WO2023047454A1 - 配送システム、配送方法及び自動移動装置 - Google Patents
配送システム、配送方法及び自動移動装置 Download PDFInfo
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- WO2023047454A1 WO2023047454A1 PCT/JP2021/034537 JP2021034537W WO2023047454A1 WO 2023047454 A1 WO2023047454 A1 WO 2023047454A1 JP 2021034537 W JP2021034537 W JP 2021034537W WO 2023047454 A1 WO2023047454 A1 WO 2023047454A1
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- moving device
- automatic moving
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- 238000012546 transfer Methods 0.000 title claims abstract description 9
- 238000002716 delivery method Methods 0.000 title claims description 11
- 238000004140 cleaning Methods 0.000 claims abstract description 79
- 238000001514 detection method Methods 0.000 claims abstract description 53
- 238000007689 inspection Methods 0.000 claims description 94
- 238000007726 management method Methods 0.000 claims description 28
- 238000000034 method Methods 0.000 claims description 27
- 238000012545 processing Methods 0.000 claims description 17
- 238000003384 imaging method Methods 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 description 39
- 238000003860 storage Methods 0.000 description 28
- 238000009826 distribution Methods 0.000 description 21
- 238000004891 communication Methods 0.000 description 19
- 238000010586 diagram Methods 0.000 description 10
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 230000005856 abnormality Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000007664 blowing Methods 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000011990 functional testing Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000001646 magnetic resonance method Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- 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
- This specification discloses a delivery system, a delivery method, and an automatic moving device.
- a mobile robot device a system including a base station and a mobile robot device for mowing or cleaning the lawn is provided.
- Patent Literature 1 There have been proposals for restricting participation (see, for example, Patent Literature 1). According to this system, it is possible to improve the work results of the mobile robot device by suppressing wasteful work.
- a mobile robot device there has been proposed one that detects the presence or absence of an abnormality in the drive system of the drive motor including the battery based on the current waveform of the battery when traveling on a predetermined travel path ( For example, see Patent Document 2). It is stated that this device can appropriately detect an abnormality in a drive system including an electric energy source.
- the approximate position is detected by ultrasonic measurement and an odometer, and a slot-shaped light beam perpendicular to the running surface is transmitted from the docking device and detected by a detector to determine the position of the mobile robot device.
- a device for detecting an accurate rotation angle has been proposed (see, for example, Patent Document 3).
- an automatic moving device may be used, for example, in a delivery system that delivers goods.
- the automatic mobile device carries out the delivery work of delivering the goods, as well as waiting between tasks, charging the device, maintenance and inspection work, etc., and it is desired to operate efficiently.
- Patent Documents 1 to 3 although the system uses an automatic mobile device, efficient maintenance and operation of the automatic mobile device are not taken into consideration.
- the present disclosure has been made to solve such problems, and provides a delivery system, a delivery method, and an automatic moving device that can more efficiently perform maintenance work using waiting time.
- the main purpose is to
- the delivery system disclosed herein includes: A delivery system for delivering articles, comprising a detection section for detecting the surroundings, a drive section, and a control section for controlling the drive section, and an automatic moving device for automatically moving an article within a specific space by the drive section.
- the specific space is provided with a waiting space in which the automatic moving device waits,
- a cleaning device is provided in the waiting space and cleans the automatic moving device when the automatic moving device is on standby.
- a cleaning device that cleans the automatic moving device is installed in the standby space where the automatic moving device waits, so that the device can be cleaned while the automatic moving device is on standby.
- the waiting time can be used to perform maintenance work more efficiently.
- FIG. 1 is a schematic explanatory diagram showing an example of a delivery system 10;
- FIG. FIG. 2 is an explanatory diagram showing an example of a distribution center 20;
- FIG. 2 is an explanatory diagram showing an example of a waiting space 30 and an automatic moving device 40;
- 3 is a three-sided view of an automatic moving device 40 connected to a carriage 12;
- FIG. 4 is an explanatory diagram showing an example of a detection range of a detection unit 47;
- FIG. 2 is an explanatory diagram showing an example of maintenance information 25 stored in a storage unit 23;
- 5 is a flowchart representing an example of an automatic mobile device maintenance processing routine;
- FIG. 1 is a schematic explanatory diagram showing an example of a delivery system 10.
- FIG. 2 is an explanatory diagram showing an example of the distribution center 20.
- FIG. 3 is an explanatory diagram showing an example of the waiting space 30 and the automatic moving device 40.
- FIG. 4A and 4B are three views of the automatic moving device 40 connected to the carriage 12.
- FIG. 4A is a plan view
- FIG. 4B is a front view
- FIG. 4C is a side view.
- FIG. 5 is an explanatory diagram showing an example of the detection range of the detection section 47. As shown in FIG. FIG. FIG.
