Automatic conveying system

Abstract

To provide an automatic conveying system capable of improving conveying efficiency regardless of a timing of task allocation.SOLUTION: An automatic conveying system includes a plurality of conveying devices and a management device that manages the plurality of conveying devices. The management device performs a task allocation process for allocating a task to each conveying device, and a task optimization process that swaps between conveyance tasks, in a case where a conveyance cost when an allocated conveyance task is swapped between two different conveying devices is calculated and the calculated conveyance cost is less than a conveyance cost at the time of task allocation process, or in a case where a conveyance cost of swapping the allocated conveyance task with an unallocated conveyance task is calculated and the calculated conveyance cost is less than a conveyance cost of temporarily allocating the unallocated conveyance task to any one of the conveying devices. The management device executes the task optimization process while the conveying device is processing the tasks allocated by the task allocation process.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to automated transport systems. [Background technology]

[0002] Patent Document 1 describes a batch generation device that generates work batches. A work batch is a list of work instructions for a worker or a work robot to pick up products stored in a logistics warehouse. The batch generation device calculates the cost of picking work when work instructions are exchanged between the generated work batches. The cost of picking work is, for example, the total travel distance of the worker or the work robot. Then, if the cost of exchanging work instructions is lower than the cost of not exchanging the work instructions, the batch generation device actually exchanges work instructions between the work batches. The worker or the work robot performs picking work according to the work batch generated in this way. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-175978 A Summary of the Invention [Problem to be solved by the invention]

[0004] The batch generation device of Patent Document 1 exchanges work instructions between work batches only when the batches are generated. For this reason, it is not possible to respond to changes in the situation, such as when a product is added or canceled, or when the number of workers or work robots increases or decreases, during picking work by a worker or work robot. Therefore, depending on the timing of generating the work batch, a situation may arise in which picking work is performed with the work batch at the time of generation, even though there is a work batch with a lower cost than the work batch at the time of generation. [Means for solving the problem]

[0005] The automated transport system for solving the above problems includes a plurality of transport devices capable of processing tasks including a transport task of transporting luggage from an entrance to a luggage storage area or transporting luggage from the luggage storage area to an exit, and a management device that manages the plurality of transport devices. The management device is capable of executing a task allocation process that assigns the tasks to each of the plurality of transport devices, and a task optimization process that calculates a transportation cost when the transport task already assigned in the task allocation process is swapped between two different transport devices, and if the calculated transportation cost is less than the transportation cost at the time of the task allocation process, or calculates the transportation cost when the transport task already assigned in the task allocation process is swapped with an unassigned transport task, and if the calculated transportation cost is less than the transportation cost when the unassigned transport task is hypothetically assigned to one of the transport devices, the task optimization process is executed while the transport devices are processing the tasks assigned by the task allocation process.

[0006] According to the above configuration, the management device can execute a task optimization process. Therefore, when there is a task allocation state with a higher transportation efficiency than the task allocation state in the task allocation process, the task allocation state is changed to the allocation state with the higher transportation efficiency. Therefore, the transportation efficiency can be improved. In addition, the management device executes the task optimization process while the transportation device is processing a task assigned by the task allocation process. Therefore, it is also possible to respond to a change in the situation, such as the addition or cancellation of luggage or the increase or decrease in the number of transportation devices while the transportation device is processing a task. Therefore, the transportation efficiency can be improved regardless of the timing of the task allocation process.

[0007] In the above-mentioned automated transportation system, the transportation device may transmit a task optimization request to the management device, and the management device may execute the task optimization process by receiving the task optimization request from the transportation device.

[0008] According to the above configuration, the management device executes the task optimization process when it receives a task optimization request from the transport device, which makes it easier to execute the task optimization process at an appropriate timing compared to, for example, a case where the management device executes the task optimization process at a predetermined cycle.

[0009] In the above-mentioned automated transportation system, the transportation device is set with a task replacement period during which the transportation tasks can be replaced, and the transportation device transmits the task optimization request to the management device during the task replacement period, and the management device may execute the task optimization process during the task replacement period.

