Patent Description:
In the related art, a technique has been proposed in a system that automatically moves an article as follows; when one or more robotic devices carry out one or more tasks, in a case where data for developing the task is received, the task is carried out by updating a map, based on the received data (for example, refer to Patent Literature <NUM>). In this system, the article can be moved by using the updated map. In addition, as a control device for preparing the map, a device for setting a connecting point for connecting partial maps by a user's input has been proposed (for example, refer to Patent Literature <NUM>). This device can flexibly cope with a partial layout change.

<CIT> (<NUM>-<NUM>-<NUM>) describes a system for the control of delivery robots including updating map information that is transmitted to the robots for routing. This document however fails to disclose a solution to the problem of predicting obstacles due to scheduled locations for goods and other robots.

However, in the system disclosed in Patent Literature <NUM>, when the data for updating the map cannot be obtained, the map may not be updated in some cases. In addition, in the device disclosed in Patent Literature <NUM>, it is necessary for a user to designate the connecting point when connecting the maps. In this way, a delivery system needs to be more smoothly operated when the article is moved.

The present disclosure is made to solve the above-described problems, and a principal object according to the present disclosure is to provide a control device, a delivery system, and a control method which can more smoothly move an article in accordance with a change in situations of a specific space for moving the article.

The present disclosure adopts the following means to achieve the above-described principal object.

According to the present specification, there is provided a control device used in a delivery system having an automatic movement device that automatically moves an article inside a specific space and delivering the article, the control device including a storage section configured to store schedule information including at least one of change information including a change region in which a movable region of the automatic movement device is changed in the specific space and a change time at which the region is changed, and operation information including an operation time at which the automatic movement device starts operating; and a processing control section configured to perform processing of preparing a usage map used by the automatic movement device by adding a change to a reference map of the specific space, based on the schedule information.

The control device performs processing of preparing a new usage map used by the automatic movement device by adding the change to the reference map of the specific space, based on the schedule information including at least one of the change information including the change region in which the movable region of the automatic movement device is changed in the specific space and the change time at which the region is changed, and the operation information including the operation time at which the automatic movement device starts operating. The control device can prepare in advance the usage map closer to an actual state by using the schedule information and considering a situation of the specific space. Therefore, the control device can more smoothly move the article in accordance with a change in the situation of the specific space for moving the article. Here, the "article" is not particularly limited as long as anything is delivered, and for example, examples of the "article" include industrial products including units and components of machines or devices, general consumer products, foods, and fresh products. In addition, for example, examples of the "specific space" include a logistics center or a warehouse where the articles are collected, a shop, and a cargo chamber of a mobile transporter for delivering the articles. Examples of the mobile transporter include an elevator in addition to a vehicle such as an automobile and a train, a ship, and an aircraft. In addition, the "automatic movement device" may be an automatic guided vehicle (AGV) that moves on a predetermined traveling road, or may be an autonomous mobile robot (AMR) that moves on a free route by sensing surroundings.

Embodiments according to the present disclosure will be described with reference to the drawings. <FIG> is a schematic explanatory view illustrating an example of delivery system <NUM>. <FIG> is an explanatory view illustrating an example of logistics center <NUM>. <FIG> is an explanatory view illustrating an example of schedule information <NUM> and obstacle information <NUM> which are stored in storage section <NUM>. <FIG> is an explanatory view illustrating an example of reference map <NUM> stored in storage section <NUM>. <FIG> is an explanatory view illustrating an example of automatic movement device <NUM>. <FIG> is an explanatory view of automatic movement device <NUM> connected to carriage <NUM>, <FIG> is a plan view, and <FIG> is a front view. Delivery system <NUM> is a system having an automatic movement device configured to automatically move an article inside a specific space, and to perform processing of delivering an article. Although delivery system <NUM> will be described by way of example in which the article is transported by using carriage <NUM>, the present invention is not particularly limited to this, and carriage <NUM> may be omitted or other components may be used. Here, the "article" is not particularly limited as long as anything is delivered, and for example, examples of the "article" include machines, devices, industrial products including units and components of devices, generally used daily consumer products, foods, and fresh products. In addition, for example, examples of a "delivery source" and a "delivery destination" include a logistics center for collecting and delivering the article, a warehouse for storing the article, and a shop for selling the article. In addition, for example, examples of the "specific space" include a cargo chamber of a mobile transporter for delivering the article and work elevator <NUM> (refer to <FIG>), in addition to the above-described delivery source and delivery destination. Examples of the mobile transporter include a vehicle such as delivery vehicle <NUM> and a train, a ship, and an aircraft. Here, for convenience of description, delivery system <NUM> for delivering commodities such as consumer products and fresh products by using delivery vehicle <NUM> from logistics center <NUM> serving as the delivery source to shop <NUM> serving as the delivery destination will be mainly described. In addition, the "specific space" is logistics center <NUM>. In addition to cargo chamber <NUM> of delivery vehicle <NUM>, work elevator <NUM> (refer to <FIG>) is used. In the present embodiment, a left-right direction, a front-rear direction, and an up-down direction will be described as illustrated in each drawing.

Carriage <NUM> includes loading section <NUM> and caster <NUM>. Loading section <NUM> is a plate-shaped member for loading the article. Caster <NUM> has wheels for causing carriage <NUM> to travel, and is disposed on a lower surface side of loading section <NUM>. Carriage <NUM> may be a basket carriage.