- the delivery system 10 is a system that has an automatic moving device 40 that automatically moves an article within a specific space, and performs processing for delivering this article.
- This delivery system 10 will be described as an example in which goods are transported using a truck 12, but the system is not particularly limited to this, and the truck 12 may be omitted or other components may be used.
- the "goods” are not particularly limited as long as they are delivered. Fresh produce, etc.
- examples of the "delivery source” and “delivery destination” include a distribution center that collects and delivers goods, a warehouse that stores goods, and a store that sells goods.
- the "specific space” includes, for example, the cargo room of a mobile vehicle that delivers goods, an elevator for work, and the like.
- mobile vehicles include vehicles such as delivery vans 18 and trains, ships, aircraft, and the like.
- the delivery system 10 that delivers products such as daily necessities and perishables from the distribution center 20 as the delivery source to the store 60 as the delivery destination by the delivery vehicle 18 will be mainly described.
- the delivery system 10 as shown in FIG. Also, this delivery system 10 is used for carts 12, delivery vehicles 18, distribution centers 20, stores 60, and the like.
- the carriage 12 is a conveyed object used for conveying articles, and includes a placement section 13 and casters 14 as shown in FIGS.
- the mounting section 13 is a flat plate-like member on which articles are mounted.
- the casters 14 have wheels for running the carriage 12 and are arranged on the lower surface side of the placing section 13 .
- This carriage 12 may be a car carriage.
- the delivery vehicle 18 is a vehicle that carries one or more trucks 12 and delivers goods.
- the delivery vehicle 18 delivers articles between delivery bases.
- the “delivery base” includes the distribution center 20 and the store 60 where goods are accumulated.
- the delivery vehicle 18 loads the carriage 12 in the cargo room 61 at the distribution center 20, delivers the articles to the delivery destination, and returns the empty carriage 12 to the distribution center 20. ⁇
- the distribution center 20 is a place where goods are accumulated and delivered to stores 60 and other distribution centers 20 in various places.
- the distribution center 20 has one or more automatic moving devices 40 that can automatically move the carriages 12 .
- This distribution center 20 has, for example, a waiting space 30 in a specific area of the floor surface, and the automatic moving device 40 waits in this waiting space 30 when not performing work such as moving articles.
- workers, arm robots (not shown), and the like carry out work of placing articles on carts 12 corresponding to delivery destinations.
- the automatic moving device 40 stacks the carriages 12 whose delivery destinations are specified, and carries them in and out.
- the physical distribution PC 21 is installed in the physical distribution center 20 and is configured as a management device that manages products in the physical distribution center 20 and the like.
- This physical distribution PC 21 includes a control section 22 , a storage section 23 and a communication section 28 .
- the control unit 22 has a CPU and controls the entire device.
- the storage unit 23 stores various application programs and various data files.
- the storage unit 23 stores delivery management information 24, maintenance information 25, map information 26, and the like.
- the delivery management information 24 is information used for managing delivery of articles.
- the maintenance information 25 includes information related to maintenance of the automatic moving devices 40 arranged in the distribution center 20 . As shown in FIG.
- the maintenance information 25 includes, in association with the identifier (ID) of the automatic moving device 40, the operation time of the device, the final automatic inspection execution time, the inspection result of the detection unit 47, the final cleaning, and so on. It includes the elapsed time since and the charge amount SOC of the storage battery.
- the map information 26 is map information of the distribution center 20 .
- the communication unit 28 wirelessly communicates with an external device such as the automatic mobile device 40 .
- the communication unit 28 exchanges information with the centralizing device 70 and the store PC 61 via the network 15 .
- the physical distribution PC 21 outputs a command to clean the automatic moving device 40 to the cleaning device 34 based on the information about the automatic moving device 40 waiting in the waiting space 30 .
- the waiting space 30 is configured as a garage with a floor, ceiling, and walls, in which automatic mobile devices stand by.
- a door 31 and a wall portion 32 are arranged in the waiting space 30 .
- the door 31 opens and closes access from the outside when the automatic moving device 40 enters and exits the standby space 30 .
- the door 31 is provided with an opening/closing device (not shown), and is opened/closed according to an opening/closing signal from the automatic moving device 40 .
- the wall portion 32 is a member that partitions the standby space 30 into spaces for each automatic moving device 40 , and faces the side surface and the rear surface of the automatic moving device 40 .
- a charging device 33 In addition, in the waiting space 30, a charging device 33, a cleaning device 34, and an inspection unit 36 are arranged as work devices related to the automatic moving device 40.
- the charging device 33 is provided in the standby space 30 and is a device that charges a storage battery for driving the automatic moving device 40 when the automatic moving device 40 stands by.
