfer robot that transfers an article, a control device that controls the transfer robot, and a terminal that inputs information about the transfer of the article. Specifies the transport destination of the article based on the information about the transport acquired from the terminal, and controls the transport robot to transport the article to the specified transport destination.
  • the system is provided.
  • the article is connected to a transfer robot that conveys the article and a terminal that inputs information about the transfer of the article, and is based on the information about the transfer acquired from the terminal.
  • a control device is provided that specifies a transfer destination of the product and controls the transfer robot to transfer the article to the specified transfer destination.
  • a transport system including a transport robot that transports goods, a control device that controls the transport robot, and a terminal that inputs information regarding the transport of the goods.
  • the computer acquired from the terminal is attached to a computer mounted on a control device connected to a transfer robot for transporting the article and a terminal for inputting information on the transport of the article.
  • a transport system a control device, a transport method, and a program that contribute to facilitating the input of information regarding the movement of goods are provided.
  • other effects may be produced in place of or in combination with the effect.
  • FIG. 1 is a diagram for explaining an outline of one embodiment.
  • FIG. 2 is a sequence diagram showing an example of the operation of the transport system according to the embodiment.
  • FIG. 3 is a diagram showing an example of a schematic configuration of a transport system according to the first embodiment.
  • FIG. 4 is a diagram showing an example of a processing configuration of the transfer robot according to the first embodiment.
  • FIG. 5 is a diagram showing an example of a processing configuration of the position information management device according to the first embodiment.
  • FIG. 6 is a diagram showing an example of information in which the identifier of the camera device and the area photographed by the camera device are associated with each other.
  • FIG. 7 is a diagram for explaining the operation of the robot position information generation unit.
  • FIG. 1 is a diagram for explaining an outline of one embodiment.
  • FIG. 2 is a sequence diagram showing an example of the operation of the transport system according to the embodiment.
  • FIG. 3 is a diagram showing an example of a schematic configuration of a transport system according to the first embodiment.
  • FIG. 8 is a diagram showing an example of robot position information transmitted from the position information management device.
  • FIG. 9 is a diagram showing an example of a field configuration according to the first embodiment.
  • FIG. 10 is a diagram showing an example of article placement area configuration information.
  • FIG. 11 is a diagram showing an example of article existence / non-existence information.
  • FIG. 12 is a diagram showing an example of article existence / non-existence information.
  • FIG. 13 is a diagram showing an example of the processing configuration of the terminal according to the first embodiment.
  • FIG. 14 is a diagram showing an example of a screen displayed by the terminal according to the first embodiment.
  • FIG. 15 is a diagram showing an example of a screen displayed by the terminal according to the first embodiment.
  • FIG. 16 is a diagram showing an example of a screen displayed by the terminal according to the first embodiment.
  • FIG. 17 is a diagram showing an example of a screen displayed by the terminal according to the first embodiment.
  • FIG. 18 is a diagram showing an example of a screen displayed by the terminal according to the first embodiment.
  • FIG. 19 is a diagram showing an example of a screen displayed by the terminal according to the first embodiment.
  • FIG. 20 is a diagram showing an example of a screen displayed by the terminal according to the first embodiment.
  • FIG. 21 is a diagram showing an example of a processing configuration of the control device according to the first embodiment.
  • FIG. 22 is a diagram showing an example of field configuration information.
  • FIG. 23 is a diagram showing an example of link information.
  • FIG. 24 is a diagram showing an example of robot management information.
  • FIG. 25 is a sequence diagram showing an example of the operation of the transport system according to the first embodiment.
  • FIG. 26 is a diagram showing an example of the hardware configuration of the control device.
  • the transfer system includes a transfer robot 101, a control device 102, and a terminal 103 (see FIG. 1).
  • the transfer robot 101 conveys an article.
  • the control device 102 controls the transfer robot 101.
  • the terminal 103 inputs information regarding the transportation of the article.
  • the control device 102 identifies the transport destination of the article based on the information regarding the transport of the article acquired from the terminal 103.
  • the control device 102 controls for transporting the article to the specified transport destination.
  • FIG. 2 summarizes the operations of the transport system according to the above embodiment.
  • the terminal 103 inputs information regarding the transportation of the article (step S1).
  • the control device 102 identifies the transport destination of the article based on the information regarding the transport of the article acquired from the terminal 103 (step S2).
  • the control device 102 performs control (control of the transport robot 101) for transporting the article to the specified transport destination (step S3).
  • the terminal 103 inputs information related to transport of goods from a user (worker).
  • the control device 102 controls the transfer robot 10 based on the information acquired from the terminal 103.
  • the control device 102 determines the transport destination of the article based on, for example, the state of the transport destination of the article (for example, whether or not another article is placed at the transport destination). That is, in the above-mentioned transport system, the control device 102 can determine an appropriate transport destination and transport the article even when the article cannot be transported to the transport destination input by the operator. As a result, the worker is allowed to input rough information about the destination of the goods, and the worker can easily input the information about the movement of the goods.
  • FIG. 3 is a diagram showing an example of a schematic configuration of a transport system according to the first embodiment.
  • the transfer system includes a plurality of transfer robots 10-1 to 10-4, a plurality of camera devices 20-1 to 20-3, a position information management device 30, a terminal 40, and a control device. It is composed of 50 and.
  • transfer robot 10 In the following description, if there is no particular reason for distinguishing the transfer robots 10-1 to 10-4, it is simply referred to as "transfer robot 10". The same applies to other configurations.
  • the configuration shown in FIG. 3 is an example, and is not intended to limit the number of transfer robots 10 and the like included in the transfer system.
  • the transport robot 10 is a robot that transports the article 60.
  • the transfer robot 10 is a cooperative transfer robot that transfers the article 60 in cooperation with another robot.
  • the two transfer robots 10 sandwich the article 60 from opposite directions and move the article 60 in the sandwiched state to convey the article 60.
  • the transfer robot 10 is configured to be able to communicate with the control device 50, and moves based on a control command (control information) from the control device 50.
  • the article 60 is fixed to a trolley with wheels. Therefore, when the two transfer robots 10 lightly sandwich the article 60 and move, the article 60 also moves.
  • the transfer robot 10 can move independently, and makes a pair with an arbitrary transfer robot 10 to transfer the article 60.
  • the transfer robot 10-1 and the transfer robot 10-2 form a pair
  • the transfer robot 10-3 and the transfer robot 10-4 form a pair.
  • the transfer robot 10-1 and the transfer robot 10-3 may be paired to transfer the article 60.
  • a pair consisting of two transfer robots 10 will be referred to as a transfer robot pair.
  • the transfer robot 10 that does not transfer the article 60 stands by at a predetermined position in the field.
  • FIG. 3 shows a transport robot pair that is transporting the article 60, there is also a transport robot 10 that is waiting at a predetermined position in a field (not shown in FIG. 3).
  • the camera device 20 is a device that images the inside of the field.
  • the camera device 20 includes, for example, a depth camera, a stereo camera, and the like.
  • the depth camera is a camera capable of taking a depth image in which each pixel value of the image indicates the distance from the camera to the object.
  • the stereo camera is a camera capable of measuring the depth direction (height direction) of the object by photographing the object from a plurality of different directions using two cameras.
