Control system of conveyance machine, control method of conveyance machine, and conveyance machine

Abstract

To provide a control system of a conveyance machine that operates to convey an object in the event that receiving is imperfect, such as, that a conveyance machine which is remotely or autonomously controlled cannot receive a radio wave, that a radio wave is received but a message is broken and unreadable, or that the conveyance machine cannot act unless an action can be identified from the message.SOLUTION: A control system of a conveyance machine includes discrimination means that discriminates a receiving condition of control information sent to a first conveyance machine which retains an object and moves, progress grasping means that grasps a progress where the first conveyance machine retains the object and moves, determination means that determines a first action of the first conveyance machine according to a result of discrimination of the receiving condition and the progress, and control means that transmits control information for use in carrying out the first action.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a control system for a conveying machine, a control method for a conveying machine, and a conveying machine. [Background technology]

[0002] Autonomous or remotely controlled transport vehicles are being introduced to work sites. The transport vehicles are connected to a network, receive information via the network, and operate based on the received information. This makes it possible for transport vehicles to operate even without an operator on board.

[0003] Patent Document 1 discloses a remote control system equipped with a wireless remote control device and a motion control device. The motion control device measures and stores the position and attitude of a hydraulic excavator. When radio waves transmitted from the wireless remote control device cannot be received, the attitude of the hydraulic excavator is returned to the point at which radio waves were received based on the stored position and attitude record information. As a result, when radio waves are interrupted due to a change in the attitude of the hydraulic excavator, communication can be efficiently restored simply by returning the excavator to its original attitude. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2015-191249 A Summary of the Invention [Problem to be solved by the invention]

[0005] In a conveying machine that operates based on information collected from outside the machine, if the machine does not receive appropriate information for some reason, the machine often stops operating to avoid risks. For example, the remote control system described in Patent Document 1 stops when the conveying machine cannot receive radio waves, and is unable to convey objects. Stopping operation reduces work efficiency and may affect business operations. Therefore, the purpose of the present disclosure is to provide a conveying machine control system that allows a remotely or autonomously controlled conveying machine to continue conveying. [Means for solving the problem]

[0006] The control system for the conveyor according to the present disclosure includes: A determination means for determining a reception state of control information transmitted to a first transport device that moves while holding an object; a progress monitoring means for monitoring the progress of the first conveyor while holding and moving the object; A determination means for determining a first operation of the first conveying machine according to the result of the determination of the reception state and the progress; A control means for transmitting control information for executing the first operation; The control system for a conveyor includes:

[0007] The control method for a conveying machine according to the present disclosure includes: Determining a reception state of control information transmitted to the first transport vehicle; grasping the progress of the first conveyor in holding and conveying the object; determining a first operation of the first conveyor according to the result of the determination of the reception state and the progress; A method for controlling a transport machine includes transmitting control information for executing the first operation.

[0008] The conveying machine of the present disclosure includes: A determination means for determining a reception state of control information transmitted from a control device; A progress monitoring means for monitoring the progress of holding and transporting the object; A determination means for determining a first operation according to the result of the determination of the reception state and the progress; A control means for identifying control information for executing the first operation; The transport device is provided with: Effect of the Invention

[0009] The present disclosure provides a control system for a conveyor that allows a remotely or autonomously controlled conveyor to continue conveying. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a block diagram showing a configuration of a control system for a first conveyor of the present disclosure. [Diagram 2] 4 is a flowchart of a control method for a conveyor according to the present disclosure. [Diagram 3] 1 is a block diagram showing a configuration of a conveying machine according to the present disclosure. [Figure 4] 1 is a schematic diagram showing a configuration of a control system for a conveyor according to the present disclosure. [Diagram 5] 4 is a flowchart of a control method of a control device used in the control system of the conveyor of the present disclosure. [Figure 6] 1 is a block diagram showing a configuration of an information processing device according to the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Embodiment Hereinafter, an embodiment of the present invention will be described with reference to the drawings. However, the invention according to the claims is not limited to the following embodiment. Furthermore, not all of the configurations described in the embodiment are necessarily essential as means for solving the problem. For clarity of explanation, the following description and drawings are omitted and simplified as appropriate. In each drawing, the same elements are given the same reference numerals, and repeated explanations are omitted as necessary.

