JP7595744B2 - Mobile system and management device - Google Patents

Description

This specification discloses a mobile system and a management device.

Conventionally, a system for automatically moving goods has been proposed that includes a projector that is installed on the ceiling and projects a guidance image including a guidance line for guiding the automatic guided vehicle onto the road surface, and an automatic guided vehicle that analyzes an image of the road surface captured by an on-board camera, detects the guidance line in the guidance image, and moves along the guidance line (see, for example, Patent Document 1). This system is said to be able to move the automatic guided vehicle without laying a guidance line. In addition, a system for automatically moving goods has been proposed that, when one or more robot devices execute one or more tasks, receive data that develops the task and update the map based on this data to execute the task (see, for example, Patent Document 2). This system is said to be able to move goods using the updated map. In addition, a system for automatically moving goods has been proposed that includes an automatic guided vehicle that transports goods, and updates the map based on detected information or uses it as an obstacle for the movement of other automatic guided vehicles (see, for example, Patent Documents 3 to 6).

JP 2020-46835 A U.S. Publication No. 2016/129592 JP 2019-131392 A JP 2019-061452 A JP 2017-021791 A JP 2018-120491 A

However, while the system in Patent Document 1 can automatically move an automatic mobile device loaded with goods without laying guide lines on the road surface using a projector fixed to the ceiling, this is still insufficient and further improvements are desired. Furthermore, the systems in Patent Documents 2 to 6 consider a flat map and do not consider terrain such as a sloped road surface. In an automatic mobile device, a sensor may detect obstacles on the road surface along which the automatic mobile device is moving, but for example, when the automatic mobile device goes down a slope, the automatic mobile device faces downward and may erroneously detect the road surface as an obstacle, or when the automatic mobile device reaches an uphill slope, may erroneously detect the slope as an obstacle.

The present disclosure has been made to solve these problems, and has as its main objective the provision of a moving system and management device that can improve the degree of freedom of movement of an automated moving system that transports goods. It also has as its main objective the provision of a moving system and management device that can automatically move within a specific three-dimensional space with simpler processing.

This disclosure takes the following measures to achieve the above-mentioned primary objective.

The mobile system disclosed herein comprises:
A moving system for use in a delivery system that has an automatic moving system that automatically moves an item within a specific space and delivers the item,
A loading section capable of loading the items;
a projection unit that projects the guide line that the automated movement system reads and moves along onto a projection surface that exists within the specific space;
A drive unit for moving the movement system;
A control unit that controls the projection unit;
It is equipped with the following:

In this moving system, the drive unit can guide the moving body that moves automatically within a specific space. Therefore, this moving system can further improve the degree of freedom of movement of the moving system that transports items.

FIG. 1 is a schematic diagram showing an example of a delivery system 10. FIG. 2 is an explanatory diagram showing an example of a logistics center 20. FIG. 2 is an explanatory diagram showing an example of automatic moving devices 40A to 40D. FIG. 4 is an explanatory diagram of an automatic moving device 40 connected to the cart 12. FIG. 4 is an explanatory diagram showing an example of information stored in a storage unit 73. FIG. 2 is an explanatory diagram showing an example of map data 80 derived from map information 26. 11 is a flowchart showing an example of an automatic moving device guidance processing routine. FIG. 4 is an explanatory diagram of a process for guiding the automated moving device 40 to a delivery vehicle 60. 11 is a flowchart showing an example of a formation movement processing routine. FIG. 4 is an explanatory diagram of an example of automatic moving devices 40 moving in formation. 11 is a flowchart illustrating an example of a measurement data processing routine. 5 is an explanatory diagram of an example in which the automated moving device 40 detects an obstacle on a sloped road surface. FIG. 10 is a flowchart showing an example of a map information update processing routine.

An embodiment of the present disclosure will be described with reference to the drawings. 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 a logistics center 20, where FIG. 2A is a plan view and FIG. 2B is a side view. FIG. 3 is an explanatory diagram showing an example of automatic moving devices 40A to 40D. FIG. 3A is an explanatory diagram of an automatic moving device 40A having the functions of an AGV (Automatic Guided Vehicle) and an AMR (Autonomous Mobile Robot). FIG. 3B is an explanatory diagram of an automatic moving device 40B having the functions of an AGV. FIG. 3C is an explanatory diagram of an automatic moving device 40C having the functions of an AMR. FIG. 3D is an explanatory diagram of an automatic moving device 40D having the functions of an AGV and an AMR, with the projection unit 47 omitted. FIG. 4 is an explanatory diagram of an automatic moving device 40 connected to a dolly 12, where FIG. 4A is a front view and FIG. 4B is a plan view. FIG. 5 is an explanatory diagram showing an example of information stored in the memory unit 73. The delivery system 10 has an automatic moving device 40 of a moving system 11 that automatically moves an item within a specific space, and is a system that performs processing to deliver the item. The moving system 11 is composed of vehicles that move items, such as the automatic moving device 40 and a delivery vehicle 60. In this embodiment, the automatic moving devices 40A to 40D are collectively referred to as the automatic moving device 40. The delivery system 10 will be described as an example in which the delivery of items is performed using a dolly 12, but the delivery system is not limited to this, and the dolly 12 may be omitted or other components may be used. Here, the "item" is not particularly limited as long as it is something to be delivered, and examples of the "item" include industrial products including machines, devices, device units, parts, etc., daily necessities that are generally used daily, food, and fresh foods. In addition, examples of the "delivery source" and "delivery destination" include, for example, a logistics center that accumulates and delivers items, a warehouse that stores items, and a store that sells items. In addition, examples of the "specific space" include, in addition to the above-mentioned delivery source and delivery destination, a cargo room of a mobile transporter that delivers items, and a work elevator. Examples of the mobile transport body include vehicles such as a delivery vehicle 60 or a train, a ship, an airplane, etc. For ease of explanation, the following mainly describes a delivery system 10 that delivers products such as daily necessities and fresh produce from a logistics center 20 as a delivery source to a store 50 as a delivery destination by a delivery vehicle 60. In this embodiment, the left-right direction, the front-rear direction, and the up-down direction are described as shown in each figure.