Logistics center <NUM> is a place for collecting the articles and delivering the articles to shops <NUM> or other logistics centers <NUM> in various locations. Logistics center <NUM> has one or more automatic movement devices <NUM>, and can automatically move carriage <NUM>. For example, logistics center <NUM> uses a specific region on a floor surface as a collection region corresponding to the delivery destination. In logistics center <NUM>, a worker or an arm robot (not illustrated) carries out work for loading the article on carriage <NUM> corresponding to the delivery destination. As illustrated in <FIG>, logistics center <NUM> includes movable region <NUM> in which automatic movement device <NUM> is movable and non-movable region <NUM> in which automatic movement device <NUM> is not movable. For example, non-movable region <NUM> includes a structure such as a column which nothing can physically enter, and a collection region of carriage <NUM>. In addition, logistics center <NUM> has doorway <NUM> and work elevator <NUM>. Doorway <NUM> is a boundary that communicates with the outside, but automatic movement device <NUM> cannot basically enter doorway <NUM>. Doorway <NUM> is an opening portion through which delivery vehicle <NUM> is laid down to load and unload the articles, or in which work elevator <NUM> is disposed to enable the articles to move to another floor. Automatic movement device <NUM> carries out work for collecting, loading, and unloading carriage <NUM> for which a delivery destination is specified. Delivery vehicle <NUM> loads carriage <NUM> in cargo chamber <NUM> in logistics center <NUM>, delivers the articles to the delivery destination, and returns empty carriage <NUM> to logistics center <NUM>.

Shop <NUM> displays and sells the delivered articles. Shop <NUM> has one or more automatic movement devices <NUM>, and can automatically move carriage <NUM>. Shop <NUM> has display shelf <NUM> on which the articles are displayed, and a worker displays the articles on the display shelf.

As illustrated in <FIG>, delivery system <NUM> is configured to include logistics PC <NUM>, shop PC <NUM>, automatic movement device <NUM>, and management server <NUM>. Logistics PC <NUM> is disposed in logistics center <NUM>, and performs commodity management in logistics center <NUM>. Logistics PC <NUM> includes control device <NUM>, storage section <NUM>, and communication section <NUM>. Control device <NUM> has CPU <NUM>, and controls the whole device. Storage section <NUM> stores various application programs and various data files. Communication section <NUM> communicates with an external device such as automatic movement device <NUM>. Communication section <NUM> exchanges information with management server <NUM> or shop PC <NUM> via network <NUM>.

As illustrated in <FIG> and <FIG>, storage section <NUM> stores delivery management information <NUM>, schedule information <NUM>, obstacle information <NUM>, reference map <NUM>, and usage map <NUM>. For example, delivery management information <NUM> includes delivery information in which the delivery destination and the article are associated with each other, correspondence information in which carriage <NUM> on which the article is loaded and the article are associated with each other. As illustrated in <FIG>, schedule information <NUM> includes information on a work schedule in which a work content, a worker, a work time, a work region, a work position, and a movement path of automatic movement device <NUM> are associated with each other. Schedule information <NUM> includes change information <NUM> and operation information <NUM>. Change information <NUM> is information including a change region in which a movable region of automatic movement device <NUM> is changed in a specific space and a change time at which the region is changed. For example, change information <NUM> includes information on a region where carriages <NUM> are collected in a specific delivery destination and a time at which the region is set, and information on a time at which delivery vehicle <NUM> arrives at predetermined doorway region <NUM> and a time at which delivery vehicle <NUM> departs from predetermined doorway region <NUM>. Operation information <NUM> includes an operation time at which automatic movement device <NUM> starts operating, a position of a movement source, a position of a movement destination of the article, and a movement path thereof. Obstacle information <NUM> includes information on a position or a size of an obstacle existing inside logistics center <NUM> and obstructing the movement of automatic movement device <NUM>, and additionally includes information on a device or a time used when the obstacle is detected. Obstacle information <NUM> is sequentially updated by automatic movement device <NUM> moving on a floor. The information on the obstacle included in obstacle information <NUM> is thereafter deleted when the obstacle disappears.

Reference map <NUM> is a basic map of a region of automatic movement device <NUM> relating to logistics center <NUM>. As illustrated in <FIG>, reference map <NUM> includes floor map 36a of logistics center <NUM> illustrated in <FIG>, floor map 36b of work elevator <NUM>, and floor map 36c of the cargo chamber of delivery vehicle <NUM>. Floor maps 36a to 36c include doorway region <NUM> through which outward passage is allowable. Floor maps 36b and 36c are movement regions that are relatively moved to, coupled to, and separated from floor map 36a. Usage map <NUM> is a map used when automatic movement device <NUM> moves in logistics center <NUM>. Usage map <NUM> is a map obtained as follows in reference map <NUM>; a current state where automatic movement device <NUM> coupled to newly prepared non-movable region <NUM> or the movement region is currently movable is reflected on reference map <NUM> (refer to <FIG> and <FIG> to be described later). Usage map <NUM> is prepared by logistics PC <NUM>, is transmitted to automatic movement device <NUM>, and is used by automatic movement device <NUM>.

Shop PC <NUM> is disposed in shop <NUM>, and performs commodity management in shop <NUM>. Shop PC <NUM> includes control section <NUM>, storage section <NUM>, and communication section <NUM>. Control section <NUM> has a CPU, and controls the whole device. Storage section <NUM> stores various application programs and various data files. Communication section <NUM> communicates with an external device such as automatic movement device <NUM>. Communication section <NUM> exchanges information with management server <NUM> and logistics PC <NUM> via network <NUM>. Storage section <NUM> stores commodity management information in which the article and the display shelf are associated with each other, schedule information, and a reference map or a usage map used by automatic movement device <NUM>. Storage section <NUM> may include the same contents as schedule information <NUM>, obstacle information <NUM>, reference map <NUM>, and usage map <NUM> which are stored in logistics PC <NUM>.