  • the camera device 20 is installed on a ceiling, a pillar, or the like. Each camera device 20 is arranged so that the inside of the field can be overlooked when the image data captured by all the camera devices 20 are integrated. In particular, the camera device 20 is arranged so that the details of the area where the article 60 is carried in and the area where the article 60 is carried out can be grasped.
  • Each camera device 20 is connected to the position information management device 30.
  • the camera device 20 images the inside of the field at a predetermined interval (predetermined sampling cycle) and transmits the image data to the position information management device 30.
  • the camera device 20 captures the situation in the field in real time, and transmits image data including the situation in the field to the position information management device 30.
  • the position information management device 30 is a device that manages the position of an object in a field (for example, a factory or a distribution warehouse).
  • the position information management device 30 identifies an object (moving body; transfer robot 10) located in the field based on the image data received from the camera device 20, and generates position information of the object. For example, in the example of FIG. 3, the position information management device 30 generates the position information of the transfer robot 10-1 and the position information of the transfer robot 10-2.
  • the position information management device 30 generates position information regarding an object (transfer robot 10) in the field.
  • the position information management device 30 calculates the position (absolute position) of an object in a three-dimensional coordinate system (X-axis, Y-axis, Z-axis) with an arbitrary point (for example, an entrance / exit) in the field as the origin.
  • the position information management device 30 transmits the calculated position information of the transfer robot 10 (hereinafter referred to as robot position information) to the control device 50.
  • the position information management device 30 transmits the article existence / non-existence information indicating the existence (presence / absence) of the article 60 at the transport source or the transport destination of the article 60 to the control device 50.
  • the terminal 40 is a terminal used by an operator.
  • Examples of the terminal 40 include mobile terminal devices such as smartphones, mobile phones, game machines, and tablets, computers (personal computers, laptop computers), and the like. However, the purpose is not to limit the terminal 40 to these examples.
  • the terminal 40 inputs information regarding the transportation of the article 60 from the operator. Specifically, the terminal 40 identifies the article 60 to be conveyed by the transfer robot pair, and displays an operation screen (GUI; Graphical User Interface) for inputting the transfer source and the transfer destination of the article 60. Based on the information input by the operator, the terminal 40 generates article transportation plan information including information on the article to be transported, the transport source of the transport target article, and the transport destination. The terminal 40 transmits the generated article transportation plan information to the control device 50.
  • GUI Graphical User Interface
  • the control device 50 is a device that remotely controls the transfer robot 10. Specifically, the control device 50 controls the transfer robot 10 by using the robot position information acquired from the position information management device 30, the article presence / absence information, and the article transfer plan information acquired from the terminal 40. For example, the control device 50 determines the transport destination of the article 60 and calculates the transport route of the article 60 based on the state of the transport destination of the article 60 acquired from the terminal 40. Further, the control device 50 remotely controls the transfer robot 10 based on the calculated transfer path.
  • control device 50 When the control device 50 acquires the article transfer plan information from the terminal 40, the control device 50 selects two transfer robots 10 from the transfer robots 10 waiting in the field.
  • the control device 50 determines the route, destination, etc. of the transport robot pair based on the article transport plan information, the field status (for example, the presence / absence of obstacles on the field, the degree of congestion), and the like.
  • the control device 50 transmits control commands (control information) to the two selected transfer robots 10 and remotely controls these robots.
  • Each of the two transfer robots 10 moves based on the control command from the control device 50, and when the contact of the article 60 is detected by the contact sensor or the like, the "article pinching completion notification" is transmitted to the control device 50.
  • the control device 50 it is not necessary to transmit the article pinching completion notification from the transfer robot 10.
  • two transfer robots 10 sandwich an object (article 60) after a predetermined time (for example, 30 seconds) has elapsed after each of the two transfer robots 10 has moved to a predetermined position. You may think that. That is, the control device 50 may transmit a control command (control information) after the elapse of the predetermined time.
  • control device 50 When the control device 50 acquires the article sandwiching notification from each transfer robot 10, it transmits a control command to each of the two transfer robots 10 so that the transfer robot pair moves to the transfer destination of the article 60. Remotely control. At that time, the control device 50 performs the remote control so that the transfer robot pair moves to the transfer destination while sandwiching the article 60. For example, the control device 50 transmits a control command (control information) so that the two transfer robots 10 move while maintaining a distance between the two opposing transfer robots 10.
  • FIG. 4 is a diagram showing an example of a processing configuration (processing module) of the transfer robot 10 according to the first embodiment.
  • the transfer robot 10 includes a communication control unit 201, an actuator control unit 202, and a pinch detection unit 203.
  • the communication control unit 201 is a means for controlling communication with the control device 50.
  • the communication control unit 201 communicates with the control device 50 by using a wireless communication means such as a wireless LAN (Local Area Network), LTE (Long Term Evolution), or a network used in a specific area such as local 5G.
  • a wireless communication means such as a wireless LAN (Local Area Network), LTE (Long Term Evolution), or a network used in a specific area such as local 5G.
  • the actuator control unit 202 is a means for controlling an actuator composed of a motor or the like based on a control command (control information) received from the control device 50.
  • the control device 50 transmits a control command including a motor rotation start, a motor rotation speed, a motor rotation stop, and the like to the transfer robot 10.
  • the actuator control unit 202 controls the motor and the like according to the control command.
  • the pinch detection unit 203 is a means for detecting that the article 60 is pinched with another pair of transfer robots 10.
  • a "contact sensor” is installed on a surface that sandwiches an article.
  • the pinch detection unit 203 monitors the output of the contact sensor and determines whether or not the sensor has detected contact with an object.
  • the pinching detection unit 203 transmits an “article pinching completion notification” to the control device 50 via the communication control unit 201.
  • FIG. 5 is a diagram showing an example of a processing configuration (processing module) of the position information management device 30 according to the first embodiment.
  • the position information management device 30 includes a communication control unit 301, a robot position information generation unit 302, an article presence / absence information generation unit 303, and a storage unit 304.
  • the communication control unit 301 is a means for controlling communication with other devices (for example, camera device 20, control device 50) connected by wire (for example, LAN, optical fiber, etc.) or wirelessly.
  • devices for example, camera device 20, control device 50
  • wire for example, LAN, optical fiber, etc.
  • the robot position information generation unit 302 is a means for generating the above-mentioned robot position information.
  • the robot position information generation unit 302 generates robot position information based on the image data acquired from the camera device 20.
  • the camera device 20 transmits image data to the position information management device 30 together with its own identifier (ID; Identifier).
  • ID identifier
  • the robot position information generation unit 302 identifies the camera device 20 that is the source of the image data from the identifier of the camera device 20. Since the camera device 20 is fixed to the ceiling or the like, the camera device 20 continuously transmits image data of a predetermined area in the field to the position information management device 30.
  • the robot position information generation unit 302 detects an object by, for example, the following method.
  • the storage unit 304 stores information that associates the identifier of the camera device 20 with the area photographed by each camera device 20 (see FIG. 6). By referring to the corresponding information, the robot position information generation unit 302 can grasp which area in the field the acquired image data corresponds to.
  • the storage unit 304 stores the initial image data of the area imaged by each camera device 20.
  • the initial image data is image data in which an object (transfer robot 10) that does not exist in the initial state is not shown in the field.