As shown in FIG. 1, the delivery system 10 includes a logistics PC 21, a store PC 51, an automatic moving device 40, and a management server 70. The logistics PC 21 is installed in the logistics center 20 and is configured as a management device that manages products at the logistics center 20. The logistics PC 21 includes a control unit 22, a memory unit 23, and a communication unit 28. The control unit 22 has a CPU and controls the entire device. The memory unit 23 stores various application programs and various data files. The memory unit 23 stores delivery management information 24, location information 25, map information 26, and the like. The delivery management information 24 is information used to manage the delivery of goods. The location information 25 is information including the location of the automatic moving device 40 and the location of the delivery vehicle 60 arranged in the logistics center 20. The map information 26 is information on the map of the logistics center 20. The communication unit 28 wirelessly communicates with external devices such as the automatic moving device 40. The communication unit 28 exchanges information with the management server 70 and the store PC 51 via the network 15 .

The trolley 12 has a mounting section 13 and casters 14. The mounting section 13 is a flat member on which items are loaded. The casters 14 have wheels that allow the trolley 12 to travel, and are disposed on the underside of the mounting section 13. The trolley 12 may be a cage trolley.

The logistics center 20 is a place where goods are accumulated and delivered to stores 50 in various locations or to other logistics centers 20. As shown in FIG. 2, the logistics center 20 has one or more automatic moving devices 40, which can automatically move the trolleys 12. For example, the logistics center 20 has a sloped road surface 18 in a specific area of the floor, and the automatic moving device 40 automatically moves in different moving areas in the height direction. In the logistics center 20, workers or arm robots (not shown) load goods onto the trolleys 12 according to the delivery destination. The automatic moving device 40 accumulates, carries in, and carries out the trolleys 12 with specified delivery destinations. The delivery vehicle 60 loads the trolleys 12 into the cargo room 61 at the logistics center 20, delivers the goods to the delivery destination, and returns the empty trolleys 12 to the logistics center 20. The logistics center 20 is provided with one or more area detection devices 29 for detecting the positions of the accumulated carts 12, the automated transport device 40, the delivery vehicle 60, etc. The area detection device 29 may be a non-contact sensor or a camera.

The automatic moving device 40 is a vehicle that is a moving body of the moving system 11 that automatically moves the cart 12. The automatic moving device 40 enters the space between the casters 14 on the underside of the mounting part 13 of the cart 12, connects to the cart 12 by lifting the mounting part 13 from below with the loading part 43, and moves the cart 12. The automatic moving device 40 may be an AGV that moves along a line formed on the road surface, or an AMR that detects the surroundings and moves along a free route. As shown in FIG. 3, the automatic moving device 40 has a vehicle body part 40a, a moving control part 41, a memory part 42, a loading part 43, wheels 44, a moving drive part 45, a detection part 46, a projection part 47, a reading part 48, and a communication part 49. The moving control part 41 is a controller that controls the entire automatic moving device 40. The movement control unit 41 outputs control signals to the loading unit 43, the movement drive unit 45, and the communication unit 49, and inputs signals from the detection unit 46, the reading unit 48, and the communication unit 49. The movement control unit 41 grasps the movement direction, movement distance, and current position of the automatic moving device 40 based on the driving state of the movement drive unit 45. The movement control unit 41 controls the movement and stop of the automatic moving device 40 based on information from the detection unit 46. The memory unit 42 stores various application programs and various data files. For example, the memory unit 42 stores location information including the location of the delivery origin and delivery destination to which the dolly 12 is moved, map information of the logistics center 20, and the like. The location information and map information are obtained by communication from the logistics PC 21. The loading unit 43 is connected to the dolly 12 by protruding upward from the vehicle body unit 40a of the automatic moving device 40 and pressing the lower surface of the placement unit 13 (see FIG. 4). The automatic moving device 40 has four wheels 44, and moves by rotating the wheels 44. The moving drive unit 45 is a motor connected to each wheel 44, and drives the automatic moving device 40 to run by rotating the connected wheels 44. The detection unit 46 detects objects present around the automatic moving device 40 and their distance. The detection unit 46 detects the presence and distance of objects by irradiating the surroundings with light such as a laser or sound waves, for example, and detecting reflected waves. In the AGV, the detection unit 46 is a sensor that detects objects present in the vicinity of the vehicle body unit 40a, and in the AMR, it is a sensor that can detect obstacles and walls present in a wider range of areas. The projection unit 47 is a unit that projects the guide line that the automatic moving device 40 reads and moves along onto a projection surface present in a specific space. The projection unit 47 projects the guide line onto, for example, the floor surface as the projection surface (see FIG. 10 described later). Here, the "projection surface" may be a road surface on which the automatic moving device 40 runs, or a wall surface present in a specific space. The reading unit 48 is a unit that reads the guide line formed on the floor surface. The reading unit 48 may be, for example, an imaging unit that captures an image and analyzes the captured image to detect the guide line. The communication unit 49 is an interface that wirelessly exchanges information with an external device such as the logistics PC 21. The movement control unit 41 exchanges information with the logistics PC 21 via the communication unit 49. The automatic moving device 40 may be equipped with a detection unit 46, a projection unit 47, and a reading unit 48 on at least two surfaces, a front part and a rear part on the opposite side. The automatic moving device 40A shown in FIG. 3A has the functions of an AGV and an AMR, and when functioning as an AGV, it uses the detection unit 46 to detect an obstacle near the vehicle body part 40a, and moves to a target position along the guide line read by the reading unit 48. Furthermore, when the automatic moving device 40A functions as an AMR, it moves to a target position based on map information stored in the memory unit 42 while detecting obstacles using the detection unit 46. The automatic moving device 40B shown in FIG. 3B has only the function of an AGV. The automatic moving device 40C shown in FIG. 3C omits the reading unit 48 and has only the function of an AMR. The automatic moving device 40D shown in FIG. 3D omits the projection unit 47 and has the functions of an AGV and an AMR. Note that the automatic moving device 40 may have a configuration in which the automatic moving device 40B or the automatic moving device 40C omits the projection unit 47. The delivery system 10 or the moving system 11 may have an automatic moving device 40 or a delivery vehicle 60 having functions as required.

The store 50 displays and sells the delivered items. The store 50 has one or more automatic moving devices 40 and can automatically move the carts 12. The store 50 has display shelves 59 on which the items are displayed, and workers display the items on these display shelves.