Automatic movement device <NUM> is a vehicle that automatically moves carriage <NUM>. Automatic movement device <NUM> enters a space formed with caster <NUM> on a lower surface side of loading section <NUM> of carriage <NUM>, connects loading section <NUM> to carriage <NUM> by lifting loading section <NUM> from below with lift portion <NUM>, and moves carriage <NUM>. Automatic movement device <NUM> may be an automatic guided vehicle (AGV) that moves on a predetermined traveling road, or may be an autonomous mobile robot (AMR) that moves on a free route by sensing surroundings. Here, an automatic movement device <NUM> having a configuration of the AMR will be described.

As illustrated in <FIG>, automatic movement device <NUM> includes movement control section <NUM>, storage section <NUM>, vehicle body part <NUM>, lift portion <NUM>, mecanum wheel <NUM>, movement driving section <NUM>, detection sensor <NUM>, and communication section <NUM>. Movement control section <NUM> is a controller for controlling the whole device of automatic movement device <NUM>. Movement control section <NUM> outputs a control signal to lift portion <NUM>, movement driving section <NUM>, or communication section <NUM>, and inputs an input signal from detection sensor <NUM> and communication section <NUM>. Movement control section <NUM> recognizes a movement direction, a movement distance, a current position of automatic movement device <NUM>, based on a drive state of movement driving section <NUM>. Storage section <NUM> stores various application programs and various data files. For example, storage section <NUM> stores schedule information <NUM> for moving carriage <NUM>, and usage map <NUM> of logistics center <NUM>. The schedule information and the map data are acquired by communication from logistics PC <NUM>. Lift portion <NUM> is connected to carriage <NUM> by lifting and pushing up a lower surface of loading section <NUM> with respect to vehicle body part <NUM> of automatic movement device <NUM> (refer to <FIG>). Mecanum wheel <NUM> has a structure in which multiple rollers pivotally supported to be freely rotatable at an inclination angle of <NUM>° with respect to a vehicle axle are disposed on a grounding surface side. Automatic movement device <NUM> includes four mecanum wheel <NUM>, and is configured to be capable of moving automatic movement device <NUM> in all directions, super-fuzzy terrain turning, fuzzy terrain turning, slow turning by independently rotating respective mecanum wheels <NUM> in a front direction or a rear direction. Movement driving section <NUM> is a motor connected to respective mecanum wheels <NUM> and rotationally driving connected mecanum wheel <NUM> to drive automatic movement device <NUM> to travel. Detection sensor <NUM> detects an object existing around automatic movement device <NUM> or a distance from the object. For example, detection sensor <NUM> detects the existence of the object or the distance from the object by irradiating the surroundings with light such as a laser, or a sound wave and detecting a reflected wave. Movement control section <NUM> controls automatic movement device <NUM> to move or stop, based on information from detection sensor <NUM>. Communication section <NUM> wirelessly exchanges information with an external device such as logistics PC <NUM>. Movement control section <NUM> moves to a position of carriage <NUM> based on a command obtained from logistics PC <NUM> via communication section <NUM>, is connected to carriage <NUM>, and thereafter, moves carriage <NUM> to a movement destination position along a set movement path.

Delivery vehicle <NUM> is a vehicle that loads and delivers one or more carriages <NUM>. As illustrated in <FIG>, delivery vehicle <NUM> includes cargo chamber <NUM>, tail gate <NUM>, and tail lift <NUM>. Cargo chamber <NUM> is a specific space in which carriages <NUM> are collected. Tail gate <NUM> is provided in a rear part of a vehicle, and opens and closes cargo chamber <NUM> by a closing door. Tail lift <NUM> loads carriage <NUM> or a worker on a work table which is horizontal when the closing door is opened, and moves the work table up and down between a floor surface of cargo chamber <NUM> and a traveling surface of delivery vehicle <NUM>. In delivery vehicle <NUM>, tail gate <NUM> and tail lift <NUM> can be mechanically operated by a motor or a hydraulic pressure. In the present embodiment, carriage <NUM> is delivered by delivery vehicle <NUM> of the truck, but a configuration is not particularly limited to this, and may be delivered by a mobile transporter such as a train, a ship, and an aircraft.

Management server <NUM> is a device that manages delivery system <NUM>. Management server <NUM> includes control section <NUM>, storage section <NUM>, and communication section <NUM>. Control section <NUM> has a CPU, and controls the whole device. Storage section <NUM> stores various application programs and various data files. Storage section <NUM> stores delivery management information used for managing the delivery of the articles, carriage information for managing carriage <NUM> used in logistics center <NUM> or shop <NUM>, and a reference map of logistics center <NUM> or shop <NUM>. The delivery management information includes delivery information in which the delivery destination and the article are associated with each other, correspondence information in which carriage <NUM> on which the article is loaded and the article are associated with each other. The schedule information includes information on a work schedule in which a work content, a worker, a work time, a work region, a work position, and a movement path of automatic movement device <NUM> are associated with each other. Communication section <NUM> exchanges information with an external device such as logistics PC <NUM> and shop PC <NUM> via network <NUM>.

