Service display device

Abstract

To provide a service display device which can easily set a travel path and visually easily grasp a position of an unmanned carrier on the travel path.SOLUTION: A service display device 10 comprises: a section display unit 11 which divides an unmanned conveyance system into a plurality of display modes to be displayed on a display device; an address setting unit 12 which sets a travel path by setting addresses on the travel path corresponding to each of the plurality of display modes; a receiving unit 13 which receives address information concerning an address detected by an unmanned carrier; and a display change unit 14 which changes display of the display mode in correspondence relation with the address information input from the receiving unit 13.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an operation display device for operation of an automatic guided vehicle. [Background technology]

[0002] Conventionally, the travel path of an automated guided vehicle is set in advance, and an address is set for each section of the travel path. The automated guided vehicle includes a detection unit that detects the address, a control unit, and a communication unit that communicates with a management device. The control unit transmits address information detected by the detection unit to the management device via the communication unit. The management device is installed in, for example, a control tower, and displays information received from the control unit to a user who manages the automated guided vehicle via a display unit provided in the management device.

[0003] For example, Patent Document 1 discloses a traffic management device that is connected wirelessly or by wire to a moving object, which is an example of an unmanned guided vehicle. The travel path on which the moving object travels connects multiple areas. The moving object moves through the multiple areas via the travel path. The multiple areas and the multiple travel paths form an overall travel network. A display unit provided in the traffic management device displays, for example, the position of the moving object on the overall travel network and any abnormalities occurring in the moving object via a user interface screen provided in the display unit. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2022-47944 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the traffic management device of Patent Document 1, there are occasions when setting the entire travel network, when changing the shape of the entire travel network, and further when resetting the entire travel network, and it is preferable that the setting work can be easily performed in each occasion. Also, in Patent Document 1, the display unit displays the position of the moving object via a user interface screen. However, a user who manages the moving object cannot grasp the position of the moving object from the display on the user interface screen by the display unit of the traffic management device. [Means for solving the problem]

[0006] The operation display device for solving the above problems is an operation display device that displays on a display device information related to the operation of an unmanned guided vehicle traveling on a road for which a plurality of addresses have been set in advance, and comprises: a partition display unit that divides the traveling area of ​​the unmanned guided vehicle into a plurality of display modes and displays them on the display device; an address setting unit that sets the traveling road by setting the address on the traveling road that corresponds to the display mode; a receiving unit that receives from the unmanned guided vehicle address information related to the address detected by the unmanned guided vehicle traveling on the traveling road; and a display change unit that changes the display of the display mode that corresponds to the address information input from the receiving unit.

[0007] According to this, the route is set by setting a preset address by the address setting unit for the multiple display modes displayed by the partition display unit. Therefore, the operation display device can set a route associated with an address regardless of the shape of the route, so that the route can be easily set.

[0008] Furthermore, the display change unit changes the display of the display mode corresponding to the position of the automated guided vehicle from among the multiple display modes based on the address information. In other words, since the position of the automated guided vehicle is displayed on the display device based on the address of the travel route, a user who manages the automated guided vehicle can easily visually grasp the position of the automated guided vehicle on the travel route from the display of the display device using the operation display device.

[0009] In the above-mentioned operation display device, the address setting unit may be capable of deleting the address set in the display mode, and may be capable of setting a new address in the display mode from which the address has been deleted.

[0010] According to this, the address setting unit can delete the set address in the display mode in which the address is set and set a different address. In other words, the address setting unit can change the correspondence between the display mode and the address in response to a change in the arrangement of the addresses set on the traveling path. This makes it easy to change the traveling path.

[0011] The traffic display device may further include a roadway display unit that displays a line representing the roadway together with the display mode. According to this, the operation display device can display the shape of the route represented by lines on the display device.

[0012] In the above-mentioned operation display device, the receiving unit is capable of receiving vehicle body information related to the unmanned guided vehicle detected by the unmanned guided vehicle traveling on the travel path, and travel path information related to the travel path detected by the unmanned guided vehicle, and the operation display device may display the vehicle body information and the travel path information received by the receiving unit on the display device together with the display mode.

[0013] According to this, the operation display device can display the position of the automatic guided vehicle in which the abnormality has occurred on the display device based on the vehicle body information and address information transmitted from the automatic guided vehicle in which the abnormality has occurred. Also, the operation display device can display the location where the abnormality has occurred on the display device based on the travel path information transmitted from the automatic guided vehicle that has detected the abnormality on the travel path. This allows a user who manages the operation of the automatic guided vehicle to grasp the position of the automatic guided vehicle in which the abnormality has occurred and information related to the travel path.

[0014] In the above-mentioned operation display device, the display change unit may be capable of selecting, from the plurality of display modes, a display mode that corresponds to the position of the operation display device in the traveling area, and may change the display of the selected display mode.

[0015] According to this, a user who manages the operation of an automated guided vehicle can use the operation display device to grasp the relative positional relationship between the location of the automated guided vehicle and the location where the operation display device is installed. As a result, for example, when an abnormality occurs in the automated guided vehicle, it becomes easy to grasp the location of the automated guided vehicle.

[0016] In the operation display device, the partition display unit may display the traveling area by dividing it into the square-shaped display form. This allows information to be displayed inside the square area defined by each display mode, such as an address set in each display mode.

[0017] In the operation display device, the display change unit may cause the display of the display mode in which the address is not set to be different from the display mode in which the address is set. This allows a user who manages an automatic guided vehicle to visually grasp the shape of the traveling path while the traveling path is being represented using a display mode.

[0018] In the operation display device, the display change unit may be capable of displaying the display mode in a plurality of different shapes. According to this, for example, by defining the display intention for each display mode shape, a user managing an unmanned guided vehicle can understand the display intention based on the display mode shape and can also understand multiple types of information.

[0019] The operation display device may include a received information storage unit that stores the address information received by the receiving unit, and the roadway display unit may include a display line generating unit that generates the line based on the address information stored in the received information storage unit, and the line generated by the display line generating unit may be displayed on the display device.

[0020] According to this, the travel path display unit can generate a line based on the address information received from the automated guided vehicle by the display line generation unit and display the line on the display device. In other words, the operation display device can generate a line to be displayed on the display device based on the travel of the automated guided vehicle. As a result, the operation display device can easily generate a line related to the route of the automated guided vehicle compared to, for example, a case where a user who manages the operation of the automated guided vehicle inputs a line.

[0021] In the above-mentioned operation display device, the roadway display unit includes a display line deletion unit that deletes the line displayed on the display device from the display device, and the receiving unit is capable of receiving vehicle body information related to the unmanned guided vehicle detected by the unmanned guided vehicle traveling on the roadway, and roadway information related to the roadway detected by the unmanned guided vehicle, and the display line deletion unit may delete the line based on at least one of the vehicle body information and the roadway information.

[0022] According to this, the operation display device can delete, for example, a line related to the operation of an automated guided vehicle that has stopped midway through its travel from the display device. As a result, the operation display device can prevent the display on the display device from becoming unnecessarily complicated.

[0023] In the above-mentioned operation display device, a line memory unit is provided for storing the lines, and the travel path display unit may be provided with an existing line display unit for displaying the lines stored in the line memory unit on the display unit, and an updated line display unit for displaying the lines generated by the display line generation unit in a manner different from the lines displayed by the existing line display unit when the lines are displayed by the existing line display unit.

[0024] According to this, when changing the line displayed on the display device, the existing line display unit can display the new line in a different manner from the existing line. As a result, the operation display device can easily visually grasp the process of changing from the old line to the new line.

[0025] In the above-mentioned operation display device, when a plurality of the lines are stored in the line memory unit, the existing line display unit may display the plurality of the lines on the display unit while changing the appearance for each of the lines.

[0026] This makes it easier for the traffic display device to distinguish between multiple lines on the display device, compared to when multiple lines are displayed in the same manner, for example. Effect of the Invention

[0027] According to the present invention, a travel path can be easily set, and the position of an automatic guided vehicle on the travel path can be easily and visually grasped. [Brief description of the drawings]

[0028] [Figure 1] FIG. 1 is a diagram showing an automatic guided vehicle system according to the first embodiment. [Diagram 2] FIG. 2 is a block diagram showing the operation display device, the display device, and the input device in the first embodiment. [Diagram 3] FIG. 3 is a diagram showing a display screen in the first embodiment. [Figure 4] FIG. 4 is a diagram showing a display screen in the first embodiment. [Diagram 5] FIG. 5 is a diagram showing a display screen in the second embodiment. [Figure 6] FIG. 6 is a block diagram showing the operation display device, the display device, and the input device in the third embodiment. [Figure 7] FIG. 7 is a diagram showing an automatic guided vehicle system according to the third embodiment. [Figure 8] FIG. 8 is a diagram showing a display screen in the third embodiment. [Figure 9] FIG. 9 is a diagram showing a display screen in the third embodiment. [Figure 10] FIG. 10 is a diagram showing a display screen in the third embodiment. [Figure 11] FIG. 11 is a diagram showing a display screen in the fourth embodiment. [Figure 12] FIG. 12 is a block diagram showing the operation display device, the display device, and the input device in the fourth embodiment. [Figure 13] FIG. 13 is a diagram showing a display screen in the fourth embodiment. [Figure 14] FIG. 14 is a diagram showing a display screen in the fourth embodiment. [Figure 15] FIG. 15 is a diagram showing a display screen in the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] [First embodiment] Hereinafter, a first embodiment of an operation display device will be described with reference to Figs. The operation display device 10 is applied to an automated guided vehicle system 100. First, the automated guided vehicle system 100 will be described.