The store PC 51 is installed in the store 50 and is configured as a management device that manages products in the store 50. The store PC 51 includes a control unit 52, a memory unit 53, and a communication unit 58. The control unit 52 has a CPU and controls the entire device. The memory unit 53 stores various application programs and various data files. The memory unit 53 stores delivery management information 54, location information 55, map information 56, and the like. The delivery management information 54 is information used to manage the delivery of goods. The location information 55 is information including the location of the automatic moving device 40 and the location of the delivery vehicle 60 arranged in the store 50. The map information 56 is information on the map of the store 50. The communication unit 58 wirelessly communicates with external devices such as the automatic moving device 40. The communication unit 58 also exchanges information with the management server 70 and the logistics PC 21 via the network 15. The storage unit 53 stores product management information that associates items with display shelves, location information, map information used by the automatic moving device 40, etc. The storage unit 53 may store the same content as the information stored in the logistics PC 21.

The delivery vehicle 60 is a vehicle of the mobile system 11 that delivers goods by loading one or more trolleys 12. The delivery vehicle 60 delivers goods between delivery bases. Here, the "delivery base" includes the logistics center 20 and the store 50 where goods are accumulated. As shown in FIG. 1, the delivery vehicle 60 is equipped with a cargo room 61, a tailgate 62, a tail lift 63, a moving unit 64, a projection unit 65, a driving unit 66, and a control device 68. The cargo room 61 is a specific space for accumulating the trolleys 12, and is also a loading unit for loading the trolleys 12. The tailgate 62 is provided at the rear of the vehicle, and opens and closes the cargo room 61 with a closing door. The tail lift 63 loads the trolleys 12 and workers on a work platform that becomes horizontal when the closing door is opened, and moves the work platform up and down between the floor of the cargo room 61 and the running surface of the delivery vehicle 60. In this delivery vehicle 60, the tailgate 62, the tail lift 63, etc. can be mechanically operated by a motor, hydraulic pressure, etc. The moving unit 64 is configured as a slider that moves the projection unit 65. The moving unit 64 moves the projection unit 65 between an inside projection position where an image is projected inside the luggage compartment 61 and an outside projection position where an image is projected outside the luggage compartment 61. The projection unit 65 is a unit that projects the guide line that the automatic moving device 40 reads and moves on a projection surface that exists in a specific space. The projection surface is the floor surface inside the luggage compartment 61 as well as the floor surface outside the luggage compartment 61. The driving unit 66 is a driving source including an engine, a motor, etc., and moves the delivery vehicle 60 by rotating the wheels. The control device 68 is a controller that controls each device of the delivery vehicle 60, and is equipped with a CPU and a memory unit. The control device 68 exchanges information with external devices such as the logistics PC 21 and the management server 70 via a communication unit not shown, wirelessly, etc. The mobile system 11 may have a delivery vehicle 60 that automatically moves between distribution bases by unmanned driving, or may have a delivery vehicle 60 that moves between distribution bases by being driven by a work vehicle. The automatically moving delivery vehicle 60 is equipped with a detection unit similar to the automatic moving device 40, and the control device 68 drives the drive unit 66 and moves to the target position based on the map information stored in the memory unit while detecting obstacles with the detection unit. In this embodiment, the delivery of goods is performed by a truck delivery vehicle 60, but is not limited to this, and may be performed by a moving transport body such as a train, ship, or aircraft.

The management server 70 is a device that manages the delivery system 10. The management server 70 includes a management control unit 72, a storage unit 73, and a communication unit 78. The management control unit 72 has a CPU and controls the entire device. The storage unit 73 stores various application programs and various data files. The storage unit 73 stores delivery management information 74 used to manage the delivery of goods, location information 75 including the location of the automated mobile device 40 and the delivery vehicle 60 arranged in the logistics center 20 and the store 50, map information 76 of the logistics center 20 and the store 50, and the like. The delivery management information 24, the delivery management information 54, and the delivery management information 74 include information related to each other, and the delivery management information 24 and the delivery management information 54 include information corresponding to the location of the delivery management information 74. The location information 25, 55, and 75 and the map information 26, 56, and 76 also include information related to each other. The delivery management information 74 includes delivery information that associates a delivery destination with an item, and correspondence information that associates a dolly 12 loaded with an item with an item. As shown in FIG. 5, the map information 76 includes map identification information (ID), information on the entire area of the map, correction information that reduces the difference between the actual measurement value of a specific space and a reference map, area information on the sloped road surface regarding the area where the sloped road surface 18 exists, and obstacle area information that indicates the area of an obstacle existing in the specific space. The obstacle area information includes the position and size of an obstacle that exists in the logistics center 20 and obstructs the movement of the automatic moving device 40, as well as information on the device and time that detected the obstacle. The obstacle area information is updated sequentially based on the detection result from the automatic moving device 40 that moves on the floor. The information on the obstacle included in the obstacle area information is erased when it is subsequently removed. The map information 76, map information 26, 56, and the like are updated as needed to reflect the measurement results of the automatic moving device 40, and the like. FIG. 6 is an explanatory diagram showing an example of map data 80 derived from the map information 26. The map data 80 includes information such as obstacle areas 81 that the automated mobile device 40 cannot enter, and sloped road surface areas 82. The management control unit 72 may acquire, by communication, map information 26, 56 created and updated by the logistics PC 21 or the store PC 51, for example. The communication unit 78 exchanges information with external devices such as the logistics PC 21 or the store PC 51 via the network 15.

Next, in the delivery system 10 configured as above, the process in which the delivery vehicle 60 arrives at the logistics center 20 and the automatic moving device 40 moves the cart 12 will be described. Here, the process in which the automatic moving device 40 functioning as an AGV moves the cart 12 to the cargo room 61 of the delivery vehicle 60 will be described as a specific example. FIG. 7 is a flowchart showing an example of an automatic moving device guidance processing routine executed by the control device 68 of the delivery vehicle 60. FIG. 8 is an explanatory diagram of the process of guiding the automatic moving device 40 to the delivery vehicle 60, where FIG. 8A is a diagram in which a guidance line 91 is projected onto the projection area 90, FIG. 8B is a diagram in which the automatic moving device 40 is guided to the tail lift 63, and FIG. 8C is a diagram in which the automatic moving device 40 is guided within the cargo room 61. The automatic moving device guidance processing routine is stored in the memory unit of the control device 68 and is executed after the delivery vehicle 60 arrives at the logistics center 20. When this routine starts, the CPU of the control device 68 acquires the position of the delivery vehicle 60 from the logistics PC 21 (S100), moves the projection unit 65 to the outside-vehicle projection position by the movement unit 64 (S110), and acquires the position of the automatic movement device 40 that carries the trolley 12 to the luggage compartment 61 (S120). The control device 68 acquires the coordinates of the delivery vehicle 60 and the position of the delivery vehicle 60 detected by the area detection device 29 via the logistics PC 21.