Next, in delivery system <NUM> configured in this way, processing of updating non-movable region <NUM>, coupling the movement region, and preparing usage map <NUM> on which the current state is reflected will be described. <FIG> is a flowchart illustrating an example of a usage map preparation and transmission processing routine performed by control device <NUM> of logistics PC <NUM>. The routine is stored in storage section <NUM> of control device <NUM>, and is performed from when logistics center <NUM> starts work. When the routine starts, CPU <NUM> acquires schedule information <NUM> from management server <NUM>, reads and acquires obstacle information <NUM> from storage section <NUM> (S100), and determines whether a current time is a time at which the region is changed, based on schedule information <NUM> (S110). Here, of example, the "time at which the region is changed" may be a time based on the time at which the region is changed, or may be before a predetermined time in a change time (for example, <NUM> minutes before, <NUM> minutes before, or <NUM> minutes before), or may be just the change time, or after a predetermined time after the change time elapses (for example, <NUM> minute after or <NUM> minutes after). In addition, the "region is changed" includes a case where movable region <NUM> is changed to non-movable region <NUM> within a predetermined range, and a case where non-movable region <NUM> is changed to movable region <NUM>. For example, the examples include a case where a collection region of carriage <NUM> to a specific delivery destination is set on the floor and a case where the collection region is canceled from the floor.

When the current time is not the change time at which the region is changed, CPU <NUM> determines whether the current time is an operation time at which any one of automatic movement devices <NUM> starts operating, based on schedule information <NUM> (S120). For example, the "operation time at which the operation starts" may be a time based on an operation start time, or for example, may be before a predetermined time in the operation time (for example, <NUM> minutes before, <NUM> minutes before, or <NUM> minutes before), or may be just the operation time, or after a predetermined time after the operation time elapses (for example, <NUM> minute after or <NUM> minutes after). When the current time is the operation time or when the current time is the change time in S110, CPU <NUM> determines whether there is a change in movable region <NUM> at the current time (S130). When there is a change in movable region <NUM>, CPU <NUM> prepares usage map <NUM> in which changed movable region <NUM> is reflected on reference map <NUM> (S140).

Here, usage map <NUM> in logistics center <NUM> where automatic movement device <NUM> carries out work will be described with reference to a specific example. <FIG> is an explanatory view of preparing new usage map <NUM> from usage map <NUM>, <FIG> is an explanatory view of usage map <NUM>, and <FIG> is an explanatory view of usage map <NUM>. For example, when floor map 36a illustrated in <FIG> is set as reference map <NUM>, CPU <NUM> reflects the current situation on floor map 36a, and prepares usage map <NUM> including movable region <NUM> and non-movable region <NUM> (<FIG>). Next, when the current time reaches the change time or the operation time, CPU <NUM> reflects the current situation, and prepares usage map <NUM> including new non-movable region <NUM> (<FIG>). Here, when preparing usage map <NUM>, CPU <NUM> may reflect all of the current situations on reference map <NUM> each time, or may reflect a change on previous usage map <NUM> including reference map <NUM>.

On the other hand, after S140 or when movable region <NUM> is not changed in S130, CPU <NUM> determines whether the movement region is changed (S150). Here, the "movement region is changed" includes any one of whether the movement region (for example, delivery vehicle <NUM>) is coupled to logistics center <NUM> and whether the movement region is separated from logistics center <NUM>. When the movement region is changed, CPU <NUM> prepares usage map <NUM> by reflecting the movement region on doorway region <NUM> (S160).

Here, usage map <NUM> of logistics center <NUM> where automatic movement device <NUM> carries out work will be described with reference to a specific example. <FIG> is an explanatory view for preparing usage map <NUM> by coupling movement region <NUM> to usage map <NUM>, <FIG> is an explanatory view of usage map <NUM>, and <FIG> is an explanatory view of usage map <NUM>. For example, CPU <NUM> reflects the current situation on floor map 36a, and prepares usage map <NUM> including movable region <NUM> and non-movable region <NUM> (<FIG>). Next, when the current time reaches the change time or the operation time, CPU <NUM> prepares usage map <NUM> in which movement region <NUM> is coupled to doorway region <NUM> by reflecting the current situation (<FIG>). Here, CPU <NUM> determines that delivery vehicle <NUM> is in contact with doorway <NUM> determined in advance in schedule information <NUM>, CPU <NUM> couples movement region <NUM> to predetermined doorway region <NUM> in accordance with the determination. When preparing usage map <NUM>, CPU <NUM> may reflect all of the current situations on reference map <NUM> each time, or may reflect the change in previous usage map <NUM> including reference map <NUM>.

In addition, switching the maps of work elevator <NUM> serving as the movement region will be described. <FIG> is an explanatory view for preparing usage map <NUM> by coupling movement region <NUM> of work elevator <NUM>, <FIG> is an explanatory view of usage map <NUM>, <FIG> is an explanatory view of movement region <NUM>, and <FIG> is an explanatory view of usage map <NUM>. In <FIG>, automatic movement device <NUM> is illustrated for convenience of description. When automatic movement device <NUM> waits for work elevator <NUM> in doorway region <NUM>, CPU <NUM> prepares usage map <NUM> by coupling movement region <NUM> to doorway region <NUM> (<FIG>). Next, when automatic movement device <NUM> rides on work elevator <NUM> and moves to another floor, the floor map of logistics center <NUM> is separated as the movement region, and movement region <NUM> is set as the floor map (<FIG>). When arriving at another floor, usage map <NUM> is prepared by coupling the floor map of another floor to movement region <NUM> in doorway region <NUM> (<FIG>). In this way, CPU <NUM> appropriately moves automatic movement device <NUM> by switching the maps in work elevator <NUM>.