[0010] According to the above configuration, the transport device transmits a task optimization request to the management device during the task replacement period. The management device executes the task optimization process during the task replacement period. Therefore, for example, by the transport device transmitting a task optimization request to the management device at a predetermined cycle, it is easier to execute the task optimization process at an appropriate timing compared to the case where the management device executes the task optimization process at a predetermined cycle.

[0011] In the above-mentioned automated transport system, the task replacement possible period may be a period of a movement task during which the transport device is not holding the load. For example, if the period of a transport task in which the transport device is carrying luggage is set as the task replacement possible period, when the transport task is replaced in the task optimization process, the transport device will interrupt the transport task being processed. In contrast, in the above configuration, the task replacement possible period is set to the period of a movement task in which the transport device is not carrying luggage. Therefore, the transport task can be replaced without interrupting the transport task being processed. Therefore, the transport task can be replaced efficiently. Effect of the Invention

[0012] According to the present invention, transportation efficiency can be improved regardless of the timing of task allocation. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a block diagram showing the configuration of an automatic conveying system. [Diagram 2] FIG. 2 is a schematic diagram showing a warehouse and a transport device. [Diagram 3] FIG. 3 is a diagram showing the tasks of the transport device. [Figure 4] FIG. 4 is an interaction diagram showing the processes performed by the transport device and the management device. [Diagram 5] FIG. 5 is a flowchart showing the task optimization process. [Figure 6] FIG. 6 is a diagram showing a task allocation state before the task optimization process. [Figure 7] FIG. 7 is a diagram showing a task allocation state after the task optimization process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] An embodiment of the automatic conveying system will be described below with reference to Figures 1 to 7. The automatic conveying system of this embodiment is used for carrying in and out luggage in a warehouse. <Configuration of the automated transport system> As shown in FIG. 1, the automated transport system 10 includes a plurality of transport devices 20 and a management device 30 that manages the plurality of transport devices 20. The transport devices 20 in this embodiment are transport robots. The automated transport system 10 in this embodiment includes four transport devices 20 as the plurality of transport devices 20. When distinguishing between the four transport devices 20, they are referred to as a first transport device 21, a second transport device 22, a third transport device 23, and a fourth transport device 24. The management device 30 and each transport device 20 are connected by wireless communication, which will be described later.

[0015] As shown in FIG. 2, the warehouse 100 is provided with a plurality of loading / unloading openings 101. In this embodiment, each loading / unloading opening 101 serves as both an entrance for loading luggage 200 into the warehouse 100 from outside the warehouse 100 and an exit for unloading luggage 200 from inside the warehouse 100 to outside the warehouse 100. In addition, a plurality of luggage storage areas 102 are provided in the warehouse 100. In this embodiment, the luggage storage areas 102 are shelves. In this embodiment, the luggage storage areas 102 serve as both a luggage storage area where luggage 200 brought into the warehouse 100 from outside the warehouse 100 is placed and a luggage storage area where luggage 200 to be unloaded from inside the warehouse 100 to outside the warehouse 100 is placed.

[0016] As shown in FIG. 3, each transport device 20 is configured to be able to process three tasks: a carry-in task Ta, an unloading task Tb, and a movement task Tc. The carry-in task Ta is a transport task for transporting luggage 200 from the carry-in / out opening 101 to the luggage storage area 102. Specifically, the transport device 20 receives the luggage 200 at a predetermined carry-in / out opening 101. The transport device 20 moves to the predetermined luggage storage area 102 while holding the luggage 200. The transport device 20 places the luggage 200 in the predetermined luggage storage area 102.

[0017] The carry-out task Tb is a transport task for transporting the luggage 200 from the luggage storage area 102 to the loading / unloading opening 101. Specifically, the transport device 20 receives the luggage 200 at a predetermined luggage storage area 102. The transport device 20 moves to the predetermined loading / unloading opening 101 while holding the luggage 200. The transport device 20 places the luggage 200 at the predetermined loading / unloading opening 101.