Next, the control device 68 creates a guidance image that connects the positions of the automatic moving device 40 and the delivery vehicle 60 (S130). The guidance image includes an image of the guidance line 91 that is read by the reading unit 48. Next, the control device 68 projects the guidance line 91 as a guidance image onto the floor surface as a projection surface (S140, see FIG. 8A). The automatic moving device 40 reads the guidance line 91 that exists in the projection area 90, and moves along it to the tail lift 63 (FIG. 8B). The control device 68 determines whether the automatic moving device 40 has reached the tail lift 63 (S150), and when the automatic moving device 40 has not reached the tail lift 63, executes the processing from S120 onwards. That is, the control device 68 updates the position of the automatic moving device 40, creates a guidance image, and projects the guidance line 91 onto the road surface.

On the other hand, when the automatic moving device 40 reaches the tail lift 63 in S150, the control device 68 raises the tail lift 63 (S160), moves the projection unit 65 to the projection position inside the vehicle (S170), creates a guidance image that guides the automatic moving device 40 to the destination position (S180), and projects the guidance image onto the floor surface inside the vehicle, which is the projection surface (S190). The automatic moving device 40 reads the guidance line 93 present in the projection area 92, moves along the guidance line 93 (FIG. 8C), and when it reaches the destination position, performs a process of lowering the dolly 12. In the luggage compartment 61, a running path on which the casters 14 run is formed at a position higher than the road surface of the automatic moving device 40, and when the loading unit 43 is lowered, the casters 14 are supported on the running path and the dolly 12 is held in the luggage compartment 61. Next, the control device 68 waits until the automatic moving device 40 lowers the dolly 12 at the destination position and reaches above the tail lift 63 (S200). At this time, the control device 68 projects a guide line 93 along which the automatic moving device 40 is guided to the tail lift 63 onto the floor surface inside the vehicle.

When the automatic moving device 40 reaches the tail lift 63 in S200, the control device 68 lowers the tail lift 63 (S210), moves the projection unit 65 to the outside projection position (S220), creates a guidance image that guides the automatic moving device 40 to the target position outside the delivery vehicle 60 (S230), and projects this guidance image onto the road surface, which is the projection surface (S240). The automatic moving device 40 reads the guidance line 91 present in the projection area 90 and moves outside the delivery vehicle 60 along it. The control device 68 determines whether the automatic moving device 40 has moved to the target position outside the vehicle (S250), and if the automatic moving device 40 has not reached the target position, executes the processing from S230 onwards. On the other hand, when the automatic moving device 40 has moved to the target position outside the vehicle, the control device 68 determines whether there is an automatic moving device 40 to be guided next (S260), and if there is an automatic moving device 40 to be guided next, executes the processing from S100 onwards. On the other hand, when there is no next automatic moving device 40 to be guided in S260, the control device 68 ends this routine. The stopping position of the delivery vehicle 60 may change from time to time. Here, the delivery vehicle 60 projects the guide line, so that the automatic moving device 40 can be guided to the cargo room 61 more accurately. Here, the guided automatic moving device 40 has been described as having the function of an AGV, but this automatic moving device 40 may be an automatic moving device 40D in which the projection unit 47 is omitted. In addition, the automatic moving device 40 may also have the function of an AMR, and may automatically move to the guidance start position in FIG. 8A, or may automatically move in FIG. 8C by omitting the projection of the guide line 93 by the projection unit 65.

Next, the formation movement performed by the automatic moving device 40 will be described. Here, the process in which the automatic moving device 40 of the moving system 11 uses the projection unit 47 to make other automatic moving devices 40 follow will be described. FIG. 9 is an explanatory diagram showing an example of a formation movement processing routine executed by the movement control unit 41 of the automatic moving device 40. FIG. 10 is an explanatory diagram of an example of the formation movement of the automatic moving device 40. The formation movement processing routine is stored in the memory unit 42 of the automatic moving device 40, and is executed when formation movement is required. Here, a case will be described in which the automatic moving device 40 moves as an AMR at the front, and multiple automatic moving devices 40 as AGVs move following it. Note that the automatic moving device 40 at the front may further have the function of an AGV, and one or more following automatic moving devices 40 may further have the function of an AMR.

When this routine is started, the movement control unit 41 first acquires information on the destination position and map information from the logistics PC 21 (S300). Next, the movement control unit 41 drives the wheels 44 by the movement drive unit 45 so as to move to the destination position (S310). At this time, the movement control unit 41 sets a movement route using the map information, and drives and controls the movement drive unit 45 so as to move along the set movement route. Next, the movement control unit 41 creates a guidance image that the following automatic moving device 40 follows (S320), and projects the guidance image on the road surface as a projection surface toward the rear in the movement direction by the projection unit 47 (S330). When the vehicle moves straight, the movement control unit 41 creates a guidance image including a straight guide line (see FIG. 10). Also, when the vehicle moves while turning left, the movement control unit 41 creates a guidance image including a guide line that curves to the left. Also, when the vehicle moves while turning right, a guidance image including a guide line that curves to the right is created. The following automatic moving device 40 moves along the guide line read by the reading unit 48. The following automatic moving device 40 also creates a guide image for the following automatic moving device 40, and causes the projection unit 47 to project a projection image including the guide line 95 in the projection area 94 onto the road surface (see FIG. 10). The movement control unit 41 then determines whether or not the destination has been reached (S340), and if the destination has not been reached, repeats the processing from S310 onwards. When the target position has been reached in S340, this routine is terminated. In this way, the automatic moving device 40 can use the projection unit 47 to make the other automatic moving devices 40 follow it.

