JP2022183680A - Conveyance vehicle control system and cargo management system - Google Patents

Abstract

To provide a conveyance vehicle control system which correctly moves a conveyance vehicle on a predetermined route.SOLUTION: A conveyance vehicle control system 10 includes: a conveyance vehicle 50 moving in a warehouse; and a target 2 installed at a predetermined position in the warehouse 1. The conveyance vehicle 50 includes: an illumination part 57 for radiating light in the direction of the target 2, and constituted so as to change the light amount to be radiated; and an imaging part 51 for imaging the target 2. The target 2 includes a reflection part for reflecting the light radiated by the illumination part 57 toward a radiation source. The conveyance vehicle 50 includes a control part which changes the amount of light radiated by the illumination part 57 according to whether or not the target 2 was able to be detected by the images of the reflection part imaged by the imaging part 51, and out of the images of the reflection part imaged by the imaging part 51, based on the image in which the target 2 was detected, which performs movement control on the conveyance vehicle 50 toward the target 2.SELECTED DRAWING: Figure 1

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transport vehicle control system equipped with a flying object that flies in a warehouse, and a package management system that uses this transport vehicle control system to manage packages in the warehouse.

As a technique for managing packages in a warehouse, there has been proposed a method of managing the presence or absence of packages in a warehouse and the installation location thereof by reading an identification code assigned to the package. Recently, by using drones that fly inside the warehouse to obtain information on packages stored on high racks in the warehouse, it is possible to reduce the load of inspection and inventory work of packages in the warehouse. Techniques have also been proposed.

For example, Patent Literatures 1 and 2 propose a package management system that includes a drone equipped with a camera that captures images of packages in a warehouse, and a mobile device that is connected to the drone by a cable and moves within the warehouse. there is Since the cable to the mobile device is used to charge the power supply for driving the drone, it is possible to acquire images over a long period of time using the drone's camera.

JP 2017-218325 A JP 2019-167177 A

Here, in a package management system that manages the location of packages in a warehouse by combining drones and mobile devices, it is premised that the mobile devices that control the drones and collect images of packages are moved along a predetermined route within the warehouse. It has become. If the mobile device cannot be guided accurately within the warehouse, the hovering of the drone that acquires the information on the package will become unstable, and as a result, it will not be possible to accurately manage the presence and location of the package in the warehouse. There's a problem.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and provides a transport vehicle control system for accurately moving a transport vehicle along a predetermined route in a warehouse. An object of the present invention is to provide a baggage management system for managing the presence or absence and position of baggage.

In order to solve the above-described problems, the guided vehicle control system of the present invention includes a guided vehicle that moves within the warehouse and a target installed at a predetermined position in the warehouse, and the guided vehicle controls the target. and a first imaging unit configured to capture an image of the target, wherein the target is illuminated by the illumination unit. A reflecting unit for reflecting light, the reflecting unit for reflecting irradiated light toward an irradiation source. is detected, the amount of light emitted by the illumination unit is changed, and based on the image in which the target is detected among the images of the reflection unit captured by the first imaging unit, the A control unit is provided for controlling movement of the transport vehicle toward the target.

In order to solve the above-described problems, the guided vehicle control system of the present invention includes a guided vehicle that moves within the warehouse and a target installed at a predetermined position in the warehouse, and the guided vehicle controls the target. and a first imaging unit configured to capture an image of the target, wherein the target is illuminated by the illumination unit. A reflecting unit that reflects light, the reflecting unit that reflects the irradiated light toward an irradiation source, and the transport vehicle changes the amount of light irradiated by the lighting unit within a predetermined range, a control unit that controls movement of the transport vehicle toward the target based on an image in which the target can be detected among the images of the reflection unit captured by the imaging unit 1;

In addition, the package management system of the present invention includes the above-described transport vehicle control system, and the flying object that floats in the air from the transport vehicle and the plurality of packages placed in the warehouse are provided with An identification code; A transmitting unit that transmits information of the identification code read from the image captured by the second imaging unit to the transport vehicle, and the transport vehicle receives the information received from the aircraft and the reception time of the received information. a transmission unit that associates information and transmits the information to the package management device, and the package management device determines the location of the package within the warehouse based on the location of the transport vehicle within the warehouse and the reception time information; configured to manage.

According to the present invention, there is provided a carrier control system for accurately moving a carrier along a predetermined route in a warehouse. It is possible to provide a package management system that manages locations.