- the charging device 33 charges the storage battery by a wireless charging method such as an electromagnetic induction method, a magnetic resonance method, or an electric field coupling method.
- the charging device 33 may be wired by a plug system to charge the storage battery.
- the charging device 33 may start charging when receiving a signal from the automatic moving device 40, or may start charging when the automatic moving device 40 is detected by a sensor (not shown).
- the cleaning device 34 is a device that is installed in the standby space 30 and cleans the automatic moving device 40 when the automatic moving device 40 stands by.
- the cleaning device 34 is configured as an air blow device that removes foreign matter adhering to the automatic moving device 40 with air. 2 and 3, the cleaning device 34 includes a pipe for supplying air, a cleaning hole 35 facing a cleaning portion of the automatic moving device 40, an electromagnetic valve for opening and closing the cleaning hole 35, a cleaning hole and a compression pump 38 which supplies high pressure air to 35 . It may be disposed at a position facing the cleaning hole 35 or, for example, the detection unit 47 provided in the automatic moving device 40 and mainly clean the detection unit 47 .
- the cleaning holes 35 are provided at positions facing the first to fifth sensors 51 to 55, respectively.
- the electromagnetic valve and compression pump 38 may be controlled by the physical distribution PC 21 .
- the cleaning device 34 performs cleaning processing of the automatic moving device 40 based on the inspection result using the inspection unit 36 .
- the cleaning device 34 may be a device that removes foreign matter and dirt adhering to the automatic moving device 40.
- the inspection unit 36 is arranged in the waiting space 30 and used when inspecting the functions of the automatic moving device 40 .
- the automatic moving device 40 uses the inspection unit 36 to perform a function test of the automatic moving device 40 while waiting in the waiting space 30 .
- the inspection unit 36 may include one or more inspection patterns 37 and may be used for inspection of the detection unit 47 .
- the inspection pattern 37 is formed on the wall portion 32 within the detection range of the detection portion 47 (see FIG. 5).
- the inspection pattern 37 may be formed on the door 31 as the wall portion 32 .
- the inspection units 36 are provided at positions facing the first to fifth sensors 51 to 55, respectively.
- the inspection pattern 37 is preferably a pattern suitable for the detection method of the detection unit 47 .
- the inspection pattern 37 may be, for example, a three-color pattern of RGB when the detection unit 47 is an imaging camera, or may be a multicolor pattern when the detection unit 47 is a stereo camera. Further, the inspection pattern 37 may be an achromatic flat surface or the wall portion 32 as it is when the detection portion 47 is a laser scan sensor or a sonar sensor.
- the automatic moving device 40 is a vehicle that automatically moves the carriage 12 as a conveyed object.
- the automatic moving device 40 enters the space between the casters 14 on the lower surface side of the mounting portion 13 of the carriage 12, and lifts the mounting portion 13 from below by the loading portion 44 to load it, or locks and pulls the mounting portion 13. , and the carriage 12 is moved.
- This automatic moving device 40 may be an AGV (Automatic Guided Vehicle) that moves along a line formed on the road surface, or an AMR (Autonomous Mobile Robot) that detects the surroundings and moves along a free route.
- the automatic moving device 40 includes a vehicle body portion 41, a control portion 42, a storage portion 43, a stacking portion 44, an elevating portion 45, a drive portion 46, a detection portion 47, and an operation portion. 49 and running wheels 50 .
- the vehicle body part 41 is a flat plate-shaped housing that fits into the lower surface of the carriage 12, and the traveling wheels 50 are arranged on the lower surface side, and the loading part 44 is arranged on the upper surface side.
- the control unit 42 is a controller that controls the entire automatic moving device 40 .
- the control unit 42 outputs control signals and the like to the lifting unit 45 , the driving unit 46 , the detection unit 47 and the communication unit 48 and inputs signals from the detection unit 47 and the communication unit 48 .
- the control unit 42 grasps the moving direction, the moving distance, the current position, etc. of the automatic moving device 40 based on the driving state of the driving unit 46 and the like.
- the control unit 42 controls movement and stopping of the automatic moving device 40 based on information from the detection unit 47 .
- the loading section 44 is connected to the carriage 12 by moving upward from the vehicle body section 41 of the automatic moving device 40 and pressing or locking the lower surface of the mounting section 13 (see FIG. 4).
- the loading section 44 has a pulling member 56 , a loading member 57 , a supporting member 58 and a base section 59 .
- the traction member 56 is a pin-shaped member that is engaged with the unevenness formed on the lower surface of the mounting portion 13 and used to move the truck 12 with the casters 14 grounded, that is, to pull the truck 12. .
- the traction members 56 are arranged at four locations on the upper surface of the support member 58 so that they can be locked in the front, rear, left, and right directions.
