Transfer robot management device, transfer robot management method, and transfer robot management program

Abstract

To provide a transfer robot management device capable of selecting a route shortening an arrival time of an AGV having high priority while reducing a risk of contact with other AGVs.SOLUTION: A transfer robot management device comprises: an AGV information database having AGV information stored therein; a map information database having map information such as a congestion degree estimated based on the current position of an AGV and a transfer area of the AGV stored therein; an operation planning part which determines an AGV to be used for transferring on the basis of at least one of order information based on an order list acquired from an external system, the AGV information and the map information, and determines a destination to which the determined AGV is moved; a priority determination part determining the priority of the determined AGV on the basis of at least one of the AGV information, the order information, station information, and merchandise information; a travel route determination part determining a travel route of the determined AGV up to the destination based on the priority and the congestion degree; and a transmission part transmitting a travel route information including the travel route to the determined AGV.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] An embodiment of the present invention relates to a transport robot management device, a transport robot management method, and a transport robot management program. [Background technology]

[0002] Transport robot systems installed in warehouses and other locations are required to transport shelves on which products are stored as quickly and safely as possible. In order to avoid collisions with other automated guided vehicles (AGVs), transport robot systems may perform emergency stops that are not scheduled in advance. When an emergency stop occurs, there is a risk that the shelves will collapse or that transport will be delayed.

[0003] For example, Patent Document 1 discloses a technique for providing a driving control system that enables a transport vehicle to travel more safely.

[0004] It is also possible to determine the priority of shelves based on factors such as the risk of the shelves collapsing, and then change the travel route of the AGV transporting the shelves according to the priority. In such cases, the priority of shelves is first determined based on the stored product information. Next, if the shelf instructed to be transported has a high priority, the travel route of the AGV is set to pass through the priority aisle. At this time, if the priority of the shelf being transported is low, the travel route is set to avoid the priority aisle. By dividing the travel route of the AGV according to the priority of the shelf, it is possible to reduce the risk that an AGV transporting a high-priority shelf will come into close contact with other AGVs. This can reduce the possibility of transport being delayed or the shelf collapsing. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2020-166737 A Summary of the Invention [Problem to be solved by the invention]

[0006] When goods are frequently moved in and out of the warehouse, the number of AGVs required to transport the shelves storing the goods increases. When the number of AGVs increases, if the location of the priority aisle is not set appropriately, the AGVs will become congested around the priority aisle. In addition, when AGVs become congested, there is an increase in the number of times that AGVs have to temporarily stop to avoid collisions, which leads to a decrease in the AGV transport speed.

[0007] This invention was made in light of the above-mentioned circumstances, and its purpose is to provide a technology that enables a high-priority AGV to select a route that shortens the arrival time while reducing the risk of contact with other AGVs.

[0008] Furthermore, an object of the present invention is to provide a technology that can generate a route that shortens travel time by taking into account the risk of delays in arrival at the destination due to congestion and the arrival time if no delays occur, by taking into account the cost of the travel route in addition to the priority and congestion level of the AGV. [Means for solving the problem]

[0009] The transport robot management device according to the embodiment includes an AGV information database that stores AGV information including the current position of the automated guided vehicle (AGV); a map information database that stores map information including a congestion degree estimated based on the current position of the AGV and a transport area in which the AGV can travel; an operation planning unit that determines an AGV to be used for transport based on an order list obtained from an external system, the AGV information, and the map information, and determines a destination to which the determined AGV should move; a priority determination unit that determines a priority of the determined AGV based on at least one of the AGV information, the order information, station information including the work status at the station, and product information including the weight, dimensions, and handling importance of the product; a travel route determination unit that determines a travel route of the determined AGV to the destination based on the priority and the congestion degree; and a transmission unit that transmits travel route information including the travel route to the determined AGV. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram conceptually illustrating an example of the configuration of a transfer robot system according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of the transport robot management device and the warehouse management device. [Diagram 3] FIG. 3 is a diagram illustrating an example of a hardware configuration of an AGV. [Figure 4] FIG. 4 is a diagram illustrating an example of a software configuration of the transport robot management apparatus. [Diagram 5] FIG. 5 is a diagram showing an example of various data stored in the order information database. [Figure 6] FIG. 6 is a diagram showing an example of data when the map information database stores map information in a table format. [Figure 7] FIG. 7 is a diagram showing an example of priority information stored in the priority information database. [Figure 8] FIG. 8 is a diagram showing an example of AGV information stored in the AGV information database. [Figure 9] FIG. 9 is a diagram showing an example of shelf information stored in the shelf information database. [Figure 10] FIG. 10 is a diagram showing an example of product information stored in the product information database. [Figure 11] FIG. 11 is a diagram showing an example of station information stored in the station information database. [Figure 12] FIG. 12 is a flowchart illustrating an example of a congestion degree estimation operation performed by the transport robot management device according to the embodiment. [Figure 13] FIG. 13 is a diagram showing an example of the congestion degree estimated based on the position information. [Figure 14] FIG. 14 is a flowchart for explaining an example of an operation of determining a travel route of an AGV by the transport robot management device according to the embodiment. [Figure 15] FIG. 15 is a flowchart showing an example of a more detailed operation of step ST204. [Figure 16] FIG. 16 is a diagram illustrating an example of information stored in the priority information database. [Figure 17] FIG. 17 is a flowchart showing an example of the further detailed operation of step ST207. [Figure 18] FIG. 18 is a diagram showing an example of calculating the total value of the congestion degree of a planned route. [Figure 19] FIG. 19 is a diagram showing an example of the effect of this embodiment. [Figure 20] FIG. 20 is a flowchart showing an example of a method for re-planning a movement route of an AGV. [Figure 21] FIG. 21 is a flowchart for explaining an example of a travel route determination operation of an AGV according to a modified example of the embodiment. [Figure 22] FIG. 22 is a diagram showing an example of a case where the modified example of the embodiment is applied. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The transport robot management device, the transport robot management method, and the transport robot management program will be described in detail below with reference to the drawings. In the following embodiments, the parts with the same numbers perform the same operations, and the repeated description will be omitted. For example, when there are multiple identical or similar elements, a common symbol may be used to describe each element without distinguishing between them, and a subnumber may be used in addition to the common symbol to describe each element with distinction between them.