[0018] The movement task Tc is a task for moving within the warehouse 100. The movement task Tc is performed to process the next transportation task after processing a transportation task. For example, the transporting device 20 transports the luggage 200 from the loading / unloading opening 101 to the luggage storage area 102 as a loading task Ta, and then moves to another luggage storage area 102 when transporting the luggage 200 from another luggage storage area 102 to the loading / unloading opening 101 as a carrying-out task Tb. For example, the transporting device 20 transports the luggage 200 from the luggage storage area 102 to the loading / unloading opening 101 as a carrying-out task Tb, and then moves to another loading / unloading opening 101 when transporting the luggage 200 from another loading / unloading opening 101 to the luggage storage area 102 as a carrying-out task Ta. For example, after transporting luggage 200 from the loading / unloading opening 101 to the luggage storage area 102 as an in-task Ta, when transporting luggage 200 from the loading / unloading opening 101 to the luggage storage area 102 as the next in-task Ta, the transporting device 20 moves from the luggage storage area 102 to the loading / unloading opening 101. For example, after transporting luggage 200 from the luggage storage area 102 to the loading / unloading opening 101 as an out-task Tb, when transporting luggage 200 from the luggage storage area 102 to the loading / unloading opening 101 as the next out-task Tb, the transporting device 20 moves from the loading / unloading opening 101 to the luggage storage area 102.

[0019] Note that when the transporting device 20 transports the luggage 200 from the loading / unloading opening 101 to the luggage storage area 102 as a loading task Ta, and then transports the luggage 200 from the same luggage storage area 102 to the loading / unloading opening 101 as a loading task Tb, the movement task Tc is not used. When the transporting device 20 transports the luggage 200 from the luggage storage area 102 to the loading / unloading opening 101 as a loading task Tb, and then transports the luggage 200 from the same loading / unloading opening 101 to the luggage storage area 102 as a loading task Ta, the movement task Tc is not used.

[0020] In this way, the transport device 20 holds the load 200 while processing the carry-in task Ta or the carry-out task Tb, which are transport tasks. On the other hand, the transport device 20 does not hold the load 200 while processing the movement task Tc.

[0021] The management device 30 includes a processor and a storage unit. Examples of the processor include a central processing unit (CPU), a graphics processing unit (GPU), and a digital signal processor (DSP). The storage unit includes a random access memory (RAM) and a read only memory (ROM). The storage unit stores program code or instructions configured to cause the processor to execute a process. The storage unit, i.e., the computer readable medium, includes any available medium accessible by a general-purpose or dedicated computer. The management device 30 may be configured by a hardware circuit such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA). The management device 30, which is a processing circuit, may include one or more processors operating according to a computer program, one or more hardware circuits such as an ASIC or an FPGA, or a combination thereof.

[0022] Each of the transport devices 20 and the management device 30 is configured to be able to communicate with each other. In detail, each of the multiple transport devices 20 and the management device 30 has a wireless communication unit (not shown). Each of the transport devices 20 and the management device 30 performs wireless communication using the wireless communication unit. The wireless communication method is arbitrary.

[0023] Each transport device 20 transmits its own position information within the warehouse 100 to the management device 30. This allows the management device 30 to grasp the position of each transport device 20 within the warehouse 100. In addition, each transport device 20 transmits the task processing status to the management device 30. This allows the management device 30 to grasp the task processing status of each transport device 20.

[0024] The management device 30 has a transportation list in which the luggage 200 waiting to be transported are listed. The transportation list includes the transportation type (carry-in or carry-out) of the luggage 200. The transportation list also includes location information of the luggage 200. In the case of luggage 200 waiting to be carried in, the location information of the luggage 200 includes, for example, information on the loading / unloading exit 101 where the luggage 200 is placed and the luggage storage area 102 where the luggage 200 should be placed. In the case of luggage 200 waiting to be carried out, the location information of the luggage 200 includes information on the luggage storage area 102 where the luggage 200 is placed and the loading / unloading exit 101 where the luggage 200 should be placed.