[0030] <Automated transport system> 1, the automated guided vehicle system 100 includes a route D on which first to 36th addresses A1 to A36 are set, first to third automated guided vehicles V1 to V3, a traffic display device 10, a display device 20, and an input device 30. A travel area G is an area that includes the route D.

[0031] Each of the first to third unmanned guided vehicles V1 to V3 included in the unmanned guided system 100 is managed by a traffic management device (not shown). The traffic management device is provided, for example, in a management room that manages the unmanned guided system 100, and manages the operation of each of the first to third unmanned guided vehicles V1 to V3. The traffic management device includes a communication unit that transmits and receives information to and from each of the first to third unmanned guided vehicles V1 to V3, a storage unit that stores an operation plan, and a plan processing unit. The traffic management device also includes a processor and a storage unit. The processor included in the traffic management device is, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The storage unit included in the traffic management device is, for example, a ROM (Read-Only Memory) or a RAM (Random Access Memory). The processor included in the traffic management device functions as a plan processing unit by executing instructions included in a program stored in the storage unit.

[0032] The storage unit stores, as an operation plan, tasks corresponding to each of the first to third automated guided vehicles V1 to V3, in addition to a program including commands that function as a plan processing unit. Each task is, for example, a data file in which a travel route along which the corresponding automated guided vehicle travels is described as a sequence of address codes arranged in the order in which the automated guided vehicle passes through. Each task may include information on operations such as loading and unloading work to be performed by the corresponding automated guided vehicle at the addresses it passes through.

[0033] The communication unit transmits and receives information via a communication path established between the communication unit and an information transmitting / receiving unit (to be described later) provided in each of the first to third automated guided vehicles V1 to V3. The communication unit is, for example, a network interface or a wireless interface.

[0034] The planning processing unit manages the traveling of each of the first to third unmanned guided vehicles V1 to V3 based on address information (described later) that is transmitted by each of the first to third unmanned guided vehicles V1 to V3 and received by the communication unit, and on tasks stored in the memory unit.

[0035] <Road> The travel path D includes first to eleventh straight paths D1 to D11. The travel path D has a route formed in a loop by first to fourth straight paths D1 to D4. A first end of the first straight path D1 is connected to a first end of the second straight path D2, and a second end of the second straight path D2 is connected to a first end of the third straight path D3. A second end of the third straight path D3 is connected to a first end of the fourth straight path D4, and a second end of the fourth straight path D4 is connected to a second end of the first straight path D1.

[0036] The travel path D has a loop-shaped route formed by a part of the third straight path D3, the fifth straight path D5, the sixth straight path D6, and the seventh straight path D7. A first end of the fifth straight path D5 is connected to a second end of the third straight path D3, and a first end of the sixth straight path D6 is connected to a second end of the fifth straight path D5. A first end of the seventh straight path D7 is connected to a second end of the sixth straight path D6, and a second end of the seventh straight path D7 is connected to the middle of the third straight path D3.

[0037] The travel path D has a loop-shaped route formed by a part of the third straight path D3, an eighth straight path D8, a ninth straight path D9, and a tenth straight path D10. A first end of the eighth straight path D8 is connected to the middle of the third straight path D3, and a second end of the eighth straight path D8 is connected to a first end of the ninth straight path D9. A second end of the ninth straight path D9 is connected to a first end of the tenth straight path D10, and a second end of the tenth straight path D10 is connected to the middle of the third straight path D3.

[0038] The travel path D has a path formed in a straight line by an eleventh straight path D11. <address> The first to sixteenth addresses A1 to A16 are set on the route formed by the first to fourth straight paths D1 to D4 in a counterclockwise direction with increasing numbers. The first address A1 and the second address A2 are set on the first straight path D1. The third address A3 and the fourth address A4 are set on the second straight path D2.

[0039] The fifth to eleventh addresses A5 to A11 are set on the third straight path D3. The seventh address A7 and the eighth address A8 are set on a part of the third straight path D3 that forms a looped path together with the eighth to tenth straight paths D8 to D10. The tenth address A10 and the eleventh address A11 are set on a part of the third straight path D3 that forms a looped path together with the fifth to seventh straight paths D5 to D7. The twelfth address A12 and the thirteenth address A13 are set on the fourth straight path D4. The fourteenth to sixteenth addresses A14 to A16 are set on the first straight path D1, and the sixteenth address A16 is set closer to the fourth straight path D4 than the first address A1.

[0040] The 17th to 19th addresses A17 to A19 are set on the fifth straight path D5. The 20th address A20 and the 21st address A21 are set on the sixth straight path D6. The 22nd to 24th addresses A22 to A24 are set on the seventh straight path D7. The 17th to 24th addresses A17 to A24 are set so that the numbers increase clockwise along the route formed by the fifth to seventh straight paths D5 to D7.

[0041] The 25th to 28th addresses A25 to A28 are set on the 8th straight path D8. The 29th address A29 and the 30th address A30 are set on the 9th straight path D9. The 31st to 33rd addresses A31 to A33 are set on the 10th straight path D10. The 25th to 33rd addresses A25 to A33 are set so that their numbers increase clockwise along the path formed by the 8th to 10th straight paths D8 to D10.

[0042] The 34th to 36th addresses A34 to A36 are set on the 11th straight path D11 so that the addresses increase in number as the addresses move away from the second straight path D2. <Automated Guided Vehicle> The first to third unmanned guided vehicles V1 to V3 travel along a travel path D on which first to 36th addresses A1 to A36 are preset. The first to third unmanned guided vehicles V1 to V3 are, for example, unmanned forklifts. Each of the first to third unmanned guided vehicles V1 to V3 includes an address detection unit, an information transmission / reception unit, and a travel control unit, all of which are not shown. Each of the first to third unmanned guided vehicles V1 to V3 also includes a motor, wheels, a battery that is a power source for the motor, and a battery remaining charge detection unit, all of which are not shown. The travel control unit is connected to the motor and the wheels, and controls the travel of the first to third unmanned guided vehicles V1 to V3.

[0043] The address detection unit detects the address when the first to third unmanned guided vehicles V1 to V3 reach any one of the first to 36th addresses A1 to A36. The information transmission / reception unit transmits address information detected by the address detection unit as address information to the operation display device 10. The information transmission / reception unit also transmits vehicle body information related to the first to third unmanned guided vehicles V1 to V3 detected by the first to third unmanned guided vehicles V1 to V3 and travel path information related to the travel path D detected by the first to third unmanned guided vehicles V1 to V3 to the operation display device 10. The vehicle body information is, for example, an abnormality that has occurred in the unmanned guided vehicle that transmits the vehicle body information, a decrease in the remaining battery level detected by the detection unit, etc. The travel path information is, for example, an abnormality detected on the travel path D that has passed through the unmanned guided vehicle that transmits the travel path information.

[0044] In the example shown in Fig. 1, the first automated guided vehicle V1 has passed the fifteenth address A15 and is located between the fifteenth address A15 and the sixteenth address A16. The second automated guided vehicle V2 has passed the fourth address A4 and is located in a location surrounded by the fourth address A4, the fifth address A5, and the thirty-fourth address A34. The third automated guided vehicle V3 has passed the twenty-second address A22 and is located between the twenty-second address A22 and the twenty-third address A23.

[0045] Each of the first to third automated guided vehicles V1 to V3 travels on a travel path D based on an instruction from a plan processing unit of the traffic management device. Each of the first to third automated guided vehicles V1 to V3 detects address information by an address detection unit, and transmits the address information to the traffic management device by an information transmission / reception unit.

[0046] The planning processing unit of the traffic management device refers to the address information received by the communication unit and the task corresponding to the automated guided vehicle that transmitted the address information, which is stored in the storage unit. By referring to the task corresponding to the automated guided vehicle, the planning processing unit sets the address that is to be detected by the address detection unit of the automated guided vehicle as a target address next to the address indicated by the address information.

[0047] The traffic management device transmits target address information indicating a target address of the automated guided vehicle to the automated guided vehicle via a communication unit. The target address information may include, in addition to the target address, a command for a loading / unloading operation or the like to be performed by the automated guided vehicle at the target address.

[0048] The automated guided vehicle receives the target address information by an information transmitting / receiving unit. A travel control unit of the automated guided vehicle controls a motor and wheels of the automated guided vehicle to cause the automated guided vehicle to travel from the address indicated by the address information to the target address indicated by the target address information.