Next, a process of detecting whether an obstacle exists on the road surface by the automatic moving device 40 of the moving system 11 will be described. FIG. 11 is a flowchart showing an example of a measurement data processing routine executed by the movement control unit 41 of the automatic moving device 40. FIG. 12 is an explanatory diagram of an example of the automatic moving device 40 detecting an obstacle on a sloped road surface. Here, a process of detecting an obstacle when the automatic moving device 40 moves in the logistics center 20 will be described as a specific example. The measurement data processing routine is stored in the memory unit 42 and is executed when the automatic moving device 40 moves. This measurement data processing routine is executed in parallel with the moving process of the automatic moving device 40 to the destination and the work on the dolly 12. When this routine is started, the movement control unit 41 acquires the map information 26 from the logistics PC 21 (S400). The map information 26 may be transmitted from the management server 70 to the automatic moving device 40 via the logistics PC 21.

Next, the movement control unit 41 acquires the current position and the measurement result by the detection unit 46 (410). The movement control unit 41 may acquire the current position from the distance and direction of the movement of the vehicle body unit 40a from the initial position. The movement control unit 41 also acquires the presence of objects such as walls and obstacles in the specific space and the distance to the objects as the measurement result based on the reflected waves measured by the detection unit 46, for example. Next, the movement control unit 41 determines whether there is a difference value between the map data included in the map information 26 stored in the memory unit 42 and the measured data (S420). The movement control unit 41, for example, excludes objects determined to be obstacles and determines whether there is a difference value for the size of the specific space, such as the distance between walls. Note that the movement control unit 41 determines that there is no difference value when the difference value is within the range of measurement error. When there is a difference value, the movement control unit 41 transmits the measurement data to the logistics PC 21 (S430). The measurement data is used to update the map information 26 and the map information 76 in the logistics PC 21 and the management server 70 .

After S430, or when there is no difference between the measurement data and the map data in S420, the movement control unit 41 determines whether or not an object has been detected in the specific space (S440). The movement control unit 41 detects an object when, for example, a reflected wave is obtained at a distance sufficiently closer than a wall in the direction along the traveling direction. When an object is detected, the movement control unit 41 determines whether or not the distance to the object is a predetermined distance or more (S450). This predetermined distance is empirically set to a close distance at which the presence of the object can be reliably determined. When the distance to the detected object is the predetermined distance or more, the movement control unit 41 executes an exclusion determination process to determine whether or not the detected object is an obstacle (S460 to S500).

In the exclusion possibility determination process, the movement control unit 41 first determines whether the current position of the vehicle is outside the area of the sloped road surface 18 and the detected object is inside the area of the sloped road surface 18 based on the measurement result and the map information (S460). If a negative determination is made in S460, the movement control unit 41 determines whether the current position of the vehicle is inside the area of the sloped road surface 18 and the detected object is outside the area of the sloped road surface 18 (S470). If a positive determination is made in S460 or if a positive determination is made in S470, the movement control unit 41 performs an exclusion process to exclude the detected object from obstacles (S480). In other words, the movement control unit 41 does not treat the detected object as an obstacle. As shown in FIG. 12, when the automatic moving device 40 is inside the area of the sloped road surface 18, it may detect the sloped lower road surface as an object. Also, when the automatic moving device 40 is outside the area of the sloped road surface 18, it may detect the upwardly sloped road surface as an object. In this exclusion process, by using information on the vehicle's position and the area of the sloped road surface 18, it is possible to exclude such erroneous detections without using a three-dimensional map or the like which places a heavy processing load.

If a negative judgment is made in S470, or if the distance to the object detected in S450 is not equal to or greater than the predetermined distance, the movement control unit 41 sets the detected object as an obstacle (S490) and reports this obstacle to the logistics PC 21 (S500). That is, the movement control unit 41 treats the detected object as an obstacle when the current position of the vehicle is outside the area of the sloped road surface 18 and the detected object is outside the area of the sloped road surface 18. Also, the movement control unit 41 treats the detected object as an obstacle when the current position of the vehicle is within the area of the sloped road surface 18 and the detected object is within the area of the sloped road surface 18.

After S500, or after S480, or when no object is detected in S440, the movement control unit 41 determines whether or not an obstacle in the map data has been detected (S510). Since an obstacle may be removed or move away from the road surface, the movement control unit 41 determines whether or not this obstacle exists. If an obstacle in the map data is not detected, the movement control unit 41 transmits a report to the distribution PC 21 that no obstacle exists (S520). Upon receiving this report, the distribution PC 21 updates the map information 26 and transmits the updated map information to each automated moving device 40.

After S520, or when an obstacle is detected in S510, the movement control unit 41 judges whether the work of the machine is completed (S530). The movement control unit 41 makes this judgment based on whether the machine has reached the destination position and has loaded or unloaded the cart 12 as necessary. When the work of the machine is not completed, the movement control unit 41 executes the processing from S400 onwards. On the other hand, when the work of the machine is completed, the movement control unit 41 ends this routine. In this way, the automatic moving device 40 sequentially measures information of the specific space as the machine moves and transmits it to the logistics PC 21. The information of the specific space may be sent to the management server 70 via the logistics PC 21.

Next, the process of updating the map information 76 by the management server 70 will be described. Note that, although the map information is updated by the management server 70 in this description, the map information 26, 56 may be updated by other management devices, such as the logistics PC 21 or the store PC 51. In this case, in the logistics center 20, the logistics PC 21 may update the map information 26, and the update process may be completed in the logistics center 20. Also, in the store 50, the store PC 51 may update the map information 56, and the update process may be completed in the store 50. FIG. 13 is a flowchart showing an example of a map information update process routine executed by the management control unit 72 of the management server 70. This routine is stored in the memory unit 73, and is executed when the delivery system 10 is in operation.

When this routine starts, the CPU of the management control unit 72 judges whether measurement data has been acquired from the automatic moving device 40 or the like (S600), and when the measurement data has been acquired, it stores the measurement data and judges whether the measurement data of the corresponding measurement location is within the same range for a predetermined number or more (S610). When the corresponding acquired data is within the same range for a predetermined number or more, the management control unit 72 sets a correction value for correcting the map to the measurement data, which is the measurement result (S620). This measurement data is acquired when there is a difference value between the map data and the measurement result. When a predetermined number of measurement results within the same range are reported, the management control unit 72 judges that this measurement data is correct and reflects the measurement data in the map information. Here, the "predetermined number" may be, for example, a number that can be determined to be correct by experience (for example, 3, 5, 10, etc.). In addition, the "same range" may include, for example, a completely identical value, as well as a difference of the degree of measurement error of the detection unit 46.