[0025] <Task assignment processing> The management device 30 can execute a task allocation process to allocate tasks to each transport device 20. In detail, the management device 30 allocates tasks to each transport device 20 based on the information of the carry-in / out list, the position information of the transport device 20, and the processing status of the task of the transport device 20. The management device 30 allocates a transport task (a carry-in task Ta or a carry-out task Tb) corresponding to the transport type (carry-in or carry-out) of the luggage 200 waiting to be transported to the transport device 20. When there are many luggage 200 waiting to be transported, the management device 30 allocates multiple transport tasks to each transport device 20. In addition, when a movement task Tc is necessary between transport tasks, the management device 30 allocates the movement task Tc to the transport device 20. When the management device 30 allocates multiple tasks to each transport device 20, it also specifies the processing order of the tasks. In the task allocation process, the management device 30 may determine the allocation by any optimization process, or may determine the allocation in the order of task acceptance or the order of task priority.

[0026] <Task optimization process> When a task allocation state with higher transportation efficiency than the task allocation state obtained by the task allocation process exists, the management device 30 can execute a task optimization process to change the task allocation state to the task allocation state with higher transportation efficiency.

[0027] In detail, the management device 30 calculates the transportation cost during the task allocation process. The higher the transportation efficiency, the smaller the transportation cost. In this embodiment, the transportation cost is the average value of the task processing time by each transport device 20. The transportation cost during the task allocation process is calculated based on the position information of the luggage 200, the position information of the transport device 20, and the task allocation state by the task allocation process.

[0028] The management device 30 considers swapping an assigned transport task between two different transport devices 20 in the task allocation process, or swapping an assigned transport task with an unassigned transport task in the task allocation process. Specifically, the management device 30 of this embodiment calculates a transport cost when swapping an assigned transport task between two different transport devices 20 in the task allocation process (hereinafter referred to as a "transport cost at the time of task swapping"). The transport cost at the time of task swapping is calculated based on the position information of the luggage 200, the position information of the transport device 20, and the task allocation state when the transport task is swapped. Then, when the calculated transport cost at the time of task swapping is less than the transport cost at the time of task allocation process, the management device 30 swaps the transport tasks. That is, the transport task assigned in the task allocation process is actually swapped between two different transport devices 20.

[0029] The management device 30 of this embodiment considers swapping the transportation tasks already assigned in the task allocation process between the transportation device 20 that transmitted the task optimization request and another transportation device 20. Hereinafter, the transportation device 20 that transmitted the task optimization request is referred to as a swap target device, and the other transportation device 20 is referred to as a swap candidate device.

[0030] The management device 30 of this embodiment considers replacing a transport task assigned to a replacement target device in a task allocation process with a transport task assigned to a replacement target device in a task allocation process. Of the transport tasks assigned to a replacement target device and a replacement candidate device in the task allocation process, the transport tasks to be replaced are unprocessed transport tasks at the time when the management device 30 starts executing the task optimization process. Hereinafter, of the transport tasks assigned to a replacement target device, the unprocessed transport tasks to be replaced are referred to as replacement target tasks. Also, of the transport tasks assigned to a replacement candidate device, the unprocessed transport tasks to be replaced are referred to as replacement candidate tasks.

[0031] The management device 30 of this embodiment calculates the transportation cost when replacing the replacement target task of the replacement target device with the replacement candidate task of the replacement candidate device as the transportation cost at the time of task replacement. Then, if the calculated transportation cost at the time of task replacement is less than the transportation cost at the time of task allocation processing, the replacement target task of the replacement target device is replaced with the replacement candidate task of the replacement candidate device.

[0032] <Processing performed by the automated transport system> The processing performed by the automated transport system 10 will now be described. 4, in step S11, the transport device 20 transmits a task allocation request to the management device 30. The transport device 20 transmits the task allocation request when a task has not been assigned or when the processing of an assigned task has been completed.

[0033] In step S12, when the management device 30 receives a task allocation request from the transport device 20, the management device 30 executes a task allocation process for allocating a task to each of the multiple transport devices 20.

[0034] In step S13, each transport device 20 starts processing the task assigned by the task allocation process. When multiple tasks are assigned to each transport device 20 by the task allocation process, each transport device 20 processes the tasks in a designated processing order.

[0035] In step S14, the transport device 20 transmits a task optimization request to the management device 30. That is, the transport device 20 transmits the task optimization request while processing a task assigned by the task allocation process.

