WO2022168377A1 - 荷物搬送システム、並びに荷物搬送システムにおいて用いられる方法およびコンピュータプログラム - Google Patents
荷物搬送システム、並びに荷物搬送システムにおいて用いられる方法およびコンピュータプログラム Download PDFInfo
- Publication number
- WO2022168377A1 WO2022168377A1 PCT/JP2021/039387 JP2021039387W WO2022168377A1 WO 2022168377 A1 WO2022168377 A1 WO 2022168377A1 JP 2021039387 W JP2021039387 W JP 2021039387W WO 2022168377 A1 WO2022168377 A1 WO 2022168377A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- moving body
- sensor
- sensor data
- plan
- load
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 14
- 238000004590 computer program Methods 0.000 title claims description 10
- 238000012545 processing Methods 0.000 claims abstract description 47
- 230000009471 action Effects 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims description 119
- 238000005259 measurement Methods 0.000 claims description 21
- 238000004891 communication Methods 0.000 description 28
- 238000010586 diagram Methods 0.000 description 25
- 238000012937 correction Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 239000000470 constituent Substances 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 230000010354 integration Effects 0.000 description 4
- 239000004065 semiconductor Substances 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
-
- 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 disclosure relates to a package transport system and a method and computer program used in the package transport system.
- Patent Document 1 discloses a technique for accurately detecting the relative position of a pallet with respect to a forklift using a range sensor mounted on the forklift.
- the present disclosure provides a novel technique for smoothly carrying out cargo transport work without installing expensive measuring or control equipment on a working mobile body such as a forklift.
- a package transport system includes a first mobile body, a second mobile body that performs a task of transporting a package, and a processing device.
- the first moving body includes a first driving device that moves the first moving body, and a first sensor that outputs sensor data indicating a three-dimensional distribution of objects around the first moving body.
- the second moving body includes a second driving device that moves the second moving body, and a loading device that loads a load.
- the processing device creates a motion plan of the second moving body based on the sensor data, and outputs a control signal for operating the second driving device and/or the loading device according to the motion plan. send to body.
- the present disclosure may be embodied in a system, apparatus, method, integrated circuit, computer program, or recording medium such as a computer-readable recording disk. It may be implemented in any combination of computer program and recording medium.
- the computer-readable recording medium may include a non-volatile recording medium such as a CD-ROM (Compact Disc-Read Only Memory).
- a device may consist of one or more devices. When the device is composed of two or more devices, the two or more devices may be arranged in one device, or may be divided and arranged in two or more separate devices. As used herein and in the claims, a "device" can mean not only one device, but also a system of multiple devices.
- FIG. 1 is a diagram schematically showing the configuration of a package transport system according to an embodiment of the present disclosure.
- FIG. 2 is a block diagram showing a configuration example of the first moving body and the second moving body.
- FIG. 3A is a diagram showing an example of data related to a second moving body stored in a first storage device;
- FIG. 3B is a diagram illustrating an example of data related to a luggage rack stored in the first storage device;
- FIG. 4 is a diagram for explaining the operation of ranging by the first moving body.
- FIG. 5 is a diagram showing an example of coordinate transformation of sensor data.
- FIG. 6 is a diagram showing an example of a plurality of points forming groups.
- FIG. 7 is a plan view schematically showing how the luggage rack, pallet, and packages are illuminated with light from the sensor.
- FIG. 8 is a front view schematically showing how the luggage rack, pallet, and packages are illuminated with light from the sensor.
- FIG. 9 is a diagram showing an example of an action plan.
- FIG. 10 is a plan view showing an example of the positional relationship between the second moving body and the load before creation of the motion plan.
- FIG. 11 is a plan view showing an example of the positional relationship between the second moving body and the load after direction correction is performed.
- FIG. 12 is a sequence diagram showing an example of data transmission between the first mobile and the second mobile.
- FIG. 13 is a flow chart showing a more specific example of the operation of the first moving body.
- FIG. 14 is a flow chart showing an example of the loading operation of the second moving body.
- FIG. 15 is a schematic diagram of an embodiment in which the package transport system further comprises a central controller.
- FIG. 16 is a block diagram showing a configuration example of a package transport system having a central controller. 17 is a sequence diagram showing an example of data transmission between the first mobile unit, the second mobile unit, and the central controller in the system shown in FIG. 16.
- FIG. FIG. 18 is a diagram schematically showing an example of a system in which multiple mobile bodies sense packages and a second mobile body.
- Patent Document 1 discloses detecting the positions of two fork insertion holes in a pallet using a range sensor mounted on a forklift. Based on the detected positions of the two fork insertion holes, the relative position and orientation of the pallet with respect to the forklift are detected. However, in Patent Literature 1, no consideration is given to detecting the loading state of the luggage.
- forklifts are equipped with multiple sensors or multi-function sensors and high-performance control equipment in order to accurately detect the position of the pallet to be picked up and the placement state of the cargo to be picked up.
- all forklifts will be equipped with multiple or multi-function sensors and high-performance control and arithmetic units. In that case, problems such as an increase in the size of the forklift control device and an increase in cost arise.
- the above issues are not limited to forklifts, but are common to mobile objects that automatically transport packages while sensing the surrounding environment using sensors.
- the inventor of the present invention has found the above problems, studied a system for transporting packages more smoothly at a lower cost, and arrived at the configuration of the embodiment of the present disclosure described below.
- a parcel transport system includes a first mobile body, a second mobile body that performs a task of transporting parcels, and a processing device.
- the first moving body includes a first driving device that moves the first moving body, and a first sensor that outputs sensor data indicating a three-dimensional distribution of objects around the first moving body.
- the second moving body includes a second driving device that moves the second moving body, and a loading device that loads a load.
- the processing device creates a motion plan of the second moving body based on the sensor data, and outputs a control signal for operating the second driving device and/or the loading device according to the motion plan. send to body.
- the first mobile body that senses the surrounding environment and the motion plan of the second mobile body are created, and the second mobile body operates according to the motion plan.
- a processing device that causes the The action plan prescribes a series of actions such as advancing, retreating, turning, and/or picking up by the loading device of the second moving body, for example.
- the control signal may be a signal indicating the operation plan itself, or may be a signal of one or more control commands generated according to the operation plan.
- the second vehicle may comprise control circuitry for controlling operation of at least one of the second drive device and the loading device according to the received control signal.
- the processing device may be provided in the first moving body, may be provided in the second moving body, or may be a device independent of the first moving body and the second moving body.
- the second mobile operates according to the control signal transmitted from the first mobile.
- the first moving body may be referred to as the "parent device” and the second moving body may be referred to as the "child device.”
