Mobile body operation management device

Abstract

A moving body operation management device for managing the operation of a plurality of moving bodies that move in a passage provided in an area and perform operations in a specific location, the moving body operation management device being configured so as to set an exclusive section when the operation of a certain moving body hinders the movement of another moving body in the passage, and to manage the operation of the plurality of moving bodies. The exclusive section for one of the two moving bodies and the exclusive section for the other moving body are adjacent to each other, and the movement of the one moving body to the next movement destination along the shortest path is blocked by the other exclusive section. The first operation instruction causes the one to move to the next movement destination along a path that bypasses the exclusive section for the other, and the second operation instruction causes the one to move to the next movement destination along the shortest path after the exclusive section for the other is released. The operation instruction is selectively issued by comparing the arrival time of the movement to the next movement destination when the one is in accordance with the instructions.

Description

Technical Field

[0001] The present invention relates to an apparatus for managing the operation of a plurality of mobile bodies that move along passages provided in an area and perform work at specific locations. Background Art

[0002] As a system for managing the operation of multiple mobile objects, there is a technology described in Japanese Patent Application Laid-Open No. 2021-178533. This technology relates to ground-based auxiliary operations using mobile objects at airports, in which the travel paths of multiple mobile objects are set so as not to interfere with other mobile objects.

[0003] The technology described in Japanese Patent Application Laid-Open No. 2021-178533 allows for relatively free travel route settings in areas without established access roads. This is not a preferred technology because it manages the operation of a mobile vehicle within an area with pre-defined access roads. It is believed that if the operation of a mobile vehicle can be properly managed within an area with pre-defined access roads, the practicality of the mobile vehicle operation management device can be improved. The present invention was developed in response to this practical situation, and its purpose is to provide a highly practical mobile vehicle operation management device. Summary of the Invention

[0004] In order to solve the above-mentioned problems, the mobile body operation management device of the present invention is a mobile body operation management device that manages the operation of a plurality of mobile bodies that move along passages set in an area and perform operations at a specific location.

[0005] The above-mentioned mobile body operation management device is composed of:

[0006] If the operation of a certain moving object hinders the movement of other moving objects on the passage, the section including the place where the operation is being performed is set as an exclusive section.

[0007] When the exclusion zone for one of the two moving objects is adjacent to the exclusion zone for the other moving object, and the movement of the one moving object to the next destination via the shortest path is blocked by the exclusion zone for the other moving object,

[0008] By comparing the arrival time of the one moving body at the next moving destination according to the first operation instruction and the second operation instruction, the first operation instruction or the second operation instruction is selectively issued, wherein

[0009] The first operation instruction causes the one moving object to move to a next destination along a route that bypasses an exclusive section for the other moving object.

[0010] The second operation instruction causes the one moving object to move to the next moving destination via the shortest route after the exclusive section for the other moving object is released.

[0011] The second operation instruction is to make the moving body of the one party wait in the exclusive section for the moving body of the one party, and after the moving body of the other party does not pass through the exclusive section for the moving body of the one party and moves toward the next moving destination, make the moving body of the one party move to the next moving destination along the shortest path.

[0012] According to the mobile body operation management device of the present invention, in short, for example, it is possible to determine the movement path based on which one can quickly reach the next movement destination: moving along a roundabout path or moving along the shortest path after the other party's mobile body completes its work. Therefore, even in the presence of adjacent exclusive sections, the mobile body can be operated quickly.

[0013] The mobile object operation management device of the present invention is a mobile object operation management device that manages the operation of a plurality of mobile objects that move along passages provided in an area and perform operations at a specific location. The mobile object operation management device is based on the following configuration:

[0014] If the operation of a certain moving object hinders the movement of other moving objects on the passage, the section including the place where the operation is being performed is set as an exclusive section.

[0015] When the exclusion zone for one of the two moving objects is adjacent to the exclusion zone for the other moving object, and the movement of the one moving object to the next destination via the shortest path is blocked by the exclusion zone for the other moving object,

[0016] By comparing the arrival time of the one moving body at the next moving destination according to the first operation instruction and the second operation instruction, the first operation instruction or the second operation instruction is selectively issued, wherein

[0017] The first operation instruction causes the one moving object to move to a next destination along a route that bypasses an exclusive section for the other moving object.