[0036] In step S15, when the management device 30 receives a task optimization request from the transport device 20, the management device 30 executes the task optimization process. The management device 30 executes the task optimization process while the transport device 20 is processing the tasks assigned by the task allocation process. Note that, "while the assigned tasks are being processed" does not mean that each individual task is being processed, but means that the transport work is being performed on the entire series of tasks assigned by the task allocation process, that is, the period from after the task allocation process until all tasks are completed.

[0037] In this embodiment, the transport device 20 is set with a task replacement possible period during which transport tasks can be replaced. The task replacement possible period in this embodiment is a period during which the transport device 20 is not holding the load 200, i.e., a period during which the transport device 20 is processing a movement task Tc. The transport device 20 transmits a task optimization request to the management device 30 during the task replacement possible period. The management device 30 executes a task optimization process during the task replacement possible period.

[0038] As shown in FIG. 5, in step S21, the management device 30 calculates the transportation cost during the task allocation process. In step S22, the management device 30 judges whether the replacement candidate device has a replacement candidate task. That is, the management device 30 judges whether the replacement candidate transport device 20 has an unexecuted transport task. If the replacement candidate device has a replacement candidate task (YES in step S22), proceed to step S23.

[0039] In step S23, the management device 30 calculates the transportation cost when replacing the replacement target task of the replacement target device with the replacement candidate task of the replacement candidate device as the transportation cost at the time of task replacement. That is, the transportation cost at the time of task replacement is the transportation cost when the replacement candidate task is assigned to the replacement target device, the replacement target task is assigned to the replacement candidate device, and the necessary moving task Tc is assigned.

[0040] On the other hand, if the replacement candidate device does not have a replacement candidate task (NO in step S22), the transportation task cannot be exchanged between the replacement target device and the replacement candidate device, so the management device 30 proceeds to step S24 without calculating the transportation cost for task replacement.

[0041] In step S24, the management device 30 checks whether or not the exchange of transport tasks between the replacement target device and all replacement candidate devices has been considered. When the management device 30 has considered the exchange of transport tasks between the replacement target device and all replacement candidate devices (YES in step S24), the management device 30 proceeds to step S25.

[0042] On the other hand, if the management device 30 has not considered exchanging the transportation task with the replacement target device for all replacement candidate devices (NO in step S24), the management device 30 returns to step S22. Note that when returning to step S22, the management device 30 considers exchanging the transportation task with the replacement target device for a replacement candidate device other than the replacement candidate device previously considered.

[0043] If the transportation cost at the time of task replacement calculated in step S23 is less than the transportation cost at the time of task allocation processing calculated in step S21 (YES in step S25), the management device 30 replaces the replacement target task of the replacement target device with the replacement candidate task of the replacement candidate device in step S26. If there are multiple transportation costs at the time of task replacement that are less than the transportation cost at the time of task allocation processing, the transportation task is replaced with a combination of the replacement target device and the replacement candidate device with the smallest transportation cost. As a result, the task allocation state for the multiple transportation devices 20 is changed from the task allocation state at the time of task allocation processing to an allocation state with the smallest transportation cost.

[0044] On the other hand, if the transportation cost at the time of task replacement calculated in step S23 is equal to or greater than the transportation cost at the time of task allocation processing calculated in step S21 (NO in step S25), the management device 30 does not exchange the transportation task between the replacement target device and the replacement candidate device. In this case, the task allocation state of the multiple transportation devices 20 is not changed from the task allocation state at the time of task allocation processing.

[0045] Each transport device 20 processes a task in a task allocation state optimized by the task optimization process. <Example> Fig. 6 shows an example of the task allocation state by the task allocation process. As shown in Fig. 6, the management device 30 assigns tasks to the first transport device 21 in the order of carry-in task T11 → carry-out task T12 → carry-in task T13. The management device 30 assigns tasks to the second transport device 22 in the order of carry-in task T21 → carry-out task T22 → movement task T23 → carry-out task T24. The management device 30 assigns tasks to the third transport device 23 in the order of carry-in task T31 → movement task T32 → carry-in task T33. The management device 30 assigns tasks to the fourth transport device 24 in the order of carry-in task T41 → carry-out task T42 → carry-in task T43.