- the second moving body may be referred to as a "work moving body”.
- the first driving device may move the first moving body according to the relative position between the load and the second moving body indicated by the sensor data. For example, if the package is located behind the second moving body or the luggage rack and the position information of the package cannot be obtained sufficiently, even if the first moving body moves to a position where it is easier to obtain the position information of the package. good.
- the first sensor may acquire the sensor data again after the first moving body moves, and transmit the sensor data to the processing device.
- the processing device may update the action plan based on the reacquired sensor data.
- the processing device may create the operation plan based on the sensor data output by the first sensor multiple times. For example, sensor data acquired a plurality of times by changing the position and/or posture of the first moving body may be integrated, and an operation plan may be created or updated based on the integrated sensor data. By such an operation, the positional relationship between the second moving body and the load can be grasped more accurately, and a more appropriate operation plan can be created.
- the first moving body may further include an actuator that changes the height and/or angle of the first sensor according to the state of the cargo indicated by the sensor data.
- the system may comprise a plurality of work mobiles each having the same configuration as the second mobile.
- the processing device may determine a motion plan for each work vehicle based on the sensor data, and transmit a control signal based on the motion plan to each work vehicle.
- the system may further comprise a third moving body comprising a second sensor that outputs sensor data indicating the three-dimensional distribution of surrounding objects.
- the processing device may create or update the action plan based on the sensor data acquired by the first sensor and the sensor data acquired by the second sensor. According to such a configuration, the processing device can acquire more position information about the surrounding objects based on the sensor data acquired by each of the first moving body and the second moving body, thereby performing a more appropriate operation. Can make a plan.
- the third moving body may have the same configuration as the first moving body, or may have a different configuration from the first moving body.
- the system may have more than two mobiles acquiring sensor data.
- the second moving body may be, for example, a forklift equipped with forks for transporting the load placed on the pallet.
- the loading device may include a lifting device that lifts and lowers the forks.
- the motion plan may define the movement of the second moving body and the lifting and lowering motion of the fork. According to such a configuration, unloading work using a forklift can be performed smoothly.
- the action plan may be developed to stop forward movement of the forklift before the forklift hits the load. According to such a configuration, it is possible to avoid interference between the forklift and the load, thereby avoiding damage to the load or the forklift due to interference.
- a method includes a first moving body including a sensor that outputs sensor data indicating a three-dimensional distribution of surrounding objects, and a second moving body that performs work to convey a load. Executed by a computer in the transport system. The method includes acquiring the sensor data output from the sensor, creating a motion plan of the second moving body based on the sensor data, and operating the second moving body according to the motion plan. and sending a control signal to the second mobile to cause the second mobile.
- a computer program includes a first mobile body that includes a sensor that outputs sensor data indicating a three-dimensional distribution of surrounding objects, and a second mobile body that performs an operation of transporting a load. Executed by a computer in the package transport system. The computer program causes the computer to acquire the sensor data output from the sensor, create an operation plan for the second moving object based on the sensor data, and perform the first operation according to the operation plan. and sending a control signal to the second mobile to operate the second mobile.
- all or part of a circuit, unit, device, member or section, or all or part of a functional block in a block diagram is, for example, a semiconductor device, a semiconductor integrated circuit (IC), or an LSI (large scale integration). ) may be performed by one or more electronic circuits.
- An LSI or IC may be integrated on one chip, or may be configured by combining a plurality of chips.
- functional blocks other than memory elements may be integrated into one chip.
- LSIs or ICs may be called system LSIs, VLSIs (very large scale integration), or ULSIs (ultra large scale integration) depending on the degree of integration.
- a Field Programmable Gate Array (FPGA), which is programmed after the LSI is manufactured, or a reconfigurable logic device that can reconfigure the connection relationships inside the LSI or set up the circuit partitions inside the LSI can also be used for the same purpose.
- FPGA Field Programmable Gate Array
- circuits, units, devices, members or parts can be executed by software processing.
- the software is recorded on one or more non-transitory storage media, such as ROMs, optical discs, hard disk drives, etc., and when the software is executed by a processor, the functions specified in the software are is performed by the processor and peripherals.
- a system or apparatus may comprise one or more non-transitory storage media on which software is recorded, a processing unit, and required hardware devices such as interfaces.
- FIG. 1 is a diagram schematically showing the configuration of the parcel transport system according to this embodiment.
- This parcel transport system includes a plurality of moving bodies.
- a plurality of moving bodies includes a first moving body 100 and a second moving body 200 .
- the second moving body 200 in this embodiment is an automated guided forklift (AGF), and carries out the work of transporting the pallet 310 placed on the luggage rack 300 and the load 320 thereon.
- the first moving body 100 includes a sensor 110 that senses the surrounding environment and outputs sensor data indicating the three-dimensional distribution of surrounding objects.
- the second moving body 200 includes a loading device 210 for loading the cargo 320 .
- the loading device 210 in this embodiment includes a fork 212 and an elevating device for elevating the fork 212 .
- the first moving body 100 incorporates a motion planning unit having the functions of the processing device described above.
- the motion planning unit identifies the positions of surrounding objects such as the second moving body 200 and the load 320 based on the sensor data output from the sensor 110, and determines the motion for the second moving body 200 to convey the load 320. create a plan;
- the motion planning unit transmits data indicating the created motion plan to the second mobile body 200 .
- the data indicating this operation plan functions as a control signal that defines the operation of the second moving body 200 .
- the second moving body 200 moves to the vicinity of the load 320 and controls the operation of the loading device 210 in accordance with the received operation plan data.
- the second moving body 200 transfers the cargo from a loading place such as the luggage rack 300 to the loading device 210 of the second moving body 200 and conveys it to a predetermined place.
- the motion planning unit may be provided in a device different from the first moving body 100 .
- the system may include a plurality of first moving bodies 100 . Also, the system may include a plurality of second moving bodies 200 .
- One first moving body 100 may create a motion plan for a plurality of second moving bodies 200 and transmit a control signal indicating the motion plan to each second moving body 200 .
- FIG. 2 is a block diagram showing a configuration example of the first moving body 100 and the second moving body 200.
- the first moving body 100 includes a sensor 110 , a first driving device 120 , an actuator 130 , a first storage device 140 , a processing device 150 and a first communication circuit 160 .
- the processing device 150 includes an arithmetic circuit 152 , a motion planning unit 154 and a self-localization device 156 .
- the second moving body 200 includes a loading device 210 , a second driving device 220 , a second storage device 230 , a second communication circuit 240 and a controller 250 .
- the sensor 110 may be a range sensor such as a LiDAR (Light Detection and Ranging) sensor.