- the loading member 57 is a plate-like member used when moving the truck 12 in a loaded state with the truck 12 lifted.
- the loading members 57 are arranged at four positions on the upper surface of the base portion 59 so that the carriage 12 can be stably lifted.
- the base portion 59 is an integral structure on which all the loading members 57 are arranged, and is raised and lowered by the raising and lowering portion 45 .
- the support members 58 are two columnar members, and are stretched over the vicinity of the pair of loading members 57 respectively. This support member 58 moves up and down with respect to the loading member 57 . In the stacking portion 44, the loading member 57 moves up and down as the base portion 59 moves up and down, and the traction member 56 moves up and down as the support member 58 moves up and down.
- the drive unit 46 is a motor that is connected to each traveling wheel 50 and drives the automatic moving device 40 to travel by rotationally driving the connected traveling wheels 50 .
- the automatic moving device 40 has four running wheels 50 and moves by driving the running wheels 50 to rotate.
- the traveling wheels 50 may be four independently driven mecanum wheels or omni wheels that are vertically and horizontally movable. It is more preferable that the running wheels 50 are mecanum wheels because of the degree of freedom of movement.
- the detection unit 47 detects objects existing around the automatic moving device 40 and the distance therebetween. For example, the detection unit 47 may detect the existence of an object and its distance by irradiating the surroundings with light such as a laser or sound waves and detecting reflected waves.
- the detection unit 47 may be, for example, one or more of a laser scan sensor, an imaging camera, a stereo camera, and a sonar sensor.
- the detection unit 47 is a sensor that detects an object existing near the vehicle body 41 in the AGV, and a sensor capable of detecting obstacles, walls, etc. existing in a wider area in the AMR.
- the automatic moving device 40 has a first sensor 51 and a second sensor 52 arranged in front and rear of the vehicle body portion 41 , a third sensor 53 arranged in the side surface of the vehicle body portion 41 , and a fourth sensor 53 in front of the driving portion 49 . 54 are provided.
- a fifth sensor 55 for detecting the carriage 12 is arranged on the surface of the driving section 49 on the side of the loading section 44 .
- the store 60 displays and sells the delivered items, as shown in FIG.
- the store 60 has one or more automatic moving devices 40 and can automatically move the trolley 12 .
- the store 60 also has the waiting space 30 described above.
- the store 60 has display shelves 69 for displaying articles, and workers display articles on the display shelves.
- the store PC 61 is installed in the store 60 and configured as a management device for managing merchandise in the store 60 .
- This store PC 61 includes a control section 62 , a storage section 63 and a communication section 68 .
- the control unit 62 has a CPU and controls the entire device.
- the storage unit 63 stores various application programs and various data files.
- the storage unit 63 stores delivery management information 64, maintenance information 65, map information 66, and the like.
- the delivery management information 64 is information used for managing delivery of articles.
- the maintenance information 65 includes information on maintenance of the automatic mobile device 40 arranged at the store 60 .
- the map information 66 is map information of the store 60 .
- the communication unit 68 wirelessly communicates with an external device such as the automatic mobile device 40 . Also, the communication unit 68 exchanges information with the generalizing device 70 and the physical distribution PC 21 via the network 15 .
- the generalizing device 70 is a device that manages the delivery system 10 .
- the generalizing device 70 includes a control section 72 , a storage section 73 and a communication section 78 .
- the control unit 72 has a CPU and controls the entire apparatus.
- the storage unit 73 stores various application programs and various data files.
- the storage unit 73 stores delivery management information 74, which is a database used for managing the delivery of goods, and maintenance information, which is a database containing information related to maintenance of the automatic mobile devices 40 arranged in the distribution center 20 and the store 60. 75, map information 76, which is a database of maps of the distribution center 20 and the stores 60, and the like are stored.
- the communication unit 78 exchanges information with external devices such as the physical distribution PC 21 and the store PC 61 via the network 15 .
- the control unit 22 of the physical distribution PC 21 selects the automatic moving device 40 to automatically move, and outputs the current position of the truck 12 to be moved and the target position of the movement destination to the automatic moving device 40 .
- the automatic moving device 40 moves to the current position of the truck 12, detects the truck 12 with the detection unit 47, inserts the vehicle body unit 41 into the lower surface of the truck 12, raises the loading unit 44, and engages the truck 12. do.
- the automatic moving device 40 automatically travels to the target position, and when the target position is reached, the loading unit 44 is lowered.
- the physical distribution PC 21 and the automatic moving device 40 repeatedly execute such work.
- FIG. 7 is a flow chart showing an example of an automatic mobile device maintenance processing routine executed by the control unit 22 of the physical distribution PC 21. As shown in FIG. This routine is stored in the storage unit 23 and executed after the automatic moving device 40 is accommodated in the standby space 30 .