[0049] Each of the first to third automated guided vehicles V1 to V3 may include a storage unit (not shown) that stores a plurality of tasks in advance. In this case, the operation management device issues a command to each of the first to third automated guided vehicles V1 to V3 via the communication unit to specify a task to be executed from among the tasks stored in each automated guided vehicle, thereby managing the operation of each automated guided vehicle.

[0050] <Display device> 1 and 2, the display device 20 is electrically connected to the operation display device 10. The display device 20 is, for example, a display such as a liquid crystal display or an organic electroluminescence display.

[0051] As shown in Fig. 3, the display screen 21 of the display device 20 is rectangular. The direction in which the longer sides of the display screen 21 extend is the left-right direction X, and the direction in which the shorter sides extend is the up-down direction Y. The display screen 21 has a roadway display area 22 and a status display area 23. The roadway display area 22 and the status display area 23 are aligned in the left-right direction X. The roadway display area 22 is located to the left of the status display area 23 in the left-right direction X of the display screen 21, and the status display area 23 is located to the right of the roadway display area 22 in the left-right direction X of the display screen 21.

[0052] <Input device> 1 and 2, the input device 30 is electrically connected to the operation display device 10. The input device 30 is a device that accepts input of information. The input device 30 is, for example, a mouse and a keyboard.

[0053] 4, the input device 30 can input a travel route C as a line to be displayed in the travel route display area 22. The travel route C may be a straight line, a curved line, a broken line, a chain line, a closed curve, or the like.

[0054] Further, the input device 30 can be used to input to select any one of first to twenty-fifth panels P1 to P25, which will be described later, displayed in the travel path display area 22. <Operation display device> The operation display device 10 causes the display device 20 to display information relating to the operation of the first to third automatic guided vehicles V1 to V3 traveling on the travel path D.

[0055] 1, the traffic display device 10 is provided in a section of the travel area G in which a travel route D having a twentieth address A20 is located. In detail, the traffic display device 10 is provided in a position in the travel area G in which the address closest to the traffic display device 10 among the first to 36th addresses A1 to A36 is the twentieth address A20.

[0056] As shown in FIG. 2, the traffic display device 10 includes a partition display unit 11, an address setting unit 12, a receiving unit 13, a display change unit 14, a status display unit 15, and a travel path display unit 16. The traffic display device 10 performs display using a display device 20. The traffic display device 10 includes a processor and a storage unit (not shown). The processor included in the traffic display device 10 is, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The storage unit included in the traffic display device 10 is, for example, a ROM (Read-Only Memory) or a RAM (Random Access Memory). The processor included in the traffic display device 10 executes instructions included in a program stored in the storage unit, thereby functioning as the partition display unit 11, the address setting unit 12, the display change unit 14, the status display unit 15, and the travel path display unit 16. The receiving unit 13 is an interface that receives information through a communication path established between the information transmitting / receiving units included in the first to third automated guided vehicles V1 to V3. The receiving unit 13 is, for example, a network interface or a wireless interface.

[0057] FIG. 3 shows a display screen 21 displayed on the display device 20 by the operation display device 10 when the automated guided vehicle system 100 is in the state shown in FIG. The partition display unit 11 divides the travel area G into first to twenty-fifth panels P1 to P25 as a plurality of display modes, and displays them in the travel path display area 22 of the display device 20. The travel path display area 22 has a plurality of square-shaped panels, and has the same number of panels in the up-down direction Y and the left-right direction X. The partition display unit 11 partitions and displays the travel area G of the first to third automatic guided vehicles V1 to V3 into 25 panels. In other words, the partition display unit 11 partitions and displays the travel area G into a shape that can be easily viewed.

[0058] The travel path display area 22 has five rows in the up-down direction Y, each of which is made up of five panels lined up in the left-right direction X. From left to right in the left-right direction X, the travel path display area 22 has, along the up-down direction Y, a row of the first to fifth panels P1-P5, a row of the sixth to tenth panels P6-P10, a row of the eleventh to fifteenth panels P11-P15, a row of the sixteenth to twentieth panels P16-P20, and a row of the twenty-first to twenty-fifth panels P21-P25.

[0059] The address setting unit 12 sets one or more of the first to 36th addresses A1 to A36 on the travel path D corresponding to each of the first to 25th panels P1 to P25. The addresses corresponding to each of the first to 25th panels P1 to P25 are input by the input device 30. Each of the first to 25th panels P1 to P25 may be set with more than one address of the first to 36th addresses A1 to A36, or none of them may be set.

[0060] For a panel to which an address has been set among the first to thirty-sixth addresses A1 to A36, the address setting unit 12 can delete the address and set a different address. That is, the address setting unit 12 can delete an address that has been set for any of the first to twenty-fifth panels P1 to P25, and can set a new address from the first to thirty-sixth addresses A1 to A36 for the panel from which the address has been deleted.

[0061] As shown in Fig. 3, a thirteenth address A13 and a fourteenth address A14 are set in the first panel P1. A fifteenth address A15 is set in the second panel P2. A sixteenth address A16 is set in the third panel P3. A first address A1 is set in the fourth panel P4. A second address A2 and a third address A3 are set in the fifth panel P5.

[0062] The sixth panel P6 is set with an eleventh address A11, a twelfth address A12, and a seventeenth address A17. The seventh panel P7 is set with a tenth address A10, and a twenty-fourth address A24. The eighth panel P8 is set with an eighth address A8, a ninth address A9, and a twenty-fifth address A25. The ninth panel P9 is set with a sixth address A6, a seventh address A7, and a thirty-third address A33. The tenth panel P10 is set with a fourth address A4, and a fifth address A5.

[0063] An 18th address A18 is set in the 11th panel P11. A 23rd address A23 is set in the 12th panel P12. A 26th address A26 is set in the 13th panel P13. A 32nd address A32 is set in the 14th panel P14. A 34th address A34 is set in the 15th panel P15.

[0064] A 19th address A19 is set in the 16th panel P16. A 22nd address A22 is set in the 17th panel P17. A 27th address A27 is set in the 18th panel P18. A 31st address A31 is set in the 19th panel P19. A 35th address A35 is set in the 20th panel P20.

[0065] The 20th address A20 is set in the 21st panel P21. The 21st address A21 is set in the 22nd panel P22. The 28th address A28 and the 29th address A29 are set in the 23rd panel P23. The 30th address A30 is set in the 24th panel P24. The 36th address A36 is set in the 25th panel P25.

[0066] In Fig. 1, the first automated guided vehicle V1 detects the 15th address A15 by the address detection unit of the first automated guided vehicle V1. The second automated guided vehicle V2 detects the 4th address A4 by the address detection unit of the second automated guided vehicle V2. The third automated guided vehicle V3 detects the 22nd address A22 by the address detection unit of the third automated guided vehicle V3.

[0067] The information transmitting / receiving unit of the first unmanned guided vehicle V1 transmits address information indicating the fifteenth address A15 to the operation display device 10. The information transmitting / receiving unit of the second unmanned guided vehicle V2 transmits address information indicating the fourth address A4 to the operation display device 10. The third unmanned guided vehicle V3 transmits address information indicating the twenty-second address A22 to the operation display device 10. The address information indicating the fourth address A4, the fifteenth address A15, and the twenty-second address A22 is, for example, a unique code possessed by each address among the first to thirty-sixth addresses A1 to A36.

[0068] The receiving unit 13 receives address information detected by the first to third automated guided vehicles V1 to V3 and transmitted by the information transmitting / receiving unit provided in each of them. The receiving unit 13 receives address information indicating the fifteenth address A15, address information indicating the fourth address A4, and address information indicating the twenty-second address A22. The receiving unit 13 can also receive vehicle body information relating to the automated guided vehicles detected by the first to third automated guided vehicles V1 to V3, and travel path information relating to the travel path D detected by the first to third automated guided vehicles V1 to V3.

[0069] The display change unit 14 changes the display of the panel corresponding to the address information input from the receiving unit 13. Specifically, the display change unit 14 changes the display of the panel corresponding to the address information among the first to twenty-fifth panels P1 to P25 in the travel path display area 22 based on the address information received by the receiving unit 13. The display change unit 14 changes the display by making the panel corresponding to the address information have a different color from the other panels. Then, by changing the display of the panels by the display change unit 14, the panels on which the first to third automated guided vehicles V1 to V3 are located can be identified in the travel path display area 22. At this time, the display change unit 14 makes the color of all other panels on which the first to third automated guided vehicles V1 to V3 are not located the same.

[0070] If there is a panel whose display has been changed by the display change unit 14 and whose address does not correspond to an address included in the address information received by the receiving unit 13 from each of the first to third unmanned guided vehicles V1 to V3, the display change unit 14 cancels the display of that panel. That is, the display change unit 14 changes the display of the panel based on the most recent address information for each of the first to third unmanned guided vehicles V1 to V3 among the address information received from each of the first to third unmanned guided vehicles V1 to V3. Therefore, the display change unit 14 changes the display of each panel corresponding to each address that each of the first to third unmanned guided vehicles V1 to V3 has most recently passed.