- the sensor 110 includes, for example, a light source that emits laser light, a photodetector, and a processor.
- the sensor 110 emits laser light from a light source, and detects laser light reflected from an object within a measurement target area (hereinafter also referred to as a “range measurement”) with a photodetector.
- the processor measures the distance and angle from the sensor 110 to each reflection point of the object based on the information on the emission direction of the laser light and the signal output from the photodetector.
- the light source may emit diffused light that spreads radially, as shown in FIG.
- the sensor 110 may repeat the scanning operation, for example, at a frequency of about 1 to 20 times per second. For example, a thousand to several hundred thousand pulses of laser light may be emitted while changing the emission direction during one scanning operation, and the distance to each reflection point may be measured.
- the sensor 110 outputs data representing the position of each reflection point, for example, in a polar coordinate system with the position of the light emission point of the sensor 110 as the origin.
- the sensor 110 outputs position data of each reflection point measured during a predetermined measurement period (for example, several milliseconds to several seconds) as sensor data.
- Position data for each reflection point may include, for example, data for distance r from sensor 110, polar angle ⁇ , and azimuth angle ⁇ .
- the first driving device 120 is a device that drives the first moving body 100 .
- the first drive device 120 includes a plurality of electric motors and control circuits for controlling the electric motors, for example, to achieve movements such as forward, reverse, and rotation.
- the actuator 130 is a device that changes the height and/or angle of the sensor 110.
- Actuator 130 may include one or more electric motors.
- Actuator 130 changes the height and/or angle of sensor 110 according to the state of the cargo indicated by the sensor data output from sensor 110 .
- the sensor 110 is not fixed at a fixed height, and the position of the laser light emission point can be changed in the height direction, or the laser light emission direction can be changed vertically or horizontally. . Thereby, blind spots of the sensor 110 can be reduced. For example, by irradiating a laser beam from a higher position, it is possible to acquire more position information of other objects hidden behind the object.
- By changing the height of the sensor 110 it is possible to specify the position of the object in more detail by combining information acquired from reflected light of laser light emitted from a plurality of heights, for example.
- the first moving body 100 can specify the position of the object in more detail by performing measurement not only at one place but also at a plurality of positions and combining the obtained information. In that case, the first moving body 100 stores the direction and distance in which it has moved, and reflects them in each measurement data.
- the first storage device 140 includes any storage medium such as semiconductor memory, magnetic storage device, or optical storage device.
- the first storage device 140 stores computer programs executed by the processing device 150, data used by the processing device 150 in the course of processing, and data generated by the processing device 150 in the course of processing.
- FIG. 3A and 3B are diagrams showing examples of data stored in the first storage device 140.
- the first storage device 140 stores information about the second moving body 200 and information about the luggage rack 300 .
- the information about the second moving body 200 includes, for example, an ID that is an identification number of the second moving body 200, and dimensions such as the total width, the total depth, and the total height of the second moving body 200. and data indicative of the carrying capacity, such as the length and width of the fork 212 .
- the information about the luggage rack 300 may include the ID of the shelf and data indicating the shape of the shelf such as width, depth, and height. These data are used by the motion planning unit 154 in creating a motion plan, which will be described later.
- the first storage device 140 also stores distance and angle data for each reflection point generated by the sensor 110 and data indicative of the motion plan created by the motion planning unit 154 .
- the first storage device 140 also stores map data of the environment in which the first moving body 100 moves.
- Arithmetic circuit 152 converts the polar coordinate data (r, ⁇ , ⁇ ) of each reflection point output from sensor 110 into data (x, y, z) in an orthogonal coordinate system fixed to sensor 110 . .
- the converted sensor data may be referred to as three-dimensional point cloud data. Note that this coordinate conversion may be executed by a processor included in the sensor 110 .
- the motion planning unit 154 creates a motion plan for the second moving body 200 based on the sensor data converted by the arithmetic circuit 152 and the information recorded in the first storage device 140 in advance.
- the motion planning unit 154 uses the basic data (see FIG. 3B) related to objects such as shelves present in the range survey recorded in the first storage device 140 and the predetermined second moving body 200 2, the operation sequence and movement amount of the second moving body 200 are concretely converted into data.
- the self-position estimation device 156 is a device that estimates the position and orientation of the first moving body 100 .
- Self-location estimator 156 may be implemented by a circuit including a processor, such as a microcontroller unit (MCU), for example.
- MCU microcontroller unit
- the self-position estimation device 156 estimates the position and orientation of the first moving body 100 using SLAM (Simultaneous Localization and Mapping) technology, for example.
- SLAM Simultaneous Localization and Mapping
- Map data may be, for example, two-dimensional point cloud data.
- the self-position estimation device 156 projects the three-dimensional point cloud data output from the arithmetic circuit 152 onto the plane in which the first moving body 100 moves, converts it into two-dimensional point cloud data, and converts it to map data. perform matching. Algorithms such as ICP (Iterative Closest Point) or NDT (Normal Distribution Transform) can be used for matching. Self-position estimation device 156 records data indicating the estimated position and orientation of first moving body 100 in first storage device 140 . The data is also sent to the first driving device 120 and used for movement control of the first moving body 100 .
- the arithmetic circuit 152, the motion planning unit 154, and the self-position estimation device 156 may be realized by one circuit, or may be realized by a combination of multiple circuits. In this embodiment, these are collectively called the processing device 150 .
- the first communication circuit 160 is a circuit for communicating with the second mobile unit 200.
- the first communication circuit 160 can perform wireless communication conforming to any wireless communication standard such as Bluetooth (registered trademark) or Wi-Fi (registered trademark).
- the first communication circuit 160 can also communicate with devices other than the second mobile unit 200 .
- the first communication circuit 160 when the first moving body 100 operates based on commands from an external central controller, the first communication circuit 160 also communicates with the central controller. In this case, the first communication circuit 160 receives a command relating to parcel transportation from the central controller, and transmits data indicating the operation plan to the second moving body 200 or the status of parcel transportation to the central controller. You may
- the loading device 210 is a device for loading and transferring cargo.
- the loading device 210 in this embodiment includes a fork 212 and a lifting device for lifting and lowering the fork 212, as shown in FIG.
- the lifting device may include a chain that moves the fork 212 up and down, and a motor that winds and unwinds the chain. In this manner, the loading device 210 lifts the forks to the height of the opening of the pallet 310 on which the cargo 320 is placed, inserts the forks into the opening, raises the pallet 310, and then moves the pallet 310 to a predetermined position. It has a mechanism for performing a series of operations to move to.
- the second driving device 220 is a device for driving the second moving body 200 .