After S160, based on information in obstacle information <NUM>, CPU <NUM> prepares usage map <NUM> on which an obstacle region is further reflected (S170), and derives an optimum movement path by using prepared usage map <NUM> (S180). CPU <NUM> may reflect the optimum movement path on schedule information <NUM>. Subsequently, CPU <NUM> transmits prepared usage map <NUM> and the derived movement path to automatic movement device <NUM> (S190). CPU <NUM> prepares usage map <NUM> on which the current situation is further reflected by giving priority to the information on the obstacle existing in the specific space. In obstacle information <NUM>, the information on the currently existing obstacle is sequentially updated. <FIG> is an explanatory view for preparing usage map <NUM> by adding obstacle region <NUM>. In <FIG>, obstacle region <NUM> is added to usage map <NUM> (<FIG>). In this way, CPU <NUM> can provide usage map <NUM> closer to the current specific space by reflecting newly changed non-movable region <NUM>, newly coupled movement region <NUM>, and locally detected obstacle region <NUM>.

In addition, here, processing in another logistics center 20B will be described. Logistics center 20B is configured to include an internal open space which delivery vehicle <NUM> enters. <FIG> is an explanatory view of an example of another logistics center 20B, <FIG> is an explanatory view of logistics center 20B, and <FIG> is an explanatory view of usage map 80B. One or more region detection devices <NUM> for detecting positions of collected carriages <NUM> and delivery vehicle <NUM> are disposed in logistics center 20B. Region detection device <NUM> may be a non-contact sensor, or may be a camera. In logistics center 20B, CPU <NUM> detects the positions of delivery vehicle <NUM> and collected carriages <NUM> by region detection device <NUM>, reflects non-movable region 82B and movement region 85B on the floor map, and prepares usage map 80B. In usage map 80B, the movement into movement region 87B is available from only doorway region 84B. In this way, CPU <NUM> may prepare usage map 80B including movement region 85B inside reference map <NUM>. CPU <NUM> can properly secure the movement of automatic movement device <NUM> by using usage map 80B.

After S190 or when the time is not the change time in S110 and is not the operation time in S120, CPU <NUM> determines whether a report on an obstacle is acquired from any one of automatic movement devices <NUM> (S200). During the work on the floor, when detecting the existence of a new obstacle and a fact that the obstacle is removed, automatic movement device <NUM> transmits a report thereof to logistics PC <NUM>. When receiving the report, CPU <NUM> updates obstacle information <NUM> (S210). After S210 or when the report on the obstacle is not received in S200, CPU <NUM> determines whether all of the works are completed (S220), and performs the processing subsequent to S100 when all of the works are not completed. That is, based on schedule information <NUM>, when the times reach the change time and the operation time, CPU <NUM> prepares new usage map <NUM>, and transmits usage map <NUM> to automatic movement device <NUM>. On the other hand, when all of the works are completed in S220, the routine is completed.

Next, processing performed by automatic movement device <NUM> to move carriage <NUM> in logistics center <NUM> will be described. <FIG> is a flowchart illustrating an example of an automatic movement control processing routine performed by movement control section <NUM> of automatic movement device <NUM>. The routine is stored in storage section <NUM>, and is performed after automatic movement device <NUM> is activated. When the routine starts, movement control section <NUM> acquires schedule information <NUM> of a host device from logistics PC <NUM> (S300), and waits until the current time reaches the operation time (S310). When the current time reaches the operation time, movement control section <NUM> acquires usage map <NUM> transmitted from logistics PC <NUM> (S320), and performs a movement processing and predetermined work, based on schedule information <NUM> (S330). In the movement processing, for example, movement control section <NUM> moves to a movement source position of carriage <NUM>, and moves carriage <NUM> to a movement destination position. In the predetermined work, connection and disconnection are performed by moving lift portion <NUM> up and down in a lower portion of carriage <NUM>. In S340, while the processing in S330 is continued, movement control section <NUM> determines whether a new obstacle is detected by detection sensor <NUM> or an existing obstacle is not detected. When the new obstacle is detected or the existing obstacle is not detected, movement control section <NUM> transmits a report relating to the obstacle to logistics PC <NUM> (S350), and acquires another movement path from logistics PC <NUM> (S360). After S360 or when the new obstacle is not detected or the existing obstacle is detected in S340, movement control section <NUM> determines whether the work based on current schedule information <NUM> is completed (S370). When the current work is not completed, movement control section <NUM> performs the processing subsequent to S320. Latest usage map <NUM> is transmitted from logistics PC <NUM> each time the current time reaches the change time, and movement control section <NUM> performs the movement processing by using latest usage map <NUM>. On the other hand, when the current work is completed in S370, movement control section <NUM> determines whether all of the works are completed (S380). When all of the works are not completed, movement control section <NUM> performs the processing subsequent to S300, and when all of the works are completed, movement control section <NUM> moves to a standby position (S390), and completes the routine. In this way, automatic movement device <NUM> moves carriage <NUM> while using latest usage map <NUM>.

Here, a correspondence between configuration elements of the present embodiment and configuration elements according to the present disclosure will be clarified. Logistics center <NUM>, shop <NUM>, work elevator <NUM>, and cargo chamber <NUM> of the present embodiment correspond to a specific space, carriage <NUM> corresponds to a carriage, and delivery system <NUM> corresponds to a delivery system. In addition, control device <NUM> corresponds to a control device, CPU <NUM> corresponds to a processing control section, and storage section <NUM> corresponds to a storage section. In addition, schedule information <NUM> corresponds to schedule information, change information <NUM> corresponds to change information, operation information <NUM> corresponds to operation information, reference map <NUM> and floor maps 36a to 36c correspond to reference maps, and usage maps <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and <NUM> correspond to usage maps. In the present embodiment, an example of the control method according to the present disclosure is also clarified by describing an operation of delivery system <NUM>.