[0046] In this case, the second transport device 22 processes the movement task T23 after completing the processing of the take-out task T22. That is, the second transport device 22 enters a task replacement possible period after completing the processing of the take-out task T22. Therefore, the second transport device 22 transmits a task optimization request to the management device 30. By receiving the task optimization request from the second transport device 22, the management device 30 starts the task optimization process.

[0047] In the specific example, the device to be replaced is the second transport device 22. Of the transport tasks assigned to the second transport device 22, the unprocessed transport task is the carry-out task T24. Therefore, the task to be replaced is the carry-out task T24. In addition, the candidate devices to be replaced are the transport devices 20 other than the second transport device 22, that is, the first transport device 21, the third transport device 23, and the fourth transport device 24.

[0048] In step S21, the management device 30 calculates the transportation cost during the task allocation process. In the task allocation state during the task allocation process, the task processing time by the first transport device 21 is 116. The task processing time by the second transport device 22 is 139. The task processing time by the third transport device 23 is 126. The task processing time by the fourth transport device 24 is 135. Therefore, the transportation cost during the task allocation process is 129.

[0049] The management device 30 considers replacing the take-out task T24 of the second transport device 22 with the transport task assigned to the first transport device 21. At the time when the management device 30 starts the task optimization process, the first transport device 21 has an unprocessed carry-in task T13. That is, the first transport device 21 has a replacement candidate task (YES in step S22). Therefore, in step S23, the management device 30 calculates the transportation cost when the take-out task T24 of the second transport device 22 and the carry-in task T13 of the first transport device 21 are replaced as the transportation cost at the time of task replacement. In a specific example, the transportation cost when the take-out task T24 of the second transport device 22 and the carry-in task T13 of the first transport device 21 are replaced is equal to or greater than the transportation cost at the time of task assignment.

[0050] Since the management device 30 has not considered exchanging the transport tasks of the third transport device 23 and the fourth transport device 24 with the second transport device 22 (NO in step S24), the process returns to step S22.

[0051] The management device 30 considers replacing the take-out task T24 of the second transport device 22 with the transport task assigned to the third transport device 23. At the time when the management device 30 starts the task optimization process, the third transport device 23 has an unprocessed carry-in task T33. That is, the third transport device 23 has a replacement candidate task (YES in step S22). Therefore, in step S23, the management device 30 calculates the transportation cost when the take-out task T24 of the second transport device 22 and the carry-in task T33 of the third transport device 23 are replaced as the transportation cost at the time of task replacement.

[0052] 7, in a specific example, when an unloading task T24 of the second transporting device 22 and a loading task T33 of the third transporting device 23 are swapped, the task processing time by the first transporting device 21 is 116. The task processing time by the second transporting device 22 is 105. The task processing time by the third transporting device 23 is 115. The task processing time by the fourth transporting device 24 is 135. Therefore, the transportation cost when swapping the tasks is about 118.

[0053] When the carry-in task T33 is assigned to the second transport device 22 and the carry-out task T24 is assigned to the third transport device 23, the task processing time by the second transport device 22 and the task processing time by the third transport device 23 are each reduced. Therefore, the transportation cost during task replacement is also reduced compared to the transportation cost during task allocation processing.

[0054] Since the management device 30 has not considered exchanging the transport task between the fourth transport device 24 and the second transport device 22 (NO in step S24), the process returns to step S22. The management device 30 considers replacing the take-out task T24 of the second transport device 22 with the transport task assigned to the fourth transport device 24. At the time when the management device 30 starts the task optimization process, the fourth transport device 24 has already started processing the take-in task T43 and therefore does not have any unprocessed transport tasks. In other words, the fourth transport device 24 does not have any candidate tasks to be replaced (NO in step S22).

[0055] Since the management device 30 has considered exchanging the transport tasks of the first transport device 21, the third transport device 23, and the fourth transport device 24 with the second transport device 22 (YES in step S24), the process proceeds to step S25.