[0018] The second operation instruction causes the one moving object to move to a next destination via the shortest route after the exclusive section for the other moving object is released.

[0019] The mobile bodies that are the objects of management of the mobile body operation management device of the present invention (hereinafter sometimes simply referred to as "management device") are not particularly limited, and various mobile bodies such as vehicles, heavy machinery, transport devices, drones, etc. are the objects. In addition, the present invention can be applied to mobile bodies that move in various areas such as warehouses, institutions, and streets. Specifically, for example, it can be applied to vehicles that move on divided streets to transport people and goods, or to transport trucks that move goods in and out of warehouses. The operations performed by the mobile body are also not particularly limited, and various different operations can also exist depending on the mobile body.

[0020] The passage for the moving bodies to move may also be a passage in which the moving bodies cannot intersect with each other, but in view of the ease of operation management and the smoothness of the movement of the moving bodies, it is preferred to allow the moving bodies to intersect with each other in a manner that allows the moving bodies to move only on one side, the right side or the left side, relative to the direction of movement.

[0021] "The operation of a certain mobile object hinders the movement of other mobile objects in the passage" means, for example, that the operation of a certain mobile object interferes with the movement of other mobile objects, such as by blocking the passage or extending into the passage. In short, an operation with an exclusive section can be considered as occupying the passage.

[0022] The mobile object may be an autonomous mobile object, i.e., an automatically operated mobile object, or a mobile object operated by a person. In the case of an autonomous mobile object, the mobile object may be operated automatically according to an instruction from the management device. In the case of a manually operated mobile object, the instruction from the management device may be displayed on a display, for example, in a manner recognizable to the driver.

[0023] When a mobile object's operation hinders the movement of other mobile objects on a passage, the management device sets an exclusion zone for that mobile object. Simply put, for example, the exclusion zone can be set when the operation begins. The exclusion zone setting can then be removed when the operation is completed, or when the mobile object is ready to move to its next destination.

[0024] In short, the basic concept of the present invention is to choose whether to move one of the two moving bodies in a detour around the other, or to wait for the other to finish its work and then move along the shortest path, when two moving bodies are respectively performing work in adjacent locations, and one of the two moving bodies has finished its work while the other is still working. If the former is selected, the instruction issued to the one moving body is the first operation instruction described above, and if the latter is selected, the instruction issued to the one moving body is the second operation instruction described above. The first and second operation instructions described above can be issued to the one moving body at the moment when the work of the one moving body in its exclusive section is completed. In addition, if the movement of one moving body to its next destination along the shortest path is not blocked by the exclusive section for the other moving body, an instruction can be issued to the one moving body to move to its next destination along the shortest path.

[0025] When a second operational instruction is issued based on the above-described basic concept, the second operational instruction relates to the behavior of one of the mobile objects. For example, there are two types of instructions: "an instruction to cause one of the mobile objects to wait in an exclusive zone for the one of the mobile objects," i.e., a "waiting instruction"; and "an instruction to cause one of the mobile objects to evade to a nearby evasion space," i.e., an "avoidance instruction." While the second operational instruction in the present invention is the "waiting instruction," the following description will address each of the two instructions.

[0026] When the second operation instruction is a standby instruction, the second operation instruction becomes an instruction to make one of the two moving bodies standby in an exclusive section for that one, and after the other moving body of the two moving bodies does not pass through the exclusive section for that one and moves toward the next moving destination, make one moving body move to the next moving destination along the shortest path.

[0027] When the second operation instruction, serving as the aforementioned standby instruction, is issued to one of the two moving bodies, the management device may, for example, issue an instruction to the other moving body to move to its next destination via the shortest path, if the other moving body's movement to its next destination via the shortest path is not blocked by the exclusive section for the one moving body. Alternatively, for example, if the other moving body's movement to its next destination via the shortest path is blocked by the exclusive section for the one moving body, the management device may issue an instruction to the other moving body to move to its next destination by bypassing the exclusive section for the one moving body. The latter instruction becomes effective when the movement of one moving body and the movement of the other moving body via the shortest path are mutually blocked, that is, when a deadlock occurs.