- the control unit 22 causes the charging device 33 to execute processing for charging the storage battery of the automatic mobile device 40 (S100).
- the charging device 33 starts charging the storage battery. It should be noted that the charging device 33 terminates this charging process when the charging completion of the storage battery is detected.
- the control unit 22 outputs a command to execute an automatic inspection to the automatic moving device 40 (S110).
- the automatic moving device 40 that has received the automatic inspection execution command executes the inspection of the detection unit 47 .
- the control unit 42 of the automatic moving device 40 inspects the detection unit 47, for example, whether or not the distance to the inspection pattern 37 has changed beyond a predetermined margin from the initial value, and whether or not the image sensor of the camera Whether or not the RGB values have changed from the initial values beyond a predetermined margin is determined based on actual measurements.
- the control unit 22 outputs a command to the cleaning device 34 to clean the automatic moving device 40 (S120).
- the cleaning device 34 drives the compression pump 38, opens the electromagnetic valve of the cleaning hole 35, and cleans the detecting portion 47 by blowing air.
- the control unit 22 acquires the results of the automatic inspection from the automatic moving device 40 (S130), and determines whether the inspection results are satisfactory (S140). When the inspection results are all satisfactory, the control unit 22 updates the maintenance information 25 with the operation time, the time when the final automatic inspection and cleaning were performed, the inspection results, etc., and outputs the updated maintenance information 25 to the centralizing device 70. (S170), and the routine ends. On the other hand, when there is an unsatisfactory inspection result in S140, the control unit 22 determines whether or not the re-inspection and re-cleaning processes have been performed a predetermined number of times (S150).
- the predetermined number of times is empirically set to a value such as 2, 3, or 5 times, which improves the inspection result of the detection unit 47 by cleaning.
- the control unit 22 repeatedly executes the processes after S110. That is, the automatic inspection and cleaning process are executed again.
- the function of the detection unit 47 is recovered by the cleaning process again, it is determined that the inspection result is good in S140.
- the control unit 22 displays and outputs the error information of the detection unit 47 (S160), and updates the maintenance information 25 in S170. , and exit this routine. After confirming the error information, the operator performs detailed inspection and detailed maintenance of the automatic moving device 40 .
- the standby space 30 of the present embodiment corresponds to the standby space of the present disclosure
- the cleaning device 34 corresponds to the cleaning device
- the inspection unit 36 corresponds to the inspection unit 36
- the charging device 33 corresponds to the charging device
- the physical distribution PC 21 corresponds to the store PC 61 and the generalizing device 70
- the distribution center 20 and the store 60 correspond to the specific space.
- the detection unit 47 corresponds to the detection unit
- the driving unit 46 corresponds to the driving unit
- the control unit 42 corresponds to the control unit
- the automatic moving device 40 corresponds to the automatic moving device
- the delivery system 10 corresponds to the delivery system. corresponds to
- an example of the delivery method of this disclosure is also clarified by explaining the operation of the delivery system 10 .
- the distribution center 20 and the store 60 as specific spaces are provided with the standby space 30 in which the automatic moving device 40 stands by.
- a cleaning device 34 is provided for cleaning the automatic moving device 40 when the automatic moving device 40 is on standby.
- the automatic moving device 40 can be cleaned while it is on standby.
- maintenance work can be performed more efficiently by using the waiting time.
- the cleaning device 34 is one or more of an air blow device, a liquid spray cleaning device, and a brush device, the automatic moving device 40 can be cleaned using an air blow, a liquid, a brush, or the like.
- the waiting space 30 is provided with an inspection unit 36 that is used when inspecting the functions of the automatic moving device 40, and the automatic moving device 40 uses the inspection unit 36 while waiting in the waiting space 30. A check of the functionality of the automatic mover 40 of the lever can be performed.
- the waiting space 30 has a wall portion 32 facing the automatic moving device 40, and an inspection pattern 37 is formed on the wall portion 32 as an inspection portion 36 to be detected by the detecting portion 47 of the automatic moving device 40.
- the automatic moving device 40 uses the inspection pattern 37 to inspect the detection unit 47 of the automatic moving device 40 .
- the inspection pattern 37 can be used to inspect the sensor function of the automatic moving device 40 while it is on standby. Since the detector 47 is one or more of a laser scan sensor, an imaging camera, and a sonar sensor, the delivery system 10 can inspect the sensors.
- the cleaning device 34 performs cleaning processing of the automatic moving device 40 based on the inspection result using the inspection unit 36.
- this delivery system 10 for example, immediate cleaning or postponement of cleaning can be performed according to the inspection result of the automatic moving device 40, so maintenance work can be performed more efficiently.