[0012] In the following description, the description A or B means at least one of A or B, and A, B, or C means at least one of A, B, or C. Furthermore, the description A and B also means at least one of A and B, and A, B, and C mean at least one of A, B, and C.

[0013] Furthermore, the products described in this embodiment include not only products intended for sale, but also products that can be used for any purpose, that is, articles.

[0014] [Embodiment] (composition) First, a transport robot system according to an embodiment is a system included in a logistics system installed in a logistics center or a warehouse, and is a system for managing a robot that transports shelves arranged in a warehouse to a picking station. The transport robot system transports the shelves to a picking station (PS) using an automated guided vehicle (AGV). In the picking station, the transport robot system performs a picking task in which a worker or a picking robot picks products from the shelves and sorts the picked products into designated trays.

[0015] FIG. 1 is a diagram conceptually illustrating an example of the configuration of a transfer robot system 100 according to an embodiment. As shown in FIG. 1, a transport robot system 100 includes a transport robot management device 1, a warehouse management device 2, an AGV 3, a shelf 30, a shelf storage area 40, a transport area 50, a picking station 60, and the like.

[0016] The transport robot management device 1 can be realized by one or more computers. The transport robot management device 1 communicates with the AGV 3 and the warehouse management device 2, and manages the AGV 3, which is a transport robot. For example, the transport robot management device 1 may be equipped with a warehouse control system (WCS). 1, a device having a warehouse execution system (WES) may be provided between the transport robot management device 1 and the warehouse management device 2. The device may perform some or all of the functions performed by the transport robot management device 1 in the following description.

[0017] The transport robot management device 1 issues a picking instruction to the AGV 3 based on an order list received from a warehouse management device 2 described later, and causes the AGV 3 to transport the necessary shelves 30 to each picking station 60. Alternatively, the transport robot management device 1 issues a picking instruction to the AGV 3, and causes the AGV 3 to transport the shelves at each picking station to the shelf storage area 40.

[0018] The warehouse management device 2 transmits an order list indicating the products to be picked to the transport robot management device 1. The warehouse management device 2 can be realized by one or more computers. For example, the warehouse management device 2 may include a warehouse management system (WMS) that handles the entry and exit of products or inventory management.

[0019] The warehouse management device 2 manages information about products stored in the warehouse. For example, the warehouse management device 2 stores product management information indicating products stored on shelves 30 (described later). The warehouse management device 2 also acquires an order list indicating products to be picked from an external device.

[0020] The AGV 3 transports the shelf 30 to the picking station 60. The AGV 3 operates based on a control signal (picking instruction) from the transport robot management device 1. For example, the AGV 3 travels toward a designated loading position and picks up the shelf 30 at the designated loading position. The AGV 3 travels toward a designated unloading position and unloads the shelf 30 at the designated unloading position (for example, a specified picking station 60). In addition, the AGV 3 returns the shelf 30 to the shelf storage area 40 after the picking operation at the picking station 60 is completed.

[0021] The shelves 30 are arranged in a shelf storage area 40, which is an area for storing the shelves 30. The shelves 30 are used to store products. For example, the shelves 30 stand upright on four pillars. The height below the shelves 30 (the height from the floor to the bottom of the shelf) is higher than the height of the AGV 3. This allows the AGV 3 to slip under the shelves 30. After slipping under the shelves, the AGV 3 uses a pusher to lift the shelves 30 to a position where the tips of the pillars are several centimeters above the floor, and travels with the shelves 30 lifted. In this manner, the AGV 3 transports the shelves 30.

[0022] In this embodiment, for the sake of simplicity, an example of the shelf 30 that can be lifted by the AGV 3 is described, but the present invention is not limited to this. For example, the shelf 30 may be a storage case or the like. That is, in this embodiment, the shelf 30 may be any object that can store products.

[0023] In addition, the method of transportation by the AGV 3 may be any method. For example, the AGV 3 may transport the shelf 30 or the storage case, etc. In other words, the AGV 3 may transport the shelf 30, etc. to a predetermined position (such as the picking station 60) by any method such as lifting or towing the shelf 30, etc.

[0024] The transfer area 50 is an area in which the AGV 3 moves. For example, the AGV 3 reads a two-dimensional code installed at a predetermined position in the transfer area 50, and transmits the read information to the transfer robot management device 1. This allows the transfer robot management device 1 to know exactly where the AGV 3 is located within the transfer area 50. The transfer robot management device 1 may also detect where the AGV 3 is located within the transfer area 50 using a camera not shown in FIG. 1. The transfer robot management device 1 may also detect that the AGV 3 has moved from one transfer area 50 to an adjacent transfer area 50, based on photographic information from the camera.

[0025] The transport robot management device 1, the warehouse management device 2, or the AGV 3 may be connected via a network. Here, the network is, for example, a local area network (LAN). The AGV 3 may be connected to the network wirelessly.

[0026] The picking station 60 receives the shelves 30 transported by the AGV 3. The picking station 60 picks up products from the received shelves 30 by an operator or a picking robot (picking means). Although not shown in FIG. 1, the picking station 60 is equipped with a camera or the like to capture images of the inside of the picking station 60. The captured images are then transmitted to the transport robot management device 1 and the warehouse management device 2.

[0027] Next, the configuration of the transport robot management device 1 in the transport robot system 100 according to the embodiment will be described. FIG. 2 is a diagram showing an example of a hardware configuration of the transport robot management apparatus 1 and the warehouse management apparatus 2. As shown in FIG. The transport robot management apparatus 1 is configured with one or more computers. For example, the transport robot management apparatus 1 includes a processor 11, a RAM 12, a ROM 13, an auxiliary storage device 14, a communication interface 15, and the like.

[0028] The processor 11, the RAM 12, the ROM 13, the auxiliary storage device 14, and the communication interface 15 are connected to one another via a data bus or an interface. The processor 11 has a function of controlling the overall operation of the transport robot management device 1. The processor 11 may include an internal cache and various interfaces. The processor 11 realizes various processes by executing programs stored in advance in the internal memory, the ROM 13, or the auxiliary storage device 14.

[0029] For example, the processor 11 is a central processing unit (CPU). The processor 11 may be realized by hardware such as a large scale integration (LSI), an application specific integrated circuit (ASIC), or a field programmable gate array (FPGA).

[0030] The RAM 12 is a memory used for reading and writing data, and is used as a so-called work area for storing data that is temporarily used when the processor 11 performs various processes.