When the corresponding measurement data is not within the same range for a predetermined number or more in S610, the management control unit 72 sets a correction value to correct the map to the intermediate value of the difference value (S630). For example, if the distance set in the map is 500 mm and the measurement data is 490 mm, the management control unit 72 sets a correction value to 495 mm. In this case, if there are two measurement data of 490 mm, the management control unit 72 sets a correction value to 493.3 mm. After S630 or S620, the management control unit 72 determines whether a report on an obstacle has been obtained (S640), and when a report on an obstacle has been obtained, the management control unit 72 reflects the current state of the obstacle in the corresponding map (S650). When an obstacle is newly reported, the management control unit 72 executes a process to add the obstacle to the map, and when an obstacle is removed, executes a process to delete the obstacle from the map.

Then, after S650 or when there is no report about an obstacle in S640, the management control unit 72 judges whether it is time to send map information (S660), and when it is time to send, it sends the information of the corresponding map among the map information 76 to the corresponding terminal (S670). The management control unit 72 judges whether it is time to send based on a request from a terminal such as the logistics PC 21. After S670, or when it is not time to send map information in S660, the management control unit 72 judges whether all processing has been completed (S660), and when all processing has not been completed, the management control unit 72 executes processing from S600 onwards. When the delivery system 10 is operating, the management control unit 72 judges that all processing has not been completed. On the other hand, when all processing has been completed in S660, this routine ends. In this way, the management server 70 updates the map correction, the presence or absence of obstacles, etc. using the measurement results of the automatic moving device 40.

Here, the correspondence between the components of this embodiment and the components of this disclosure will be clarified. In this embodiment, the logistics center 20, the store 50, the cargo room 61, and the space between the distribution base correspond to a specific space, the automated moving device 40, 40A-40D correspond to a moving body, the delivery vehicle 60 corresponds to a delivery vehicle, the automated moving device 40, 40A-40D and the delivery vehicle 60 correspond to a moving system 11, the loading unit 43 and the cargo room 61 correspond to a loading unit, the projection unit 47 and the projection unit 65 correspond to a projection unit, the movement drive unit 45 and the drive unit 66 correspond to a drive unit, and the movement control unit 41 and the control device 68 correspond to a control unit and a processing unit. In addition, the detection unit 46 corresponds to a detection unit, the reading unit 48 corresponds to a reading unit, the guide lines 91, 93 correspond to guide lines, the road surface and floor surface correspond to projection surfaces, the management server 70 as well as the logistics PC 21 and store PC 51 correspond to management devices, the memory units 23, 53 and 73 correspond to memory units, the communication units 28, 58 and 78 correspond to communication units, and the control unit 22, control unit 52 and management control unit 72 correspond to a correction unit.

The automatic moving device 40 of the present embodiment described above includes a loading unit 43 capable of loading items, a projection unit 47 that projects the guide line that the automatic moving device 40 reads and moves along onto a projection surface that exists within a specific space, a movement drive unit 45 that moves the automatic moving device 40, and a movement control unit 41 that controls the projection unit 47. In this automatic moving device 40, the projection unit 47 is provided on the vehicle body unit 40a that moves by the movement drive unit 45, and while moving, the projection unit 47 can project the guide line 95 used by other automatic moving devices 40 onto the projection surface. Therefore, in this automatic moving device 40, the degree of freedom of movement of the automatic moving device 40 that transports items can be further improved.

The delivery vehicle 60 of this embodiment is equipped with a cargo compartment 61 as a loading section capable of loading items, a projection unit 65 that projects the guide line that the automatic moving device 40 reads and moves along onto a projection surface present within a specific space, a drive unit 66 that moves the delivery vehicle 60, and a control device 68 that controls the projection unit 65. In this delivery vehicle 6040, the projection unit 65 is provided on the vehicle body that is moved by the drive unit 66, and the guide lines 91, 93 used by the automatic moving device 40 can be projected onto the projection surface while moving. Therefore, in this delivery vehicle 60, the freedom of movement of the automatic moving device 40 that transports items can be further improved.

The movement control unit 41 may also control the movement drive unit 45 to automatically move the automatic moving device 40 within a specific space. This automatic moving device 40 can be automatically moved by the control of the movement control unit 41, just like other automatic moving devices 40. The control device 68 may also control the drive unit 66 to automatically move the delivery vehicle 60 between delivery bases. The movement control unit 41 also projects a guide line 95 on the projection surface by the projection unit 47, along which the other automatic moving devices 40 follow the automatic moving device 40. This automatic moving device 40 can move by following multiple automatic moving devices 40. Furthermore, the automatic moving device 40 is equipped with a reading unit 47 that reads the guide line projected on the projection surface, and the movement control unit 41 may also control the movement drive unit 45 so that the other automatic moving devices 40 move along the projected guide line 95. This automatic moving device 40 can move along the guide line 95, just like other automatic moving devices 40.

The control device 68 also projects a guide line 91 connecting the current position of the other automatic moving device 40 and the cargo room 61 as a loading section onto the projection surface by the projection unit 65. This delivery vehicle 60 can guide the other automatic moving device 40 to its own cargo room 61. In addition, the automatic moving device 40 performs an exclusion process that does not treat the detection result detected by the detection unit 46 as an obstacle based on the detection unit 46 that detects obstacles present in the specific space, the current position of the automatic moving device 40 in the specific space, the map of the specific space, and the area information that is information on the area of the sloped road surface present in the specific space, and the movement control unit 41 controls the movement drive unit 45 based on the exclusion process to automatically move the automatic moving device 40 within the specific space. For example, in the automatic moving device 40 having the detection unit 46, the sloped road surface 18 may be detected as an obstacle in a specific space in which the sloped road surface 18 exists. In this automatic mobile device 40, by adding information about the sloped road surface 18 to the map, it is possible to determine whether or not to remove obstacles without performing complex analysis using three-dimensional map data, etc. Therefore, this automatic mobile device 40 can automatically move within a specific three-dimensional space with simpler processing.