- the cleaning process is performed by the cleaning device 34, so that the function recovery of the automatic moving device 40 can be performed.
- the inspection using the inspection unit 36 is executed after the cleaning processing of the automatic moving device 40 is executed, so that better inspection results can be obtained.
- the delivery system 10 includes a physical distribution PC 21, a store PC 61, and a generalization device 70 as management devices for managing information related to the delivery system 10.
- a charging device 33 is arranged in the waiting space 30 for charging the automatic moving device 40 when the automatic moving device 40 stands by. In this delivery system 10, since the charging device 33 is provided in the standby space 30, maintenance work can be performed while the automatic moving device 40 is being charged while it is on standby.
- the automatic moving device 40 includes a detection unit 47 that detects the surroundings, a driving unit 46 that drives the automatic moving device 40, and a control unit 42 that controls the driving unit 46.
- a waiting space 30 is provided in which the automatic moving device 40 stands by, and the waiting space 30 is provided with an inspection unit 36 that is used when inspecting the function of the automatic moving device 40.
- the control unit 42 is , while waiting in the waiting space 03, the inspection unit 36 is used to inspect the functions of the automatic moving device 40.
- FIG. With this automatic moving device 40, the device can be inspected while the automatic moving device 40 is on standby. With this automatic moving device 40, maintenance work can be performed more efficiently by using the waiting time.
- the waiting space 30 forms a garage enclosed by the door 31, the walls 32 and the ceiling, it is possible to prevent the automatic moving device 40 from being stolen, for example.
- the door 31 is opened and closed by a signal from the automatic moving device 40 , the automatic moving device 40 can take the lead in entering and exiting the waiting space 30 .
- the delivery system 10 includes the cleaning device 34 and the inspection unit 36 in the waiting space 30.
- the present invention is not limited to this. May be omitted.
- the cleaning device 34 when the cleaning device 34 is arranged in the waiting space 30, automatic cleaning of the automatic moving device 40 can be performed, and when the inspection unit 36 is arranged in the waiting space 30, Automatic inspection of the automatic transfer device 40 can be performed.
- the charging device 33 is provided in the waiting space 30 , but the present invention is not limited to this, and the charging device 33 may not be provided.
- the inspection part 36 is formed on the wall part 32, but it is not particularly limited to this, and the inspection part 36 may be formed on a part other than the wall part 32.
- the standby space 30 has the door 31 and the wall portion 32, it is not particularly limited to this as long as the charging device 33, the cleaning device 34, the inspection portion 36, etc. are arranged. 31, the wall 32, the ceiling, etc. may be omitted to form an open space. In this delivery system 10 as well, the waiting time can be used to perform maintenance work more efficiently.
- the cleaning device 34 performs the cleaning process of the automatic moving device 40 based on the inspection result using the inspection unit 36, such as when the inspection result is not satisfactory.
- processing may be omitted.
- the delivery system 10 may perform cleaning processing and inspection processing separately. In this delivery system 10 as well, maintenance work can be performed more efficiently using the waiting time.
- the delivery system 10 includes a physical distribution PC 21, a store PC 61, and a generalizing device 70 as management devices for managing information of the delivery system 10. may be output to the cleaning device 34 to execute the cleaning process of the automatic moving device 40.
- the management device may output a command to execute the cleaning process when a predetermined time has passed since the previous cleaning process. In this delivery system 10, unnecessary cleaning processing can be omitted and more efficient maintenance work can be performed.
- the management device may output to the automatic moving device 40 a command to execute inspection processing of the automatic moving device 40 based on the maintenance information regarding the automatic moving device 40 waiting in the waiting space 30 .
- the management device may output an instruction to execute the inspection process when a predetermined time has passed since the previous inspection process. In this delivery system 10, unnecessary inspection processing can be omitted, and more efficient maintenance work can be performed.
- the physical distribution PC 21, the store PC 61, and the generalizing device 70 are provided as management devices, but the present invention is not limited to this. May be omitted. Further, in the delivery system 10, the management device may be omitted, and the cleaning device 34 may be provided with a detection unit so that when the automatic moving device 40 enters the waiting space 30, the cleaning device 34 automatically performs the cleaning process. Further, in the delivery system 10, the management device may be omitted, and the charging device 33 may be provided with a detection unit so that when the automatic moving device 40 enters the waiting space 30, the charging device 33 automatically performs the charging process.
- the management device may be omitted, and when the automatic moving device 40 enters the standby space 30, the control unit 42 may automatically execute the inspection process.
- the process of outputting information such as maintenance information to the management device can also be omitted.