[0031] The ROM 13 is a non-transitory computer-readable storage medium, and stores the above-mentioned programs. The ROM 13 also stores data or various setting values ​​used by the processor 11 when performing various processes.

[0032] The auxiliary storage device 14 is a non-transitory computer-readable storage medium, and may store the above-mentioned programs. The auxiliary storage device 14 also stores data used by the processor 11 in performing various processes, data generated by the processes in the processor 11, various setting values, and the like.

[0033] The auxiliary storage device (storage device) 14 may previously store product management information indicating the products stored on each shelf 30. The product management information is information that associates a shelf code indicating the shelf 30 with a product code indicating the products stored on the shelf 30. In addition, when the shelf 30 is composed of multiple sections, the product code may be managed in association with a shelf section code indicating each section of the shelf 30.

[0034] The transport robot management apparatus 1 may be transferred with the above program stored in the ROM 13 or the auxiliary storage device 14, or may be transferred without storing the above program. In the latter case, the transport robot management apparatus 1 reads the above program stored in a removable storage medium such as an optical disk or a semiconductor memory, and writes the read program to the auxiliary storage device 14. Alternatively, the transport robot management apparatus 1 downloads the above program via a network or the like, and writes the downloaded program to the auxiliary storage device 14.

[0035] The communication interface 15 is an interface for transmitting and receiving data to and from various devices. The communication interface 15 is connected to the warehouse management device 2, the AGV 3, and the like. The communication interface 15 also acquires an order list and the like from the warehouse management device 2 and the like. For example, the communication interface 15 supports a LAN connection and the like. The communication interface 15 may also be configured to include an interface for transmitting and receiving data to and from the warehouse management device 2, and an interface for transmitting and receiving data to and from the AGV 3.

[0036] For example, the transport robot management device 1 may obtain a new order list from the warehouse management device 2 via the communication interface 15 and the network. In addition, the transport robot management device 1 may transmit the formulated work plan data to the AGV 3.

[0037] The warehouse management apparatus 2 is configured with one or more computers. For example, the warehouse management apparatus 2 includes a processor 21, a RAM 22, a ROM 23, an auxiliary storage device 24, a communication interface 25, and the like.

[0038] The processor 21, the RAM 22, the ROM 23, the auxiliary storage device 24, and the communication interface 25 are connected to one another via a data bus or an interface. The processor 21 has a function of controlling the overall operation of the warehouse management device 2. The processor 21 may include an internal cache and various interfaces. The processor 21 realizes various processes by executing programs stored in advance in the internal memory, the ROM 23, or the auxiliary storage device 24.

[0039] For example, the processor 21 is a CPU. The processor 21 may be realized by hardware such as an LSI, an ASIC, or an FPGA.

[0040] The RAM 22 is a memory used for reading and writing data, and is used as a so-called work area for storing data that is temporarily used when the processor 21 performs various processes.

[0041] The ROM 23 is a non-transitory computer-readable storage medium, and stores the above-mentioned programs. The ROM 23 also stores data or various setting values ​​used by the processor 21 when performing various processes.

[0042] The auxiliary storage device 24 is a non-transitory computer-readable storage medium, and may store the above-mentioned programs. The auxiliary storage device 24 also stores data used by the processor 21 in performing various processes, data generated by the processes in the processor 21, various setting values, and the like.

[0043] The auxiliary storage device (storage device) 24 stores the order list obtained from the external device.

[0044] The warehouse management device 2 may be transferred with the above program stored in the ROM 23 or the auxiliary storage device 24, or may be transferred without storing the above program. In the latter case, the warehouse management device 2 reads the above program stored in a removable storage medium such as an optical disk or a semiconductor memory, and writes the read program to the auxiliary storage device 24. Alternatively, the warehouse management device 2 downloads the above program via a network or the like, and writes the downloaded program to the auxiliary storage device 24.

[0045] The communication interface 25 is an interface for transmitting and receiving data to and from various devices. The communication interface 25 connects to the transport robot management apparatus 1 and external devices. The communication interface 25 also acquires an order list or the like from the external devices. For example, the communication interface 25 supports LAN connection or the like. The communication interface 25 may also include an interface for transmitting and receiving data to and from the transport robot management apparatus 1, and an interface for transmitting and receiving data to and from the external devices.

[0046] For example, the processor 21 of the warehouse management apparatus 2 receives an order list from an external device via the communication interface 25 and the network, and transmits the received order list to the transport robot management apparatus 1.

[0047] Next, a hardware configuration of the AGV 3 in the transfer robot system 100 according to the embodiment will be described. FIG. 3 is a diagram illustrating an example of a hardware configuration of the AGV 3. The AGV 3 includes a processor 31, a RAM 32, a ROM 33, an auxiliary storage device 34, a communication interface 35, a drive unit 36, a sensor 37, a battery 38, a charging mechanism 39, and tires 301.

[0048] The processor 31 has a function of controlling the overall operation of the AGV 3. The processor 31 may include an internal cache and various interfaces. The processor 31 realizes various processes by executing programs stored in advance in the internal memory, the ROM 33, or the auxiliary storage device 34.

[0049] For example, the processor 31 is a CPU. The processor 31 may be realized by hardware such as an LSI, an ASIC, or an FPGA. The processor 31 performs processes such as calculations and controls required for operations such as acceleration, deceleration, stopping, changing direction, and loading and unloading the shelf 30. The processor 31 executes a program stored in the ROM 33 or the like based on a control signal from the transport robot management device 1 or the like, thereby generating drive signals and outputting them to each section.

[0050] For example, the transport robot management device 1 transmits a control signal to move the AGV 3 from the current position to a first position (the position of the target shelf 30) and from the first position to a second position (the position of the target picking station 60). The transport robot management device 1 also transmits a control signal to move the AGV 3 from the second position to the first position. The processor 31 of the AGV 3 outputs a drive signal in response to the control signal transmitted from the transport robot management device 1. As a result, the AGV 3 moves from the current position to the first position, from the first position to the second position, and from the second position to the first position. The processor 31 also outputs a drive signal in response to an instruction to load and unload the shelf 30 contained in the control signal transmitted from the transport robot management device 1. As a result, the AGV 3 lifts the shelf 30 by a pusher and lowers the lifted shelf 30.

[0051] When returning the shelf 30 from the second position, the AGV 3 may return it to a third position (any position within the shelf storage area 40) that is different from the first position where the shelf was stored. Also, the AGV 3 may move directly from the second position to the fourth position (picking station 60) without returning the shelf 30.