In addition, the movement control unit 41 performs the exclusion process when the current position of the automatic moving device 40 is outside the area of the sloped road surface 18 and the obstacle detected by the detection unit 46 is in the area of the sloped road surface 18. In addition, the movement control unit 41 performs the exclusion process when the current position of the automatic moving device 40 is within the area of the sloped road surface 18 and the obstacle detected by the detection unit 46 is outside the area of the sloped road surface 18. In this automatic moving device 40, the exclusion process can be performed more appropriately based on the positional relationship between the current position and the sloped road surface 18. In addition, the movement control unit 41 performs the exclusion process when the distance to the obstacle detected by the detection unit 46 is a predetermined distance or more. In this moving system, the exclusion process can be performed more appropriately using the distance to the detection result of the detection unit. In addition, the movement control unit 41 treats the detection result as an obstacle when the current position of the automatic moving device 40 is outside the area of the sloped road surface 18 and the obstacle detected by the detection unit 46 is outside the area of the sloped road surface 18. Furthermore, when the current position of the automatic moving device 40 is within the area of the sloped road surface 18 and an obstacle detected by the detection unit 46 is within the area of the sloped road surface 18, the movement control unit 41 treats the detection result as an obstacle. The automatic moving device 40 can more appropriately detect an obstacle from the positional relationship between the current position and the sloped road surface 18.

The management server 70 also includes a communication unit that stores area information, which is information on the area of the sloping road surface 18 that exists within the specific space, in the memory unit 73, and transmits the map and area information to any of the above-mentioned automatic moving devices 40. By using the information on the sloping road surface 18 that exists within the specific space, the management server 70 allows the automatic moving device 40 to automatically move within the three-dimensional specific space with simpler processing.

In addition, when there is a difference between the measurement results in the specific space acquired from the automatic moving device 40 and the map of the specific space, the management server 70 executes a correction process to correct the map of the specific space between the difference values. Then, the communication unit 49 transmits the map after the correction process to the automatic moving device 40. The measurement results of the automatic moving device 40 may be more accurate than the information on the map of the specific space, but may also be inaccurate. In this management server 70, the accuracy can be further increased by correcting the map of the specific space between the difference values. In particular, if multiple measurement results are acquired, the accuracy can be further increased. In this management server 70, by using the map whose accuracy has been increased by the correction, the automatic moving device 40 can automatically move in the specific space more reliably. In addition, when a predetermined number or more of the measurement results in the specific space acquired from the automatic moving device 40 are within the same range, the management control unit 72 corrects the map of the specific space to match the measurement results. When the management server 70 determines that the measurement results are accurate, it corrects the map of the specific space to match the measurement results, thereby enabling the automatic moving device 40 to automatically move within the specific space more reliably.

It goes without saying that the present disclosure is in no way limited to the above-described embodiments, and may be implemented in various forms as long as they fall within the technical scope of the present disclosure.

For example, in the above-described embodiment, in the delivery system 10, the delivery vehicle 60 uses the projection unit 65 to guide the automatic moving device 40, the automatic moving device 40 uses the projection unit 47 to guide other automatic moving devices 40, the automatic moving device 40 uses the area information of the sloped road surface 18 to remove obstacles in the specific space, and the automatic moving device 40 uses the measurement data to update the map information, but one or more of these may be performed independently. For example, the delivery vehicle 60 uses the projection unit 65 to project the guide line 91 to guide the automatic moving device 40, but this may be omitted. In addition, the automatic moving device 40 uses the guide line 95 to make the other automatic moving devices 40 follow it, but this may be omitted. In addition, the automatic moving device 40 uses the information of the sloped road surface 18 to perform an exclusion process that does not treat the detection result as an obstacle, but this may be omitted. In addition, when there is a difference value between the measurement data of the automatic moving device 40 and the map of the specific space, the management server 70 corrects between this difference value, but this may be omitted. By executing any one of the above processes, the delivery system 10 can obtain an effect according to the executed process.

In the above embodiment, the delivery vehicle 60 projects a guide line 91 connecting the current position of the automatic moving device 40 and the cargo compartment 61 as the loading section, but this is not limited to this, and the automatic moving device 40 may project a guide line 95 between its own loading section 43 and the current position of another automatic moving device 40. This automatic moving device 40 can guide the other automatic moving devices 40.

In the above-described embodiment, the automatic moving device 40 performs the exclusion process when the distance to the object detected by the detection unit 46 is equal to or greater than a predetermined distance, but this process may be omitted. The movement control unit 41 may add other conditions as conditions for executing the exclusion process.

In the above-described embodiment, the automatic moving device 40 or the detected object is excluded from obstacles based on whether it is on the sloped road surface 18. However, this is not limited to this. For example, the automatic moving device 40 may be equipped with a sensor (e.g., a gyro sensor) that detects the inclination of the vehicle body 40a, and may use map information, the inclination of the vehicle, the position of the vehicle, and the position and distance of the detected object to calculate whether the detected object is a road surface. This automatic moving device 40 can detect obstacles more reliably.

In the above-described embodiment, the present disclosure has been described as a delivery system 10 and a mobile system 11, but is not limited thereto and may be a management device used in a delivery system. In addition, in the above-described embodiment, the logistics PC 21, the store PC 51, and the management server 70 have been described as mutually using location information and map information, but is not limited thereto and location information 25 and map information 26 may be handled only by the logistics PC 21, and location information 55 and map information 56 may be handled only by the store PC 51. Location information and map information can be used completely at the location where they are used.

Here, the moving system 11 of the present disclosure may be configured as follows. For example, the moving system 11 may be a moving system that has an automatic moving device 40 as a moving body that automatically moves an item within a specific space and delivers the item, and may include a detection unit 46 that detects obstacles present in the specific space, a moving drive unit 45 that moves the automatic moving device 40 within the specific space, and a moving control unit 41 as a processing unit that performs an exclusion process that does not treat the detection result detected by the detection unit 46 as an obstacle based on the current position of the automatic moving device 40 in the specific space, a map of the specific space, and area information that is information on the area of a sloped road surface present in the specific space. In this moving system 11, by adding information on the sloped road surface to the map, it is possible to determine the exclusion of obstacles without performing complex analysis using three-dimensional map data, etc., and it is possible to automatically move within a three-dimensional specific space with simpler processing.