[0071] In the case shown in Figure 3, the display change unit 14 changes the color of the second panel P2 corresponding to the 15th address A15 where the first unmanned guided vehicle V1 is located, the 10th panel P10 corresponding to the 4th address A4 where the second unmanned guided vehicle V2 is located, and the 17th panel P17 corresponding to the 22nd address A22 where the third unmanned guided vehicle V3 is located, to a different color from the other panels.

[0072] Furthermore, the display change unit 14 changes the display of a panel corresponding to the relevant address information among the 1st to 25th panels P1-25 in the travel path display area 22, based on the address information and vehicle body information received by the receiving unit 13. The display change unit 14 changes the display color of the panel corresponding to the position of the relevant automatic guided vehicle depending on whether or not an abnormality has occurred in the automatic guided vehicle that transmits the vehicle body information.

[0073] Specifically, when an abnormality occurs in the third automated guided vehicle V3, the third automated guided vehicle V3 transmits address information indicating that the 22nd address A22 has been detected and vehicle body information indicating that an abnormality has occurred to the operation display device 10. The operation display device 10 receives the address information and the vehicle body information by the receiving unit 13.

[0074] 1 and 3, the display change unit 14 changes the display of the 17th panel P17 corresponding to the 22nd address A22 based on the address information and vehicle body information received by the receiving unit 13. The display change unit 14 displays the 17th panel P17 in a color different from the second panel P2 where the first automated guided vehicle V1 is located and the tenth panel P10 where the second automated guided vehicle V2 is located.

[0075] Furthermore, the display change unit 14 changes the display of a panel that corresponds to the relevant address information among the first to twenty-fifth panels P1 to P25 in the travel path display area 22, in accordance with the relevant travel path information, based on the address information and travel path information received by the receiving unit 13. When the travel path information indicates an abnormality in the position of any of the first to third automated guided vehicles V1 to V3 that transmitted the travel path information, the display change unit 14 displays the panel corresponding to the position of the automated guided vehicle in a color different from the other panels.

[0076] The display change unit 14 can change the display of the selected panel based on the input from the input device 30. At this time, the display change unit 14 changes the display of the selected panel to a display different from the display of the panel when the first to third automated guided vehicles V1 to V3 are located. The display performed by the display change unit 14 based on the input from the input device 30 is performed, for example, by displaying the panel in a color different from the other panels and in a color different from the panels when the first to third automated guided vehicles V1 to V3 are located.

[0077] For example, the 21st panel P21 is a panel corresponding to the 20th address A20, which is the address closest to the traffic display device 10. The display change unit 14 displays the 21st panel P21, where the traffic display device 10 is located, in a color different from the second panel P2, the tenth panel P10, and the 17th panel P17, where the first to third automatic guided vehicles V1 to V3 are located. Therefore, the display change unit 14 can select a panel that corresponds to the position of the traffic display device 10 in the traveling area G from among the first to 25th panels P1 to P25, and change the display of the selected panel.

[0078] The travel route display unit 16 displays the travel route C inputted by the input device 30 in the travel route display area 22. Note that in Fig. 4, for ease of illustration, the 1st to 36th addresses A1 to A36 in the 1st to 25th panels P1 to P25 are omitted.

[0079] The travel path display unit 16 sets a travel route C that represents the travel path D, and displays the travel route C of the travel path D in the travel path display area 22 instead of the 1st to 36th addresses A1 to A36. Note that the travel route C of the travel path D can also be displayed together with the 1st to 36th addresses A1 to A36.

[0080] The status display unit 15 displays, in a status display area 23 of the display device 20, any abnormality that has occurred in the first to third automated guided vehicles V1 to V3, based on the vehicle body information received by the receiving unit 13. In addition, the status display unit 15 displays, in a status display area 23 of the display device 20, any abnormality in the travel path D detected by the first to third automated guided vehicles V1 to V3, based on the travel path information received by the receiving unit 13.

[0081] Specifically, the third automated guided vehicle V3 transmits vehicle body information indicating an abnormality in the third automated guided vehicle V3 to the operation display device 10. The operation display device 10 receives the vehicle body information by the receiving unit 13. As shown in Fig. 3, based on the vehicle body information received by the receiving unit 13, the status display unit 15 displays in the status display area 23 that the third automated guided vehicle V3 is malfunctioning.

[0082] [Operation of the first embodiment] The operation of the first embodiment will be described together with a setting method for displaying the road D. First, the partition display unit 11 displays the first to twenty-fifth panels P1 to P25 in the travel path display area 22. A user who manages the automated guided vehicle system 100 inputs the correspondence between the first to twenty-fifth panels P1 to P25 and the first to thirty-sixth addresses A1 to A36 using the input device 30. The user inputs, for example, by inputting corresponding addresses among the first to thirty-sixth addresses A1 to A36 to each of the first to twenty-fifth panels P1 to P25. The address setting unit 12 sets corresponding addresses to each of the first to twenty-fifth panels P1 to P25 based on the user input. The partition display unit 11 displays the first to twenty-fifth panels P1 to P25 and the corresponding addresses in the travel path display area 22. The user also inputs a travel route C corresponding to the shape of the travel path D through the input device 30. The travel route display unit 16 displays a travel route C corresponding to the travel route D in the travel route display area 22 based on the user's input.

[0083] Meanwhile, the third unmanned guided vehicle V3, in which an abnormality has occurred, transmits vehicle body information of the third unmanned guided vehicle V3 to the operation display device 10 together with address information related to the 22nd address A22 detected by the third unmanned guided vehicle V3. The operation display device 10 receives the address information and the vehicle body information by the receiving unit 13. The display change unit 14 changes the display of the 17th panel P17, in which the 22nd address A22 is set, based on the address information and the vehicle body information. The display change unit 14 changes the display of the 17th panel P17 to a color different from that of the other panels.

[0084] [Effects of the first embodiment] The effects of the first embodiment will be described. (1-1) The travel route D is set by setting the first to 36th addresses A1 to A36, which are set in advance, to the first to 25th panels P1 to P25 displayed by the partition display unit 11 by the address setting unit 12. Therefore, the traffic display device 10 can set the travel route D linked to the first to 36th addresses A1 to A36 regardless of the shape of the travel route D, so that the travel route D can be easily set.

[0085] (1-2) Based on the address information, the display change unit 14 changes the display of the panel corresponding to the positions of the first to third unmanned guided vehicles V1 to V3 among the first to twenty-fifth panels P1 to P25 and displays it on the display device 20. That is, the positions of the first to third unmanned guided vehicles V1 to V3 are displayed based on the address of the travel path D. Therefore, a user who manages the operation of the first to third unmanned guided vehicles V1 to V3 can easily visually grasp the positions of the first to third unmanned guided vehicles V1 to V3 on the travel path D from the display of the display device 20 using the operation display device 10.

[0086] (1-3) The address setting unit 12 can delete an address set in a panel to which an address is set, and can set a different address. That is, in response to a change in the arrangement of the 1st to 36th addresses A1 to A36 set on the travel route D, the address setting unit 12 can change the correspondence between the 1st to 25th panels P1 to P25 and the 1st to 36th addresses A1 to A36. As a result, the traffic display device 10 can easily change the travel route D.

[0087] (1-4) The travel path display unit 16 can display the shape of the travel path D together with the first to twenty-fifth panels P1 to P25 in the travel path display area 22. Therefore, the operation display device 10 can set and display the details of the travel path D required to display the operations of the first to third automatic guided vehicles V1 to V3, regardless of the setting status of the first to thirty-sixth addresses A1 to A36.

[0088] (1-5) The display change unit 14 can change the display of the position of the abnormal AGV in the travel path display area 22, based on the address information and vehicle body information transmitted from the abnormal AGV. Also, the status display unit 15 can display details of the abnormality occurring in the abnormal AGV in the status display area 23, based on the vehicle body information transmitted from the abnormal AGV. In other words, the user can easily grasp the position of the abnormal AGV and details of the abnormality using the operation display device 10.

[0089] (1-6) The display change unit 14 can change the display of the panel among the first to twenty-fifth panels P1 to P25 that corresponds to the position where the operation display device 10 is provided. Therefore, the user who manages the automated guided system 100 can use the operation display device 10 to grasp the relative positional relationship between the first to third automated guided vehicles V1 to V3 and the location where the operation display device 10 is provided. Therefore, for example, if an abnormality occurs in any of the first to third automated guided vehicles V1 to V3, it becomes easier to access the position of that automated guided vehicle.

[0090] (1-7) The section display unit 11 divides the road D into square-shaped first to twenty-fifth panels P1 to P25 and displays them. The section display unit 11 also displays the addresses set in each of the first to twenty-fifth panels P1 to P25 inside the square areas of the first to twenty-fifth panels P1 to P25. This makes it easy to understand the correspondence between each of the first to twenty-fifth panels P1 to P25 and the first to thirty-sixth addresses A1 to A36.

[0091] (1-8) The address setting unit 12 can set a plurality of addresses to each of the first to twenty-fifth panels P1 to P25. Therefore, the traffic display device 10 can easily display the junctions, intersections, and branching points of the first to eleventh straight paths D1 to D11 on the travel path D in the travel path display area 22. This allows the user who manages the automatic guided system 100 to easily grasp the locations on the travel path D where accidents, congestion, etc. are likely to occur due to the first to third automatic guided vehicles V1 to V3.