[0052] The transport robot management device 1 may also transmit control signals to move the AGV 3 from the current position to the first position, from the first position to the second position, and from the second position to the first position all at once. The control signal to move the AGV 3 to the first position or the second position may be transmitted in a divided manner. For example, the transport robot management device 1 may divide the control signal into a control signal to set at least one waypoint and move the AGV 3 to the waypoint and a control signal to move the AGV 3 from the waypoint to the first position or the second position, and transmit each control signal to the AGV 3.

[0053] Furthermore, the AGV 3 reads a two-dimensional code (for example, a QR code (registered trademark)) attached to the transfer area 50, and transmits the read information to the transfer robot management device 1.

[0054] The RAM 32 is a memory used for reading and writing data, and is used as a so-called work area for storing data that is temporarily used when the processor 31 performs various processes.

[0055] The ROM 33 is a non-transitory computer-readable storage medium, and stores the above-mentioned programs. The ROM 33 also stores data or various setting values ​​used by the processor 31 when performing various processes.

[0056] The auxiliary storage device 34 is a non-transitory computer-readable storage medium, and may store the above-mentioned programs. The auxiliary storage device 34 also stores data used by the processor 31 in performing various processes, data generated by the processes in the processor 31, various setting values, and the like.

[0057] The communication interface 35 is an interface for transmitting and receiving data to and from the transport robot management device 1, etc., via a wireless LAN access point, etc. For example, the communication interface 35 supports wireless LAN connection.

[0058] The drive unit 36 ​​is a motor or the like, and rotates or stops the motor based on a drive signal output from the processor 31. The power of the motor is transmitted to the tires 301 and then to the steering mechanism. The AGV 3 moves to the destination by the power from the motor.

[0059] Furthermore, with the AGV 3 submerged under the shelf 30, the drive unit 36 ​​rotates the motor (forward rotation) based on the drive signal output from the processor 31. The power from this motor raises the pusher, lifting the shelf 30. Furthermore, after the AGV 3 reaches the destination, the drive unit 36 ​​rotates the motor (reverse rotation) based on the drive signal output from the processor 31. The power from this motor lowers the pusher, lowering the shelf 30 to the floor.

[0060] The sensor 37 is a plurality of reflection sensors. Each reflection sensor is attached around the AGV 3. Each reflection sensor irradiates a laser beam, detects the time from when the laser beam is irradiated until the laser beam is reflected by an object and returns, detects the distance to the object based on the detected time, and notifies the processor 31 of a detection signal.

[0061] The processor 31 outputs a control signal for controlling the travel of the AGV 3 based on a detection signal from the sensor 37. For example, the processor 31 outputs a control signal for decelerating or stopping to avoid a collision with an object based on a detection signal from the sensor 37. Note that a camera may be provided in addition to the sensor 37, and the camera may capture an image of the surroundings and output the captured image to the processor 31. In this case, the processor 31 analyzes the captured image and outputs a control signal for decelerating or stopping to avoid a collision with an object. Furthermore, if the detected object is on the movement path, the processor 31 transmits information indicating an abnormality to the transport robot management device 1 via the communication interface 35.

[0062] Furthermore, the processor 31 operating as a self-position detection unit detects the current position of the AGV 3 using the sensor 37 and images captured by a camera or the like. Then, the processor 31 transmits position information including the detected position, the moving direction, and the like to the transport robot management device 1.

[0063] The battery 38 supplies the necessary power to the drive unit 36 ​​etc. The charging mechanism 39 is a mechanism that connects the charging station and the battery 38, and the battery 38 is charged with power supplied from the charging station etc. via the charging mechanism 39.

[0064] Next, a software configuration of the transport robot management device 1 in the transport robot system 100 according to the embodiment will be described. FIG. 4 is a diagram showing an example of a software configuration of the transport robot management apparatus 1. As shown in FIG. The processor 11 includes a reception control unit 101, an operation planning unit 102, an AGV priority determination unit 103, a travel route determination unit 104, a congestion state estimation unit 105, and a transmission control unit 106.

[0065] The reception control unit 101 receives order information and the like that the warehouse management device 2 receives from an external device. Then, the reception control unit 101 stores the received order information list in an order information database 131. Furthermore, the reception control unit 101 receives current location information of the AGV 3 itself from the AGV 3. The reception control unit 101 stores the received location information in an AGV information database 134, which will be described later.

[0066] The operation planning unit 102 grasps the current status of the AGV 3 based on the AGV information stored in an AGV information database 134 described later. Furthermore, the operation planning unit 102 determines the AGV 3 transporting the shelf 30 and the destination to which the AGV 3 should move, based on the order information stored in an order information database 131, the map information stored in a map information database 132 described later, the AGV information stored in an AGV information database 134, and the shelf information stored in a shelf information database 135. The determination method will be described in detail later. The operation planning unit 102 outputs position information of the determined destination to the AGV priority determination unit 103.

[0067] The destination determined by the operation planning unit 102 changes depending on the operation state of the AGV 3. When the AGV 3 does not have a shelf 30, the location where the shelf 30 to be transported is installed becomes the destination. On the other hand, when the AGV 3 has a shelf 30 and has not yet picked up the product, the picking station 60 where a worker is present becomes the destination. Also, the method of setting the destination by the operation planning unit 102 disclosed in this embodiment, which will be described later, is merely one example, and it goes without saying that the method is not limited to this.

[0068] The AGV priority determination unit 103 determines the priority of the AGV 3. The AGV priority determination unit 103 determines the priority based on at least one of the pieces of information stored in each database described later. The method of determining the priority of the AGV 3 will be described in detail later.

[0069] The travel route determination unit 104 acquires information stored in each database described later, and based on the acquired information, determines a travel route for the AGV 3. The method of determining the travel route will be described later in detail.

[0070] The congestion state estimation unit 105 estimates the congestion level based on the location information received from the AGV 3 and information stored in a map information database described later. Details of the congestion level estimation method will be described later. The congestion level estimation unit 105 may also create station information based on images captured by the picking station 60. Details of the station information will be described later.

[0071] The transport robot management apparatus 1 has various databases provided in storage devices such as the internal memory of the processor 11, the ROM 13, or the auxiliary storage device 14. Each database as a storage device stores various data. The data stored in the database is output to the outside of the transport robot management apparatus 1 via the communication interface 15. Moreover, data input to the transport robot management apparatus 1 via the communication interface 15 is saved in the database.