- the delivery method of the present disclosure includes an automatic movement device that includes a detection unit that detects the surroundings, a drive unit, and a control unit that controls the drive unit, and automatically moves an article within a specific space by the drive unit,
- an automatic movement device that includes a detection unit that detects the surroundings, a drive unit, and a control unit that controls the drive unit, and automatically moves an article within a specific space by the drive unit
- a waiting space in which the automatic moving device stands by is provided in the specific space, and a cleaning device disposed in the waiting space causes the automatic moving device to wait. cleaning the automated moving device when cleaning.
- the specific space is provided with a waiting space in which the automatic moving device waits, and the waiting space is used when inspecting the function of the automatic moving device.
- a test unit may be provided, and the automated mobile device may include performing a functional test of the automated mobile device using the inspection unit while waiting in the waiting space.
- the present disclosure has been described as the delivery system 10 in the above-described embodiment, it is not particularly limited to this, and may be an automatic moving device 40.
- This automatic moving device may be configured as follows.
- the automatic moving device of the present disclosure is an automatic moving device that is used in a delivery system for delivering an item and automatically moves the item within a specific space, and includes a detection unit that detects the surroundings and a driving device that drives the automatic moving device. and a control unit that controls the drive unit, the delivery system is provided with a waiting space in which the automatic moving device waits in the specific space, and the waiting space includes the automatic moving device.
- An inspection unit used when inspecting the functions of the mobile device is provided, and the control unit uses the inspection unit to inspect the functions of the automatic mobile device while waiting in the standby space. It can be a thing.
- an inspection section used for inspection of this apparatus is arranged in a waiting space where the automatic moving apparatus stands by, so that this apparatus can be inspected while the automatic moving apparatus is waiting. With this automatic moving device, it is possible to perform maintenance work more efficiently by using the waiting time.
- the delivery system, delivery method, and automatic moving device of the present disclosure can be used in the technical field of distribution systems for delivering goods.
- 10 delivery system 12 cart, 13 loading section, 14 caster, 15 network, 18 delivery vehicle, 20 distribution center, 21 distribution PC, 22 control section, 23 storage section, 24 delivery management information, 25 maintenance information, 26 map information, 28 Communication section, 30 Waiting space, 31 Door, 32 Wall section, 33 Charging device, 34 Cleaning device, 35 Cleaning hole, 36 Inspection section, 37 Inspection pattern, 38 Compression pump, 40 Automatic movement device, 41 Body section, 42 Control section, 43 storage section, 44 loading section, 45 lifting section, 46 drive section, 47 detection section, 48 communication section, 49 driving section, 50 running wheel, 51 first sensor, 52 second sensor, 53 third sensor, 54 4th sensor, 55 fifth sensor, 56 traction member, 57 loading member, 58 support member, 59 base unit, 60 store, 61 store PC, 62 control unit, 63 storage unit, 64 delivery management information, 65 maintenance information, 66 map information, 68 communication unit, 69 display shelf, 70 control unit, 72 control unit, 73 storage unit, 74 delivery management information, 75 maintenance information, 76 map information, 78 communication unit.