FIG. 1 shows an example of the configuration of a guided vehicle control system and a parcel management system according to an embodiment of the present invention. FIG. 2 is an example of functional blocks of an aircraft and a carrier that constitute the carrier control system according to the embodiment of the present invention. 3A and 3B are diagrams for explaining the movement of the carrier according to the embodiment of the present invention. FIG. FIG. 4 is an example of an operation sequence of the package management system according to the embodiment of the invention. FIG. 5 is an example of parcel management data according to the embodiment of the present invention. FIG. 6 is another example of the configuration of the carrier control system and the package management system according to the embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention can be implemented in various embodiments, and is not limited to the embodiments described below.

<Construction of transport vehicle control system and package management system>
FIG. 1 shows an example of the configuration of a guided vehicle control system and a parcel management system according to an embodiment of the present invention. The transport vehicle control system 10 of FIG. 1 comprises a transport vehicle 50 that moves on the ground and an aircraft 40 that levitates and flies from the ground. The package management system 20 is configured to use the information acquired by the carrier control system 10 to manage the packages 4 stacked in multiple stages on the multi-level racks 3 in the warehouse 1 .

Each package 4 is given a unique identification code 5 for identifying each package, and the identification code 5 read from the image captured by the camera unit 41 (second imaging unit) mounted on the aircraft 40 Each package 4 is configured to be identifiable. The cargo management system 20 uses the identification code 5 read from the image captured by the camera unit 41 mounted on the aircraft 40 flying in the warehouse 1 to manage the presence or absence of the cargo 4 in the warehouse 1 and the installation position. conduct.

The transport vehicle 50 moves in the warehouse 1 toward the target 2, and the flying object 40 flies in the warehouse 1 while hovering over the transport vehicle 50. - 特許庁The target 2 can be composed, for example, of an ArUco marker consisting of a retroreflector. The retroreflector of the target 2 is a reflecting portion that reflects the irradiated light toward the irradiation source with a predetermined reflectance.

The transport vehicle 50 includes an illumination unit 57 and a camera unit 51. The illumination unit 57 emits irradiation light, and the position and direction of the target 2 are detected using the light reflected by the target 2, which is a retroreflector. and move in the warehouse 1 toward the target 2. The flying object 40 moves in the warehouse while following the carrier 50 by performing autonomous control using optical flow.

The transport vehicle 50 detects the position and direction of the target 2 by using the light reflected by the target 2 , which is a retroreflector, and moves toward the target 2 within the warehouse 1 . Here, in order to detect the target 2 made up of a retroreflector, it is necessary to irradiate the target 2 with a certain amount of light. If the amount of light is too small, the detection accuracy of the target 2 may be lowered. obtain.

In this embodiment, by controlling the amount of light of the illumination unit 57 of the transport vehicle 50 so that the target 2 can be accurately detected, the transport vehicle 50 can be accurately moved according to a predetermined route in the warehouse 1. is configured as As a method of controlling the amount of light, it is determined whether or not the target 2 has been accurately detected based on the image of the reflected light, and based on the determination result, the amount of light is increased or decreased. Open control is conceivable in which images of reflected light are acquired while the light intensity is repeatedly increased or decreased, and an image in which the target 2 is accurately detected is selected from the acquired images. Whether or not the target 2 can be detected accurately can be determined according to whether or not the code information embedded in the target 2 can be acquired.

If the distance from the target 2 is large and the recognition accuracy of the image of the target 2 is not improved even if the light intensity of the illumination unit 57 is increased, the image of the target 2 can be recognized by increasing the exposure of the camera unit 51. You may make it improve precision.

The baggage management system 20 manages the presence or absence of the baggage 4 in the warehouse 1 and the location of the baggage 4 based on the information of the identification code 5 read from the image captured by the camera unit 41 mounted on the aircraft 40 flying in the warehouse 1. . The presence or absence of the package 4 in the warehouse 1 can be managed by grasping the identification code 5 , and the position of the package 4 can be managed by associating it with the position of the transport vehicle 50 in the warehouse 1 .

Although the package management system of FIG. 1 is intended for a multi-tiered rack warehouse in which packages 4 are stored in multi-tiered racks 3, the present invention is not limited to this, and the present invention is a flat warehouse in which packages 4 are stacked in multiple levels. It can also be applied to other forms of warehouse such as.

<Structure of flying object and transport vehicle>
FIG. 2 is an example of functional blocks of an aircraft and a carrier that constitute the carrier control system according to the embodiment of the present invention.