[0072] Examples of databases stored in the database include an order information database 131, a map information database 132, a priority information database 133, an AGV information database 134, a shelf information database 135, a product information database 136, and a station information database 137. Note that the example in FIG. 4 shows an example in which these databases are stored in the ROM 13.

[0073] FIG. 5 is a diagram showing an example of various data stored in the order information database 131. As shown in FIG. The order information stored in the order information database 131 includes the order number, shelf number, product number, product quantity, priority order, delivery destination, status, etc. In other words, the order information includes information such as which shelf 30 the required product is stored on, the required product number and quantity, the delivery destination of the product, whether the order has already been processed, and so on, as well as information as to whether the order should be given priority. Furthermore, a priority order indicates an order that is to be given priority among the orders listed in the order list. For example, an order that falls under the priority order category would be an order that is close to being shipped from the warehouse.

[0074] The map information database 132 stores, for example, in the form of a map as shown in Fig. 1, information on where in the warehouse the shelves 30 are located, which areas are the transport areas 50, etc. Alternatively, the map information database 132 may store map information in the form of a table.

[0075] FIG. 6 is a diagram showing an example of data when the map information database 132 stores map information in a table format. As shown in FIG. 6, the map information includes a transport area number, a center coordinate (X, Y), the presence and number of a shelf, the presence and number of an AGV3, a congestion degree, and the like. The transport area number is an area including the shelf storage area 40 and the transport area 50 shown in FIG. 1. The center coordinate (X, Y) indicates, for example, the center coordinate of each area with the lower left as the origin. The center coordinate is not limited to this, and may be any location. The presence and number of a shelf 30 and the presence and number of an AGV 3 indicate the number of the shelf 30 or the number of the AGV 3 when there is information on whether or not the shelf 30 or the AGV 3 is present in each area. The congestion degree is a value indicating the degree of congestion caused by the AGV 3 being in the transport area, which is determined by a method to be described later. The congestion degree will be described in detail later. Here, the area number and center coordinate included in the map information may be information registered in advance.

[0076] FIG. 7 is a diagram showing an example of the priority information stored in the priority information database 133. As shown in FIG. As shown in Fig. 7, the priority information stored in the priority information database 133 includes the AGV number and the priority assigned to each AGV 3. The priority may not only be indicated by a number as shown in Fig. 7, but may also include tiered information such as "high", "medium", and "low" using a certain threshold. Details of the method of calculating the priority stored in the priority information database 133 will be described later. The priority information may also include information used when calculating the priority.

[0077] FIG. 8 is a diagram showing an example of the AGV information stored in the AGV information database 134. As shown in FIG. 8, the AGV information stored in the AGV information database 134 includes information such as the AGV number corresponding to each AGV 3, the operation status of the AGV 3 (simply referred to as status in FIG. 8), the number of the shelf 30 to be transported, the number of the order the AGV 3 is in charge of, information as to whether the order is a priority order, the current position and maximum speed of the AGV 3, etc. The AGV information may also include the time required for each AGV 3 to change direction, etc.

[0078] FIG. 9 is a diagram showing an example of shelf information stored in the shelf information database 135. As shown in FIG. 9, the shelf information stored in shelf information database 135 includes information on products stored on shelf 30. For example, the shelf information includes product numbers and quantities stored on the shelves. Furthermore, the shelf information includes information on the installation position of shelf 30 and whether shelf 30 is being transported by AGV 3 (whether in use or not). Here, information on the shelf number, product number, quantity of products, shelf position, etc. included in the shelf information may be updated by a general method, and therefore detailed explanations will be omitted here.

[0079] FIG. 10 is a diagram showing an example of product information stored in the product information database 136. As shown in FIG. As shown in FIG. 10, the product information stored in the product information database 136 includes the product number, product weight, product dimensions, as well as the handling importance and estimated processing time. Here, the weight and dimensions of the product may be updated by a general method, and therefore a detailed description thereof will be omitted here. The handling importance is a value that can be arbitrarily set by the manager of the transport robot management device 1, etc., depending on the price of the product, the risk of damage to the product, the risk of fire, etc. The estimated processing time indicates an estimate of the time required for processing by a worker or a picking robot (picking means) at the picking station 60. For example, the estimated processing times for product numbers 1 to 6 are 12, 6, 6, 8, 7, and 10 seconds, respectively.

[0080] FIG. 11 is a diagram showing an example of station information stored in the station information database 137. As shown in FIG. 11, the station information includes the processing status of each picking station 60, the number of AGVs 3 waiting at the picking station 60 (represented as waiting number in FIG. 11), the current work elapsed time, etc. Here, the processing status indicates whether a worker or a picking robot (picking means) is working or waiting at each picking station 60.

[0081] In addition, the information stored in the station information database 137 is information collected by the processor 11 of the transport robot management device or the processor 21 of the warehouse management device 21 using image recognition, etc., based on images captured by a camera installed in the picking station 60.

[0082] (operation) (1) Crowd estimation operation First, a congestion level estimation operation of the transport robot management device 1 in the transport robot system 100 according to the embodiment will be described. FIG. 12 is a flowchart for explaining an example of a congestion degree estimation operation by the transport robot management apparatus 1 according to the embodiment. The operation of this flowchart is realized by the processor 11 of the transport robot management apparatus 1 reading and executing a program stored in the internal memory of the processor 11, the RAM 12, or the ROM 13.

[0083] This flowchart is repeatedly executed at a fixed cycle, or is executed when it is detected that the AGV 3 has moved to an adjacent transport area 50 or a transport area 50 a fixed number of meters away from the transport area 50 in which the AGV 3 is currently located.

[0084] In step ST101, the reception control unit 101 acquires position information from the AGV 3. As described above, the processor 31 of the AGV 3 calculates the current position and traveling direction of the AGV 3 itself based on information obtained by the sensor 37, the camera, etc., and transmits the position information including the calculated position and traveling direction to the transport robot management device 1 through the communication interface 35. As a result, the reception control unit 101 acquires the position information. Alternatively, the reception control unit 101 acquires two-dimensional code information when the AGV 3 reads a two-dimensional code attached to the transport area 50, or an image captured by a camera installed in the warehouse. Then, the reception control unit 101 may determine the position and traveling direction of the AGV 3 from the two-dimensional code information or the captured image, and acquire the determined information as the position information. Alternatively, the reception control unit 101 may calculate the traveling direction from the route information planned by the travel route determination unit 104 and the current position information of the AGV 3 itself. The reception control unit 101 outputs the acquired position information to the congestion situation estimation unit 105.