[0012] (Description of a conveyor control system according to an embodiment) Fig. 1 is a block diagram showing the configuration of a control system for a first conveyor according to the present disclosure. Hereinafter, the control system for a first conveyor according to the present disclosure will be described with reference to Fig. 1. The control system for a conveyor 100 is a system that controls, for example, a forklift, an Automated Guided Vehicle (AGV), an Autonomous Mobile Robot (AMR), a heavy construction machine, a heavy machine, or a drone that operates remotely or autonomously.

[0013] As shown in FIG. 1, the control system 100 of the conveyor includes a determination unit 101, a progress grasping unit 102, a decision unit 103, and a control unit 104.

[0014] The first conveying machine is a device that holds and moves an object. The first conveying machine is, for example, but not limited to, a forklift, an AGV (Automated Guided Vehicle), an autonomous mobile robot (AMR), a heavy construction machine, or a drone. The conveying machine operates autonomously or by remote control. The first conveying machine includes a communication device and communicates, for example, by 5G (5th Generation), local 5G, WiFi (registered trademark), LTE (Long Term Evolution), or 4G (4th Generation). The first conveying machine receives control information using the communication device.

[0015] The object is an object to be transported by the conveyor, and may be, but is not limited to, luggage placed on a pallet, goods or products to be transported, parts, meals placed on dishes, dirt, wood, mail, etc. It is not limited to being placed on a pallet, and may be something packed in a box or container. The object is something that needs to be moved from one place to another. Therefore, the first conveyor moves while holding the object.

[0016] The determination means 101 determines the reception state of the control information received by the transport machine. The reception state is the state of the control information received by the transport machine, and is determined by the presence or absence of communication disconnection, the disconnection time, the packet loss rate, and the communication delay, etc. For example, the reception state may be determined by the stoppage or delay of the video distribution sent from the first transport machine, or the deterioration of the video quality. Furthermore, the reception state may be determined to be poor when reception is incomplete, for example, when the message cannot be displayed or specified correctly due to corruption or loss of the received message data, or when the operation cannot be specified from the message and the operation cannot be performed.

[0017] The progress ascertaining means 102 ascertains the progress of the first conveyance machine moving while holding an object. For example, the progress ascertaining means 102 ascertains which object the first conveyance machine is holding and where it is moving. Therefore, for example, the progress ascertaining means 102 can be used to search for a space near the first conveyance machine in a warehouse. A nearby space refers to, for example, a space that the first conveyance machine can move through with the shortest moving distance, a space that the first conveyance machine can move through within a specified time, or a space that the first conveyance machine can move through at a specified cost (a general term for objects consumed by the operation of the conveyance machine, such as fuel and electricity).

[0018] The determination means 103 determines a first operation of the first conveying machine according to the result of the determination of the reception state and the progress. The first operation is an operation performed by the first conveying machine to continue the conveying of the object. Alternatively, the first operation is to safely stop the operation of the first conveying machine.

[0019] For example, when it is determined that the reception state is poor, the determination means 103 determines a first operation of moving the first conveying machine to a nearby space. The reception state determination result is, for example, a result of determining whether the reception state is so poor that autonomous or remote control is not possible. For example, events that determine that the reception state is poor include when communication between the conveying device and another device is cut off, or when the radio wave intensity becomes equal to or lower than a predetermined value. The progress is the progress of the conveying machine conveying an object. For example, the progress is information indicating how much of the operation of the conveying machine moving an object from the conveying source to the conveying destination has been completed, and may indicate a process of a predetermined flow, or may be expressed numerically as a progress rate.