- the second drive device 220 like the first drive device 120, includes a plurality of electric motors and a control circuit for controlling the electric motors for achieving movements such as forward, reverse, and rotation.
- the second storage device 230 includes any storage medium such as semiconductor memory, magnetic storage device, or optical storage device.
- the second storage device 230 stores computer programs executed by the controller 250, data used by the controller 250 in the course of processing, and data generated by the controller 250 in the course of processing.
- the second storage device 230 temporarily stores, for example, data indicating the action plan transmitted from the first mobile body 100 .
- the second communication circuit 240 is a circuit for receiving data transmitted from the first communication circuit 160 of the first mobile body 100 .
- the second communication circuit 240 can perform wireless communication conforming to any wireless communication standard such as Bluetooth (registered trademark) or Wi-Fi (registered trademark).
- the second communication circuit 240 may communicate with devices other than the first mobile body 100 . For example, when the second mobile unit 200 operates based on commands from an external central controller as well as the first mobile unit 100, the second communication circuit 240 also communicates with the central controller. .
- the controller 250 is a control circuit that controls the operations of the loading device 210 and the second driving device 220. Controller 250 may be implemented by a circuit including a processor, such as an MCU. The controller 250 converts the received operation plan data into control commands for the loading device 210 and the second drive device 220, and transmits the control commands to the respective devices. Thereby, the controller 250 causes the loading device 210 and the second driving device 220 to execute a series of operations according to the operation plan.
- FIG. 4 is a diagram for explaining the operation of ranging by the first moving body 100.
- FIG. FIG. 4 illustrates a three-dimensional orthogonal coordinate system fixed to the sensor 110 of the first moving body 100. As shown in FIG. This coordinate system has its origin at the position of the light source of sensor 110 and is defined by mutually orthogonal x-, y-, and z-axes.
- the x-axis and y-axis are set on a plane parallel to the ground in the environment in which the first moving body 100 and the second moving body 200 run, and the z-axis is set perpendicular to the plane.
- the direction tilted to the right by 45 degrees is the positive direction of the x-axis
- the direction tilted to the left by 45 degrees is the positive direction of the y-axis
- the vertically upward direction is the positive direction of the z-axis.
- the x-axis is parallel to the depth direction of the luggage shelf 300
- the y-axis is parallel to the width direction of the luggage shelf 300
- the z-axis is parallel to the height direction of the luggage shelf 300.
- the sensor 110 of the first moving body 100 irradiates a spot-shaped laser beam from a laser light source mounted inside thereof toward a range measuring area and performs two-dimensional scanning.
- the laser light emitted from the laser light source is not limited to a spot shape, and may be linear laser light that is scanned one-dimensionally, or light that spreads radially.
- a range measurement is an area that can be measured by the sensor 110, and is schematically expressed as a sector in FIG.
- a second moving body 200, a pallet 310 placed on a luggage shelf 300, and packages 320 thereon are present within the survey area.
- Sensor 110 receives reflected light from objects within the range.
- a processor in the sensor 110 measures the distance rn to the object by measuring the time from when the laser light is emitted to when the reflected light is received.
- the emitted laser light travels twice the distance rn to the object and returns to the photodetector. Therefore, the processor of the sensor 110 can obtain the distance rn by recording in advance the time when the laser light is emitted and the time when the laser light is received, and multiplying the half of the time difference by the speed of light.
- rn the distance from the light source of the sensor 110 to the point Pn, and the angle formed between the direction of the laser beam emitted from the light source toward the point Pn and the z-axis
- ⁇ n the angle between the direction projected onto the xy plane and the x-axis be ⁇ n.
- the sensor 110 generates and outputs sensor data indicating the position of each of the points measured during a measurement period of predetermined length.
- the sensor data can be a combination of the distance r and the two angles ⁇ and ⁇ for each point, for example as shown in the table on the left side of FIG.
- Arithmetic circuit 152 in processor 150 converts the sensor data of each point into position data expressed in an orthogonal coordinate system, as shown in the table on the right side of FIG.
- each point transformed by the arithmetic circuit 152 two combinations of the three coordinate values, that is, a plurality of sequences of matching (x, y) or (y, z) or (x, z) points may be detected.
- the motion planning unit 154 may deduce such contiguous groups of points to be points that make up the surface or edge of the object and record that information in the first storage device 140 .
- FIG. 6 is a diagram showing an example of a plurality of points forming an estimated group.
- a plurality of points consecutive in the x-direction having common values of y-coordinate and z-coordinate (y0, z0) are recorded as group A, and x-coordinate and y-coordinate are (x0, y1).
- a plurality of points consecutive in the z direction having a common value of are recorded as a group B.
- Each of these groups can be said to be a linear array of points that constitute the surface or edge of the object within the range.
- the motion planning unit 154 combines the data of these groups with the data on the shape of the second moving body 200 (see FIG. 3A) and the data on the shape of the luggage rack 300 (see FIG. 3B) recorded in the first storage device 140. By collating, the positions of the second moving body 200 and the luggage rack 300 can be specified.
- FIG. 7 and 8 are a plan view and a front view, respectively, schematically showing how the luggage shelf 300, the pallet 310, and the load 320 are illuminated with the light from the sensor 110.
- FIG. As shown in these figures, when the laser beam is emitted around the cargo 320, the lower surface of the cargo rack 300 on which the pallet 310 loaded with the cargo 320 is placed is from point P20 to point P10, and the z-coordinate value is Points that are z0 are continuous. Since there is no reflected light on both sides, it can be identified that there is no object.
- the package 320 can be specified as a partially continuous point group between P22 and P14.
- the motion planning unit 154 creates a motion plan for the second moving body 200 to pick up the package 320 and transfer it to a specific location based on the positional information of the object within the identified side area.
- FIG. 9 is a diagram showing an example of an action plan.
- the motion plan includes a series of movements including left rotation, right rotation, ⁇ x direction movement, ⁇ y direction movement, and ⁇ z direction movement of the fork 212 in the ⁇ z direction of the second moving body 200. It includes information for instructing the second moving body 200 to operate.
- the motion plan also includes information on the rotation angle for each rotation and the amount of movement for movement in each direction.
- the second moving body 200 performs the work of picking up the luggage 320 placed on the luggage rack 300 by performing a series of operations according to such an operation plan.
- FIG. 10 is a plan view showing an example of the positional relationship between the second moving body 200 and the load 320 before the motion plan is created.
- the second moving body 200 In order for the second moving body 200 to perform the pick-up work, the second moving body 200 must face the front of the luggage rack 300 , that is, the second moving body 200 must face the front of the luggage rack 300 .