[0028] If the second operation instruction is a yield instruction, it is an instruction to yield to the following: if the other of the two moving bodies' movement to the next destination by the shortest route is blocked by the exclusion zone for one of the two moving bodies, the one moving body will yield to a nearby yield space. After the exclusion zone for the one moving body is lifted and the other moving body passes through the lifted exclusion zone and proceeds to the next destination by the shortest route, the one moving body will then move to the next destination by the shortest route. This second operation instruction is also effective if the two moving bodies are deadlocked. Furthermore, a yield space is a space where the other moving body can remain without hindering the movement of the other moving body on the passage.

[0029] If there is no avoidance space, the management device may compare the arrival times of the one moving object at the next destination in accordance with the first and third operation instructions, and selectively issue the first or third operation instruction. The third operation instruction replaces the second operation instruction and causes one of the two moving objects to wait within the exclusive section for the first moving object, while causing the other moving object to bypass the exclusive section for the first moving object and move to the next destination. After this movement, the other moving object is caused to move to the next destination via the shortest path. Even in the event of a deadlock between the two moving objects, such a selective instruction is effective.

[0030] The selection between the first and second operation instructions is performed by comparing the arrival time of one of the two moving objects at the next destination if the moving object follows the instructions. Specifically, the selection is performed by comparing the arrival time at the next destination when the moving object moves to the next destination along the detour route (hereinafter sometimes referred to as the "first arrival time") with the arrival time at the next destination when the moving object moves to the next destination along the shortest route after waiting or avoiding the obstacle (hereinafter sometimes referred to as the "second arrival time").

[0031] The first arrival time and the second arrival time can be calculated, for example, by using the Dijkstra algorithm in graph theory. Specifically, a graph is created in which nodes (vertices) are set at various important locations such as the branch points of the path, the work sites (exclusive intervals) for both of the two mobile bodies, and the next destinations of each movement, and edges (edges) connecting these nodes are set according to the path. The shortest path can be selected and calculated from the paths between the work site of one mobile body and the next destination. In addition, the calculation of the first arrival time can be performed using a graph in which the edges connecting the work sites of the two mobile bodies are eliminated, and the calculation of the second arrival time can be performed by adding the waiting or avoidance time to the time spent on moving along the shortest path. In other words, the calculation of the second arrival time can be performed by inferring the time when the other of the two mobile bodies finishes working in the exclusive interval for the other mobile body and adding this time to the calculation.

[0032] When selecting between the first and second operation instructions, in principle, the instruction that is faster between the first and second arrival times should be selected. However, this principle need not necessarily be adhered to. For example, important factors such as traffic congestion, road conditions, and fuel consumption may be considered, and a time margin may be added or subtracted from either the first or second arrival time, and the first and second arrival times obtained by adding or subtracting the time margin may be compared to select the faster instruction.

[0033] Furthermore, if, for example, a moving object other than the two moving objects described above exists within the area (hereinafter sometimes referred to as a "third moving object"), and if this moving object is referred to as the third moving object, it is assumed that this third moving object may obstruct the movement of one of the two moving objects toward its next destination. However, to facilitate understanding of the concept of the present invention, this specification will be described without considering such obstruction of movement by the third moving object.

[0034] The hardware structure of the mobile object operation management device is not particularly limited, and may include, for example, a computer and a communication device. The storage area of ​​the computer may be configured to store, for example, a map of the routes along which the mobile objects travel, the current location of each mobile object, and an operation schedule for each mobile object. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Features, advantages, and technical and industrial significance of embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals represent like elements, and wherein

[0036] Figure 1This figure shows a vehicle warehouse, which is an area where a vehicle transporter, which is a mobile body to be managed by the mobile body operation management device of the embodiment, moves.

[0037] Figure 2A This is a diagram showing a vehicle transporter.

[0038] Figure 2B This is another diagram showing the vehicle transporter.

[0039] Figure 3A This is a diagram for explaining a situation in which work performed by a vehicle transport machine obstructs movement of another vehicle transport machine on a passage.

[0040] Figure 3B It is used to illustrate the relationship between Figure 3A Graph of the exclusion intervals set by the barriers.