Control device <NUM> of the present embodiment described above performs processing of preparing new usage map <NUM> used by automatic movement device <NUM> by adding a change to reference map <NUM> of the specific space, based on schedule information <NUM> including change information <NUM> including the change region in which movable region <NUM> of automatic movement device <NUM> is changed in the specific space and the change time at which the region is changed, and operation information <NUM> including the operation time at which automatic movement device <NUM> starts operating. In control device <NUM>, usage map <NUM> closer to the actual state can be prepared in advance by using schedule information <NUM> and considering a situation of the specific space. Therefore, in control device <NUM>, the article can be more smoothly moved in accordance with a change in the situation of the specific space for moving the article. In addition, since control device <NUM> derives an optimum movement path of automatic movement device <NUM> by using usage map <NUM>, it is possible to provide an efficient movement path in advance.

In addition, since control device <NUM> prepares usage map <NUM> by reflecting the change region included in schedule information on reference map <NUM>, based on the change time included in schedule information <NUM>, usage map <NUM> closer to the actual state can be prepared in accordance with the time at which the region is changed. In addition, since control device <NUM> transmits usage map <NUM> on which the change region is reflected to automatic movement device <NUM>, based on the change time included in schedule information <NUM>, automatic movement device <NUM> can use usage map <NUM> closer to the actual state in accordance with the change time of the specific space. Furthermore, since control device <NUM> prepares usage map <NUM> by reflecting the change region included in schedule information <NUM> on the reference map <NUM>, based on the operation time included in schedule information <NUM>, usage map <NUM> closer to the actual state can be prepared in accordance with the operation time of automatic movement device <NUM>. Furthermore, since control device <NUM> transmits usage map <NUM> on which the change region is reflected to automatic movement device <NUM>, based on the operation time included in schedule information <NUM>, automatic movement device <NUM> can use usage map <NUM> closer to the actual state in accordance with the operation time of automatic movement device <NUM>.

Furthermore, when the information on the object (obstacle) existing in the specific space is acquired from operated automatic movement device <NUM> or another operated automatic movement device <NUM>, control device <NUM> prepares usage map <NUM> by adding a change in movable region <NUM> of automatic movement device <NUM> to reference map <NUM>, based on the acquired information on the obstacle. In control device <NUM>, usage map <NUM> can be prepared by using the actual information recognized by automatic movement device <NUM> itself or another device. Furthermore, since control device <NUM> adds a change in movable region <NUM> by giving priority to the information on the obstacle which is acquired from automatic movement device <NUM> of a host device or another automatic movement device <NUM>, compared to the information included in schedule information <NUM>, usage map <NUM> closer to the actual situation can be prepared. Since control device <NUM> performs processing of coupling the movement region moving relative to the specific space to reference map <NUM> and processing of separating the movement region from reference map <NUM>, usage map <NUM> including a movable region or a non-movable region of automatic movement device <NUM> can be prepared by newly coupling or separating the movement region. In addition, since the region of delivery vehicle <NUM> for delivering the article and the region of work elevator <NUM> on which automatic movement device <NUM> rides are included as the movement region, control device <NUM> can couple and separate the region to be added to or separated from the movable range region of automatic movement device <NUM>. In addition, since control device <NUM> performs processing of coupling the movement region to doorway region <NUM> set in reference map <NUM>, the movement region can be coupled to a predetermined position, and the usage map to which the movement region is coupled can be smoothly prepared.

As a matter of course, the present disclosure is not limited to the above-described embodiment in any way, and thus, the present disclosure can be embodied in various aspects without departing from the technical scope according to the present disclosure.

For example, in the above-described embodiment, although control device <NUM> prepares new usage map <NUM>, when the current time reaches the change time included in schedule information <NUM>, and when the current time reaches the operation time included in schedule information <NUM>, the configuration is not particularly limited to this, and control device <NUM> may prepare new usage map <NUM> when the current time reaches either the change time or the operation time. In addition, although control device <NUM> transmits usage map <NUM> to automatic movement device <NUM>, when the current time reaches the change time included in schedule information <NUM> and when the current time reaches the operation time included in schedule information <NUM>, the configuration is not particularly limited to this, and usage map <NUM> may be transmitted to automatic movement device <NUM> when the current time reaches either the change time or the operation time. Even in control device <NUM> configured in this way, usage map <NUM> closer to the actual state can be prepared and transmitted in advance, and the article can be more smoothly moved in accordance with a change in the situation of the specific space for moving the article.

In the above-described embodiment, although control device <NUM> prepares usage map <NUM> by using the information on the object (obstacle) existing in the specific space, the configuration is not particularly limited to this, and the processing may be omitted. In control device <NUM>, usage map <NUM> closer to the actual state can be prepared in advance by simplifying the processing. In addition to automatic movement device <NUM>, region detection device <NUM> (refer to <FIG>) disposed inside the specific space may be used for detecting the obstacle.