  • the robot position information generation unit 302 compares the acquired image data with the corresponding initial image data, and if there is a difference, determines that the image data includes an object to be detected.
  • the storage unit 304 stores initial image data as shown on the left side of FIG. 7.
  • the image shown on the right side of FIG. 7 is an image acquired from the camera device 20.
  • the robot position information generation unit 302 calculates the difference between the two image data and detects the object included in the acquired image on the right side.
  • the initial image data stored in the storage unit 304 is updated.
  • the initial image data is updated when the layout of a factory or the like is changed.
  • the robot discrimination by the robot position information generation unit 302 is not limited to the method using the above initial image data.
  • the robot position information generation unit 302 calculates the coordinates of the transfer robot 10 and detects that the transfer robot 10 exists on the passage (on the link) based on the coordinates of the object and the normal coordinate information of the field. You may.
  • the robot position information generation unit 302 When the robot position information generation unit 302 detects an object in the field, it approximates the object to, for example, a rectangular shape, and calculates the coordinates of the four points. Specifically, the robot position information generation unit 302 uses the relative coordinates (X coordinate, Y coordinate) of the object with respect to the absolute coordinates of the reference point based on the number of pixels from the reference point (for example, the lower left of the image) to the object in the image data. ) Is calculated. At that time, the robot position information generation unit 302 calculates the relative coordinates of the object based on the information (resolution of the image sensor, etc.) of the camera device 20 that has acquired the image data.
  • the absolute coordinates of the reference point of the acquired image data are known in advance.
  • the robot position information generation unit 302 calculates the absolute coordinates (X, Y coordinates) in the field of the object by adding the relative coordinates of the calculated object to the absolute coordinates of the reference point. Further, when the image data is captured by the depth camera, the robot position information generation unit 302 reads out the pixel values corresponding to the calculated X and Y coordinates to obtain the Z coordinate (height) of the object. ).
  • the robot position information generation unit 302 calculates the absolute positions of the four points forming the object by executing such processing on the four corners of the object.
  • the robot position information generation unit 302 determines the type of the object included in the acquired image.
  • the robot position information generation unit 302 calculates the size of the object detected from the absolute coordinates of the above four points.
  • the robot position information generation unit 302 can determine the type of the object based on the calculated size. For example, since the size of the transfer robot 10 is known in advance, if the size of the object and the size of the transfer robot 10 match, the robot position information generation unit 302 determines that the detected object is the transfer robot 10. On the other hand, when the size of the detected object and the size of the transfer robot 10 do not match, the robot position information generation unit 302 determines that the detected object is "other than the transfer robot" (for example, an obstacle in the field). Judge as a thing).
  • the method of determining whether or not the robot is a transfer robot based on the size of the object is an example, and other directions can be used.
  • a marker having an identification function such as a QR code (registered trademark) or an AR (Augmented Reality) marker is attached to the transfer robot 10, and the robot position information generation unit 302 identifies the transfer robot 10 by reading the marker (object). (Determining whether or not is the transfer robot 10).
  • the robot position information generation unit 302 transmits a specific signal or message to the transfer robot 10, and the transfer robot 10 that receives the signal or the like responds with an identification number or the like, the transfer robot 10 is identified. Good. That is, the robot position information generation unit 302 can identify the transfer robot 10 by a signal or the like from the transfer robot 10 without adding identification information (for example, characters or patterns) to the outside of the transfer robot 10.
  • the robot position information generation unit 302 transmits the detected identifier of the transfer robot 10 and its absolute position to the control device 50.
  • the absolute position of the object may be the absolute coordinates of the four points forming the calculated object, or may be the absolute coordinates of one point representing the object (for example, the center of the object).
  • FIG. 8 is a diagram showing an example of robot position information transmitted from the position information management device 30. As shown in FIG. 8, when a plurality of transfer robots 10 are detected from the image data, the robot position information related to these transfer robots 10 may be collectively transmitted to the control device 50. In this way, the position information management device 30 generates the position information of the transfer robot 10 and transmits the generated position information to the control device 50.
  • the article existence / non-existence information generation unit 303 is a means for generating the article existence / non-existence information indicating the state of the area where the article 60 is carried in or out (the article arrangement area described later).
  • FIG. 9 is a diagram showing an example of the field configuration of the transport system according to the first embodiment.
  • the field includes an “article placement area” which is a transport source and a transport destination of the article 60.
  • the article placement area may be an area where the article 60 is brought in from the outside or a warehouse where the brought-in article 60 is temporarily stored.
  • the article presence / absence information generation unit 303 generates, for example, article presence / absence information indicating the presence / absence of an article in the article placement area. For example, in the example of FIG. 9, information indicating whether or not an article is placed in each article placement area is generated.
  • the article existence / absence information generation unit 303 may, for example, an article in a small area constituting each article arrangement area. You may generate article presence / absence information indicating the presence / absence of.
  • the inside of the article placement area may be divided according to the shipper or the purpose of use. In the example of FIG. 9, each article placement area is divided into four small areas. In other words, the article presence / absence information generation unit 303 may manage a plurality of small areas as an article arrangement area (as a group).
  • the storage unit 304 stores article placement area configuration information for managing the configuration of each article placement area.
  • FIG. 10 is a diagram showing an example of article placement area configuration information.
  • the article placement area configuration information includes identification information of a small area included in the article placement area, coordinate information of the small area (absolute position of a predetermined small area), and the small area. The presence or absence of the article 60 in the above is managed in association with each other.
  • the camera device 20 is arranged so that the entire article placement area can be grasped.
  • the article existence / non-existence information generation unit 303 identifies the article arrangement area photographed by the camera device 20 from the identifier of the camera device 20 transmitted from the camera device 20 together with the image data.
  • the article presence / absence information generation unit 303 specifies the absolute position of the object reflected in the image data in the same manner as the method of calculating the absolute position of the transfer robot 10.
  • the article presence / absence information generation unit 303 refers to the article arrangement area configuration information as shown in FIG. 10, and specifies which small area of the article arrangement area the absolute position of the specified object is included in.
  • the article existence / non-existence information generation unit 303 describes "there is an article" in the corresponding arrangement state field.
  • the article presence / absence information generation unit 303 associates the identifier of the small area where the article 60 is placed with the fact that the article 60 is placed, and transmits the article presence / absence information to the control device 50.
  • the article existence / non-existence information generation unit 303 transmits the article existence / non-existence information as shown in FIG. 11 to the control device 50.
  • the article presence / absence information generation unit 303 analyzes the image data acquired from the camera device 20, and when the article 60 placed in the small area is moved and found to be nonexistent, the article placement area Update the corresponding placement status field in the configuration information to "No article". For example, the article presence / absence information generation unit 303 compares the image data of the small area with the initial image data, and if there is no difference between the two, determines that the article 60 does not exist in the small area. The article presence / absence information generation unit 303 transmits the article presence / absence information as shown in FIG. 12 to the control device 50 even when the article 60 placed in the small area is removed.
  • FIG. 13 is a diagram showing an example of a processing configuration (processing module) of the terminal 40 according to the first embodiment.
  • the terminal 40 includes a communication control unit 401, a transfer plan information generation unit 402, a display unit 403, and a storage unit 404.
  • the communication control unit 401 is a means for controlling communication with another device (control device 50), similarly to the communication control unit 201 of the transfer robot 10.