[0056] As described above, in the specific example, when the take-out task T24 of the second transport device 22 and the carry-in task T33 of the third transport device 23 are swapped, the transportation cost at the time of task swapping is less than the transportation cost at the time of task allocation (YES in step S25). Therefore, in step S26, the management device 30 swaps the take-out task T24 of the second transport device 22 and the carry-in task T33 of the third transport device 23.

[0057] [Actions and Effects of the Present Embodiment] The operation and effects of this embodiment will be described. (1) The management device 30 can execute a task optimization process. Specifically, the management device 30 calculates a transportation cost when an assigned transportation task is swapped between two different transport devices 20 in the task allocation process. If the calculated transportation cost is less than the transportation cost at the time of the task allocation process, the management device 30 swaps the transportation task. Therefore, if there is a task allocation state with a higher transportation efficiency than the task allocation state in the task allocation process, the task allocation state is changed to an allocation state with a higher transportation efficiency. Therefore, the transportation efficiency can be improved. In addition, the management device 30 executes a task optimization process while the transport device 20 is processing a task assigned by the task allocation process. Therefore, it is also possible to respond to a change in the situation, such as the addition or cancellation of the luggage 200 or the increase or decrease in the number of transport devices 20, during the processing of a task by the transport device 20. Therefore, the transportation efficiency can be improved regardless of the timing of the task allocation process.

[0058] (2) The transport device 20 transmits a task optimization request to the management device 30. The management device 30 executes the task optimization process by receiving the task optimization request from the transport device 20. For this reason, it is easier to execute the task optimization process at an appropriate timing compared to, for example, a case where the management device 30 executes the task optimization process at a predetermined cycle.

[0059] (3) A task replacement possible period during which the transporting device 20 can replace the transporting tasks is set in the transporting device 20. The transporting device 20 transmits a task optimization request to the management device 30 during the task replacement possible period. The management device 30 executes the task optimization process during the task replacement possible period. For this reason, for example, by the transporting device 20 transmitting a task optimization request to the management device 30 at a predetermined cycle, it is easier to execute the task optimization process at an appropriate timing compared to the case where the management device 30 executes the task optimization process at a predetermined cycle.

[0060] (4) For example, if the period of a transport task in which the transport device 20 holds the luggage 200 is set as the task replacement possible period, when the transport task is replaced in the task optimization process, the transport device 20 will interrupt the transport task being processed. In contrast, in this embodiment, the task replacement possible period is set to the period of a movement task Tc in which the transport device 20 does not hold the luggage 200. Therefore, the transport task can be replaced without interrupting the transport task being processed. Therefore, the transport task can be replaced efficiently.

[0061] (5) The management device 30 executes a task optimization process to reduce the average task processing time, which is the transportation cost, of each transport device 20. By reducing the average task processing time of each transport device 20, energy efficiency is improved.

[0062] (6) In this embodiment, the management device 30 performs a task optimization process while the transport device 20 is processing a task assigned by the task allocation process. Therefore, for example, the load of the task allocation process can be reduced compared to a case where the management device 30 performs a task allocation process by considering all task combinations in advance so as to minimize the transportation cost.

[0063] [Example of change] The above embodiment can be modified as follows: The above embodiment and the following modifications can be combined with each other to the extent that no technical contradiction occurs.

[0064] The automatic conveying system 10 may be used for purposes other than loading and unloading the luggage 200 in the warehouse 100. For example, the automatic conveying system 10 may be used for serving and clearing up in a restaurant, or for conveying work in a factory. When the automatic conveying system 10 is used for serving and clearing up in a restaurant, the conveying device 20 is a food serving robot. The conveying device 20, for example, conveys food from the kitchen to the customer seats, or conveys used tableware and the like from the customer seats to the kitchen.

[0065] In the above embodiment, the carry-in / out opening 101 serves as both the carry-in entrance and the carry-out exit. However, the carry-in entrance and the carry-out exit may be provided separately. In the above embodiment, the luggage storage area 102 serves both as a luggage storage area where brought-in luggage 200 is placed and as a luggage storage area where unloaded luggage 200 is placed, but the luggage storage area where brought-in luggage 200 is placed and the luggage storage area where unloaded luggage 200 is placed may be provided separately.