[0020] The first operation is, for example, an operation in which the first transport vehicle moves to a place with space so that another transport vehicle can hold an object. The space is an area in which the object held by the first transport vehicle can be placed, and is an area in which there are no other objects or transport vehicles in a space larger than the area or volume of the object. The first operation causes the object held by the first transport vehicle to be handed over to the other transport vehicle.

[0021] The first operation is, for example, that the first conveyor stops at the stop position and places the object in a position that is easy for the second conveyor to hold. The first operation is, for example, that the pallet is placed so that the object can be easily handed over. By determining the absolute axis in the warehouse, the angle at which the object is easy to pick up can be determined in advance according to the structure of the first and second conveyors. For example, if the object is an object placed on a pallet, the angle at which the conveyor can easily insert an instrument into the hole in the pallet is identified, and the object is placed according to the path (entry direction) that the second conveyor will take to the stop position. By determining the first operation in this way, taking the second conveyor into consideration, it becomes possible to smoothly hand over the object to the second conveyor and continue the transportation.

[0022] Moreover, the first action is, for example, placing an object in an empty area that is not scheduled for use by the first conveyor. The first action moves the held object to an appropriate location. Empty areas that are not scheduled for use include empty shelves, spaces beside aisles, and other places for storing objects. Empty areas that are not scheduled for use are identified by referring to a database and a map, or from camera footage. This first action is taken, for example, when another conveyor cannot be found but a place where it seems possible to retreat is found, and the second conveyor is able to find it and place the object on the shelf to hand it over.

[0023] The first action is, for example, to hold the object as it is and stop the operation of the first conveyor. This first action is performed when the safety of the surroundings cannot be ensured, for example, because the distance to the space is far or the surrounding image cannot be acquired.

[0024] Also, when the object is not being held, the first action is to select an evacuation location and move thereto. The decision means 103 may decide the first action according to the handling of the object. For example, the decision means 103 may decide the first action according to whether the object is refrigerated and needs to be transported immediately. Also, the decision means 103 may decide the first action according to the fragility of the object. If the object is fragile, the object may be broken by handover. Therefore, if the object is fragile, for example, the first action is to stop while holding the object or to store the object in a specific location. Also, the decision means 103 may decide the first action according to the priority, the level of importance, and the like. If the priority of transporting the object or the importance of the object in the business is high, it is necessary to immediately hand over, so for example, the first action is to place the object in a location that is easy to hand over to the second transporter. By deciding the first action according to the object in this way, flexible transport according to the circumstances of the object can be performed.

[0025] The control means 104 transmits control information for executing the first operation. The control means 104 may be in the first conveyor or in the control device. When the control means 104 is in the first conveyor, it is also referred to as specifying the control information. The control information is information on the operation such as the priority of the conveyor, the importance of the object to the business, whether the object is fragile or refrigerated, location information and identification information of the conveyor origin and destination, the speed of the conveyor, specific tire movements, the conveyor route, and the operation schedule.

[0026] Some or all of the judgment means 101, progress grasping means 102, decision means 103, and control means 104 may be included in the control device or in the first conveyor.

[0027] The above configuration provides a control system for a conveyor that enables a remotely or autonomously controlled conveyor to continue conveying.

[0028] (Description of a method for controlling a conveyor according to an embodiment) 2 is a flowchart of a control method for a conveyor according to the present disclosure. The control method for a conveyor according to the present disclosure will be described below with reference to FIG.

[0029] As shown in FIG. 2, first, the reception state is determined (step 201). The reception state is the reception state of the control information transmitted to the first conveyance machine as described above. Next, the progress of the conveyance is grasped (step S202). The conveyance machine control system 100 grasps the progress of the first conveyance machine holding and conveying the object. Next, the first operation is determined (step S203). Depending on the determination result of the reception state and the progress, the conveyance machine control system 100 determines the first operation. Next, the control information is transmitted (step S204). The conveyance machine control system 100 transmits the control information for executing the first operation.