  • the transport plan information generation unit 402 is a means for generating the above-mentioned goods transport plan information.
  • the transport plan information generation unit 402 identifies the article 60 to be transported by the worker, and generates information on the GUI for inputting the transport source and transport destination of the article 60.
  • the transport plan information generation unit 402 delivers the generated GUI information to the display unit 403.
  • the display unit 403 displays the GUI information on a liquid crystal display or the like.
  • the transport plan information generation unit 402 generates, for example, a GUI for inputting (designating) the transport source and transport destination of the article 60 in the field configuration as shown in FIG. 9, and provides the GUI to the operator.
  • the transport plan information generation unit 402 transmits the information input by the operator according to the GUI to the control device 50.
  • the transport plan information generation unit 402 includes information for specifying the article 60 to be transported (for example, article name, serial number, etc.), a place where the article 60 is placed (transport source), and a transport destination of the article 60. Are associated with each other and transmitted to the control device 50 as the article transportation plan information.
  • the transport plan information generation unit 402 generates a GUI as shown in FIG. According to FIG. 14, the operator can specify the small area where the article 60 is placed and the small area to which the article 60 is transported by pull-down input or character input.
  • the transport plan information generation unit 402 may specify an article placement area as the transport destination (see FIG. 15).
  • the article placement area includes a plurality of small areas. Therefore, the transport plan information generation unit 402 may specify the article placement area that is collectively managed (grouped) as the transport destination. In this way, the worker may specify the article placement area where the article 60 is placed, and specify the article placement area to which the article 60 is delivered.
  • the article A is placed in the small area A1 included in the article placement area A, and the article A is transported to any one of the four small areas of the article placement area C.
  • a transport destination or the like may be designated by a plurality of small areas.
  • the article A is carried out from the small area A1 of the article placement area A, and is transported to either of the small areas C1 or C2 of the four small areas C1 to C4 of the article placement area C.
  • a plurality of small areas are designated as transport destinations, but a plurality of article placement areas may be designated as transport destinations.
  • a plurality of article placement areas may be designated as transport destinations, such as “article placement area A or B”.
  • the transport destination or the like may be specified by the relative position in the article placement area.
  • the transport destinations For example, as shown in FIG. 17, when “upper side of article placement area C" is designated, areas C1 and C2 located on the north side (upper side of the drawing) in the field shown in FIG. 9 are designated as transport destinations. It means that.
  • the transport destination may be designated according to field-specific conditions such as "seaside area of article placement area C" or "expressway side of article placement area C".
  • the relationship between the direction indicated by the custom-made condition and the small area in the article arrangement area may be stored in the storage unit 404 in advance.
  • the transport plan information generation unit 402 may generate a GUI capable of inputting incidental information regarding the transport of the article 60 in addition to the information regarding the article 60 to be transported, the transport source, and the transport destination.
  • a form of article transportation by the transfer robot pair may be selected.
  • Examples of the form of goods transportation include "normal operation”, “one-way operation”, and "loop operation”.
  • the normal operation is a form in which the transport robot pair transports the article 60 from the transport source specified by the article transport plan information to the transport destination.
  • the transfer robot pair repeats the above transfer until the operator corrects the article transfer plan information. That is, when the transfer of the article 60 to the transfer destination is completed, the transfer robot pair returns to the designated transfer source and conveys the article 60 to the transfer destination again. In this way, during normal operation, the transfer robot pair transports the article 60 in one direction (one direction) from the transport source to the transport destination.
  • the one-way operation is a form in which the transport robot pair transports the article 60 from the transport source specified by the article transport plan information to the transport destination only once.
  • the transfer robot 10 returns to the standby area or the like when the transfer of the article 60 is completed. Therefore, at the time of one-way operation, the worker needs to input information such as a transport source and a transport destination each time.
  • the loop operation is a form in which the transport robot pair moves back and forth between the transport source and the transport destination specified by the article transport plan information to transport the article 60.
  • the transport robot pair transports the article 60 placed at the transport source to the transport destination, and similarly transports the article 60 placed at the transport destination to the transport source.
  • the loop operation not only the goods are transported from the transport source to the transport destination in only one direction, but also the goods are repeatedly transported between the transport source and the transport destination in both directions.
  • the transfer robot pair When the transport form of the goods is specified, it is not necessary to specify the goods to be transported. That is, when the transfer robot pair reciprocates between two points as in normal operation or loop operation, the transfer robot pair transports an arbitrary article 60 placed at a designated place to a designated destination. You may.
  • the control device 50 may select the transport robot to be used for the transport according to the goods 60 of the transport source. For example, the control device 50 may select a transfer robot pair according to conditions such as the amount, size, and priority of the articles 60 placed at the transfer source. For example, when the amount of the goods 60 of the transport source is large, the control device 50 may select a plurality of transport robot pairs. Further, the control device 50 may select, for example, three or more transfer robots 10 if the article 60 placed at the transfer source is large, or may use a specially-designed transfer robot 10 for transporting a large article. You may choose.
  • control device 50 when the control device 50 has a high priority of the article 60 placed at the transport source (for example, an article that wants to be transported immediately, an article that tends to lose its freshness, an article that does not want to give a temperature change, an article that is close to delivery, etc.) May select a transport robot pair to transport the article in preference to other articles.
  • the control device 50 may select a transfer robot pair by simultaneously examining a plurality of conditions relating to the above-mentioned articles. For example, when a high-priority, large-sized article is placed at a transport source and a specially-designed transport robot 10 for transporting a large article cannot be used during transport of another article, the small transport robot 10 May be selected in plurality.
  • control device 50 selects the transfer robot 10 according to the conditions of the goods placed at the transfer source
  • the present invention is not limited to this.
  • the control device 50 performs the selection of the transfer robot pair described above
  • the operator may input the selection based on the above conditions.
  • the transfer robot 10 in which the operator performs the form of article transportation may be designated by using the GUI (see FIG. 20).
  • the operator may specify the transport robot 10 that performs the form of transporting the article by inputting the name of the specific transport robot 10 and the conditions of special specifications necessary for transporting the article 60.
  • the optional information (transportation mode) specified by the article transportation plan information may define the operation related to the transfer robot pair as described above, or the article between points (transport source, transport destination). It may define the operation related to transportation. For example, it is assumed that the content such as transporting the article 60 from the article arrangement area A to the article arrangement area D in "normal operation" is input. In this case, the control device 50 conveys the first article 60 placed in the article arrangement area A to the article arrangement area D in a pair consisting of the transfer robots 10-1 and 10-2. After that, the control device 50 conveys the second article 60 to the article arrangement area A in a pair consisting of the transfer robots 10-3 and 10-4 to the article arrangement area D.
  • the transport mode specified by the article transport plan information may define the operation (operation) of a specific transport robot pair, or may define the article transport mode for the entire system.
  • the transport plan information generation unit 402 transmits the generated article transport plan information to the control device 50.
  • the storage unit 404 of the terminal 40 manages the name of the transport destination of the article 60 in association with the position information, and the terminal 40 specifies the position information of the transport destination based on the input name of the transport destination. , The specified position information may be transmitted to the control device 50.
  • the storage unit 404 stores information as shown in FIG. 10, and the transportation plan information generation unit 402 refers to the information and the name of the transportation destination (for example, small area A1 or the like) input by the operator. ) May derive the position information (coordinates of a small area).