[0041] Figure 4 This is a flowchart of operation instruction processing performed by the mobile body operation management device of the embodiment in consideration of the exclusive section.

[0042] Figure 5A This is a diagram for explaining the standby instruction and the avoidance instruction as the second operation instruction.

[0043] Figure 5B This is another diagram for explaining the standby instruction and the avoidance instruction as the second operation instruction. DETAILED DESCRIPTION

[0044] The following describes in detail, with reference to the accompanying drawings, a mobile vehicle operation management device according to an embodiment of the present invention as a mode for implementing the present invention. Furthermore, in addition to the following embodiments, the present invention can be implemented in various other modes, including those described in the above-mentioned "Modes of the Invention," with various modifications and improvements based on the knowledge of those skilled in the art.

[0045] A. Vehicle Warehouse

[0046] The mobile body operation management device of the embodiment is a transporter operation management device (hereinafter sometimes simply referred to as "management device") that manages the operation of a vehicle transporter (hereinafter sometimes simply referred to as "transporter") as a mobile body. Figure 1 As shown, the transporter T moves, that is, travels, within the warehouse 10 as an area. The transporter T will be described in detail later. However, the transporter T brings a vehicle C, which is an object to be transported, into the warehouse 10 and stores the transported vehicle C in the storage area S. Furthermore, the transporter T can remove the vehicle C from the storage area S and carry it out of the warehouse 10.

[0047] The storage area S has a length and width just enough to accommodate a single vehicle C. Within the warehouse 10, the storage area S consists of four storage rows L arranged in the longitudinal direction, and a plurality of storage blocks B are arranged in the width direction. Within the warehouse 10, a passage P for the transporter T to travel is provided, surrounding each storage block B. Specifically, a transverse passage PL extending laterally to face the ends of the storage rows L and a longitudinal passage PV connecting these transverse passages PL are provided. Hereinafter, the transverse passages PL and longitudinal passages PV may sometimes be collectively referred to as the passage P.

[0048] At the left end of the warehouse 10 in the figure, there is a carry-out port GO for carrying out vehicles C. Although not shown, at the right end, there is a carry-in port GI for carrying in vehicles C. A management device 12 includes a computer 14 and a communication device 16 and is located in a management room 18 attached to the warehouse 10.

[0049] B. Vehicle handling

[0050] As in Figure 2A In the top view, Figure 2B As shown in the side view in FIG, the transporter T consists of a tractor 20 that travels automatically and a bracket 22 towed by the tractor 20. The tractor 20 and the bracket 22 can rotate relative to each other about a hinge 24. The tractor 20 has front wheels 26 and rear wheels 28, with the front wheels 26 being steering wheels and the rear wheels 28 being drive wheels. The tractor 20 has a built-in automatic driving controller for automatic driving. In addition, a unit device 30 is held above the tractor 20. The unit device 30 is formed by integrating a camera for monitoring the surroundings for automatic driving, a beacon receiver for obtaining its own position, and a communication device for communicating with the management device 12. Automatic driving is performed by conventional methods, so the description is omitted here. The bracket 22 has a lifting platform 32, which is raised and lowered by the automatic driving controller. In addition, the bracket 22 has wheels 34 at the end on the side away from the tractor 20.

[0051] like Figure 2A 、 Figure 2B As shown, the transporter T can insert the bracket 22 from the rear side of the vehicle C toward the underside of the vehicle body, raise the platform 32, and thereby transport the vehicle C while the vehicle C is lifted. Although not shown, the bracket 22 can also be inserted from the front side of the vehicle C toward the underside of the vehicle body, and the platform 32 can be raised to thereby transport the vehicle C while the vehicle C is lifted. In other words, the transporter T can approach the vehicle C from either the front or rear side of the vehicle C.