[0030] The above-described configuration provides a method for controlling a conveying machine, which is remotely or autonomously controlled, to continue conveying.

[0031] (Description of a conveyor according to an embodiment) Fig. 3 is a block diagram showing the configuration of a conveying machine according to the present disclosure. Hereinafter, the conveying machine according to the present disclosure will be described with reference to Fig. 3. The conveying machine 300 is a forklift, an Automated Guided Vehicle (AGV), an Autonomous Mobile Robot (AMR), a heavy construction machine, a drone, or the like that operates remotely or autonomously.

[0032] As shown in FIG. 3, the conveying machine 300 according to the embodiment includes a determination unit 301, a progress grasping unit 302, a decision unit 303, and a control unit 304.

[0033] The determining means 301 determines the reception state of the control information transmitted from the control device. The determining means 301 is the same as the determining means 101 of the control system 100 of the transport machine described above.

[0034] The progress ascertaining means 302 ascertains the progress of holding and transporting the object. The progress ascertaining means 302 is the same as the progress ascertaining means 102 of the control system 100 for the transport machine described above.

[0035] The determination means 303 determines the first operation in accordance with the determination result of the reception state and the progress. The determination means 303 is the same as the determination means 103 of the control system 100 of the transport machine described above.

[0036] The control means 304 specifies control information for executing the first operation. The control means 304 is the same as the control means 304 of the control system 100 of the conveyor described above.

[0037] The above configuration provides a conveying machine that is remotely or autonomously controlled to continue conveying.

[0038] (Description of the Control System and Control Method for a Conveyor Machine According to the First Embodiment) Fig. 4 is a schematic diagram showing the configuration of the conveyor control system of the present disclosure. Fig. 5 is a flowchart of a control method of a control device used in the conveyor control system of the present disclosure. Hereinafter, the conveyor control system of the present disclosure will be described with reference to Figs. 4 and 5. The conveyor control system 400 is, for example, a system that controls a forklift that operates remotely or autonomously.

[0039] In the first embodiment, the handover of an object from a first conveyor to a second conveyor will be described in more detail than in the embodiment. In addition, a conveyor control system 400 includes a control device 402 in addition to a first conveyor 401. As shown in Fig. 4, the conveyor control system 400 includes a first conveyor 401, a control device 402, and a storage unit 403. The first conveyor 401 is the same as the first conveyor according to the embodiment, and therefore a description thereof will be omitted.

[0040] Here, it is assumed that communication is interrupted between the remote operator and the control device 402. The operation is not limited to being performed by a person, but may be performed by AI or a cloud server.

[0041] The control device 402 includes a communication determination unit 404, an operation determination unit 405, and a control unit 406. The operation determination unit 405 further includes an object correspondence determination unit 407, a handover correspondence determination unit 408, and a selection unit 409. The control device 402 may be included in the first conveyor 401, or may be located in another location.

[0042] The communication determination unit 404 determines that the reception state between the remote operator and the control device 402 has deteriorated. The communication determination unit 404 is the same as the determination means 101 in the embodiment, and therefore a description thereof will be omitted. Also, the control unit 406 is the same as the control means 104 in the embodiment, and therefore a description thereof will be omitted.

[0043] As shown in FIG. 5, the communication determination unit 404 determines whether or not there is a possibility of recovery (step S501). If there is a possibility of recovery (YES in step S501), the remote control is continued (step S502). The possibility of recovery is determined by determining whether communication between the control device and the first conveyance machine can be continued. For example, if communication between the control device and the first conveyance machine is interrupted and control information cannot be received even after a predetermined time has passed, or if an error message or an emergency message notifying that communication is impossible is received, it is determined that there is no possibility of recovery. The predetermined time may be determined by an operation manager at the site where the conveyance system operates, or may be a value calculated by the conveyance system from the time required for past recovery.