  • the transport plan information generation unit 402 may transmit the article transport plan information including the derived position information to the control device 50.
  • the terminal 40 transmits the first position information (transportation source information) and the second position information (transportation destination information) to the control device 50.
  • the control device 50 controls the transfer robot 10 so that the article 60 existing at the location (transport source) corresponding to the first position information is transported to the location (transport destination) corresponding to the second position information. ..
  • FIG. 21 is a diagram showing an example of a processing configuration (processing module) of the control device 50 according to the first embodiment.
  • the control device 50 includes a communication control unit 501, a field information management unit 502, a robot selection unit 503, a route calculation unit 504, a robot control unit 505, and a storage unit 506. It is composed.
  • the communication control unit 501 controls communication with other devices in the same manner as the communication control unit 301 of the position information management device 30.
  • the communication control unit 501 acquires the robot position information and the article existence / non-existence information from the position information management device 30, and when the article transportation plan information is acquired from the terminal 40, stores these information in the storage unit 506.
  • the field information management unit 502 is a means for managing field map information, link information, and the like.
  • the storage unit 506 stores field configuration information indicating the field configuration.
  • the start point, end point, branch point, and the like of the passage through which the transfer robot 10 can pass are regarded as nodes.
  • the field configuration information defines the absolute coordinates of the node.
  • the field configuration is as shown in FIG.
  • the absolute coordinates of the node N1, the node N2, etc. are defined by the field configuration information (see FIG. 22).
  • the storage unit 506 stores link information that stores the connection relationship of the nodes and the distance between the nodes that form the link in association with each other. For example, in the example of FIG. 22, link information as shown in FIG. 23 is stored. Since the field configuration is predetermined, the distance between the nodes constituting each link can also be calculated in advance. The distance between the nodes is calculated before operating the system and written in the link information.
  • the storage unit 506 stores article placement area configuration information for managing the status of the article placement area. Specifically, the same information as the article arrangement area configuration information described with reference to FIG. 10 is also stored in the storage unit 506 of the control device 50.
  • the field information management unit 502 updates the article placement area configuration information every time the article existence / non-existence information is acquired from the position information management device 30. Specifically, the field information management unit 502 updates the arrangement state field corresponding to the small area described in the article presence / absence information based on the article presence / absence information. Therefore, the control device 50 can grasp the current state of the article placement area (presence or absence of the article 60 in each small area) by referring to the article placement area configuration information.
  • the field information management unit 502 updates the current position field of the robot management information, which will be described later, based on the absolute coordinates of the transfer robot 10 read from the robot position information.
  • the robot selection unit 503 is a means for selecting the transfer robot 10 that conveys the article 60. Specifically, when the robot selection unit 503 acquires the article transfer plan information from the terminal 40, the robot selection unit 503 selects the transfer robot 10 for transporting the article 60 described in the information. The robot selection unit 503 selects two transfer robots 10 from a plurality of transfer robots 10 waiting in the standby area.
  • the robot selection unit 503 may select two transfer robots 10 based on any criteria. For example, the robot selection unit 503 may select the transfer robot 10 closest to the transfer source described in the transfer plan information, or may select the transfer robot 10 in ascending order of operating time. Alternatively, if the remaining battery level can be obtained from the transfer robot 10, the robot selection unit 503 may select the robots having the highest remaining battery level in order. Alternatively, the robot selection unit 503 may select a transfer robot 10 having special specifications according to the article 60. For example, when the article 60 is extremely heavy, the transport robot 10 for transporting heavy objects may be selected, and when the article 60 is lightweight, the transport robot 10 for transporting lightweight objects may be selected.
  • the robot selection unit 503 notifies the route calculation unit 504 and the robot control unit 505 of the selected transfer robot 10 (transfer robot pair). Further, the robot selection unit 503 reflects the information about the selected transfer robot 10 in the robot management information. The details of the robot management information will be described later.
  • the route calculation unit 504 is a means for calculating the route for the transport robot pair to transport the article 60 from the transport source to the transport destination based on the article transport plan information and the article arrangement area configuration information generated by the terminal 40.
  • the route calculation unit 504 is placed at the transport source if there is a space for transporting the article 60 (if the transport destination is not filled) at the designated transport destination (small area specified by the article transport plan information, etc.).
  • the route for transporting the article 60 to the vacant transport destination is calculated. For example, as shown in FIG. 14, when the transport source and the transport destination of the article 60 are specified in a small area, the route calculation unit 504 reads the coordinates of the small area from the article arrangement area configuration information and transports the article 60. Calculate the route from to the destination. In the example of FIG. 14, the transport route from the area A1 to the area C1 is calculated.
  • the route calculation unit 504 may calculate the route for transporting the article 60 based on the situation of the transport destination. For example, as shown in FIG. 15, when the transport destination of the article 60 is designated in the article placement area, the route calculation unit 504 selects one from the small areas included in the article placement area designated as the transport destination. Select and set as the destination. For example, the route calculation unit 504 refers to the article placement area configuration information and selects a small area in which the article 60 is not placed among the small areas included in the designated article placement area. The route calculation unit 504 sets the selected small area as the transport destination. Alternatively, if the article 60 is not placed in all of the small areas included in the designated article placement area, the route calculation unit 504 may select a small area close to the entrance / exit of the article placement area.
  • the route calculation unit 504 selects the small area in the designated small areas where the article 60 is not placed as the transport destination. Set to.
  • the route calculation unit 504 identifies the designated small area from the coordinates of the small area. Then, the specified small area may be set as the transport destination. For example, in the example of FIG. 17, of the small areas C1 and C2 included in the article arrangement area C shown in FIG. 9, the small area in which the article 60 is not placed is selected as the transport destination.
  • the route calculation unit 504 considers the information. To determine the destination. Specifically, even if the article 60 is placed in a small area designated as a transport destination, if the article 60 is not placed in another small area belonging to the same article placement area, the route calculation unit 504 sets the other small area as the transport destination.
  • the route calculation unit 504 determines the transport source and the transport destination of the article 60 based on the article transport plan information and the article placement area management information, and calculates the route from the transport source to the transport destination. For example, the route calculation unit 504 confirms the status of the transport destination (goal point) (presence or absence of the article 60), and if the article 60 is placed at the transport destination, gives up the transport to the transport destination. Alternatively, when transport to another area is permitted, the route calculation unit 504 may determine whether or not there is an area that can be transported as an alternative, and may transport the article 60 to the alternative area.
  • the route calculation unit 504 confirms the state (situation) of the transport destination specified in the article transport plan information after the elapse of a predetermined time, and confirms that no article is placed at the transport destination (transport).
  • the destination of the article 60 may be determined (after confirming that there is a vacancy first).
  • the determined transport source and transport destination of the article 60 are reflected in the robot management information described later.
  • the route calculation unit 504 may calculate the degree of congestion of the destination of the article 60 and determine the destination of the article 60 according to the calculated degree of congestion. For example, the position information management device 30 notifies the control device 50 of the size of the article 60 placed in the small area. The control device 50 calculates the degree of congestion (ratio of the size of the article 60 to the area of the small area) of the small area to be transported based on the size of the notified article 60. If the degree of congestion is high, it is determined that it is difficult to place the article 60 in the small area, and the route calculation unit 504 attempts to transport the article 60 to another small area.