- fork 212 is required to be vertical. Furthermore, it is required that the fork 212 be positioned so that it can be inserted into the opening of the pallet 310 . Therefore, as shown in FIG. 10, the motion planning unit 154 determines the direction in which the fork 212 of the second moving body 200 extends and Identify the angle ⁇ with the direction perpendicular to the front of 300 .
- the motion planning unit 154 creates a motion plan so that the angle ⁇ is zero.
- the driving device 220 of the second moving body 200 adjusts the angle of the steering wheels of the second moving body 200 so that the second moving body 200 rotates to the left by the angle ⁇ according to this operation plan.
- the direction correction and the pick-up operation of the second mobile body 200 are executed in one operation plan, but the direction correction and the pick-up operation may be created as separate operation plans.
- the motion planning unit 154 prepares the direction correction of the second moving body 200 as one motion plan, and after the direction correction is executed, the sensor 110 performs measurement again, and based on the measurement result, the motion plan A unit 154 may develop a pick-up action plan.
- the second moving body 200 is further moved in the y direction.
- An action plan may be created and implemented. In this case, after the direction of the second moving body 200 is corrected, the sensor 110 performs measurement again, and based on the measurement results, an operation plan for correcting the y-direction position of the second moving body 200 is created. good.
- FIG. 11 is a plan view showing an example of the positional relationship between the second moving body 200 and the cargo 320 after the direction is corrected so that the forks 212 are perpendicular to the front of the cargo rack 300.
- the luggage 320 protrudes from the luggage shelf 300 forward, ie, in the -x direction.
- the length of the fork 212 is L1
- the distance from the tip of the fork 212 to the front of the cargo shelf 300 is L2
- the x coordinate of the front of the cargo shelf 300 is x0
- the most forward of the cargo 320 that is, on the -x direction side.
- the x-coordinate of the part be x100.
- the second moving body 200 cannot move forward to just before the luggage shelf 300, that is, by L1+L2 to pick up the luggage.
- the operation planning unit 154 detects that the package 320 on the pallet 310 protrudes toward the second moving body 200 based on sensor data.
- the movement planning unit 154 moves the second moving body 200 forward to insert the fork 212 into the opening of the pallet 310 so that the second moving body 200 does not touch the cargo 320 .
- a motion plan is created so as to stop the forward movement of the second moving body 200 before it collides. Specifically, the values of L1, L2, x0, and x100 shown in FIG.
- a motion planning unit 154 creates a motion plan that moves the body 200 in the x-direction. Such an operation avoids contact between the second moving body 200 and the load 320, and prevents damage to the load 320 or the second moving body 200.
- FIG. 12 is a sequence diagram showing an example of data transmission between the first mobile unit 100, which is the parent device, and the second mobile unit 200, which is the AGF.
- the first moving body 100 first uses a sensor 110 that emits a laser beam to transport a load to be transported. Dimensional (3D) measurement is performed (step S101).
- the motion planning unit 154 of the first moving body 100 creates a motion plan for transporting the load based on the positional information of the second moving body 200 and the load 320 obtained by measurement (step S102).
- the motion planning unit 154 transmits data indicating the created motion plan from the communication circuit 160 to the second mobile body 200 .
- the second moving body 200 performs a loading operation based on the received operation plan data (step S201).
- the first moving body 100 that once created the motion plan continues to perform 3D measurement with the sensor 110 (step S103). If correction is necessary, a correction action plan is created, and data indicating the correction action plan is transmitted (step S104).
- the second moving body 200 corrects the loading action based on the data indicating the correcting action plan (step S202).
- the operation plan is corrected in step S104, for example, when the position of the second moving body 200 deviates from the assumed position after the direction of the second moving body 200 is corrected with respect to the luggage rack 300. to be performed.
- the motion plan may be revised not only once, but also repeatedly over a plurality of times.
- the second moving body 200 modifies its own motion each time the motion plan is revised. When the second moving body 200 completes all the operations indicated in the correction operation plan, the loading operation is completed.
- FIG. 13 is a flowchart showing a more specific example of the operation of the first moving body 100.
- the first moving body 100 and the second moving body 200 are arranged around the load 320 to be transported.
- the first moving body 100 acquires distance data of an object using the sensor 110 (step S131).
- the arithmetic circuit 152 converts the distance data of each point from the sensor data into three-dimensional point group data, that is, coordinate values (x, y, z) in an orthogonal coordinate system (step S132).
- the motion planning unit 154 identifies objects within the range by extracting linear components representing surfaces or edges from the observed point cloud data (step S133).
- the motion planning unit 154 calculates the data of the observation points of the second moving body 200 based on the extracted straight line component and the data on the one or more second moving bodies 200 and the luggage racks 300 recorded in advance in the storage device 140. and the data of the observation points around the luggage rack 300 (step S134).
- the motion planning unit 154 calculates the position and orientation of the second moving body 200 based on the data of the linear components representing the separated second moving body 200 and the information on the second moving body 200 recorded in the storage device 140. Identify (step S135).
- the operation planning unit 154 determines the amount of movement of the second moving body 200 in each direction so that the forks 212 are positioned vertically in the front center of the cargo rack 300 for picking up (step S136).
- Motion planning unit 154 also identifies the position and orientation of load 320 based on the data of the separated linear components for objects around load 320 and the information about load rack 300 recorded in storage 140 (step S137).
- the first moving body 100 narrows down the vicinity of the package and performs detailed measurements again using the sensor 110 (step S138).
- the arithmetic circuit 152 converts the sensor data into coordinate values (x, y, z) in the orthogonal coordinate system in the same manner as in step S132 (step S139).
- the motion planning unit 154 extracts straight line components from the converted point cloud data in the same manner as in step S133 (step S140).
- the motion planning unit 154 identifies the positions of the package 320 and the pallet 310 based on the distribution of the extracted linear components (step S141). Motion planning unit 154 also identifies two openings that are fork insertion locations on pallet 310 (step S142).
- the first moving body 100 moves to the side of the load 320 (step S143).
- the first moving body 100 again performs measurement using the sensor 110 from the side of the load 320 (step S144).
- the arithmetic circuit 152 converts the sensor data into coordinate values (x, y, z) in the orthogonal coordinate system in the same manner as in step S132 (step S145).
- the motion planning unit 154 extracts straight line components from the converted point cloud data in the same manner as in step S133 (step S146).
- the motion planning unit 154 identifies the front position of the luggage shelf from the extracted linear component (step S147).
- the operation planning unit 154 further calculates whether or not the package 320 protrudes from the front position of the luggage shelf 300 and the amount of protrusion (step S148).