[0044] When it is determined that there is no hope of recovery (NO in step S501), such as when a time (60 seconds, etc.) set by the operation manager has elapsed, the object correspondence determining unit 407 determines whether the first conveyor 401 is holding an object (step S503). The method by which the object correspondence determining unit 407 determines whether an object is being conveyed may be, for example, by using a sensor mounted on the first conveyor 401 to determine whether an object is being held, or by referring to control information, but is not limited to a predetermined determination method.

[0045] If the object is being held (YES in step S503), the object correspondence determination unit 407 determines whether to hand over the transportation of the object to the following forklift (step S504). The first transport machine determines to take over if the second transport machine is nearby, for example, as seen on a camera. The first transport machine also determines to take over if, for example, the cargo being transported is refrigerated or has a high priority.

[0046] If the object is to be taken over (YES in step S504), the takeover handling determination unit 408 considers a takeover method (step S505).Then, the takeover handling determination unit 408 issues an instruction to implement the takeover method (step S506).

[0047] If the forklift is not holding an object (NO in step S503), if the forklift is not to be handed over to the succeeding forklift (NO in step S504), or if the handover operation has ended (after step S506), the following step is executed. The handover response determination unit 408 acquires the surrounding storage situation and space map information from the memory unit 403, and considers a place where the forklift can retreat to in order to stop (step S507).

[0048] Finally, the first transport device 401, which has received the instruction to move to the evacuation site from the control unit 406, stops operating at the evacuation site (step S508).

[0049] In step S505, the selection unit 409, which selects a forklift as a second conveying machine to take over the object, extracts conveying machines that are in a state where they can be conveyed from among the conveying machines operating in the area where the conveying machine is operating (such as a warehouse or a hangar where the conveying machine is traveling) as candidates for the second conveying machine. For example, the selection unit 409 extracts conveying machines that are not holding an object or that will soon finish conveying as candidates for the second conveying machine. By extracting in this way, the first conveying machine can quickly execute the handover of the object. In addition, the selection unit 409 extracts conveying machines that can receive control information, can operate autonomously, or have a passenger on board as candidates for the second conveying machine. By extracting in this way, it is possible to exclude conveying machines that are in a state where they cannot communicate with the remote operator like the conveying machine. In addition, the selection unit 409 extracts conveying machines with sufficient remaining battery power as candidates for the second conveying machine. By extracting in this way, it is possible to increase the possibility that the conveying machine can continue to carry out the conveying after taking over the object. The extraction conditions described in the present application may be executed individually or in combination of a plurality of conditions. The selection unit 409 selects the second conveying machine from the extracted candidates for the second conveying machine.

[0050] As a modification of the first embodiment, the first conveying machine 401 may select the second conveying machine. For example, the second conveying machine is a conveying machine that is close to the first conveying machine 401, that is captured by an imaging device of the first conveying machine 401, or that is within a predetermined radius of the first conveying machine 401. The suitability of the second conveying machine may be determined by viewing a lamp or a QR code (registered trademark) from the imaging device of the conveying machine. A conveying machine that is within the predetermined radius may be searched for by sending a signal using a communication method different from the communication that was interrupted, such as communication by Bluetooth (registered trademark).

[0051] In addition, when a database installed in the area where the first conveying machine 401 travels or mounted on the first conveying machine 401 or the storage unit 403 of the management device can be referenced, the second conveying machine stored therein may be selected. In this way, it becomes possible for the first conveying machine 401 to select, as the second conveying machine, a conveying machine that cannot be captured by the imaging device or a conveying machine that has not been previously stored by the first conveying machine.

[0052] In addition, in order not to change the transport conditions, it is preferable that the second transport device to be selected has specifications close to those of the first transport device 401. This makes it possible to reduce the influence on the object caused by changing the transport device.