[0052] C. Functions of the transporter operation management device

[0053] As previously described, the management device 12, which serves as a mobile body operation management device, includes a computer 14 as its main body. The computer 14 is configured to include a CPU, ROM, RAM, a hard disk, and other storage devices. The management device 12 has a warehouse management function that generates warehouse data indicating which storage area S in the warehouse 10 currently stores what type of vehicle C. In addition, data on when and what type of vehicle C is moved into the warehouse 10 and when and what type of vehicle C is moved out of the warehouse 10 is sent to the management device 12 from the outside. The management device 12 has an operation plan creation function that creates an operation plan for the storage / removal operation of the vehicle C performed by the transporter T based on the data on when and what type of vehicle C is moved into the warehouse 10. Although detailed descriptions of the warehouse data and the operation plan are omitted, they are stored in the storage device of the computer 14.

[0054] Based on the aforementioned inventory data and loading and unloading data, the management device 12 stores incoming vehicles C at appropriate times or identifies the storage area S where outgoing vehicles C will be stored. The management device 12 has a task allocation function that determines which transporter T will perform the task of storing or removing the vehicle C from the storage area S. Furthermore, the management device 12 determines which transporter T is currently transporting a vehicle C at which location within the warehouse 10, or is currently moving the vehicle without transporting it, or is currently performing a storage or removal operation. The allocation of storage or removal operations is performed based on this information. Furthermore, the management device 12 has an operation instruction issuing function. This operation instruction issuing function issues an operation instruction to the transporter T assigned a task, such as an instruction to move a vehicle C into the warehouse 10 and to which storage area S to move through which passage P to store the vehicle C in the storage area S, or an operation instruction to remove a vehicle C stored in a storage area S and to which passage P to move it out of the warehouse 10. In short, this function has the function of issuing an operation instruction including the next moving destination of each transporter T.

[0055] D. Obstruction of vehicle storage / removal operations and passage movement by vehicle transporters

[0056] A storage row L consisting of four storage areas S is arranged in the warehouse 10. For example, a vehicle C is taken out of the storage area S and stored in the storage area S. Figure 3AAs shown, a transporter T enters the storage row L from the transverse passage PL facing the end of the storage row L, and enters and exits the storage row L through the transverse passage PL. The passage P is left-hand traffic and has a width wide enough for the transporters T to pass through. Because the transporters T are long regardless of whether they are transporting a vehicle C, during storage or retrieval operations (hereinafter sometimes referred to as "operations"), the movement of other transporters T in a certain section of the transverse passage PL, including the area where the operation is being performed, may be obstructed.

[0057] Therefore, when one transporter T is performing a storage or retrieval operation, the management device 12 sets the aforementioned section as an exclusive section E, prohibiting the movement of other transporters T. Furthermore, the setting of the exclusive section E is canceled when the currently operating transporter T completes the operation. Specifically, when the transporter T completes the operation and assumes a position to move along the transverse passage PL, the exclusive section E is shown in gray in the figure.

[0058] However, for example, when two transporters T operate in one transverse passage PL, and Figure 3B A problem arises when two exclusive intervals E are set adjacent to each other as shown. Specifically, in view of the efficiency of the transporter T, the transporter T that has completed the operation should move to the next destination for the next operation in the shortest path. There is a problem that a transporter T that has completed the operation (hereinafter sometimes referred to as the "target transporter Ts") cannot move in the shortest path shown by the solid line when it goes to the next destination due to the exclusive interval E (hereinafter sometimes referred to as the "adjacent exclusive interval En") for another transporter T (hereinafter sometimes referred to as the "adjacent operation transporter Tn"). In particular, when the adjacent operation transporter Tn has completed the operation, the adjacent operation transporter Tn cannot move in the shortest path shown by the solid line according to the exclusive interval E (hereinafter sometimes referred to as the "self-exclusive interval Es") for the target transporter Ts. There is also a situation where it falls into a so-called deadlock. In addition, in Figure 3B In FIG, detour routes of the target transport machine Ts and the adjacent work transport machine Tn are indicated by dotted lines.

[0059] E. Dealing with Adjacent Exclusive Intervals

[0060] The management device 12 takes measures to deal with the above-mentioned problem caused by the adjacent exclusive interval E. Specifically, the one of the two adjacent transporters T that finishes the operation first is regarded as the target transporter Ts, and the target transporter Ts is executed in Figure 4 The following describes the operation instruction processing according to the flowchart. Figure 3BSpecifically, a self-exclusive section Es is set for the target transporter Ts. The following description assumes that an adjacent work transporter Tn is operating at a location adjacent to the target transporter Ts, and an adjacent exclusive section En is set for the adjacent work transporter Tn.