[0092] (1-9) The road D displayed by the partition display unit 11 and the address setting unit 12 is displayed according to the positional relationship of the 1st to 36th addresses A1 to A36 set in the 1st to 25th panels P1 to P25, respectively. Therefore, even if the shape of the road D is changed, the traffic display device 10 can display the changed road D simply by changing the arrangement of the 1st to 36th addresses A1 to A36 in the road display area 22.

[0093] [Second embodiment] A second embodiment of the operation display device will be described below with reference to Fig. 2 and Fig. 5. The main difference from the first embodiment is that the roadway display area 22 displayed by the partition display unit 11 is different from the first to twenty-fifth panels P1 to P25, and the display screen 21 displays only the roadway display area 22. Therefore, detailed description of the same configuration as the first embodiment will be omitted.

[0094] As shown in FIG. 5, the division display unit 11 displays first to twenty-fifth points Q1 to Q25 in the roadway display area 22 as a display mode. The first to 25th points Q1 to Q25 are each circular, and are arranged in the travel road display area 22 so that the number of points is equal in both the up-down direction Y and the left-right direction X. The positions of the first to 25th points Q1 to Q25 in the travel road display area 22 correspond to the positions of the first to 25th panels P1 to P25 in the first embodiment. The first to 25th points Q1 to Q25 each have a diameter smaller than the distance between the centers of adjacent points. In other words, the first to 25th points Q1 to Q25 are each located apart from each other in both the up-down direction Y and the left-right direction X.

[0095] A plurality of addresses provided on the travel path F are set at the first to twenty-fifth points Q1 to Q25. The road F is formed by a plurality of points, among the 1st to 25th points Q1 to Q25, for which addresses have been set. The display change unit 14 makes the display of the points for which addresses have been set different from the display of the points for which addresses have not been set in the road display area 22. In other words, the display change unit 14 can change the display of the points that do not correspond to any of the addresses set on the road F from the other points.

[0096] 5, the display change unit 14 changes the display of the first point Q1, the second point Q2, the third point Q3, the sixth point Q6, the twentieth point Q20, the twenty-first point Q21, the twenty-fourth point Q24, and the twenty-fifth point Q25, which do not have addresses set, from the other points. The display change unit 14 displays the points with addresses set in different colors from the points that do not correspond to any of the addresses set on the road F.

[0097] There are a plurality of unmanned guided vehicles on the travel path F. It is assumed that an abnormality occurs in the fourth unmanned guided vehicle V4, which is one of the plurality of unmanned guided vehicles traveling on the travel path F. In the situation shown in FIG. 5, the fourth unmanned guided vehicle V4 is broken. It is also assumed that an abnormality occurs near the addresses corresponding to the seventh point Q7 and the eighth point Q8 on the travel path F. The abnormality occurring at the seventh point Q7 and the eighth point Q8 is an abnormality occurring on the travel path F, such as a fallen object near each address or deterioration of a magnetic tape set as each address. The information transmitting and receiving unit of the fourth unmanned guided vehicle V4 transmits address information and vehicle body information to the operation display device 10.

[0098] The receiving unit 13 receives the address information and vehicle body information transmitted by the fourth automated guided vehicle V4. The display change unit 14 changes the display of the points related to the address information based on the address information and vehicle body information received by the receiving unit 13.

[0099] As shown in Fig. 5, the display change unit 14 changes the display of the 18th point Q18 which is a position corresponding to the address detected by the fourth automated guided vehicle V4. The display change unit 14 displays "4" at the 18th point Q18 as a display indicating the fourth automated guided vehicle V4 in order to indicate that the automated guided vehicle which detected the address corresponding to the 18th point Q18 is the fourth automated guided vehicle V4. The display change unit 14 may change the display of multiple points corresponding to the positions of multiple automated guided vehicles other than the fourth automated guided vehicle V4.

[0100] The display change unit 14 changes the display of the 18th point Q18 where the fourth automated guided vehicle V4 is located, so as to display an abnormality occurring in the automated guided vehicle that can be identified, based on the vehicle body information received by the receiving unit 13. The display change unit 14 displays the point corresponding to the position of the automated guided vehicle in the travel path display area 22 in a different shape from the other points, depending on the type of abnormality occurring in the automated guided vehicle. As shown in FIG. 5, when the fourth automated guided vehicle V4 is out of order, the point corresponding to the position of the automated guided vehicle is displayed in a larger circle than the other points. Therefore, the display change unit 14 can display the points in a variety of shapes.

[0101] In FIG. 5, an automated guided vehicle that has passed the addresses corresponding to the seventh point Q7 and the eighth point Q8 confirms an abnormality at the addresses and transmits the travel route information to the operation display device 10.

[0102] The display change unit 14 displays the seventh point Q7 and the eighth point Q8 as a square larger than the other points. The display change unit 14 also changes the display of the seventh point Q7 and the eighth point Q8 based on the road information received by the receiving unit 13. As shown in Fig. 5, the display change unit 14 displays "E" at the seventh point Q7 and the eighth point Q8 to indicate that an abnormality has occurred on the road F.

[0103] The input device 30 can be used to input to select any one of the 1st to 25th points Q1 to Q25. The display change unit 14 can display the selected point in a manner that makes it distinguishable from the other points based on the input from the input device 30. In FIG. 5, the 22nd point Q22, which corresponds to the position of the operation display device 10, is selected via the input device 30. The 22nd point Q22 is surrounded by a selection circle QC. This allows the display change unit 14 to distinguish the 22nd point Q22 from the other points.

[0104] [Effects of the second embodiment] The effects and functions of the second embodiment will be described. (2-1) The partition display unit 11 expresses the travel path F by the first to twenty-fifth points Q1 to Q25. Each of the first to twenty-fifth points Q1 to Q25 is circular and arranged so as not to contact each other. Since the first to twenty-fifth points Q1 to Q25 are arranged so as not to contact each other, figures of different shapes can be displayed on each point without overlapping each other. That is, the display change unit 14 can cause a plurality of different figures to coexist in the travel path display area 22. This allows the display change unit 14 to display the position on the unmanned guided vehicle or travel path F where an abnormality has occurred using a plurality of figures. As a result, the user of the operation display device 10 can link each figure with an abnormality occurring on the unmanned guided vehicle or travel path F, and can grasp the type of abnormality that has occurred by checking the shape of the figure on the display screen 21.

[0105] (2-2) The display change unit 14 changes the display of points that do not correspond to addresses to a color different from that of points with set addresses. This allows the user to visually grasp the road F while displaying it with circular points.

[0106] (2-3) The display change unit 14 changes the display of the position of the fourth automated guided vehicle V4 in which an abnormality has occurred in the travel path display area 22. Therefore, the display device 20 can be made smaller than a display device that displays the position of the fourth automated guided vehicle V4 on the travel path F and the abnormality in different areas.

[0107] (2-4) The display change unit 14 can change the display of points in the travel path display area 22 depending on whether the information received by the receiving unit 13 is vehicle body information or travel path information. Therefore, it is possible to easily confirm on the operation display device 10 whether an abnormality that has occurred on the travel path F has occurred in one of the multiple automatic guided vehicles or has occurred on the travel path F.

[0108] [Third embodiment] A third embodiment of the operation display device will be described below with reference to Figs. 6 to 10. The main difference from the first embodiment is that the travel path display unit 16 displays the passing line R1 and the travel route C based on the address information transmitted from the fifth automatic guided vehicle V5. Detailed description of the same configuration as the first embodiment will be omitted.

[0109] <Automated guided vehicle system, travel path, and address> Unlike the first embodiment, the automated guided vehicle system 100 includes only a fifth automated guided vehicle V5 as an automated guided vehicle.

[0110] The travel path D of this embodiment includes first to eleventh straight paths D1 to D11, similar to the first embodiment. The travel path D has first to thirty-sixth addresses A1 to A36 set thereon, similar to the first embodiment.

[0111] The operation management device uses a planning processing unit to manage the traveling of the fifth unmanned guided vehicle V5. The planning processing unit manages the traveling of the fifth unmanned guided vehicle V5 based on tasks. The fifth unmanned guided vehicle V5 travels along the travel path D based on the task corresponding to the fifth unmanned guided vehicle V5. The fifth unmanned guided vehicle V5 travels along the first to ninth addresses A1 to A9 in this order. After passing the ninth address A9, the fifth unmanned guided vehicle V5 travels along the travel path D from the twenty-fourth address A24 to the seventeenth address A17 in the direction of decreasing address numbers. After passing the seventeenth address A17, the fifth unmanned guided vehicle V5 travels along the travel path D in the direction of increasing address numbers from the twelfth address A12 to the sixteenth address A16. After passing the sixteenth address A16, the fifth unmanned guided vehicle V5 travels along the travel path D so that the addresses it passes through are in the above order. Hereinafter, the travel of the fifth automated guided vehicle V5 starting from the first address A1, passing through the addresses in the above order, and then returning to the first address A1 will be referred to as a series of travels based on a task.