In the above-described embodiment, although a case where automatic movement device <NUM> can enter and exit through doorway <NUM> has been described, a case where automatic movement device <NUM> cannot move to delivery vehicle <NUM> through doorway <NUM> will be described. <FIG> is an explanatory view in a state where tail gate <NUM> is closed, <FIG> is an explanatory view of logistics center <NUM>, <FIG> is an explanatory view of usage map <NUM> of logistics center <NUM>, <FIG> is an explanatory view of logistics center 20B, and <FIG> is an explanatory view of usage map 80B of logistics center 20B. In this case, movement control section <NUM> of automatic movement device <NUM> causes detection sensor <NUM> to detect that doorway region <NUM> of movement region <NUM> is closed. Movement control section <NUM> transmits information indicating a non-movable state to logistics PC <NUM>. When CPU <NUM> of control device <NUM> acquires a signal indicating that the doorway of movement region <NUM> is closed from automatic movement device <NUM>, CPU <NUM> displays and outputs information indicating that tail gate <NUM> is closed. A worker who confirms the information advises delivery vehicle <NUM> to open tail gate <NUM>. Control device <NUM> can cope with the situation where the movement device <NUM> can enter added movement region <NUM> by locally detecting automatic movement device <NUM>. Control device <NUM> can also cope with the same situation in logistics center 20B.

In the above-described embodiment, although a case where delivery vehicle <NUM> is connected to predetermined doorway <NUM>, control device <NUM> may cope with the situation as follows when delivery vehicle <NUM> is connected to doorway <NUM> in a deviated manner. Movement control section <NUM> of automatic movement device <NUM> can causes detection sensor <NUM> to detect that movement region <NUM> is connected in the deviated manner. In this case, movement control section <NUM> calculates a deviation amount of delivery vehicle <NUM> by using a detected value of detection sensor <NUM>, and transmits the deviation amount to logistics PC <NUM>. Control device <NUM> of logistics PC <NUM> uses the deviation amount, couples the deviation amount to reference map <NUM> in a state where the movement region is shifted, and prepares usage map <NUM>. Control device <NUM> transmits newly prepared usage map <NUM> to automatic movement device <NUM>, and performs processing of moving automatic movement device <NUM> by using new usage map <NUM>. In control device <NUM>, automatic movement device <NUM> can properly move even when delivery vehicle <NUM> deviates. The present disclosure is highly meaningful when applied to logistics center 20B (<FIG>) having an open space in which delivery vehicle <NUM> is likely to deviate. Alternatively, when delivery vehicle <NUM> deviates from the floor map, control device <NUM> may cope with the situation by automatic movement device <NUM> performing processing of shifting a position of the host device.

In the above-described embodiment, although usage map <NUM> is prepared by adding the change between movable region <NUM> and non-movable region <NUM> inside the specific space when a change is added to reference map <NUM>, the configuration is not particularly limited to this, and the processing may be omitted. Alternatively, in the above-described embodiment, although a case of performing the processing of coupling the movement region moving relative to the specific space to reference map <NUM> when the change is added to reference map <NUM> has been described, the configuration is not particularly limited to this, and the processing may be omitted. Usage map <NUM> may be prepared by either changing usage map <NUM> inside the specific space or coupling and separating usage map <NUM> inside the specific space.

In the above-described embodiment, although a case where automatic movement device <NUM> is the AMR has been described, the configuration is not particularly limited to this, and automatic movement device <NUM> may be an automatic guided vehicle (AGV) that moves on a predetermined traveling road. In automatic movement device <NUM>, carriage <NUM> can also be automatically moved, and a workload of a worker can be further reduced. When automatic movement device <NUM> is the AGV, detection sensor <NUM> may have a simpler configuration, or may be omitted.

In the above-described embodiment, although the preparation of usage map <NUM> in logistics center <NUM> has been described, the configuration is not particularly limited to this, and the preparation of usage map <NUM> may be applied to shop <NUM>. In addition, although control device <NUM> of logistics PC <NUM> prepares the usage map, the configuration is not particularly limited to this, and any one or more of control section <NUM> of management server <NUM>, control section <NUM> of shop PC <NUM>, movement control section <NUM> of automatic movement device <NUM> may prepare usage map <NUM>. That is, as long as prepared usage map <NUM> can be directly or indirectly transmitted to automatic movement device <NUM>, any device may have a function of the control device according to the present disclosure.

In the above-described embodiment, although automatic movement device <NUM> includes mecanum wheel <NUM> and is movable in an endless manner, the configuration is not particularly limited to this as long as automatic movement device <NUM> has a configuration capable of traveling. Automatic movement device <NUM> may have a normal wheel. In this case, automatic movement device <NUM> may include four wheels, three wheels, or may include two main wheels and one or more sub wheels.

In the above-described embodiments, although the present disclosure has been described as delivery system <NUM> or control device <NUM>, the configuration is not particularly limited to this, and may be a control method used in a delivery system.

Here, the present disclosure may be configured as follows. For example, in the control device according to the present disclosure, the processing control section may prepare the usage map by reflecting the change region included in the schedule information on the reference map, based on the change time included in the schedule information. In the control device, the usage map closer to the actual state can be prepared in accordance with the time at which the region is changed. Here, for example, the "reflected on the reference map, based on the change time" may mean reflected on the reference map before a predetermined time in the change time (for example, <NUM> minutes before, <NUM> minutes before, or <NUM> minutes before), may mean reflected on the reference map at the change time, or may be reflected on the reference map after the current time reaches the change time. In addition, the control device according to the present disclosure may transmit the usage map on which the change region is reflected to the automatic movement device, based on the change time included in the schedule information. In the control device, the automatic movement device can use the usage map closer to the actual state in accordance with the change time in the specific space. For example, as in the above-described configuration, the "transmitting the usage map, based on the change time" may mean transmitting the usage map before a predetermined time in the change time, at the change time, or after the current time reaches the change time.