[0085] In step ST102, the congestion state estimation unit 105 estimates the congestion degree based on the position information. For example, the congestion state estimation unit 105 sets the congestion degree of the transport area 50 at the current position of the AGV 3 to be high, and sets the congestion degree for the transport area 50 to be passed through and the transport area 50 that has already been passed through.

[0086] FIG. 13 is a diagram showing an example of the congestion degree estimated based on the position information. As shown in FIG. 13, the current position of the AGV 3 and the congestion levels of the transport areas 50 to be passed through and the transport areas 50 that have already been passed through are estimated (determined).

[0087] This embodiment is not limited to the congestion degree estimation method shown in Fig. 13. For example, the congestion state estimation unit 105 may estimate the congestion degree in a concentric manner with the current position of the AGV 3 as the center. The congestion state estimation unit 105 may also estimate the congestion degree taking into consideration the movement characteristics of the AGV 3, such as the time it takes for the AGV 3 to change direction. The congestion degree may also be a graded evaluation such as "high", "medium", and "low" in addition to the numbers shown in Fig. 13.

[0088] Furthermore, the congestion situation estimation unit 105 may reflect information on other moving objects such as obstacles and people detected by the AGV 3 in the congestion degree. The congestion situation estimation unit 105 may also set the congestion degree based on the time it took the AGV 3 to travel the same place in the past. By setting the congestion degree based on the performance data, it becomes possible to determine a travel route that avoids places that are likely to cause congestion.

[0089] 12, in step ST103, the congestion situation estimation unit 105 stores the position information and the estimated congestion degree in the map information stored in the map information database 132. As a result, the map information database 132 stores information on the congestion degree as shown in FIG. 13 in addition to the current position of the AGV 3. The congestion situation estimation unit 105 stores the estimated congestion degree in the map information stored in the map information database 132.

[0090] Furthermore, the map information stored in the map information database 132 may be updated using a GUI that allows the congestion degree to be rewritten from outside. When a person enters an area where the AGV 3 is operating, a route can be generated for the AGV 3 to avoid that area by changing the congestion degree of the place where the person wants to work. Furthermore, by updating the map information using a GUI, it is possible to apply the method of giving priority to the passage of a towing vehicle for towing the AGV 3 when the AGV 3 breaks down. Giving priority to the passage of the towing vehicle enables smooth recovery.

[0091] The method of estimating (calculating) the degree of congestion may be implemented by combining the various methods described above. The more data used to calculate the degree of congestion, the more accurately the current situation of the AGV 3 can be grasped. Furthermore, the above-mentioned method of estimating the degree of congestion is merely an example, and it goes without saying that it is not limited to the method described above.

[0092] In addition, the congestion information estimation unit 105 may create the above-mentioned station information based on the captured image received from the picking station 60, and store it in the station information database 137. Alternatively, the reception control unit 101 may receive station information generated by the processor 21 of the warehouse management device 2, and store it in the station information database 137.

[0093] (2) Route determination Next, a travel route determination operation of the transport robot management device 1 in the transport robot system 100 according to the embodiment will be described. FIG. 14 is a flowchart for explaining an example of the operation of determining a travel route for the AGV 3 by the transport robot management apparatus 1 according to the embodiment. The operation of this flowchart is realized by the processor 11 of the transport robot management apparatus 1 reading and executing a program stored in the internal memory of the processor 11, the RAM 12, or the ROM 13.

[0094] This flowchart starts when the processor 21 of the warehouse management apparatus 2 receives order information from an external device through the communication interface 25 and transmits the order information to the transport robot management apparatus 1.

[0095] In step ST201, the reception control unit 101 receives order information from the warehouse management apparatus 2. For example, the order information may be received in batches or in any units. The reception control unit 101 stores the received order information in the order information database 131. The reception control unit 101 also outputs a signal indicating that the order information has been stored in the order information database 131 to the operation planning unit 102.

[0096] In step ST202, the operation planning unit 102 acquires AGV information. Upon receiving a signal from the reception control unit 101, the operation planning unit 102 acquires the AGV information stored in the AGV information database 134. Then, based on the AGV information, the operation planning unit 102 grasps the operation status, such as the current position of the AGV 3 and whether or not the AGV 3 is transporting a shelf 30.

[0097] Note that the congestion degree estimation unit 105 may execute the congestion degree estimation operation described with reference to Fig. 12 before executing this step ST202. This enables the operation planning unit 102 to acquire the latest current position and congestion degree of the AGV.

[0098] In step ST203, the operation planning unit 102 determines the AGV 3 to be instructed to transport and the destination. The operation planning unit 102 acquires the order information stored in the order information database 131. Then, the operation planning unit 102 determines the AGV 3 to be instructed to transport and the destination based on the current operation state of the AGV 3 (i.e., AGV information). For example, the operation planning unit 102 may select the AGV 3 that is closest to the shelf 30 to be transported and is waiting, or may select the AGV 3 that can arrive at the shelf 30 to be transported earliest. The operation planning unit 102 may determine the AGV 3 to be instructed to transport by a general method. In this case, the operation planning unit 102 determines that the destination is a predetermined picking station 60. The operation planning unit 102 outputs transport information including the order information, the AGV information, the AGV 3 to be instructed to transport, and the coordinate information of the destination of the AGV 3 to the AGV priority determination unit 103.

[0099] In step ST204, the AGV priority determination unit 103 determines the priority of the AGV 3. The AGV priority determination unit 103 determines the priority based on at least one of the order information, the AGV information, the shelf information, the product information, and the station information. Then, the AGV priority determination unit 103 stores the determined priority in the priority information database 133.

[0100] FIG. 15 is a flowchart showing an example of a more detailed operation of step ST204. In step ST2041, the AGV priority determination unit 103 judges whether the order information has been registered in the AGV information database 134. If it is judged that the order information has been registered, the process proceeds to step ST2043. On the other hand, if it is judged that the order information has not been registered, the process proceeds to step ST2042.