The guided vehicle 50 has a traveling function for self-propelled within the warehouse 1, a camera section 51 (first imaging section) for acquiring image information of the target 2, control of the control section 53, transmission and reception of information, and the like. , a control unit 53 for controlling the movement of the guided vehicle 50, a wireless unit 54 for transmitting and receiving signals to and from the aircraft 40 and the baggage management device 60, and a memory for storing various information. 55, a battery 56 for operating each part, an illumination unit 57 for irradiating the target 2 with irradiation light, and a light amount control unit 58 for controlling the light amount of the illumination unit 57 based on the image acquired by the camera unit 51. Prepare. The illumination unit 57 is configured to be able to change the amount of light to be emitted, and can change (increase/decrease) the amount of light based on the image acquired by the camera unit 51 . The transport vehicle 50 can move along a predetermined route in the warehouse 1 based on the image information of the target 2 acquired by the mounted camera unit 51 .

The flying object 40 includes a camera unit 41 for acquiring image information of the identification code of the baggage 4, a central processing unit 42 for performing processing such as reading the identification code 5 from the image information and transmitting the identification code 5, and a propeller. 47, a wireless unit 44 functioning as a transmitting unit for transmitting captured image information or information of the identification code 5 read from the captured image, a memory 45 for storing various information, etc. It has a battery 46 for operating each part and a propeller 47 for making the aircraft 40 fly. Drive control of the propeller 47 mounted on the flying object 40 is controlled by autonomous control using optical flow.

<Transportation of transport vehicles in the warehouse>
3A and 3B are diagrams for explaining the movement of the carrier according to the embodiment of the present invention. FIG. In FIG. 3, the moving operation of the transport vehicle 50 from a stationary state at the starting point to moving toward the target 2 until reaching the target 2 will be described. Note that in FIG. 3, description of the flight control of the flying object 40 that flies following the carrier 50 is omitted.

In the stage (1) of FIG. 3, the illumination unit 57 emits light to the surroundings, and the camera unit 51 obtains an image of the reflected light reflected from the target 2, thereby searching for the target 2. FIG. The transport vehicle 50 starts moving toward the captured image of the target 2 as a result of the search.

As described above, the control of the light intensity of the irradiation light is performed by determining whether or not the target 2 has been accurately detected based on the image of the reflected light, and based on the determination result, increasing or decreasing the light intensity through feedback control, or performing a predetermined Open control is conceivable in which the image of the reflected light is acquired while the light intensity is repeatedly increased or decreased within the light intensity range of , and the image in which the target 2 is accurately detected is selected from the acquired images. At the stage (1) of FIG. 3, the target 2 is at a relatively distant position, so that the illumination unit 57 irradiates light with a relatively large amount of light in order to capture the target 2 .

At the stage (2) in FIG. 3, the image of the target 2 has been captured, so the transport vehicle 50 moves in the direction in which the size of the image of the target 2 becomes larger. As the transport vehicle 50 approaches the target 2 , the image of the target 2 becomes larger, so it can be confirmed that the transport vehicle 50 is moving toward the target 2 .

At the stage (3) in FIG. 3, the size of the target 2 exceeds the predetermined size, so the transport vehicle 50 determines that it has reached the vicinity of the target 2 and stops moving.

The target 2 may be a retroreflector member that reflects the irradiated light toward the irradiation source, and in addition to the ArUco marker exemplified in FIG. 3, a bar code or other forms may be used.

<Operating Sequence of Package Management System>
An operation sequence in the baggage management system will be described with reference to FIG. FIG. 4 is an example of an operation sequence of the package management system according to the embodiment of the invention.

When the package 4 to which the identification code 5 is assigned is carried into the warehouse 1 and placed at a predetermined position, the flying object 40 captures an image of the package 4 including the identification code 5 with the camera unit 41 mounted thereon. It acquires, reads the identification code 5 from the acquired image information, and transmits the read code information to the transport vehicle 50 . The flying object 40 transmits code information while flying in the warehouse 1 along a predetermined movement route.

When the information of the identification code 5 is received, the transport vehicle 50 saves the code information of the identification code 5 and the reception time information of the code information. Here, the flying object 40 may transmit the acquired image information to the transport vehicle 50, and the transport vehicle 50 may read the information of the identification code 5 from the acquired image information.

While receiving code signals and image information from the aircraft 40, the carrier 50 collects reception time information such as code information. Send to the management device 60 .

The code information of the identification code 5 corresponding to the package 4 is registered in advance in the package management device 60, and the code information and the reception time of the code information are obtained for each package 4 using the information received from the transport vehicle 50. Package management data for managing information is configured.