In the control device according to the present disclosure, the processing control section may prepare the usage map by reflecting the change region included in the schedule information on the reference map, based on the operation time included in the schedule information. In the control device, the usage map closer to the actual state can be prepared in accordance with the operation time of the automatic movement device. Here, for example, the "reflected on the reference map, based on the operation time" may mean reflected on the reference map before a predetermined time in the operation time (for example, <NUM> minutes before, <NUM> minutes before, or <NUM> minutes before), may mean reflected on the reference map at the operation time, or may mean reflected on the reference map after the current time reaches the operation time. In addition, the control device according to the present disclosure may transmit a usage map reflecting the change region to the automatic movement device based on an operation time included in the schedule information. In the control device, the automatic movement device can use the usage map closer to the actual state in accordance with the operation time of the automatic movement device. For example, as in the above-described configuration, the "transmitting the usage map, based on the operation time" may mean transmitting the usage map before a predetermined time in the operation time, at the operation time, or after the current time reaches the operation time.

In the control device according to the present disclosure, when the processing control section acquires the information on the object existing in the specific space from the operating automatic movement device or from another device excluding the operating automatic movement device, the processing control section may prepare the usage map by adding the change in the movable region of the automatic movement device to the reference map, based on the acquired information on the object. In the control device, the usage map can be prepared by using the actual information on the position and the size of the object recognized by the automatic movement device itself or another device. Here, examples of another device excluding the automatic movement device include another automatic movement device and a detection device disposed inside the specific space.

In the control device according to the present disclosure in an aspect of acquiring the information on the object existing in the specific space, the processing control section may add the change in the movable region of the automatic movement device to the reference map by giving priority to the information on the object existing in the specific space which is acquired from the operating automatic movement device or from another device excluding the operating automatic movement device, in comparison to the information included in the schedule information. In the control device, the usage map closer to the actual state can be prepared.

In the control device according to the present disclosure, when adding the change to the reference map, the processing control section may perform at least one of processing of coupling the movement region moving relative to the specific space to the reference map, and processing of separating the movement region from the reference map. In the control device, since the movement region is newly coupled or separated, the usage map including the movable region or the non-movable region of the automatic movement device can be prepared.

In the control device according to the present disclosure in an aspect in which the movement region is coupled or separated, the movement region may include at least one of the region of the delivery vehicle for delivering the article and the region of the work elevator on which the automatic movement device rides. In the control device, the control device can couple and separate the region to be added to or separated from the movable range region of the automatic movement device such as the delivery vehicle and the work elevator.

In the control device according to the present disclosure in an aspect in which the movement region is coupled or separated, the processing control section may perform processing of coupling the movement region to the doorway region set in the reference map. In the control device, since the movement region can be coupled to a predetermined position, the usage map to which the movement region is coupled can be smoothly prepared.

In the control device according to the present disclosure in an aspect in which the movement region is coupled or separated, the processing control section may output the information indicating that the doorway of the movement region is closed, when a signal indicating that the doorway of the movement region is closed is acquired from the automatic movement device. The control device can cope with a situation where the automatic movement device can enter added movement region. In this case, the processing control section may output a command to open the doorway to the device corresponding to the movement region.

According to the present disclosure, there is provided the delivery system for delivering the article, the delivery system including the management device including the control device according to any one of the above-described configurations, and the automatic movement device configured to automatically move the article inside the specific space, in which the automatic movement device acquires the usage map prepared by the control device from the control device, and uses the usage map for the movement of the article. Since the delivery system includes any one of the control devices described above, it is possible to obtain an advantageous effect corresponding to the adopted aspect.

According to the present disclosure, there is provided the control method used in the delivery system having the automatic movement device that automatically moves the article inside the specific space and delivering the article, the control method including a step of performing processing of preparing the usage map used by the automatic movement device by adding a change to the reference map of the specific space, based on the schedule information including at least one of the change information including the change region in which the movable region of the automatic movement device is changed in the specific space and the change time at which the region is changed, and the operation information including the operation time at which the automatic movement device starts operating.

In the control method, as in the above-described control device, the usage map closer to the actual state can be prepared in advance by using the schedule information and considering the situation of the specific space. Therefore, the control device can more smoothly move the article in accordance with a change in the situation of the specific space for moving the article. In the control method, various aspects of the above-described control device may be adopted, or steps for realizing each function of the above-described control device may be added.

The carriage aligning device, the automatic movement device, the delivery system, and the control method according to the present disclosure can be used in a technical field of a commodity logistics system for delivering commodities.

Claim 1:
A control device (<NUM>) used in a delivery system (<NUM>) having an automatic movement device (<NUM>) that automatically moves an article inside a specific space and delivering the article, the control device (<NUM>) comprising:
a storage section (<NUM>) configured to store schedule information (<NUM>) including at least one of change information (<NUM>) including a change region in which a movable region (<NUM>), that is a region in which the automatic movement device is movable, of the automatic movement device (<NUM>) is changed in the specific space and a change time at which the region is changed, and operation information (<NUM>) including an operation time at which the automatic movement device starts operating; and
a processing control section (<NUM>) configured to perform processing of preparing a usage map (<NUM>) used by the automatic movement device (<NUM>) by adding a change to a reference map (<NUM>) of the specific space, based on the schedule information (<NUM>),
wherein the processing control section (<NUM>) prepares the usage map (<NUM>) by reflecting the change region included in the schedule information (<NUM>) on the reference map (<NUM>), based on the change time included in the schedule information (<NUM>).