[0112] <Automated Guided Vehicle> The fifth automated guided vehicle V5 is, for example, an automated forklift. The fifth automated guided vehicle V5 has the same configuration as the first to third automated guided vehicles V1 to V3 of the first embodiment.

[0113] <Operation display device> In this embodiment, the traffic display device 10 displays information related to the operation of the fifth automated guided vehicle V5 on the display device 20. The traffic display device 10 is provided in the same position as in the first embodiment within the travel area G. As shown in Fig. 6, the traffic display device 10 in this embodiment further includes a received information storage unit 41 in addition to the traffic display device 10 of the first embodiment.

[0114] The received information storage unit 41 stores address information relating to addresses through which the fifth unmanned guided vehicle V5 has passed. The address information is address information that has been transmitted by the fifth unmanned guided vehicle V5 via the information transmitting / receiving unit and then received by the receiving unit 13. That is, the received information storage unit 41 stores address information received by the receiving unit 13. The received information storage unit 41 cumulatively stores address information received by the receiving unit 13. For example, as shown in FIG. 7, consider a case in which the fifth unmanned guided vehicle V5 departs from the first address A1 and then passes the ninth address A9. In this case, the received information storage unit 41 stores address information indicating each of the first to ninth addresses A1 to A9.

[0115] Fig. 8 shows a display screen 21 displayed on the display device 20 by the operation display device 10 with respect to the position of the fifth automated guided vehicle V5 when the fifth automated guided vehicle V5 is in the situation shown in Fig. 7. The display of the travel path display area 22 by the partition display unit 11 is the same as in the first embodiment, and therefore a description thereof will be omitted.

[0116] In FIG. 8, the fifth unmanned guided vehicle V5 detects the ninth address A9 by the address detection unit. The information transmission / reception unit of the fifth unmanned guided vehicle V5 transmits address information indicating the ninth address A9 to the operation display device 10. The operation display device 10 receives the address information transmitted by the fifth unmanned guided vehicle V5 by the reception unit 13. The fifth unmanned guided vehicle V5 also transmits address information of the first to eighth addresses A1 to A8 that it passed before reaching the ninth address A9 to the operation display device 10. The address information transmitted by the fifth unmanned guided vehicle V5 is transmitted to the operation display device 10 after the fifth unmanned guided vehicle V5 detects the address information by the address detection unit and before it reaches the next address.

[0117] The address setting unit 12 sets the first to 36th addresses A1 to A36 to the first to 25th panels P1 to P25, respectively, in the same manner as in the first embodiment. In addition, in Fig. 8, Fig. 9, and Fig. 10, the first to 36th addresses A1 to A36 in the first to 25th panels P1 to P25 are omitted from illustration in order to facilitate illustration. The setting of the first to 36th addresses A1 to A36 in Fig. 8, Fig. 9, and Fig. 10 is the same as that in Fig. 3. The display change unit 14 makes the panel on which the fifth automatic guided vehicle V5 is located different in color from the other panels. Specifically, the display change unit 14 changes the eighth panel P8 in Fig. 8 to a color different from the other panels.

[0118] <Route display section> As shown in Fig. 6, the roadway display unit 16 includes an update unit 160, a display line generation unit 161, and a display line deletion unit 162. As shown in Fig. 8, the roadway display unit 16 of the present embodiment displays a passing line R1 as a line on the display device 20 instead of the roadway C.

[0119] <Updated section> The update unit 160 can switch the travel path display unit 16 between an enabled state and an disabled state. The enabled state is a state in which the travel path display unit 16 can display the passing line R1 on the display device 20. The disabled state is a state in which the travel path display unit 16 cannot display the passing line R1 on the display device 20. In other words, when the travel path display unit 16 is in the enabled state by the update unit 160, it displays the passing line R1 on the display device 20. Also, when the travel path display unit 16 is in the disabled state by the update unit 160, it does not display the passing line R1 on the display device 20.

[0120] <Display line generation section> The display line generating unit 161 generates the passing line R1. That is, the travel path display unit 16 displays the passing line R1 generated by the display line generating unit 161 on the display device 20. When the travel path display unit 16 is in a valid state by the update unit 160, the display line generating unit 16 displays the passing line R1 on the display device 20. The display line generating unit 161 refers to the address information stored in the received information storage unit 41. That is, the display line generating unit 161 generates the passing line R1 based on the address information stored in the received information storage unit 41. When there are two or more panels to which the address information is set, the display line generating unit 161 generates the passing line R1. In other words, when there are two or more panels through which the fifth automated guided vehicle V5 has passed, the display line generating unit 161 generates the passing line R1.

[0121] For example, consider a case where the fifth automated guided vehicle V5 is in the situation shown in Fig. 7. In this case, the received information storage unit 41 stores address information corresponding to each of the first to ninth addresses A1 to A9. That is, the panels to which the address information is set are the fourth panel P4, the fifth panel P5, the tenth panel P10, the ninth panel P9, and the eighth panel P8. In this case, the display line generating unit 161 generates a passing line R1 on the fourth panel P4, the fifth panel P5, the tenth panel P10, the ninth panel P9, and the eighth panel P8.

[0122] For example, consider a situation in which the fifth automated guided vehicle V5 passes through the third address A3 after departing from the second address A2. The received information storage unit 41 stores address information corresponding to each of the second address A2 and the third address A3. The fifth panel P5 is the only panel for which this address information is set. In this case, the display line generating unit 161 does not generate the passing line R1.

[0123] The passing line R1 is composed of straight lines connecting the centers of each panel that the fifth automated guided vehicle V5 has passed through. For example, in the situation shown in Fig. 7, the passing line R1 includes a straight line connecting the center of the fourth panel P4 and the center of the fifth panel P5, and a straight line connecting the center of the fifth panel P5 and the center of the tenth panel P10, as shown in Fig. 8. The passing line R1 also includes a straight line connecting the center of the tenth panel P10 and the center of the ninth panel P9, and a straight line connecting the center of the ninth panel P9 and the center of the eighth panel P8.

[0124] As shown by the dashed line in FIG. 7 and FIG. 9, a situation is considered in which the fifth automated guided vehicle V5 passes the ninth address A9 and then passes the eighteenth address A18 along the travel path D. In this situation, the received information storage unit 41 stores address information corresponding to each of the first to ninth addresses A1 to A9 and the eighteenth to twenty-fourth addresses A18 to A24. The display line generation unit 161 generates a passing line R1 that passes through the center of the panel on which each of the first to ninth addresses A1 to A9 and the eighteenth to twenty-fourth addresses A18 to A24 is set. In this way, the display line generation unit 161 extends the passing line R1 as the address information stored in the received information storage unit 41 increases.

[0125] As shown by the two-dot chain line in Fig. 7, after the fifth automated guided vehicle V5 passes the sixteenth address A16, it reaches the first address A1, whereby the fifth automated guided vehicle V5 ends a series of travels based on the task. As shown in Fig. 10, the travel path display unit 16 displays the passing line R1 on the display device 20. As described above, the travel path display unit 16 displays the passing line R1 on the display device 20 based on the address information transmitted from the fifth automated guided vehicle V5.

[0126] The display line generating unit 161 ends generation of the passing line R1 when the fifth automated guided vehicle V5 ends a series of traveling based on the task. <Display line removal section> The display line deletion unit 162 deletes the passing line R1. That is, the travel path display unit 16 causes the display line deletion unit 162 to delete the passing line R1 displayed on the display device 20.

[0127] The travel path display unit 16 deletes the passing line R1 based on at least one of the vehicle body information and the travel path information transmitted from the fifth automated guided vehicle V5. In this embodiment, the travel path display unit 16 deletes the passing line R1 by the display line deletion unit 162 based on the vehicle body information transmitted from the fifth automated guided vehicle V5. For example, assume that an abnormality occurs in the fifth automated guided vehicle V5 when the fifth automated guided vehicle V5 is in the position shown by the solid line in FIG. 7. In this case, the travel path display unit 16 deletes the passing line R1 shown in FIG. 8 from the display of the display device 20 by the display line deletion unit 162.

[0128] When the display line deletion unit 162 deletes the passing line R1, the traffic display device 10 deletes the address information related to the deleted passing line R1 from the received information storage unit 41. For example, consider a case where the display line deletion unit 162 deletes the passing line R1 in the situation shown in FIG. 8. The passing line R1 is generated based on the first to ninth addresses A1 to A9. In other words, the passing line R1 is related to the first to ninth addresses A1 to A9. When the display line deletion unit 162 deletes the passing line R1 shown in FIG. 8, the traffic display device 10 deletes the address information corresponding to each of the first to ninth addresses A1 to A9 stored in the received information storage unit 41.

[0129] In addition, the expression "at least one" as used in this specification means "one or more" of the desired options. As an example, the expression "at least one" as used in this specification means "only one option" or "both of two options" if the number of options is two.

[0130] [Effects of the third embodiment] The effects and operations of the third embodiment will be described below. According to the third embodiment, in addition to the effects (1-1) to (1-9) described in the first embodiment, the following effects can be obtained.