- the motion planning unit 154 determines the movement amount determined in step S136, the position of the cargo 320 identified in step S141, the position of the opening of the pallet 310 identified in step S142, and the protrusion amount of the cargo 320 calculated in step S148. to create a motion plan (step S149).
- the motion planning unit 154 creates a motion plan so that the second moving body 200 moves in front of the load 320 and advances so that the fork 212 is inserted into the opening of the pallet 310 .
- the amount of forward movement is determined based on the amount of protrusion of the load 320 to an amount that does not interfere with the second moving body 200 and the load 320 .
- steps 135 and S136 may be performed after steps S137 to S148.
- the timing of acquiring the distance data, the number of acquisition times, and the acquisition method are not limited to the above examples, and may be changed according to the actual environment.
- FIG. 14 is a flow chart showing an example of the loading operation of the second moving body 200.
- the controller 250 of the second mobile unit 200 determines whether the communication circuit 240 has received the action plan from the first mobile unit 100 (step S234). If the operation plan has not been received, the controller 250 makes the determination in step S234 again after a predetermined period of time (for example, several milliseconds to several seconds) has elapsed.
- controller 250 instructs drive device 220 and loading device 210 to perform a specific operation according to the operation plan (step S232).
- Drive device 220 and stacking device 210 follow instructions from controller 250 and perform the instructed operations (step S233).
- controller 250 determines whether the operation has ended (step S234). If the operation has not ended, the process returns to step S234, and the above-described operation is performed again. When the operation specified in the operation plan is finished, or when an instruction to finish the operation is given from the user or an external control device, the operation is finished.
- the parcel transport system of the present embodiment includes one or more first mobile bodies 100 and one or more second mobile bodies 200 that carry out the work of transporting parcels.
- the first moving body 100 includes a first driving device 120 that moves the first moving body 100, a sensor 110 that outputs sensor data indicating the three-dimensional distribution of objects around the first moving body 100, and a processing device 150.
- the second moving body 200 includes a second driving device 220 that moves the second moving body 200, and a loading device 210 that loads a load.
- the processing device 150 creates a motion plan for the second moving body 200 based on the sensor data, and sends a control signal to the second moving body 200 to operate the second driving device 220 and/or the loading device 210 according to the motion plan. Send.
- the second mobile body 200 can smoothly perform the pick-up work without installing expensive measuring equipment or control equipment on each of the second mobile bodies 200 .
- the processing device 150 creates an operation plan based on sensor data output by the sensor 110 multiple times.
- the first driving device 120 moves the first moving body 100 according to the relative position between the load 320 and the second moving body 200 indicated by the sensor data.
- the sensor 110 acquires sensor data again and transmits the sensor data to the processing device 150 .
- the processing device 150 updates the motion plan based on the reacquired sensor data.
- the first moving body 100 in this embodiment further includes an actuator 130 that changes the height and/or angle of the sensor 110 according to the state of the load 320 indicated by the sensor data. Accordingly, it is also possible to change the height and/or angle of the sensor 110 without moving the first moving body 100 to acquire more point group information. Therefore, the positions and attitudes of the second moving body 200 and the load 320 can be specified more precisely.
- the first moving body 100 creates an operation plan for the second moving body 200 and transmits it to the second moving body 200, but this operation may be performed by a device other than the first moving body 100.
- a processing device provided in a central control unit that manages the cargo conveying operation of the second moving body 200 may create the operation plan.
- FIG. 15 is a diagram schematically showing an example of a parcel transport system further comprising a central controller 400 in addition to the first mobile body 100 and the second mobile body 200.
- the central controller 400 may be a computer such as a server installed in a warehouse or factory where the package transport system is used, for example.
- the central controller 400 communicates with each of the first mobile unit 100 and the second mobile unit 200 .
- the operation plan of the second moving body 200 is created not by the first moving body 100 but by the central controller 400 .
- FIG. 16 is a block diagram showing a configuration example of a parcel transport system including the central controller 400.
- the first moving body 100 does not include the motion planning unit 154 in the first embodiment.
- central controller 400 comprises motion planning unit 410 .
- Motion planning unit 410 is a processing device with similar functionality as motion planning unit 154 .
- the central controller 400 also includes a third communication circuit 420 that communicates with the first communication circuit 160 and the second communication circuit 240, and a third storage device 430.
- FIG. Data relating to the second moving body 200 and the luggage rack 300 as shown in FIGS. 3A and 3B are recorded in advance in the third storage device 430, for example.
- Third communication circuit 420 receives sensor data generated by sensor 110 from first communication circuit 160 .
- the motion planning unit 410 identifies the positions of the second mobile body 200 and the load 320 based on the sensor data and the data on the second mobile body 200 and the luggage rack 300 recorded in the third storage device 430, and performs the motion. create a plan;
- the motion planning operation by the motion planning unit 410 is similar to the motion planning operation of the motion planning unit 154 in the first embodiment.
- the motion planning unit 410 transmits data indicating the created motion plan from the third communication circuit 420 to the second communication circuit 240 .
- the controller 250 of the second moving body 200 controls the second driving device 220 and the loading device 210 based on the data of the operation plan.
- FIG. 17 is a sequence diagram showing an example of data transmission between the first mobile unit 100, the second mobile unit 200, and the central controller 400 in the system shown in FIG.
- the first moving body 100 uses the sensor 110 that emits a laser beam to transport the cargo to be transported, and the second moving body 200 that is to be transported and the cargo 320 that is to be transported.
- 3D measurement is performed, and the acquired sensor data is transmitted to the central control device 400 (step S111).
- the first moving body 100 repeats 3D measurement by changing its position or orientation, for example (step S112).
- the motion planning unit 410 of the central controller 400 creates a motion plan for the second mobile body 200 based on the transmitted sensor data, and transmits data indicating the motion plan to the second mobile body 200 (step S311). .
- the motion planning unit 410 of the central controller 400 receives the sensor data again from the first moving body 100 after transmitting the motion plan, the motion planning unit 410 corrects the motion plan as necessary, and outputs data indicating the corrected motion plan. It is transmitted to the second moving body 200 (step S312).
- the second moving body 200 performs the loading operation according to the data of the operation plan transmitted from the central control unit 400 (step S211).
- the second moving body 200 modifies the loading operation according to the modified operation plan (step S211).
- the second moving body 200 modifies its own motion each time the motion plan is revised.
- the second moving body 200 completes all the operations indicated in the correction operation plan, the loading operation is completed.
- the central control device 400 provided outside the first moving body 100 and the second moving body 200 creates an operation plan for the second moving body 200, and realizes smooth pick-up work. can be done.
- FIG. 18 schematically shows an example of such a system.