[0061] When the object transporter Ts completes the storage operation or the removal operation and the object transporter Ts is about to move to the next destination, the operation instruction process is executed. In the operation instruction process, first, in step 1 (hereinafter abbreviated as "S1". The other steps are the same), the shortest path is determined, and in S2, it is determined whether the movement of the object transporter Ts to the next destination along the shortest path is blocked by the adjacent exclusive interval En. In the case where the movement along the shortest path is not blocked, that is, in the case where the shortest path is a path in the opposite direction to the adjacent exclusive interval En (in this case, Figure 3B The path indicated by the dotted line in FIG. 1 is the shortest path), and in S3, the setting of the self-exclusive section Es is canceled, and an instruction to move the target transporter Ts along the shortest path is issued.

[0062] If the movement of the target transporter Ts along the shortest route is obstructed, that is, if the shortest route is a route that passes through the adjacent exclusive section En, a detour route that bypasses the adjacent exclusive section En, that is, a route that goes in the opposite direction of the adjacent exclusive section En, is determined in S4. In S5, the detour arrival time t1, which is the time when the target transporter Ts arrives at the next destination by moving along the detour route, is calculated as the first arrival time.

[0063] In the next S6, it is determined whether the movement of the adjacent work transporter Tn to the next destination by the shortest path is blocked by the self-exclusive section Es. In other words, it is determined whether the adjacent work transporter Tn passes through the self-exclusive section Es or the section set as the self-exclusive section Es when moving to the next destination by the shortest path. If it is not blocked (in this case, Figure 3B The path indicated by the dotted line in FIG becomes the shortest path to the adjacent work transporter Tn), and in S7, the standby mode is selected as the operation mode. Figure 5A As shown, in the standby mode, the target transporter Ts waits in the self-exclusive section Es. After the adjacent working transporter Tn completes its work and proceeds to the next destination via the shortest path, that is, after the setting of the adjacent exclusive section En is released, the target transporter Ts moves to the next destination via its own shortest path.

[0064] If it is determined in S6 that the movement of the adjacent working transporter Tn to the next moving destination by the shortest path is blocked by the self-exclusive section Es, in S8, it is determined whether there is a space for the target transporter Ts to avoid, that is, an avoidance space, in the section other than the adjacent exclusive section En in the transverse passage PL where the target transporter Ts is located. The avoidance space is a space where the transporter T can stay without extending into the passage P when it is not transporting a vehicle C or when it is transporting a vehicle C. Figure 5B As shown by the reference numerals with X added thereto, for example, two consecutive storage areas S can be used as escape spaces.

[0065] If there is no avoidance space, the standby mode is selected as the operation mode in S7. In this case, when the adjacent work transporter Tn finishes the work and moves to the next destination, it is instructed to move to the next destination by a route that does not pass through the self-exclusive section Es, that is, not the shortest route but a roundabout route. If there is an avoidance space X, the avoidance mode is selected as the operation mode in S9. In this avoidance mode, if Figure 5B As shown, after completing its work, the target transporter Ts temporarily avoids the avoidance space X, thereby canceling the setting of the self-exclusive section Es. After the adjacent transporter Tn, which has also completed its work, passes through the section that was once the self-exclusive section Es using the shortest path, the target transporter Ts moves to its next destination using its own shortest path, passing through the section in which the setting of the adjacent exclusive section En has been canceled.

[0066] Regardless of whether either the standby mode or the avoidance mode is selected, the arrival time of the target handling machine Ts at the next destination, i.e., the shortest path arrival time t2, serving as the second arrival time, is calculated in S10. In short, when the standby mode is selected, the shortest path arrival time t2 is calculated as the time it takes to reach the next destination via the shortest path without obstructing movement, plus the time it spends waiting within the self-exclusion interval Es. When the avoidance mode is selected, the shortest path arrival time t2 is calculated as the time it takes to reach the next destination via the shortest path without obstructing movement, plus the time it spends avoiding the avoidance space X. In other words, the shortest path arrival time t2 can be estimated based on the time at which the adjacent handling machine Tn in the adjacent exclusion interval En concludes its work.