[0053] The takeover method (step S506) is performed by the first conveying machine 401 performing the first operation shown in the embodiment and the second conveying machine performing the second operation. The second operation is an operation in which the second conveying machine comes to pick up the object to take over. That is, the takeover method (step S506) is performed by the first conveying machine placing the object in the surrounding space or storing the object on a shelf, and the second conveying machine coming to pick up the object. The determination means 103 of the conveying machine control system 100 according to the embodiment may determine the operation of coming to pick up the object, which is the second operation performed by the second conveying machine to continue transporting the object.

[0054] The evacuation location may be set in advance by an operation manager, or may be determined by a camera mounted on the transport vehicle. The evacuation location may also be the position (initial position) where the first transport vehicle 401 starts operation. For example, it may be the location where the first transport vehicle 401 was located at a predetermined time, or a position set as a charging, refueling, or standby position. For example, the first transport vehicle 401 may recognize the surrounding space with a camera of the first transport vehicle 401 and retreat to that space.

[0055] The above configuration provides a forklift control system that can transport objects such as pallets when a remotely or autonomously controlled forklift is unable to receive radio signals.

[0056] In addition, a part or all of the processes in the above-mentioned conveyor control system 100, conveyor 300, and control device 402 can be realized as a computer program. Such a program can be stored using various types of non-transitory computer-readable media and supplied to a computer. The non-transitory computer-readable medium includes various types of tangible recording media. Examples of the non-transitory computer-readable medium include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be supplied to a computer by various types of temporary computer-readable media. Examples of the temporary computer-readable medium include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can supply the program to a computer via a wired communication path such as an electric wire and an optical fiber, or via a wireless communication path.

[0057] The above-mentioned conveyor control system 100, conveyor 300, and control device 402 include an information processing device 600. As shown in Fig. 6, the information processing device 600 includes a memory 601 that stores a program, and a processor 602, such as a CPU (Central Processing Unit), that executes the program and performs processing. The information processing device 600 may be configured as one device or multiple devices. The information processing device 600 may be a cloud server in which some or all of the functions are distributed.

[0058] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-mentioned embodiments. The configuration and details of the present disclosure may be modified in various ways that can be understood by a person skilled in the art within the scope of the present disclosure. For example, the determination of the communication determination unit 404 may be based on a high packet loss rate or a stop of video distribution, not limited to a disconnection of communication. The first conveyor 401 is not limited to a forklift, but may be a towing vehicle, a drone, a restaurant conveyor robot, an AGV, a heavy construction machine, etc. In addition, it is not limited to transportation in a warehouse, but may also be used to transport meals in a restaurant, soil at a construction site, and poles in a material storage area. Each embodiment may be appropriately combined with other embodiments.