- the system shown in FIG. 18 includes a first moving body 100 , two second moving bodies 200 , a third moving body 500 and a processing device 600 .
- the third moving body 500 includes a sensor 510 that outputs sensor data indicating the three-dimensional distribution of surrounding objects.
- the first moving body 100 and the third moving body 500 sense the surroundings of the load 320 from different positions and transmit the acquired sensor data to the processing device 600 .
- the processing device 600 creates an operation plan for each of the second moving body 200 based on the sensor data acquired by the sensor 110 of the first moving body 100 and the sensor data acquired by the sensor 510 of the third moving body 500. and update. According to such a system, it is possible to acquire the position information of the luggage 320 and the second mobile body 200 more efficiently by using a plurality of mobile bodies equipped with sensors. Note that the number of moving bodies that perform sensing of the load 320 and the second moving body 200 using sensors is not limited to one or two, and may be three or more. Also, each moving body may be a flying body such as a drone that flies in the air. At this time, the loading device 210 may be an arm for loading and transferring cargo.
- the technology of the present disclosure can be used, for example, in warehouses or factories to automatically transport packages using transport vehicles such as unmanned transport forklifts.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
Description
自動で移動するフォークリフトを用いて正確な荷取り作業を行うためには、特許文献1に記載されているように、フォークリフトを荷取り対象のパレットの位置まで正確に移動させることが求められる。しかし、現実の作業環境においては、フォークリフトをパレットの位置まで正確に移動させるだけでなく、荷物がパレット上でどのような状態に置かれているかを正確に検知することも求められる。もし接近してくるフォークリフトの側に荷物がパレットからはみ出して置かれている場合、パレットの位置を正確に検出してその位置までフォークリフトを正確に移動させたとしても、フォークリフトと荷物とが干渉するおそれがある。干渉が生じると、荷物の破損およびフォークリフト自身の損傷に至る可能性がある。干渉を避けるためには、荷取り対象のパレットの位置に加えて、荷取りすべき荷物の載置状態を正確に検出することが要求される。
本開示の第1の実施形態における荷物搬送システムを説明する。
xn=rn×sinφn×cosθn
yn=rn×sinφn×sinθn
zn=rn×cosφn
これらの式に基づいて、演算回路152は、各点の極座標を直交座標に変換する。
D=(L1+L2)-(x0-x100)
実施形態1では、第1移動体100が第2移動体200の動作計画を作成し、第2移動体200に送信するが、この動作を第1移動体100以外の装置が行ってもよい。例えば第2移動体200による荷物搬送動作を管理する中央制御装置に設けられた処理装置が動作計画を作成してもよい。以下、図15から図17を参照して、そのような実施形態を説明する。以下の説明において、実施形態1と重複する事項についての説明は省略する。
また、各移動体は、空中を飛行するドローンのような飛行体であってもよい。このとき、積載装置210は、荷物の積載および移載を行うためのアームであってもよい。
110 センサ
120 第1駆動装置
130 アクチュエータ
140 第1記憶装置
150 処理装置
152 演算回路
154 動作計画ユニット
156 自己位置推定装置
160 第1通信回路
200 第2移動体
210 積載装置
212 フォーク
220 第2駆動装置
230 第2記憶装置
240 第2通信回路
250 コントローラ
300 荷棚
310 パレット
320 荷物
400 中央制御装置
410 動作計画ユニット
420 第3通信回路
Claims (14)
- 第1移動体と、
荷物を搬送する作業を行う第2移動体と、
処理装置と、
を備え、
前記第1移動体は、
前記第1移動体を移動させる第1駆動装置と、
前記第1移動体の周囲の物体の3次元分布を示すセンサデータを出力する第1センサと、
を備え、
前記第2移動体は、
前記第2移動体を移動させる第2駆動装置と、
荷物を積載する動作を実行する積載装置と、
を備え、
前記処理装置は、前記センサデータに基づいて前記第2移動体の動作計画を作成し、前記動作計画に従って前記積載装置を動作させるための制御信号を前記第2移動体に送信する、
荷物搬送システム。 - 前記センサデータは、前記第2移動体、荷棚、および前記荷棚上の前記荷物が存在する計測領域を前記第1センサによって計測することにより得られる、請求項1に記載の荷物搬送システム。
- 前記第1駆動装置は、前記センサデータが示す前記荷物と前記第2移動体との相対位置に応じて前記第1移動体を移動させる、請求項2に記載の荷物搬送システム。
- 前記第1センサは、前記第1移動体が移動した後、前記センサデータを再度取得し、前記処理装置に前記センサデータを送信する、請求項3に記載の荷物搬送システム。
- 前記処理装置は、再度取得された前記センサデータに基づいて、前記動作計画を更新する、請求項4に記載の荷物搬送システム。
- 前記処理装置は、前記第1センサが複数回にわたって出力した前記センサデータに基づいて、前記動作計画を作成する、請求項1から5のいずれかに記載の荷物搬送システム。
- 前記第1移動体は、前記センサデータが示す前記荷物の状態に応じて前記第1センサの高さおよび/または角度を変化させるアクチュエータをさらに備える、請求項1から6のいずれかに記載の荷物搬送システム。
- 前記処理装置は、前記第1移動体に設けられている、請求項1から7のいずれかに記載の荷物搬送システム。
- 前記処理装置は、前記第1移動体および前記第2移動体の外部に設けられている、請求項1から7のいずれかに記載の荷物搬送システム。
- 周囲の物体の3次元分布を示すセンサデータを出力する第2センサを備える第3移動体をさらに備え、
前記処理装置は、前記第1センサが取得した前記センサデータと、前記第2センサが取得した前記センサデータとに基づいて、前記動作計画を作成または更新する、
請求項1から9のいずれかに記載の荷物搬送システム。 - 前記第2移動体は、パレットの上に置かれた前記荷物を運搬するためのフォークを備えるフォークリフトであり、
前記積載装置は、前記フォークを昇降させる昇降装置を含み、
前記動作計画は、前記第2移動体の移動、および前記フォークの昇降の動作を規定する、
請求項1から10のいずれかに記載の荷物搬送システム。 - 前記処理装置は、前記センサデータに基づいて、前記パレットの上の前記荷物が前記フォークリフトの側にはみ出していることを検知した場合、前記フォークリフトが前進して前記フォークを前記パレットの開口部に挿入する動作において、前記フォークリフトが前記荷物に衝突する前に、前記フォークリフトの前進を停止させるように、前記動作計画を作成する、
請求項11に記載の荷物搬送システム。 - 周囲の物体の3次元分布を示すセンサデータを出力するセンサを備える第1移動体と、荷物を積載する動作を実行する積載装置を備え、前記荷物を搬送する作業を行う第2移動体と、を備える荷物搬送システムにおけるコンピュータによって実行される方法であって、
前記センサから出力された前記センサデータを取得することと、
前記センサデータに基づいて前記第2移動体の動作計画を作成することと、
前記動作計画に従って前記第2移動体の前記積載装置を動作させるための制御信号を前記第2移動体に送信することと、
を含む方法。 - 周囲の物体の3次元分布を示すセンサデータを出力するセンサを備える第1移動体と、荷物を積載する動作を実行する積載装置を備え、前記荷物を搬送する作業を行う第2移動体と、を備える荷物搬送システムにおけるコンピュータによって実行されるコンピュータプログラムであって、前記コンピュータに、
前記センサから出力された前記センサデータを取得することと、
前記センサデータに基づいて前記第2移動体の動作計画を作成することと、