  • the route calculation unit 504 determines a small area with a low degree of congestion as the transportation destination of the article 60.
  • the number of articles 60 that can be placed in one small area is not limited to one. If the degree of congestion is lower than a predetermined threshold value, the route calculation unit 504 may determine that the article 60 can be transported to the small area and select it as the transport destination.
  • the route calculation unit 504 calculates the route for transporting the article 60 from the transport source to the transport destination by using a route search algorithm such as the Dijkstra method or the Bellman-Ford method. For example, when transported from area A1 to area C1, a route via nodes N1, N2, N4, N5, and N8 is calculated.
  • a route search algorithm such as the Dijkstra method or the Bellman-Ford method. For example, when transported from area A1 to area C1, a route via nodes N1, N2, N4, N5, and N8 is calculated.
  • the route calculation unit 504 refers to the link information when calculating the route.
  • the route calculation unit 504 treats the distance between the nodes as the cost of the link and calculates the transport route, for example.
  • the route calculation unit 504 manages the calculated route in association with the transfer robot 10 that uses the route. Specifically, the route calculation unit 504 updates the robot management information stored in the storage unit 506.
  • FIG. 24 is a diagram showing an example of robot management information.
  • the identifier of the transfer robot 10 the state of each robot (during transfer, waiting), the information of the transfer robot 10 to be paired, the current position, and the information about the route used by the transfer robot 10
  • the transport source and transport destination of the article 60 are managed in association with each other.
  • any ID such as the MAC (Media Access Control) address and the name (transfer robot No. 1 and No. 2) assigned to each transfer robot 10 can be used.
  • the state field is updated by the robot control unit 505.
  • the fields related to the paired robots are updated by the robot selection unit 503.
  • the current position field is updated by the field information management unit 502.
  • the transport route field, transport source field, and transport destination field are updated by the route calculation unit 504.
  • the robot control unit 505 is a means for controlling the transfer robot 10.
  • the robot control unit 505 provides control information for transporting the article 60 by the transport robot pair based on the position information of the transport robot 10 and the position information of another transport robot 10 paired with the transfer robot 10. Send to 10. That is, the robot control unit 505 controls the transfer robot 10 by transmitting a control command (control information) to the transfer robot 10.
  • control command control information
  • all the control commands may be transmitted at once so that the transfer robot pair can move from the transfer source to the transfer destination, or the transfer robot pair may send the control command.
  • the control commands may be transmitted in order according to the position and the like.
  • the robot control unit 505 needs information on the orientation of the transfer robot 10 when controlling the transfer robot 10.
  • a gyro sensor or the like is attached to the transfer robot 10, and the robot control unit 505 may acquire information regarding the orientation from the transfer robot 10.
  • the orientation when arranging the transfer robot 10 in the standby area may be determined in advance, and the orientation of the transfer robot 10 may be estimated based on a control command transmitted from the robot control unit 505 to the transfer robot 10.
  • the robot control unit 505 When the robot control unit 505 receives the notification of robot selection from the robot selection unit 503, the robot control unit 505 controls the selected transfer robot 10 to move to the transfer source described in the robot management information. Since the control related to the initial movement can be the same as the control when the transfer robot 10 moves from the transfer source to the transfer destination, the details thereof will be omitted.
  • the robot control unit 505 confirms whether or not the article 60 is placed at the transfer source. Any method can be used for the confirmation. For example, when the worker places the article 60 at the transport source, the above confirmation may be made by the worker pressing a button connected to the control device 50. Alternatively, a sensor (infrared sensor, camera, weight sensor, etc.) may be installed in the area serving as the transport source, and the article 60 may be confirmed using the sensor. That is, the robot control unit 505 may recognize that the article 60 has been installed at the transport source based on the output of the sensor.
  • a sensor infrared sensor, camera, weight sensor, etc.
  • the robot control unit 505 may confirm whether or not the article 60 placed at the transport source is the article 60 input by the article transport plan information. For example, consider a case where a camera is installed near the transport source and the article 60 is provided with a marker (AR marker or the like) for identifying the article 60. In this case, the robot control unit 505 refers to the information associated with the marker and the article 60, and confirms that the article 60 placed at the transport source matches the article 60 input in the article transport plan information. May be good.
  • the robot control unit 505 may determine that the article 60 placed by the operator at the transport source is the article 60 described in the article transport plan information, and may omit the above confirmation. That is, the robot control unit 505 may trust the operator and omit the confirmation of the article 60.
  • the robot control unit 505 controls the two transfer robots 10 to sandwich the article 60 by transmitting a control command to the transfer robot 10. Specifically, the robot control unit 505 moves these robots so that the two transfer robots 10 face each other over the article 60, and moves the robots so that the distance between the robots becomes narrow.
  • the control device 50 When each of the two transfer robots 10 succeeds in pinching the article 60, the control device 50 is notified of the completion of pinching the article.
  • the robot control unit 505 receives the above notification from each of the two transfer robots 10, the robot control unit 505 starts the transfer by the two transfer robots 10. Specifically, the robot control unit 505 generates a control command so that the transfer robot pair sandwiching the article 60 moves on the path calculated as the transfer path of the transfer robot pair, and causes each transfer robot 10 to move. Send.
  • the robot control unit 505 treats one of the two transfer robots 10 as a "leader transfer robot” and the other one as a “successor transfer robot”. Then, the robot control unit 505 acquires the current position of the leading transfer robot 10 among the transfer robots 10 described in the robot management information. Next, the robot control unit 505 determines the position where the leading transfer robot 10 reaches.
  • the robot control unit 505 takes time and speed to rotate the motor of each transfer robot 10 according to the distance between the current position of the transfer robot 10 as a leader and the calculated arrival position. Calculate. At that time, the robot control unit 505 generates a control command so that the motor rotation speeds of the transfer robots 10 are the same.
  • the robot control unit 505 When rotating the transport robot pair, the robot control unit 505 uses a model of circular motion that draws a curve due to the speed difference between the left and right wheels. Specifically, the robot control unit 505 calculates the input speed to the left and right wheels for reaching the target position from the current position in a circular orbit based on the target position and the position and orientation of the robot. The robot control unit 505 uses the calculated input speed as it is for the leading role transfer robot 10, and generates a control command to be transmitted to the leading role transfer robot 10 based on the calculated input speed. ..
  • the robot control unit 505 determines the speed correction value in the front-rear direction based on the inter-robot distance (distance between the plates sandwiching the article 60 by each transport robot) and the left and right wheels based on the rotation angle with respect to the transport robot 10 as the succeeding robot. Calculate the offset correction value.
  • the robot control unit 505 generates a control command to be transmitted to the succeeding transfer robot 10 based on these correction values (speed correction value, offset correction value).
  • the robot control unit 505 controls the transfer robot pair so as to place the article 60 at the transfer destination. Specifically, the robot control unit 505 completes the transfer of the article 60 by controlling the distance between the two transfer robots 10 to be long.
  • the robot control unit 505 may control the transport robot 10 according to the incidental information.