[0059] A part or all of the above-described embodiments can be described as follows, but is not limited to the following. (Appendix 1) A determination means for determining a reception state of control information transmitted to a first transport device that moves while holding an object; a progress monitoring means for monitoring the progress of the first conveyor while holding and moving the object; A determination means for determining a first operation of the first conveying machine according to the result of the determination of the reception state and the progress; A control means for transmitting control information for executing the first operation; A control system for a conveyor comprising: (Appendix 2) The control system for a conveying machine according to claim 1, further comprising: a determining means for determining the first operation in accordance with the object. (Appendix 3) a selection means for selecting a second conveyor that holds and moves the object; The control system for a conveyor as described in Appendix 1, wherein the determination means determines a second action to be performed by the second conveyor to continue holding and moving the object. (Appendix 4) 4. The control system for a conveyor as described in Appendix 3, wherein the first action is an action for placing the object in a position where the second conveyor can easily hold the object. (Appendix 5) 4. The control system for a conveyor as described in Appendix 3, wherein the first action is to place the object in an open area around the conveyor. (Appendix 6) The conveying machine control system according to claim 3, wherein the selection means selects a conveying machine that is in a state capable of conveying from among operating conveying machines as the second conveying machine. (Appendix 7) The selection means is Whether the object is not being held or will soon be terminated; Whether or not it is receiving control information, can operate autonomously, or has a passenger on board; A control system for a conveyor as described in appendix 3, which extracts a conveyor that is in a state where it can convey while taking into consideration whether or not a sufficient battery charge is secured. (Appendix 8) The selection means is The distance to the conveyor is short, or or Sending a signal to other vehicles within a predetermined radius of said vehicle; The conveyor control system according to claim 3, wherein the other conveyor is selected by the above. (Appendix 9) The conveyor control system according to claim 1, wherein the determination means determines the reception state based on a disconnection of communication, a communication loss rate, or a stop of video distribution. (Appendix 10) The control system for a conveyor according to claim 1, wherein the conveyor is a forklift, an AGV, a heavy machine, or a drone. (Appendix 11) Determining a reception state of control information transmitted to the first transport vehicle; grasping the progress of the first conveyor in holding and conveying the object; determining a first operation of the first conveyor according to the result of the determination of the reception state and the progress; A method for controlling a transport machine, the method comprising: transmitting control information for executing the first operation. (Appendix 12) The method for controlling a conveyor according to claim 11, further comprising determining the first operation in accordance with the object. (Appendix 13) Select the second conveyor, A method for controlling a conveying machine as described in Appendix 12, further comprising determining a second action to be performed by the second conveying machine to continue holding and moving the object. (Appendix 14) 14. The method for controlling a conveying machine described in claim 13, wherein the first action is an action for placing the object in a position where the second conveying machine can easily hold the object. (Appendix 15) 14. The method of controlling a conveyor according to claim 13, wherein the first action places the object in an empty area not scheduled for use by the first conveyor. (Appendix 16) The method for controlling a conveying machine described in Appendix 13, wherein the selection comprises selecting a conveying machine that is in a state capable of conveying from among the conveying machines that are in operation as the second conveying machine. (Appendix 17) Whether the object is not being held or will soon be terminated; Whether or not it is receiving control information, can operate autonomously, or has a passenger on board; A method for controlling a conveying device as described in Appendix 13, in which a conveying device that is in a state where it can convey data is extracted while taking into consideration whether or not a sufficient battery charge is secured. (Appendix 18) The distance to the conveyor is short, or or Sending a signal to other vehicles within a predetermined radius of said vehicle; The method for controlling a conveying machine described in Appendix 13, further comprising the step of selecting the second conveying machine by: (Appendix 19) The method for controlling a conveying machine according to claim 11, wherein the determination is based on a disconnection of communication, a communication loss rate, or a stoppage of video distribution. (Appendix 20) The method for controlling a conveying machine described in Appendix 11, wherein the conveying machine is a forklift, an AGV, a heavy machine, or a drone. (Appendix 21) A determination means for determining a reception state of control information transmitted from a control device; A progress monitoring means for monitoring the progress of holding and transporting the object; A determination means for determining a first operation according to the result of the determination of the reception state and the progress; A control means for identifying control information for executing the first operation; A conveyor for holding and moving an object. (Appendix 22) 22. The conveying device according to claim 21, further comprising: a determining means for determining the first operation in accordance with the object. (Appendix 23) a selection means for selecting a second conveyor that holds and moves the object; 22. The conveying machine of claim 21, wherein the determination means determines a second action to be performed by the second conveying machine to continue holding and moving the object. (Appendix 24) 22. The conveying device of claim 21, wherein the first action is an action for placing the object in a position where a second conveying device can easily hold the object. (Appendix 25) 22. The transport vehicle of claim 21, wherein the first action places the object in an open area not scheduled for use by the first transport vehicle. (Appendix 26) The conveying machine according to claim 21, wherein the determination means determines the reception state based on a disconnection of communication, a communication loss rate, or a stop of video distribution. (Appendix 27) The conveying machine according to claim 21, wherein the conveying machine is a forklift, an AGV, a heavy machine, or a drone. [Explanation of symbols]