前記動作計画に従って前記第2移動体の前記積載装置を動作させるための制御信号を前記第2移動体に送信することと、
を含むコンピュータプログラム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202180090668.8A CN116761770A (zh) | 2021-02-05 | 2021-10-26 | 货物搬运系统以及在货物搬运系统中使用的方法及计算机程序 |
JP2022579335A JPWO2022168377A1 (ja) | 2021-02-05 | 2021-10-26 | |
US18/351,525 US20230356991A1 (en) | 2021-02-05 | 2023-07-13 | Load transport system, method of load transport system, and non-transitory computer-readable recording medium |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021017460 | 2021-02-05 | ||
JP2021-017460 | 2021-02-05 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US18/351,525 Continuation US20230356991A1 (en) | 2021-02-05 | 2023-07-13 | Load transport system, method of load transport system, and non-transitory computer-readable recording medium |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022168377A1 true WO2022168377A1 (ja) | 2022-08-11 |
Family
ID=82741027
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2021/039387 WO2022168377A1 (ja) | 2021-02-05 | 2021-10-26 | 荷物搬送システム、並びに荷物搬送システムにおいて用いられる方法およびコンピュータプログラム |
Country Status (4)
Country | Link |
---|---|
US (1) | US20230356991A1 (ja) |
JP (1) | JPWO2022168377A1 (ja) |
CN (1) | CN116761770A (ja) |
WO (1) | WO2022168377A1 (ja) |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100108188A1 (en) * | 2007-02-22 | 2010-05-06 | Carl Zeiss Microimaging Gmbh | Arrangement for Filling a Container with Bulk Material |
JP2016210586A (ja) * | 2015-05-12 | 2016-12-15 | 株式会社豊田中央研究所 | フォークリフト |
JP2019531990A (ja) * | 2016-08-23 | 2019-11-07 | エックス デベロップメント エルエルシー | 倉庫におけるパレットの品物の自動まとめ |
JP2020037464A (ja) * | 2018-09-03 | 2020-03-12 | 三菱ロジスネクスト株式会社 | 判定装置および判定方法 |
-
2021
- 2021-10-26 JP JP2022579335A patent/JPWO2022168377A1/ja active Pending
- 2021-10-26 CN CN202180090668.8A patent/CN116761770A/zh active Pending
- 2021-10-26 WO PCT/JP2021/039387 patent/WO2022168377A1/ja active Application Filing
-
2023
- 2023-07-13 US US18/351,525 patent/US20230356991A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100108188A1 (en) * | 2007-02-22 | 2010-05-06 | Carl Zeiss Microimaging Gmbh | Arrangement for Filling a Container with Bulk Material |
JP2016210586A (ja) * | 2015-05-12 | 2016-12-15 | 株式会社豊田中央研究所 | フォークリフト |
JP2019531990A (ja) * | 2016-08-23 | 2019-11-07 | エックス デベロップメント エルエルシー | 倉庫におけるパレットの品物の自動まとめ |
JP2020037464A (ja) * | 2018-09-03 | 2020-03-12 | 三菱ロジスネクスト株式会社 | 判定装置および判定方法 |
Also Published As
Publication number | Publication date |
---|---|
US20230356991A1 (en) | 2023-11-09 |
CN116761770A (zh) | 2023-09-15 |
JPWO2022168377A1 (ja) | 2022-08-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10265856B2 (en) | Reorienting a distance sensor using an adjustable leveler | |
US10007266B2 (en) | Using planar sensors for pallet detection | |
JP6247796B2 (ja) | 棚配置システム、搬送ロボット及び棚配置方法 | |
KR101902678B1 (ko) | 궤적 계획을 위한 물체 메트릭들의 실시간 결정 | |
CN107671863B (zh) | 基于二维码的机器人控制方法、装置及机器人 | |
JP6248230B2 (ja) | 棚搬送システム、棚搬送車、及び棚搬送方法 | |
JP6816830B2 (ja) | 位置推定システム、および当該位置推定システムを備える移動体 | |
US11643312B2 (en) | Vehicle-mounted device, cargo handling machine, control circuit, control method, and program thereof | |
JP7228800B2 (ja) | 搬送方法、搬送システム、プログラム及びパレット | |
JP6825712B2 (ja) | 移動体、位置推定装置、およびコンピュータプログラム | |
JP2018020423A (ja) | ロボットシステム及びピッキング方法 | |
JP7081881B2 (ja) | 移動体および移動体システム | |
CN107450554A (zh) | 一种潜伏式agv以及运行系统 | |
US11537140B2 (en) | Mobile body, location estimation device, and computer program | |
JPWO2019054209A1 (ja) | 地図作成システムおよび地図作成装置 | |
WO2022168377A1 (ja) | 荷物搬送システム、並びに荷物搬送システムにおいて用いられる方法およびコンピュータプログラム | |
US20230365210A1 (en) | Method and system for a vehicle decking process associated with manufacturing a vehicle | |
JP2022040922A (ja) | 無人搬送車制御システム、搬送システム、無人搬送車、及び作業内容決定方法 | |
CN115494836A (zh) | 检测系统、处理装置、移动体、检测方法以及存储介质 | |
JP2021056764A (ja) | 移動体 | |
JP2020166702A (ja) | 移動体システム、地図作成システム、経路作成プログラムおよび地図作成プログラム | |
JPWO2018180175A1 (ja) | 移動体、信号処理装置およびコンピュータプログラム | |
WO2022070575A1 (ja) | 移動体の制御装置及び制御方法 | |
WO2022190514A1 (ja) | 搬送システム | |
WO2022222697A1 (zh) | 自主移动机器人、物流对接系统及对接方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21924764 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202180090668.8 Country of ref document: CN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2022579335 Country of ref document: JP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 21924764 Country of ref document: EP Kind code of ref document: A1 |