  • the robot control unit 505 controls the transfer robot pair to repeat the movement of the transfer source and the transfer destination. Specifically, when the transfer robot pair finishes the transfer of the article 60, the robot control unit 505 moves the transfer robot pair to the transfer source and controls the transfer source to sandwich the article 60 again. After that, the robot control unit 505 controls the transfer robot pair sandwiching the article 60 so as to move to the transfer destination. In the case of normal operation, the above control is repeated.
  • the robot control unit 505 moves the transfer robot pair to a predetermined standby area when the transfer robot pair completes the transfer of the article 60, and transfers the next article. Prepare for.
  • the robot control unit 505 controls the transport robot pair to transport the article 60 placed at the transport source to the transport destination.
  • the robot control unit 505 controls the transport robot pair to transport the article 60 placed at the transport destination to the transport source.
  • the robot control unit 505 transports the goods 60 placed at the transport source to the transport destination again. In the case of loop operation, the above control is repeated.
  • the robot control unit 505 is not limited to one set of transfer robot pairs, and the designated article transfer The transfer robot 10 included in the system is controlled so that the operation is realized.
  • the robot control unit 505 is different from the transfer robot pair when a "loop" is specified and a set of transfer robot pairs reciprocates between the transfer source and the transfer destination a predetermined number of times.
  • a transport robot pair is selected and controlled so as to reciprocate between the above two points.
  • the robot control unit 505 may replace the transfer robot pair that reciprocates between the transfer source and the transfer destination based on the remaining energy of each transfer robot 10.
  • FIG. 25 is a sequence diagram showing an example of the operation of the transport system according to the first embodiment.
  • the camera device 20 transmits the captured image data to the position information management device 30 (step S01).
  • the position information management device 30 analyzes the acquired image data and attempts to detect the transfer robot 10. When the transfer robot 10 is detected from the field, the position information management device 30 generates the robot position information (step S02). The generated robot position information is transmitted to the control device 50.
  • the position information management device 30 analyzes the acquired image data and confirms the status of the article placement area.
  • the position information management device 30 determines the presence / absence of the article 60 in the small area included in the article arrangement area, and generates the article existence / absence information based on the result (step S03).
  • the generated article presence / absence information is transmitted to the control device 50.
  • the camera device 20 and the position information management device 30 repeat the operations of steps S01 to S03 in a predetermined cycle.
  • the control device 50 can grasp the situation in the field in real time.
  • control device 50 acquires the robot position information
  • the control device 50 updates the robot management information (step S04).
  • control device 50 acquires the article presence / absence information
  • the control device 50 updates the article arrangement area configuration information (step S05).
  • the control device 50 inputs the article transportation plan information from the terminal 40 (step S06).
  • the control device 50 selects the transfer robot 10 that conveys the article 60 (step S07).
  • the control device 50 calculates the transfer route of the transfer robot pair based on the article transfer plan information, the article arrangement area configuration information, and the like (step S08).
  • the control device 50 generates a control command so that the transfer robot pair moves on the transfer path calculated above, and transmits the control command to the transfer robot pair (step S09).
  • Each of the transfer robots 10 receives the control command and executes the control command (steps S10 and S11). When the transfer robot 10 executes the control command, it transmits an acknowledgment (ACK).
  • ACK acknowledgment
  • control device 50 and the transfer robot pair transfer the article 60 to the transfer destination by repeating the above steps S09 to S11.
  • the terminal 40 provides a GUI for inputting information regarding the transport source and transport destination of the article 60.
  • the terminal 40 makes it possible to specify the transport destination or the like of the article 60 in a small area included in the article placement area, or specify the article placement area itself as the transport destination or the like.
  • the transport destination can be specified by the relative positional relationship such as the upper side and the right side of the article placement area.
  • the operator does not need to input the coordinates of the transport destination of the article 60, and can specify the transport destination of the article 60 by intuitive operation. That is, according to the first embodiment, there is provided a transport system that facilitates input of information regarding the movement of the article 60.
  • the two transport robots cooperate to transport the article 60, the labor of the operator for transshipping the article 60 is not required, and it is possible to cope with a wide variety of shapes of the article 60. Or something like that. That is, since the two transfer robots 10 form a pair and move while sandwiching the article 60, the article 60 can be moved regardless of the shape of the article 60 or the like. Further, even when the article 60 is mounted on the trolley, the pair of the transfer robots 10 can move the article 60 together with the trolley, so that the operator does not need to replace the article 60. .. Further, since the two transport robots cooperate to transport (transport) the article 60, it is not necessary to attach a traction device or the like to the article 60 or the trolley.
  • control device 50 can be implemented as a cloud server on a network (for example, a wireless communication network such as the Internet or LTE), and realizes coordinated control of the transfer robot 10 while giving a bird's-eye view of the entire field. Further, since the transfer robot 10 is centrally controlled by the control device 50, a sensor (expensive sensor) for monitoring the periphery of the transfer robot 10 is unnecessary, and the price of the transfer robot 10 can be reduced.
  • a sensor expensive sensor
  • FIG. 26 is a diagram showing an example of the hardware configuration of the control device 50.
  • the control device 50 can be configured by an information processing device (so-called computer), and includes the configuration illustrated in FIG. 26.
  • the control device 50 includes a processor 311, a memory 312, an input / output interface 313, a communication interface 314, and the like.
  • the components such as the processor 311 are connected by an internal bus or the like so that they can communicate with each other.
  • control device 50 may include hardware (not shown), or may not include an input / output interface 313 if necessary.
  • number of processors 311 and the like included in the control device 50 is not limited to the example of FIG. 26, and for example, a plurality of processors 311 may be included in the control device 50.
  • the processor 311 is a programmable device such as a CPU (Central Processing Unit), an MPU (Micro Processing Unit), and a DSP (Digital Signal Processor). Alternatively, the processor 311 may be a device such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). The processor 311 executes various programs including an operating system (OS; Operating System).
  • OS Operating System
  • the memory 312 is a RAM (RandomAccessMemory), a ROM (ReadOnlyMemory), an HDD (HardDiskDrive), an SSD (SolidStateDrive), or the like.
  • the memory 312 stores an OS program, an application program, and various data.
  • the input / output interface 313 is an interface of a display device or an input device (not shown).
  • the display device is, for example, a liquid crystal display or the like.
  • the input device is, for example, a device that accepts user operations such as a keyboard, a touch panel, and a mouse.
  • the communication interface 314 is a circuit, module, or the like that communicates with another device.
  • the communication interface 314 includes a NIC (Network Interface Card), a wireless communication circuit, and the like.
  • NIC Network Interface Card
  • the function of the control device 50 is realized by various processing modules.
  • the processing module is realized, for example, by the processor 311 executing a program stored in the memory 312.
  • the program can also be recorded on a computer-readable storage medium.
  • the storage medium can be a non-transient such as a semiconductor memory, a hard disk, a magnetic recording medium, or an optical recording medium. That is, the present invention can also be embodied as a computer program product.
  • the program can be downloaded via a network or updated using a storage medium in which the program is stored.
  • the processing module may be realized by a semiconductor chip.
  • the position information management device 30, the terminal 40, and the like can also be configured by an information processing device like the control device 50, and the basic hardware configuration thereof is not different from that of the control device 50, so the description thereof will be omitted.
  • the transfer robot pair by the two transfer robots 10 conveys the article 60
  • the transfer robot used may be one. That is, the article 60 may be conveyed using a conventional transfer robot (for example, a robot that puts the article 60 on the robot itself or a robot that robots with the article 60 by a traction device).