[0131] (3-1) The travel path display unit 16 displays the passing line R1 on the display device 20 based on the address information transmitted from the fifth automated guided vehicle V5. The fifth automated guided vehicle V5 travels once along a predefined route based on a task, so that the travel path display unit 16 can display the travel route C on the display device 20. For example, when the travel route C is changed in accordance with a change in the task followed by the fifth automated guided vehicle V5, the travel path display unit 16 can display the travel route C on the display device 20 without inputting the travel route C via the input device 30.

[0132] (3-2) The travel path display unit 16 can use the display line deletion unit 162 to delete the passing line R1 related to the fifth automated guided vehicle V5 on which an abnormality has occurred on the travel path D. This allows the travel path display unit 16 to not display on the display device 20 the passing line R1 on which a series of travels based on a task has not been performed. As a result, the operation display device 10 can display on the display device 20 only the travel route C on which a series of travels based on each task has been completed.

[0133] (3-3) The travel path display unit 16 can be disabled by the update unit 160. For example, consider a case where the fifth unmanned guided vehicle V5 performs driving not based on a task. An example of driving the fifth unmanned guided vehicle V5 not based on a task is when the fifth unmanned guided vehicle V5 deviates from the travel path D to charge the battery. In this case, the update unit 160 disables the travel path display unit 16, so that the passing line R1 of the fifth unmanned guided vehicle V5 not based on a task as described above is not displayed on the display device 20. As a result, the operation display device 10 can suppress the display of the passing line R1 on the display device 20 beyond the extent required for managing the unmanned guided vehicle system 100.

[0134] [Fourth embodiment] A fourth embodiment of the traffic display device will be described below with reference to Figs. 1, 3, and 11 to 15. The main differences from the first embodiment are that the traffic display device 10 includes a line storage unit 42, and that the travel route display unit 16 includes an existing line display unit 163 and an updated line display unit 164 in addition to the configuration of the third embodiment. Detailed descriptions of the same configurations as the first and third embodiments will be omitted. In this embodiment, consider a situation in which a third existing line C3 corresponding to a new travel route C is added when a first existing line C1 and a second existing line C2 corresponding to a travel route C are already displayed on the display device 20.

[0135] <Automated guided vehicle system, driving path, address, and automated guided vehicle> In the automated guided vehicle system 100 of this embodiment, one automated guided vehicle (not shown) runs. The running path D of this embodiment is similar to the running path D of the first and third embodiments. The operation management device uses a planning processing unit to manage the running of the automated guided vehicle. The planning processing unit manages the running of the automated guided vehicle based on tasks.

[0136] The unmanned guided vehicle travels along the travel path D shown in FIG. 3 based on the task corresponding to the unmanned guided vehicle. The unmanned guided vehicle travels along the first to sixth addresses A1 to A6 in this order. After passing the sixth address A6, the unmanned guided vehicle travels from the 33rd address A33 to the 25th address A25 in the direction of decreasing address numbers. After passing the 25th address A25, the unmanned guided vehicle travels from the 9th address A9 to the 16th address A16 in the direction of increasing address numbers. After passing the 16th address A16, the unmanned guided vehicle travels toward the first address A1. The unmanned guided vehicle travels along the travel path D so that the addresses it passes through are in the above order. Hereinafter, the travel of the unmanned guided vehicle starting from the first address A1, passing the addresses in the above order, and then returning to the first address A1 is expressed as a series of travels based on a task.

[0137] The unmanned guided vehicle is, for example, an unmanned forklift. The unmanned guided vehicle has the same configuration as the first to third unmanned guided vehicles V1 to V3 of the first embodiment and the fifth unmanned guided vehicle V5 of the third embodiment.

[0138] <Operation display device> The first to 25th panels P1 to P25 are set to the first to 36th addresses A1 to A36, respectively, as in the first embodiment. For ease of illustration, the first to 36th addresses A1 to A36 in the first to 25th panels P1 to P25 are omitted in Fig. 11, Fig. 13, Fig. 14, and Fig. 15.

[0139] As shown in FIG. 12, the operation display device 10 includes a line storage unit 42. The line storage unit 42 stores the first existing line C1 and the second existing line C2 as lines shown in FIG. 11. The first existing line C1 and the second existing line C2 are displayed on the display device 20 by the travel path display unit 16 before the unmanned guided vehicle travels. For example, the first existing line C1 and the second existing line C2 are input by the input device 30 before the unmanned guided vehicle travels in this embodiment. Note that the first existing line C1 and the second existing line C2 may be generated by the display line generation unit 161 based on address information transmitted from the unmanned guided vehicle as in the third embodiment. In this case, when the unmanned guided vehicle completes a series of travels based on a task, the operation display device 10 stores the passing line generated by the display line generation unit 161 in the line storage unit 42 as the first existing line C1 or the second existing line C2.

[0140] <Route display section> As shown in FIG. 12, the roadway display unit 16 includes an existing line display unit 163 and an updated line display unit 164.

[0141] As shown in FIG. 11, the existing line display unit 163 displays each of the first existing line C1 and the second existing line C2 stored in the line storage unit 42 on the display device 20. The existing line display unit 163 displays the first existing line C1 and the second existing line C2 on the display device 20 while changing the appearance of each line. In this embodiment, the existing line display unit 163 displays the first existing line C1 as a solid line and displays the second existing line C2 as a broken line. In addition, the existing line display unit 163 displays the second existing line C2 on the display device 20 at a position slightly shifted from the first existing line C1 in the left-right direction X and the up-down direction Y. This prevents the first existing line C1 and the second existing line C2 from overlapping and reducing visibility.

[0142] Even when the travel route display unit 16 is in an invalid state due to the update unit 160, the existing line display unit 163 displays the first existing line C1 and the second existing line C2 on the display device 20. As shown in Fig. 13 and Fig. 14, when the automated guided vehicle travels on the travel path D based on the task, the display line generating unit 161 generates a passing line R2 based on the address information transmitted from the automated guided vehicle. For ease of illustration, in the following description using Fig. 13 and Fig. 14, a situation is considered in which only the first existing line C1 and the passing line R2 are displayed on the display device 20. The following description also applies to the case in which the second existing line C2 is displayed on the display device 20 in addition to the first existing line C1 and the passing line R2.

[0143] When the first existing line C1 is displayed by the existing line display unit 163, the update line display unit 164 displays the passing line R2 generated by the display line generation unit 161 in a manner different from the first existing line C1. Specifically, when an unmanned guided vehicle travels along the first existing line C1, the update line display unit 164 updates the portion of the first existing line C1 where the unmanned guided vehicle has traveled to a passing line R2 in a manner different from the first existing line C1. In addition, when the unmanned guided vehicle travels in a portion different from the first existing line C1, the update line display unit 164 displays the passing line R2 in a manner different from the first existing line C1 at that portion. In other words, the update line display unit 164 displays the passing line R2 in a manner different from the first existing line C1.

[0144] FIG. 13 shows the passing line R2 when the automated guided vehicle passes the 29th address A29. FIG. 14 shows the passing line R2 when the automated guided vehicle passes the first address A1 again after performing a series of travels based on the task. The first existing line C1 is shown by a solid line, and the passing line R2 is shown by a dashed line. That is, in this embodiment, the update line display unit 164 displays the passing line R2 by a dashed line with respect to the first existing line C1 displayed by a solid line, thereby making the first existing line C1 and the passing line R2 appear different from each other. Note that the update line display unit 164 may make the first existing line C1 and the passing line R2 appear different from each other by changing the colors of the first existing line C1 and the passing line R2 on the display device 20.

[0145] As shown in FIG. 15, when the automated guided vehicle completes a series of travels based on a task, the passing line R2 generated by the display line generating unit 161 is stored in the line storage unit 42 as the third existing line C3. That is, the line storage unit 42 stores the first existing line C1, the second existing line C2, and the third existing line C3. In this case, the existing line display unit 163 displays the first to third existing lines C1 to C3 on the display device 20 in different manners. Specifically, the existing line display unit 163 displays the first existing line C1 as a solid line, the second existing line C2 as a dashed line, and the third existing line C3 as a two-dot chain line on the display device 20. In addition, the existing line display unit 163 displays the third existing line C3 at a position slightly shifted in the left-right direction X and the up-down direction Y with respect to each of the first existing line C1 and the second existing line C2.

[0146] [Effects of the fourth embodiment] The effects and operations of the fourth embodiment are described below. According to the fourth embodiment, in addition to the effects (1-1) to (1-9) described in the first embodiment and the effects (3-1) to (3-3) described in the third embodiment, the following effects can be obtained.

[0147] (4-1) For example, consider a case where a change in a task occurs in an automated guided vehicle traveling according to a set task. In this case, the operation display device 10 can display the process of changing the display from a first existing line C1 corresponding to the route before the change to a passing line R2 corresponding to the route after the change, while changing the appearance of the first existing line C1 and the passing line R2. As a result, compared to a case where the first existing line C1 and the passing line R2 are displayed in the same appearance, the operation display device 10 can make the process of changing from the first existing line C1 to the passing line R2 visually easy to grasp.