[0101] In step ST2042, the AGV priority determination unit 103 registers the order information in the AGV information database 134. The AGV priority determination unit 103 acquires AGV information from the AGV information database 134. Then, the AGV priority determination unit 103 registers the AGV information by linking the information of the AGV 3 instructed to transport with the shelf number of the transport target, order information such as whether it is a priority order, and coordinate information of the destination (i.e., transport information).

[0102] In step ST2043, the AGV priority determination unit 103 acquires shelf information from the shelf information database 135. For example, the AGV priority determination unit 103 acquires information such as product numbers and the number of products included in the shelf information stored in the shelf information database 135.

[0103] In step ST2044, the AGV priority determination unit 103 acquires product information from the product information database 136. For example, the AGV priority determination unit 103 acquires information such as the handling importance of the product included in the product information stored in the product information database 136.

[0104] In step ST2045, the AGV priority determination unit 103 acquires station information from the station information database 137. For example, the AGV priority determination unit 103 acquires various pieces of information included in the station information stored in the station information database 137.

[0105] In step ST2046, the AGV priority determination unit 103 determines the AGV priority of the AGV 3. For example, the AGV priority determination unit 103 determines the priority of the AGV 3 based on at least one of the order information, the AGV information, the shelf information, and the product information.

[0106] For example, the AGV priority determination unit 103 assigns a score to each piece of acquired information, and the sum of the scores determines the priority. Alternatively, when determining the priority based on the AGV information, the AGV priority determination unit 103 may determine the priority based on a status indicating whether the AGV 3 has a shelf 30, which is included in the AGV information. Alternatively, when determining the priority based on the order information, the AGV priority determination unit 103 may determine the priority based on the priority order, which is included in the order information. Alternatively, when determining the priority based on the product information, the AGV priority determination unit 103 may determine the priority based on the importance of the product and the estimated processing time, which are included in the product information.

[0107] Alternatively, when the risk of the shelf 30 tipping over is taken into consideration, the AGV priority determination unit 103 may calculate the position of the center of gravity of the shelf 30 using the dimensional data and weight data of the product that can be obtained from the shelf information and the product information, and may determine the priority by setting a high priority for the AGV 3 that transports the shelf 30 with a high center of gravity. Alternatively, the AGV priority determination unit 103 may determine the priority by multiplying each piece of information used as a reference when determining the priority by a coefficient.

[0108] The AGV priority determination unit 103 may also determine the priority based on the station information. For example, the AGV priority determination unit 103 may determine the priority by setting a high priority for the picking station 60 that is in a waiting state in the processing status included in the station information. Alternatively, when the work progress is faster than predicted, or when the number of waiting AGVs 3 decreases, the AGV priority determination unit 103 sets a high priority for the AGV 3 heading to the picking station 60. By setting in this way, the AGV 3 with a high priority can arrive at the picking station 60 by traveling the shortest route, and therefore can continue the work efficiently.

[0109] Furthermore, when determining the priority, it is possible to assign lower priority to important products, expensive products, products that are easily damaged, etc. By determining the priority in this way, as will be described later, the AGVs 3 transporting these products will take detours with less congestion, thereby reducing the risk of collisions between AGVs 3.

[0110] For example, the priority determination unit 103 may set coefficients so that the order of importance (coefficients) is as follows: AGV information (is the item currently on the shelf?) > order information (is it a priority order?) > station information (work status, no need to rush if the destination is congested, etc.) > product information (importance of handling, time required for processing).

[0111] Returning to FIG. 14, in step ST205, the AGV priority determination unit 103 stores in the priority information database 133 the priority of the AGV 3 to be caused to travel.

[0112] FIG. 16 is a diagram showing an example of information stored in the priority information database 133. As shown in FIG. 16, the priority information database 133 may store information used in determining the priority in addition to the priority. In the example of Fig. 16, the priority information includes information on the presence or absence of a priority order, the state of the AGV 3, the importance of handling the product, and the like.

[0113] In step ST206, the travel route determination unit 104 acquires map information including the congestion degree and AGV information. The travel route determination unit 104 acquires map information including the congestion degree stored in the map information database 132 and AGV information stored in the AGV information database 134. Furthermore, the travel route determination unit 104 acquires the priority of the AGV 3 stored in the priority information database 133.

[0114] In step ST207, the travel route determination unit 104 determines the travel route of the AGV3.

[0115] FIG. 17 is a flowchart showing an example of the further detailed operation of step ST207. In step ST2071, the travel route determination unit 104 plans a route to the destination based on the destination and the current position of the AGV 3, and calculates the total congestion degree of the planned route. The travel route determination unit 104 also calculates the travel time to the destination. Here, the travel time can be calculated from the total travel distance from the current position of the AGV 3 to the destination, the maximum speed of the AGV included in the AGV information, the time required for the AGV to change direction, etc.

[0116] In step ST2072, the driving route determination unit 104 judges whether the search is terminated. For example, the termination condition of the route search is when all routes connecting the destination and the current location have been searched, when a predetermined calculation time has elapsed, or when the total congestion degree is equal to or less than a predetermined threshold. It is assumed that these conditions can be set arbitrarily. When the termination condition is satisfied, the driving route determination unit 104 judges that the search is terminated. In this case, the process proceeds to step ST2073. On the other hand, when it is judged that the termination condition is not satisfied, the process returns to step ST2071. By repeating the processes of step ST2071 and step ST2072, the driving route determination unit 104 plans multiple routes.

[0117] In addition, the travel route determination unit 104 calculates the total value of the congestion degree on the planned route based on the congestion degree included in the map information.

[0118] FIG. 18 is a diagram showing an example of calculating the total value of the congestion degree of a planned route. In Fig. 18, it is assumed that routes 1 and 2 have been calculated as routes for AGV 3. In route 1, the total congestion degree is 620, and the travel time is 8 seconds. In route 2, the congestion degree is 280, and the travel time is 13 seconds.

[0119] In step ST2073, the travel route determination unit 104 judges whether the priority is equal to or greater than a threshold. The travel route determination unit 104 operating as a judgment unit judges whether the priority exceeds a predetermined threshold. If the priority exceeds the predetermined threshold, the process proceeds to step ST2074. On the other hand, if the priority is less than the predetermined threshold, the process proceeds to step ST2075.