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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Abstract
Description
周囲を検出する検出部と駆動部と前記駆動部を制御する制御部とを備え物品を特定空間内で前記駆動部により自動移動する自動移動装置を有し、該物品を配送する配送システムであって、
前記特定空間には、前記自動移動装置が待機する待機スペースが設けられており、
前記待機スペースに配設され、前記自動移動装置が待機する際に該自動移動装置を清掃する清掃装置、を備えたものである。
Claims (13)
- 周囲を検出する検出部と駆動部と前記駆動部を制御する制御部とを備え物品を特定空間内で前記駆動部により自動移動する自動移動装置を有し、該物品を配送する配送システムであって、
前記特定空間には、前記自動移動装置が待機する待機スペースが設けられており、
前記待機スペースに配設され、前記自動移動装置が待機する際に該自動移動装置を清掃する清掃装置、
を備えた配送システム。 - 前記清掃装置は、エアブロー装置、液体散布洗浄装置、ブラシ装置のうち1以上である、請求項1に記載の配送システム。
- 前記待機スペースには、前記自動移動装置の機能を検査する際に利用される検査部が備えられており、
前記自動移動装置は、前記待機スペースで待機中に前記検査部を利用して該自動移動装置の機能の検査を実行する、請求項1又は2に記載の配送システム。 - 前記待機スペースには、前記自動移動装置に対向する壁を有し、該壁には前記自動移動装置の検出部が検出する前記検査部としての検査パターンが形成されており、
前記自動移動装置は、前記検査パターンを利用して該自動移動装置の前記検出部の検査を実行する、請求項3に記載の配送システム。 - 前記清掃装置は、前記検査部を利用した検査結果に基づいて前記自動移動装置の清掃処理を実行する、請求項3又は4に記載の配送システム。
- 前記配送システムは、前記配送システムの情報を管理する管理装置、を備え、
前記管理装置は、前記待機スペースに待機している前記自動移動装置に関する情報に基づいて、前記清掃装置へ該自動移動装置の清掃処理の実行指令を出力する、請求項1~5のいずれか1項に記載の配送システム。 - 周囲を検出する検出部を備え物品を特定空間内で自動移動する自動移動装置を有し、該物品を配送する配送システムであって、
前記特定空間には、前記自動移動装置が待機する待機スペースが設けられており、
前記待機スペースには、前記自動移動装置の機能を検査する際に利用される検査部が備えられており、
前記自動移動装置は、前記待機スペースで待機中に前記検査部を利用して該自動移動装置の機能の検査を実行する、
配送システム。 - 前記待機スペースには、前記自動移動装置に対向する壁を有し、該壁には前記自動移動装置の検出部が検出する前記検査部としての検査パターンが形成されており、
前記自動移動装置は、前記検査パターンを利用して該自動移動装置の前記検出部の検査を実行する、請求項7に記載の配送システム。 - 前記検出部は、レーザスキャンセンサ、撮像カメラ、及びソナーセンサのうち1以上である、請求項1~8のいずれか1項に記載の配送システム。
- 前記配送システムは、前記配送システムの情報を管理する管理装置、を備え、
前記自動移動装置は、該自動移動装置の清掃に関する情報及び/又は前記検出部の検査に関する情報を前記管理装置へ出力する、請求項1~9のいずれか1項に記載の配送システム。 - 請求項1~10のいずれか1項に記載の配送システムであって、
前記待機スペースに配設され、前記自動移動装置が待機する際に該自動移動装置を充電する充電装置、
を備えた配送システム。 - 周囲を検出する検出部と駆動部と前記駆動部を制御する制御部とを備え物品を特定空間内で前記駆動部により自動移動する自動移動装置を有し、該物品を配送する配送方法であって、
前記特定空間には、前記自動移動装置が待機する待機スペースが設けられており、
前記待機スペースに配設された清掃装置により、前記自動移動装置が待機する際に該自動移動装置を清掃するステップ、
を含む配送方法。 - 物品を配送する配送システムに用いられ該物品を特定空間内で自動移動する自動移動装置であって、
周囲を検出する検出部と、
前記自動移動装置を駆動する駆動部と、
前記駆動部を制御する制御部と、を備え、
前記配送システムは、前記特定空間に前記自動移動装置が待機する待機スペースが設けられており、前記待機スペースには、前記自動移動装置の機能を検査する際に利用される検査部が備えられており、
前記制御部は、前記待機スペースで待機中に前記検査部を利用して該自動移動装置の機能の検査を実行する、
自動移動装置。
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JP2001508572A (ja) | 1997-01-22 | 2001-06-26 | シーメンス アクチエンゲゼルシヤフト | 自立移動式装置のドッキングの位置決め方法および装置 |
JP2006252211A (ja) * | 2005-03-11 | 2006-09-21 | Hitachi Omron Terminal Solutions Corp | 生体認証装置 |
JP2013184762A (ja) * | 2012-03-06 | 2013-09-19 | Daifuku Co Ltd | 天井搬送車の清掃装置 |
JP2016033816A (ja) | 2014-07-28 | 2016-03-10 | 株式会社豊田自動織機 | 無人搬送車の搬送システムの異常検出装置 |
JP2019501650A (ja) | 2015-12-16 | 2019-01-24 | フォアベルク ウント コー. インターホールディング ゲゼルシャフト ミット ベシュレンクテル ハフツングVorwerk & Co. Interholding GmbH | 移動ロボット装置で地表面を処理するシステムおよび方法 |
JP2019216674A (ja) * | 2018-06-21 | 2019-12-26 | 株式会社クボタ | 基地局 |
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JP2001508572A (ja) | 1997-01-22 | 2001-06-26 | シーメンス アクチエンゲゼルシヤフト | 自立移動式装置のドッキングの位置決め方法および装置 |
JP2006252211A (ja) * | 2005-03-11 | 2006-09-21 | Hitachi Omron Terminal Solutions Corp | 生体認証装置 |
JP2013184762A (ja) * | 2012-03-06 | 2013-09-19 | Daifuku Co Ltd | 天井搬送車の清掃装置 |
JP2016033816A (ja) | 2014-07-28 | 2016-03-10 | 株式会社豊田自動織機 | 無人搬送車の搬送システムの異常検出装置 |
JP2019501650A (ja) | 2015-12-16 | 2019-01-24 | フォアベルク ウント コー. インターホールディング ゲゼルシャフト ミット ベシュレンクテル ハフツングVorwerk & Co. Interholding GmbH | 移動ロボット装置で地表面を処理するシステムおよび方法 |
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