  • the control device 50 may control one transfer robot based on the article transfer plan information or the like acquired from the terminal 40, the article 60 can be conveyed by simpler control.
  • the number of transfer robots 10 to be controlled by the control device 50 may be 3 or more. By increasing the number of transfer robots 10, heavier articles 60 and the like can be conveyed using a smaller (cheaper) transfer robot 10.
  • the position information management device 30 and the control device 50 have been described as different devices, but the function of the position information management device 30 may be realized by the control device 50.
  • the location information management device 30 may be installed inside the field, and the control device 50 may be mounted on a server on the network. That is, the transport system disclosed in the present application may be realized as an edge cloud system.
  • a camera capable of detecting the height of the object for example, a depth camera
  • a normal camera may be used.
  • an infrared sensor or a distance sensor may be used in combination with a normal camera as a sensor for detecting the position of an object.
  • the code may include the identification information of the article 60, and the transfer robot 10 may read the information.
  • the transfer robot 10 may compare the read identification information with the identification information of the article 60 instructed to be conveyed by the control device 50, and decide whether or not to convey the article 60 according to the result. ..
  • the computer By installing a transport program in the storage unit of the computer, the computer can function as a control device. Further, by causing the computer to execute the transfer program, the transfer method can be executed by the computer.
  • the present invention is suitably applicable to the transportation of goods such as factories and distribution warehouses.
  • [Appendix 1] A transport robot (10, 101) that transports goods, A control device (50, 102) that controls the transfer robot (10, 101) and Terminals (40, 103) for inputting information regarding the transportation of the goods, and Including The control device (50, 102) identifies the transport destination of the article based on the information regarding the transport acquired from the terminal (40, 103). A transport system that controls the transport robots (10, 101) to transport the article to the specified transport destination.
  • the terminal (40, 103) transmits the first position information and the second position information to the control device (50, 102).
  • the control device (50, 102) is the transfer robot (10, 101) so that the article existing at the location corresponding to the first position information is conveyed to the location corresponding to the second position information. ) Is controlled by the transport system according to Appendix 1.
  • the control device (50, 102) calculates a transport route, which is a route for transporting the article to the specified transport destination.
  • the transfer system according to Appendix 1 or 2 which controls the transfer robot (10, 101) based on the calculated transfer path.
  • the control device (50, 102) calculates the degree of congestion of the destination of the goods, and determines the destination of the goods according to the calculated degree of congestion, any one of Supplementary notes 1 to 3.
  • the terminal (40, 103) includes a storage unit that manages the name of the transport destination of the article in association with the position information, and the terminal (40, 103) is based on the input name of the transport destination.
  • the transport system according to any one of Supplementary note 1 to 4, wherein the position information of the transfer destination is specified, and the specified position information is transmitted to the control device (50, 102).
  • the control device (50, 102) cannot convey the article to a place corresponding to the second position information, the article is conveyed to a place different from the place corresponding to the second position information.
  • the transfer system according to Appendix 2, which controls the transfer robots (10, 101) as described above.
  • [Appendix 7] A plurality of the transfer robots (10, 101) are included.
  • the control device (50, 102) controls the plurality of transfer robots (10, 101) so that the plurality of transfer robots (10, 101) cooperate to transport the article.
  • the transport system according to any one of.
  • Appendix 8 The transport system according to any one of Appendix 1 to 7, wherein the information regarding the transport includes the state of the transport destination.
  • Appendix 9 It is connected to a transfer robot (10, 101) that conveys an article and a terminal (40, 103) that inputs information related to the transfer of the article.
  • the transport destination of the article is specified, and the article is transported to the specified transport destination to the transport robot (10, 101).
  • the terminal (40, 103) transmits the first position information and the second position information to the control device (50, 102). 9. Addendum 9, which controls the transfer robot (10, 101) so that the article existing at a location corresponding to the first position information is transported to a location corresponding to the second position information.
  • a transport route which is a route for transporting the article to the specified transport destination, is calculated.
  • the control device (50, 102) according to Appendix 9 or 10, which controls the transfer robot (10, 101) based on the calculated transfer path.
  • the control device (50, 102) according to any one of Supplementary note 9 to 11, which calculates the degree of congestion of the destination of the goods and determines the destination of the goods according to the calculated degree of congestion. ..
  • the terminals (40, 103) include a storage unit that manages the name of the transport destination of the article in association with the position information, and specifies the position information of the transport destination based on the input name of the transport destination.
  • the specified position information is transmitted to the control device (50, 102), The control device (50, 102) according to any one of Appendix 9 to 12, which receives the specified position information from the terminal (40, 103).
  • Appendix 14 When the article cannot be transported to a place corresponding to the second position information, the transfer robot (10,) so that the article is transported to a place different from the place corresponding to the second position information. 101) The control device (50, 102) according to Appendix 10, which controls 101).
  • Appendix 15 A plurality of the transfer robots (10, 101) are included. The control device according to any one of Supplementary note 9 to 14, which controls the plurality of transfer robots (10, 101) so that the plurality of transfer robots (10, 101) cooperate to transport the article.
  • [Appendix 18] Further including a step of transmitting the first position information and the second position information to the control device (50, 102).
  • the step of performing the control controls the transfer robot (10, 101) so that the article existing at the location corresponding to the first position information is transported to the location corresponding to the second position information.
  • [Appendix 19] Further including a step of calculating a transport route which is a route for transporting the article to the specified transport destination.
  • the transport method according to Appendix 17 or 18, wherein the step of performing the control controls the transport robot (10, 101) based on the calculated transport path.
  • the terminals (40, 103) include a storage unit that manages the name of the transport destination of the goods and the position information in association with each other. Based on the input name of the transport destination, the step of specifying the position information of the transport destination and The transport method according to any one of Supplementary note 17 to 20, further comprising a step of transmitting the specified position information to the control device (50, 102).
  • a computer mounted on a control device (50, 102) connected to a transfer robot (10, 101) that conveys an article and a terminal (40, 103) that inputs information related to the transfer of the article.
  • a control device 50, 102
  • a transfer robot 10, 101
  • a terminal 40, 103
  • inputs information related to the transfer of the article Based on the information about the transportation acquired from the terminals (40, 103), the process of specifying the transportation destination of the goods and A process of controlling the transfer robots (10, 101) to transfer the article to the specified transfer destination, and A program that executes.
  • Robot control unit 10, 10-1 to 10-4, 101 Transfer robot 20, 20-1 to 20-3 Camera device 30 Position information management device 40, 103 Terminal 50, 102 Control device 60, 60-1, 60-2 Article 201, 301, 401, 501 Communication control unit 202 Actuator control unit 203 Pinching detection unit 302 Robot position information generation unit 303 Article presence / absence information generation unit 304, 404, 506 Storage unit 311 Processor 312 Memory 313 Input / output interface 314 Communication interface 402 Transport plan information Generation unit 403 Display unit 502 Field information management unit 503 Robot selection unit 504 Route calculation unit 505 Robot control unit

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
PCT/JP2020/031493 2019-08-26 2020-08-20 搬送システム、制御装置、搬送方法、及びプログラム Ceased WO2021039595A1 (ja)

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