[0067] Next, in S11, the detour arrival time t1 calculated in S5 is compared with the shortest path arrival time t2 calculated in S10. If the detour arrival time t1 is closer to the current time than the shortest path arrival time t2, that is, if it is determined that the next destination can be reached faster by taking the detour route without waiting or avoiding, then in S12, an instruction to proceed to the next destination by the detour route is issued to the target transport machine Ts as the first operation instruction. On the other hand, if the shortest path arrival time t2 is equal to the detour time t1 or is closer to the current time than the detour time t1, that is, if it is determined that the next destination will be delayed by taking the detour route, then in S13, an instruction appropriate to the selected operation mode, i.e., the standby mode or the avoidance mode, is issued to the target transport machine Ts as the second operation instruction. Furthermore, when an instruction to comply with the standby mode is issued, as described above, an instruction is also issued to the adjacent work transporter Tn to proceed to the next destination by either the shortest route or the detour route.

[0068] As described above, the management device 12 of this embodiment can appropriately manage the operation of a moving object even when an exclusive section prevents the moving object from moving to its next destination via the shortest path. In particular, even when two moving objects are deadlocked, the deadlock can be appropriately avoided.

[0069] Furthermore, if it is determined that the movement of the adjacent working machine Tn to the next destination via the shortest path is blocked by the self-exclusive section Es, an instruction may be used as the second operation instruction to indicate that the avoidance mode is selected due to the existence of avoidance space for the target machine Ts. Alternatively, a third operation instruction may be used instead of the second operation instruction to indicate that the target machine Ts is placed on standby within the self-exclusive section Es, the adjacent working machine Tn is caused to move to the next destination by bypassing the self-exclusive section Es, and then the target machine Ts is caused to move to the next destination via the shortest path after the adjacent working machine Tn has moved.

Claims

1. A mobile body operation management device for managing the operation of a plurality of mobile bodies that move along a passage set in an area and perform operations at a specific location, in, The mobile body operation management device is composed of: When the operation of a certain moving object hinders the movement of other moving objects on the passage, the section including the place where the operation is being performed is set as an exclusive section. When the exclusive section for one of the two moving bodies is adjacent to the exclusive section for the other moving body and the movement of the one moving body to the next moving destination by the shortest path is blocked by the exclusive section for the other moving body, By comparing the arrival time of the one moving body to the next moving destination according to the first operation instruction and the second operation instruction, the first operation instruction or the second operation instruction is selectively issued, wherein: The first operation instruction causes the one moving body to move to a next moving destination along a route that bypasses an exclusive section for the other moving body, The second operation instruction causes the one moving body to move to a next moving destination via the shortest route after the exclusive section for the other moving body is released. The second operation instruction becomes the following instruction, namely: making the moving body of the one party wait in the exclusive section for the moving body of the one party, and after the moving body of the other party does not pass through the exclusive section for the moving body of the one party and moves toward the next moving destination, making the moving body of the one party move to the next moving destination along the shortest path.

2. The mobile body operation management device according to claim 1, wherein: The mobile body operation management device is composed of: When the second operation instruction is issued, an instruction to move the other moving body to the next moving destination via the shortest path is issued if the movement of the other moving body to the next moving destination via the shortest path is not blocked by the exclusive section for the one moving body.

3. The mobile body operation management device according to claim 1, wherein: The mobile body operation management device is composed of: When the movement of the other party's moving body to the next moving destination along the shortest path is blocked by the exclusive section for the one party's moving body, when the second operation instruction is issued, an instruction is issued to cause the other party's moving body to bypass the exclusive section for the one party's moving body and move to the next moving destination.

4. The mobile body operation management device according to any one of claims 1 to 3, wherein: The mobile body operation management device is composed of: The arrival time at the next destination is determined according to Dijkstra's algorithm in graph theory.

5. The mobile body operation management device according to any one of claims 1 to 3, wherein: The mobile body operation management device is composed of: When the second operation instruction is issued, the end time of the operation performed by the other moving body in the exclusive section for the other moving body is estimated, thereby estimating the arrival time of the one moving body to the next moving destination in accordance with the second operation instruction.

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