[0066] The number of carry-in / out ports 101 may be changed as appropriate. The number of baggage storage areas 102 may be changed as appropriate. The number of conveying devices 20 may be changed as long as it is two or more.

[0067] The transport device 20 is not limited to a transport robot. The transport device 20 may be any device capable of transporting the luggage 200. The transport device 20 may be, for example, a drone. The transportation cost is not limited to the average value of the processing time for each task of the transportation device 20. The transportation cost may be changed as appropriate as long as the transportation cost decreases as the transportation efficiency increases.

[0068] The transportation cost may be, for example, the completion time of the final task among the completion times of the tasks by each transport device 20. The transportation cost may be, for example, the total travel distance of the transport device 20. The transportation cost may be, for example, the residence time of the transport device 20 caused by congestion of the transport device 20.

[0069] In the above embodiment, the management device 30 executes the task optimization process by receiving a task optimization request from the transport device 20. However, this is not limited to the above. For example, the management device 30 may execute the task optimization process at a predetermined cycle while the transport device 20 is processing a task assigned by the task assignment process.

[0070] In the above embodiment, the transport device 20 transmits a task optimization request to the management device 30 during the task replacement possible period, and the management device 30 executes the task optimization process during the task replacement possible period, but this is not limited to the above. For example, the transport device 20 may transmit a task optimization request to the management device 30 at a predetermined cycle while processing a task assigned by the task allocation process. The management device 30 executes the task optimization process at a predetermined cycle.

[0071] In the above embodiment, the task replacement period is a period during which the transport device 20 is not holding the load 200, i.e., a period during which the transport device 20 is processing a movement task. However, the present invention is not limited to this.

[0072] In the task optimization process, the management device 30 may calculate the transportation cost when replacing an assigned transportation task with an unassigned transportation task in the task allocation process. In this case, if the calculated transportation cost is less than the transportation cost when the unassigned transportation task is provisionally assigned to one of the transportation devices 20, the management device 30 replaces the assigned transportation task with the provisionally assigned unassigned transportation task in the task allocation process. In other words, it is possible to handle even if a new transportation task occurs after the task allocation process. [Explanation of symbols]

[0073] 10...automatic transportation system, 20...transportation device, 30...management device, 101...loading / unloading entrance as loading entrance and unloading exit, 102...luggage storage area, 200...luggage, T11, T13, T21, T31, T33, T41, T43...loading tasks as transportation tasks, T12, T22, T24, T42...unloading tasks as transportation tasks, T23, T32...moving tasks.

Claims

1. A plurality of transport devices capable of processing tasks including a transport task of carrying luggage from a loading entrance to a luggage storage area or carrying luggage from the luggage storage area to a loading exit; A management device that manages a plurality of the transport devices; Equipped with The management device includes: a task allocation process for allocating the tasks to each of the plurality of transport devices; a task optimization process for calculating a transportation cost when the transport task already assigned in the task allocation process is swapped between two different transport devices, and if the calculated transportation cost is less than the transportation cost at the time of the task allocation process, or calculating the transportation cost when the transport task already assigned in the task allocation process is swapped with an unassigned transport task, and if the calculated transportation cost is less than the transportation cost when the unassigned transport task is hypothetically assigned to one of the transport devices, swapping the transport tasks; It is possible to execute An automated transportation system, comprising: a transportation device that executes the task optimization process while the transportation device is processing the task assigned by the task allocation process.

2. The transport device transmits a task optimization request to the management device; The automated transportation system according to claim 1 , wherein the management device executes the task optimization process by receiving the task optimization request from the transportation device.

3. a task replacement possible period during which the transportation task can be replaced is set in the transportation device; the transport device transmits the task optimization request to the management device during the task replacement period; The automated transport system according to claim 2 , wherein the management device executes the task optimization process during the task replacement period.

4. 4. The automated transport system according to claim 3, wherein the task replacement possible period is a period of a movement task in which the transport device is not holding the load.

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