The management device disclosed herein may be a management device used in a delivery system 10 having an automatic moving device 40 as a moving body that automatically moves an item within a specific space and a moving system 11 that delivers the item, and may include a memory unit that stores a map of the specific space and area information that is information on an area of a sloped road surface that exists in the specific space, and a communication unit that transmits the map and area information to any of the automatic moving devices 40 described above. In this management device, by adding information on the sloped road surface to the map in the moving system 11, it is possible to determine the removal of obstacles, etc., without performing complex analysis using three-dimensional map data, etc., and to automatically move within a three-dimensional specific space with simpler processing.

Alternatively, the management device disclosed herein may be a management device used in a delivery system 10 having an automatic moving device 40 as a moving body that automatically moves an item within a specific space and a moving system 11 that delivers the item, and may include a correction unit that executes a correction process to correct the map of the specific space to within the difference value when there is a difference value between the measurement results of the specific space acquired from the automatic moving device 40 and the map of the specific space, and a communication unit that transmits the map after the correction process to any of the automatic moving devices 40 described above. In this management device, when using the measurement results of the automatic moving device, which may be more accurate than the information on the map of the specific space but may also be inaccurate, the accuracy can be further increased by correcting the map of the specific space to within the difference value.

The mobile system and management device disclosed herein can be used in the technical field of distribution systems for delivering goods.

10 Delivery system, 11 Moving system, 12 Cart, 13 Loading unit, 14 Caster, 15 Network, 18 Sloped road surface, 20 Logistics center, 21 Logistics PC, 22 Control unit, 23 Memory unit, 24 Delivery management information, 25 Position information, 26 Map information, 28 Communication unit, 29 Area detection device, 40, 40A to 40D Automatic moving device, 40a Vehicle unit, 41 Movement control unit, 42 Memory unit, 43 Loading unit, 44 Wheels, 45 Movement drive unit, 46 Detection unit, 47 Projection unit, 48 Reading unit, 49 Communication unit, 50 Store, 51 Store PC, 52 Control unit, 53 Memory unit, 54 Delivery management information, 55 Position information, 56 Map information, 58 Communication unit, 59 Display shelf, 60 Delivery vehicle, 61 Cargo room, 62 Tailgate, 63 tail lift, 64 moving unit, 65 projection unit, 66 drive unit, 68 control device, 70 management server, 72 management control unit, 73 memory unit, 74 delivery management information, 75 position information, 76 map information, 78 communication unit, 80 map data, 81 obstacle area, 82 sloped road surface area, 90, 92, 94 projection area, 91, 93, 95 guide lines.

Claims (16)

A moving system having a moving body that automatically moves an item within a specific space and delivers the item,
A detection unit that detects an obstacle present in the specific space;
A drive unit that moves the moving body within the specific space;
a processing unit that performs an exclusion process that does not treat the detection result detected by the detection unit as an obstacle, based on a current position of the moving object within the specific space, a map of the specific space, and area information that is information on an area of a slope surface existing in the specific space; and
A moving system equipped with The mobile system described in claim 1, wherein the processing unit performs the exclusion process when the current position of the moving body is outside the area of the sloped road surface and an obstacle detected by the detection unit is in the area of the sloped road surface, and/ or performs the exclusion process when the current position of the moving body is within the area of the sloped road surface and an obstacle detected by the detection unit is outside the area of the sloped road surface. The mobile system according to claim 1 , wherein the processing unit performs the exclusion process when a distance to the obstacle detected by the detection unit is equal to or greater than a predetermined distance. The mobile system according to any one of claims 1 to 3, wherein the processing unit treats the detection result as an obstacle when the current position of the mobile body is outside the area of the sloped road surface and the obstacle detected by the detection unit is outside the area of the sloped road surface, and treats the detection result as an obstacle when the current position of the mobile body is within the area of the sloped road surface and the obstacle detected by the detection unit is within the area of the sloped road surface. The mobile system according to any one of claims 1 to 4 , wherein the mobile body is provided with a projection unit that projects a guide line that the mobile body reads and moves along onto a projection surface that exists within the specific space . A mobile system according to any one of claims 1 to 5 ,
A loading section capable of loading the items;
A projection unit that projects the guide line that the moving object reads and moves along onto a projection surface that exists within the specific space;
A drive unit that moves the moving body;
A control unit that controls the projection unit;
A moving system equipped with The moving body is an automatic moving device that includes the driving unit and moves by reading the guide line,
The mobile system according to claim 6 , further comprising a delivery vehicle including the loading unit, the projection unit, and the control unit. The moving system according to claim 6 , wherein the control unit controls the drive unit to automatically move the moving body within the specific space and/or between delivery bases. The moving system according to claim 8 , wherein the control unit causes the projection unit to project the guiding line along which the other moving bodies follow the moving body onto the projection surface. A mobile system according to claim 8 or 9 ,
A reading unit that reads the guide line projected on the projection surface,
The control unit controls the drive unit to move along the guide line projected by another device. The moving system according to claim 6 , wherein the control unit causes the projection unit to project the guiding line connecting the current position of the other moving body and the loading unit onto the projection surface. The moving system according to any one of claims 6 to 11 , wherein the control unit controls the drive unit based on processing by the processing unit, and automatically moves the moving body within the specific space. A management device used in a delivery system having a moving system that has a moving body that automatically moves an item within a specific space and delivers the item,
A storage unit that stores a map of the specific space and area information that is information on an area of a slope surface that exists in the specific space;
A communication unit that transmits the map and the area information to the mobile system according to any one of claims 1 to 12;
A management device comprising: The management device according to claim 13,
a correction unit that, when there is a difference between the measurement result in the specific space acquired from the moving body and a map of the specific space, executes a correction process to correct the map of the specific space to a value equal to the difference,
The communication unit transmits the corrected map to the mobile object. A management device used in a delivery system having a moving system that has a moving body that automatically moves an item within a specific space and delivers the item,
a correction unit that, when there is a difference between the measurement result in the specific space acquired from the moving object and a map of the specific space, executes a correction process to correct the map of the specific space to the difference value;
A communication unit that transmits the map after the correction process to the mobile system according to any one of claims 1 to 12;
A management device comprising: The management device according to claim 14 or 15, wherein the correction unit corrects the map of the specific space to match the measurement results when a predetermined number or more of the measurement results in the specific space acquired from the mobile object are within the same range.

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