[0060] 100 conveyor control system, 101 judgment means, 102 progress grasping means, 103 decision means, 104 control means, 300 conveyor, 301 judgment means, 302 progress grasping means, 303 decision means, 304 control means, 400 conveyor control system, 401 first conveyor, 402 control device, 403 storage unit, 404 communication judgment unit, 405 operation determination unit, 406 control unit, 407 object correspondence determination unit, 408 takeover correspondence determination unit, 600 information processing device, 601 memory, 602 processor

Claims

1. a determination means for determining a reception state of control information transmitted to a first transport machine that moves while holding an object; a progress monitoring means for monitoring the progress of the first conveyor while holding and moving the object; A determination means for determining a first operation of the first conveying machine according to the determination result of the reception state and the progress; A control means for transmitting control information for executing the first operation; A control system for a conveyor comprising:

2. The control system for a conveyor according to claim 1 , wherein the determining means determines the first motion in accordance with the object.

3. a selection means for selecting a second conveyor that holds and moves the object; The control system for a transport vehicle according to claim 1 , wherein the determining means determines a second action to be taken by the second transport vehicle to continue holding and moving the object.

4. 4. The control system for a transport device according to claim 3, wherein the first action is an action for placing the object in a position where the second transport device can easily hold the object.

5. The control system for a transport vehicle according to claim 3 , wherein the first action places the object in an open area not scheduled for use by the first transport vehicle.

6. 4. The conveyor control system according to claim 3, wherein the selection means selects, from among operating conveyors, a conveyor that is in a state capable of conveying as the second conveyor.

7. The conveyor control system according to claim 1 , wherein the determining means determines the reception state in response to a disconnection of communication, a communication loss rate, or a stop of video distribution.

8. Determining a reception state of control information transmitted to the first transport unit; grasping the progress of the first conveyor in holding and conveying the object; determining a first operation of the first conveyor according to the result of the determination of the reception state and the progress; A method for controlling a transport machine, the method comprising: transmitting control information for executing the first operation.

9. The method for controlling a transport machine according to claim 8 , further comprising determining the first operation in response to the object.

10. Select a second transport; The method of claim 9 , further comprising determining a second action to be taken by the second transport device to continue holding and moving the object.

11. The method for controlling a transport vehicle according to claim 10 , wherein the first action is an action for placing the object at a position where the second transport vehicle can easily hold the object.

12. The method of controlling a transport vehicle according to claim 10 , wherein the first action places the object in an empty area not scheduled for use by the first transport vehicle.

13. The method for controlling a conveying machine according to claim 10, wherein the selection comprises selecting, from among the conveying machines in operation, a conveying machine that is in a state capable of conveying as the second conveying machine.

14. The method for controlling a conveying machine according to claim 8 , wherein the determination is made on the basis of a disconnection of communication, a communication loss rate, or a stop of video distribution.

15. A determination means for determining a reception state of control information transmitted from a control device; A progress monitoring means for monitoring the progress of holding and transporting the object; a determination means for determining a first operation in accordance with the result of the determination of the reception state and the progress; A control means for identifying control information for executing the first operation; A conveyor for holding and moving an object.

16. The transport vehicle according to claim 15 , wherein the determining means further determines the first movement in response to the object.

17. a selection means for selecting a second conveyor that holds and moves the object; The transport of claim 15 , wherein the determining means determines a second action to be taken by the second transport to continue holding and moving the object.

18. 16. The transport of claim 15, wherein the first action is to place the object in a position where a second transport can easily hold the object.

19. The transport of claim 15 , wherein the first action places the object in an open area not scheduled for use by the first transport.

20. The transport machine according to claim 15, wherein the determining means determines the reception state based on a disconnection of communication, a communication loss rate, or a stop of video distribution.

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