Here, the transport vehicle 50 is moved along a predetermined moving route in the warehouse 1 so that the position in the warehouse 1 at a predetermined time can be specified, and based on the reception time information of the code signal in the transport vehicle 50 , the position of the transport vehicle 50 within the warehouse 1 at the reception time can be specified, and the position of the package 4 within the warehouse 1 can be specified based on the specified position of the transport vehicle 50 .

If the image information of the identification code 5 is acquired while the flying object 40 is stably hovering above the carrier 50, the position of the package 4 in the warehouse 1 can be specified more accurately. It becomes possible.

<Baggage management data>
FIG. 5 is an example of parcel management data according to the embodiment of the present invention. This package management data is stored in the package management device 60 .

The parcel management device 60 manages the presence or absence of the parcel 4 assigned the identification code 5 and the position in the warehouse 1 based on the code information received from the transport vehicle 50 . This parcel management data manages parcel information, code information, and reception time information of the code information for each parcel. In addition to these pieces of information, information indicating the position of the package 4 within the warehouse 1 may be registered.

<Other embodiments>
FIG. 6 is another example of the configuration of the carrier control system and the package management system according to the embodiment of the present invention. In the configuration of FIG. 6, in addition to the configuration of FIG. An image is acquired, and this image is used to perform autonomous hovering control by optical flow.

The configuration of FIG. 6 has the advantage of stabilizing the autonomous hovering control of the flying object 40 as compared with the configuration of FIG. In particular, hovering control using the lighting unit 59 of the carrier 50 is effective when it is difficult to obtain an image of the ground such as in a warehouse at night or in a warehouse with extremely high racks.

As described above, according to the present embodiment, a carrier control system is provided for accurately moving a carrier along a predetermined route in a warehouse. Since the flying object that acquires information can be stably hovered, it is possible to provide a package management system that manages the presence or absence and position of packages in a warehouse safely and reliably.

1... warehouse, 2... target, 3... multi-level rack, 4... package, 5... identification code, 10... carrier control system, 20... package management system, 40... aircraft, 41... camera unit (second imaging unit ), 42... Central processing unit, 43... Control unit, 44... Wireless unit, 45... Memory, 46... Battery, 47... Propeller, 50... Carrier, 51... Camera unit (first imaging unit), 52... Center Processing unit 53 Control unit 54 Wireless unit 55 Memory 56 Battery 57 Illumination unit (first illumination unit) 58 Light amount control unit 59 Illumination unit (second illumination unit) , 60 . . . Baggage management device.

Claims (4)

Equipped with a carrier that moves in the warehouse and a target installed at a predetermined position in the warehouse,
The transport vehicle includes an illumination unit configured to irradiate light in a direction of the target, the illumination unit configured to be able to change the amount of light to be emitted, and a first imaging unit configured to capture an image of the target,
The target includes a reflecting section that reflects the light irradiated by the illumination section, and that reflects the irradiated light toward the irradiation source,
The transport vehicle changes the amount of light emitted by the illumination unit according to whether or not the target can be detected from the image of the reflection unit captured by the first imaging unit. a control unit that controls movement of the carrier toward the target based on an image in which the target has been detected among the images of the reflection unit captured by the carrier control system. Equipped with a carrier that moves in the warehouse and a target installed at a predetermined position in the warehouse,
The transport vehicle includes an illumination unit configured to irradiate light in a direction of the target, the illumination unit configured to be able to change the amount of light to be emitted, and a first imaging unit configured to capture an image of the target,
The target includes a reflecting section that reflects the light irradiated by the illumination section, and that reflects the irradiated light toward the irradiation source,
The transport vehicle changes the amount of light emitted by the illumination unit within a predetermined range, and based on the image in which the target is detected among the images of the reflection unit captured by the first imaging unit, the A guided vehicle control system comprising a control unit that controls movement of the guided vehicle toward the target. The guided vehicle control system according to claim 1 or 2, wherein the control section controls exposure of the first imaging section so that an image of the reflecting section can be recognized. A package management system comprising the guided vehicle control system according to any one of claims 1 to 3,
An aircraft that levitates and flies from the transport vehicle, an identification code assigned to each of a plurality of packages placed in a warehouse, and a package management device that manages the plurality of packages,
The aircraft is
a second imaging unit that captures the identification code; and image information captured by the second imaging unit or information of the identification code read from the image captured by the second imaging unit is transmitted to the transport vehicle. a transmitter for
The transport vehicle is
a transmission unit that associates information received from the flying object with reception time information of the received information and transmits the information to the baggage management device;
The baggage management device is
A package management system configured to manage the location of the package within the warehouse based on the location of the transport vehicle within the warehouse and the reception time information.

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