[0148] (4-2) The existing line display unit 163 displays the first to third existing lines C1 to C3 in different modes, thereby making it easier to distinguish between the lines compared to, for example, a case in which the first to third existing lines C1 to C3 are displayed in the same mode. In other words, the traffic display device 10 can display the first to third existing lines C1 to C3 on the display device 20 using the existing line display unit 163 while making it easier to distinguish between the existing lines.

[0149] (4-3) For example, consider a case where an automated guided vehicle travels based on a plurality of tasks. In this case, the traffic display device 10 can display an existing line corresponding to each task on the display device 20 by the existing line display unit 163. As a result, the traffic display device 10 can make it easy to visually grasp the total number of tasks of the automated guided vehicle and the travel route based on each task.

[0150] [Example of change] The above-described embodiments can be modified as follows: The above-described embodiments and the following modifications can be combined with each other to the extent that no technical contradiction occurs.

[0151] The traffic display device 10 does not have to be provided near the travel paths D and F. For example, the traffic display device 10 may be provided in a control room that controls the automatic guided vehicle system 100.

[0152] The automated guided vehicle system 100 may include a plurality of operation display devices 10, a plurality of display devices 20, and a plurality of input devices 30. The paths D and F may be discontinuous. In other words, the automated guided system 100 may have a plurality of paths.

[0153] The numbers of the first to third automatic guided vehicles V1 to V3 in the first embodiment and the number of the fourth automatic guided vehicle V4 in the second embodiment may be changed as appropriate. The first to fourth automated guided vehicles V1 to V4 do not have to include an address detection unit and an information transmission / reception unit. In this case, the address information is transmitted to the operation display device 10 from a transmission device provided outside the automated guided vehicles.

[0154] The operation display device 10, the display device 20, and the input device 30 may be installed in different positions. The multiple display modes displayed by the region display unit 11 may include a display mode in which none of the multiple addresses is set.

[0155] The number of display modes displayed by the partition display unit 11 is not limited to the number of the first to 25th panels P1 to P25 in the first embodiment and the number of the first to 25th points Q1 to Q25 in the second embodiment.

[0156] The display device 20 and the input device 30 may be, for example, a touch panel display. The operation display device 10 does not have to be connected to the input device 30.

[0157] In the second embodiment, the traffic display device 10 may display the travel route C together with the first to twenty-fifth points Q1 to Q25 by the travel path display unit 16. For example, the travel route C is displayed on the display screen 21 as a straight line connecting adjacent points.

[0158] In the second embodiment, the display change unit 14 may display all of the display modes in the same shape. In the second embodiment, the display change unit 14 may display points with addresses set in the same color as points with no addresses set in the same color.

[0159] The partition display unit 11 may be displayed in the road display area 22 in a display mode different from the multiple display modes in each embodiment. The display modes are not limited to those described in the above embodiments.

[0160] The display change unit 14 does not need to change the display mode corresponding to the position of the operation display device 10. The receiver 13 may be capable of receiving only the address information out of the information transmitted by the first to fourth automated guided vehicles V1 to V4.

[0161] In the first embodiment, the status display unit 15 does not have to display details of abnormalities occurring in the first to third automatic guided vehicles V1 to V3. In the second embodiment, the display change unit 14 does not need to change the display of the abnormal display mode.

[0162] The operation display device 10 does not have to be equipped with the status display unit 15. In the first embodiment, the section display unit 11 does not have to be able to display the route C. The traffic display device 10 does not have to be equipped with the route display unit 16.

[0163] The address setting unit 12 does not have to be able to delete the addresses set in each display mode. In the third embodiment, the automated guided vehicle system 100 may include an automated guided vehicle other than the fifth automated guided vehicle V5. That is, in the third embodiment, the automated guided vehicle system 100 may include a plurality of automated guided vehicles. In this case, the display line generating unit 161 generates a passing line R1 corresponding to each automated guided vehicle. The travel path display unit 16 displays a plurality of passing lines R1 on the display device 20.

[0164] In the third embodiment, the display line generating unit 161 does not have to generate the passing line R1 every time address information is received from the fifth automated guided vehicle V5. For example, the passing line R1 may be generated when the fifth automated guided vehicle V5 leaves the first address A1 and then finishes traveling along the route based on the task.

[0165] In the third embodiment, the travel path display unit 16 may delete the passing line R1 by the display line deletion unit 162 based on information other than the vehicle body information transmitted from the fifth automated guided vehicle V5. For example, the travel path display unit 16 may delete the passing line R1 by the display line deletion unit 162 based on the travel path information transmitted from the fifth automated guided vehicle V5.

[0166] In the third embodiment, the traffic display device 10 may not delete address information from the received information storage unit 41 when the display line deletion unit 162 deletes the passing line R1. In addition, the traffic display device 10 may selectively delete address information from the received information storage unit 41 when the display line deletion unit 162 deletes the passing line R1. For example, consider a situation in which a plurality of passing lines R1 are displayed on the display device 20, and the display line deletion unit 162 deletes one of the plurality of passing lines R1. If the passing line R1 deleted by the display line deletion unit 162 shares a straight line with any of the other passing lines R1 that have not been deleted, the traffic display device 10 does not delete address information related to the straight line from the received information storage unit 41.

[0167] In the third embodiment, the roadway display unit 16 does not have to include the update unit 160. In the third embodiment, the roadway display unit 16 may display the route C input from the input device 30 while displaying the passing line R1 generated by the display line generation unit 161. [Explanation of symbols]

[0168] 10...operation display device, 11...section display unit, 12...address setting unit, 13...receiving unit, 14...display change unit, 16...traveling path display unit, 20...display device, 41...received information storage unit, 42...line storage unit, 161...display line generation unit, 162...display line deletion unit, 163...existing line display unit, 164...updated line display unit, C...traveling route as a line, C1-C3...first to third existing lines as lines, F, D...traveling path, G...traveling area, P1-P25...first to twenty-fifth panels as multiple display modes, R1, R2...passing lines as lines, V1-V5...first to fifth unmanned guided vehicles as unmanned guided vehicles.

Claims

1. A traffic display device that displays information related to the traffic of an automated guided vehicle traveling on a travel path to which a plurality of addresses are set in advance, a partition display unit that divides a travel area of ​​the automated guided vehicle into a plurality of display modes and displays the divided areas on the display device; an address setting unit that sets the address on the road corresponding to the display mode, thereby setting the road; a receiving unit that receives address information related to the address detected by the automated guided vehicle traveling on the travel path from the automated guided vehicle; A traffic display device comprising: a display change unit that changes the display of the display mode that corresponds to the address information input from the receiving unit.

2. The traffic display device according to claim 1 , wherein the address setting unit is capable of deleting the address set in the display mode, and is capable of setting a new address in the display mode from which the address has been deleted.

3. The traffic display device according to claim 1 or 2, further comprising a roadway display unit that displays a line representing the roadway together with the display mode.

4. the receiving unit is capable of receiving vehicle body information related to the automated guided vehicle traveling on the travel path detected by the automated guided vehicle, and travel path information related to the travel path detected by the automated guided vehicle, The traffic display device according to claim 1 or 2, wherein the traffic display device displays the vehicle body information and the road information received by the receiving unit on the display device together with the display mode.

5. 3. The traffic display device according to claim 1, wherein the display change unit is capable of selecting, from the plurality of display modes, a display mode that corresponds to a position of the traffic display device in the traveling area, and changes the display of the selected display mode.

6. The traffic display device according to claim 1 or 2, wherein the partition display unit displays the traveling area by dividing it into the square-shaped display form.

7. The traffic display device according to claim 1 or 2, wherein the display change unit changes the display of the display mode in which the address is not set to a different display mode from the display mode in which the address is set.

8. The traffic display device according to claim 1 or 2, wherein the display change unit is capable of displaying the display mode in a plurality of different shapes.

9. a received information storage unit that stores the address information received by the receiving unit, The traffic display device according to claim 3, wherein the travel route display unit includes a display line generating unit that generates the line based on the address information stored in the received information storage unit, and the line generated by the display line generating unit is displayed on the display device.

10. The roadway display unit includes a display line deletion unit that deletes the line displayed on the display device from the display device, the receiving unit is capable of receiving vehicle body information related to the automated guided vehicle traveling on the travel path detected by the automated guided vehicle, and travel path information related to the travel path detected by the automated guided vehicle, The traffic display device according to claim 9 , wherein the display line deletion unit deletes the lines based on at least one of the vehicle body information and the road information.

11. a line storage unit that stores the line; The road display unit includes: a previously-completed-line display unit that displays the line stored in the line storage unit on the display device; The traffic display device according to claim 9, further comprising an update line display unit that displays the line generated by the display line generation unit in a manner different from the existing line displayed by the existing line display unit when the existing line is displayed by the existing line display unit.

12. The traffic display device according to claim 11, wherein when a plurality of the lines are stored in the line memory unit, the existing line display unit displays the plurality of the lines on the display unit while changing the appearance of each of the lines.

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