[0120] In step ST2074, the travel route determination unit 104 selects the shortest route. For example, the travel route determination unit 104 determines to adopt the shortest route with the shortest travel time among the planned routes as the travel route of the AGV3. In the example of FIG. 18, route 1 with the shortest travel time is adopted even if the total congestion degree is high. Furthermore, the travel route determination unit 104 may change the route to select the route with the next shortest travel time when the total congestion degree of the shortest route exceeds a predetermined threshold value.

[0121] For example, when the travel route determination unit 104 determines a travel route for a high-priority AGV 3, a congestion threshold may be set to limit the congestion level at which the shortest route can be selected. By adding such processing, when another AGV 3 stops due to a breakdown or the like, the shortest route can be selected from among routes that can reach the destination while bypassing the location. The travel route determination unit 104 outputs travel route information including information on the determined travel route to the transmission control unit 106.

[0122] In step ST2075, the travel route determination unit 104 selects a detour with a low degree of congestion from among the planned routes. For example, the travel route determination unit 104 selects a travel route with a congestion degree equal to or lower than a predetermined threshold from among the planned routes. As a result, the AGV3 with a low priority proceeds to the destination via a route that is not congested. The travel route determination unit 104 outputs the travel route information to the transmission control unit 106.

[0123] For example, when determining a travel route for a low-priority AGV3, the travel route determination unit 104 may compare the congestion levels of the shortest route and the detour route, and if the difference is less than a threshold, the travel route determination unit 104 may cause the AGV3 to travel along the shortest route. If the number of AGVs 3 is small relative to the site area of ​​the transport area 50 in which the AGVs 3 can operate, it is expected that there will be almost no difference between the congestion levels of the shortest route and the detour route. In such a case, efficient operation can be achieved by setting a route so that the low-priority AGV3 can also select the shortest route.

[0124] 14, in step ST208, the transmission control unit 106 instructs the AGV 3 on a travel route. The transmission control unit 106 transmits the travel route to the AGV 3 through the communication interface 15. As a result, the AGV 3 travels through the transport area 50 based on the travel route to the destination.

[0125] In step ST209, the transmission control unit 106 updates the AGV information stored in the AGV information database 134. For example, the transmission control unit 106 updates the AGV information such as the state of the AGV 3 and the shelf number to be picked up, in response to the travel route instruction.

[0126] FIG. 19 is a diagram showing an example of the effect of this embodiment. As shown in FIG. 19, when there are four AGVs (a first AGV, a second AGV, a third AGV, and a fourth AGV (represented as AGV1, AGV2, AGV3, and AGV4 in FIG. 19, respectively)), instead of the third and fourth AGVs taking a route where the first and second AGVs are present, it is possible to plan for the third AGV, which has a lower priority, to take a less congested route where the first and second AGVs are not present. This makes it possible to avoid the concentration of AGVs on one route and to avoid congestion. (3) Route change operation Next, a travel route changing operation of the transport robot management apparatus 1 according to the embodiment will be described. FIG. 20 is a flowchart showing an example of a method for re-planning the movement route of the AGV 3. The operation of this flowchart is realized by the processor 11 of the transport robot management apparatus 1 reading and executing a program stored in the internal memory of the processor 11, the RAM 12, or the ROM 13.

[0127] This flowchart is an operation that is performed after the travel route of the AGV 3 is determined by the travel route determination operation described in (2). This flowchart is executed at a fixed cycle. For example, it is executed after the above-mentioned congestion degree estimation operation is performed.

[0128] In step ST301, the travel route determination unit 104 judges whether the congestion degree is equal to or greater than a threshold. The travel route determination unit 104 acquires the congestion degree stored in the map information database 132, and judges whether the acquired congestion degree exceeds a predetermined threshold. For example, when it is determined that the congestion degree of a certain transport area 50 exceeds the predetermined threshold, the process proceeds to step ST302. On the other hand, when the congestion degree does not exceed the predetermined threshold, the process ends. In this case, the process waits until this flow is executed again.

[0129] In step ST302, the travel route determination unit 104 acquires a priority for each AGV 3 passing through the transport area 50. The travel route determination unit 104 acquires AGV information stored in the AGV information database 134. Then, the travel route determination unit 104 identifies AGVs 3 passing through the transport area 50 in which the congestion degree exceeds a predetermined threshold, and acquires a priority for each identified AGV 3.

[0130] In step ST303, the travel route determination unit 104 determines a travel route. The method of determining the travel route may be the same as steps ST2071 to ST2075 described with reference to FIG. 17. However, if there are multiple AGVs 3 that require replanning, route planning is performed in descending order of priority. This can reduce the possibility of delaying the arrival time at the destination, such as by taking a detour to avoid congestion.

[0131] Here, instead of selecting a detour with a lower degree of congestion in step ST2705, the travel route determination unit 104 can also select to have the relevant AGV 3 perform a predetermined operation (e.g., slow down its travel speed or temporarily stop (e.g., stop for a predetermined time and then resume travel)). For example, for an AGV 3 that has already traveled along a travel route, it is wasteful to have it back up to go to a detour. Therefore, a measure of temporarily slowing down its speed or temporarily stopping to observe the situation may be adopted. If the congestion is alleviated as a result of observing the situation, the AGV 3 can continue to travel along the planned travel route.

[0132] Steps ST304 and ST305 are similar to steps ST208 and ST209 described with reference to FIG. 14, and therefore will not be described again.

[0133] With the above control, even if an unintended situation occurs during the execution of the travel route determination operation, such as a breakdown in the AGV 3, a route can be generated that avoids the location of the broken-down AGV 3, making it possible to operate the AGV 3 efficiently.

[0134] The above series of processes may be performed only for the AGV 3 by monitoring the congestion level of the route along which each AGV 3 is scheduled to travel, when the total value exceeds a predetermined threshold. Alternatively, the transport robot management device 1 may perform the above process (replanning the travel route) for multiple AGVs 3 when one of the AGVs 3 exceeds the threshold. The above process may also be performed when a route collision occurs between AGVs 3, or when an AGV 3 finds an obstacle.

[0135] (Effects of the embodiment) According to the embodiment described above, the transport robot management device 1 determines the priority of the AGV 3 and determines the travel route of the AGV 3 based on the priority. As a result, the AGV 3 with a high priority moves along the shortest route, and the AGV 3 with a low priority moves along a route that takes a detour. This makes it possible for the AGV 3 with a high priority to select a route that shortens the arrival time while reducing the risk of contact with other AGVs 3.

[0136] Furthermore, when the degree of congestion in a certain transport area 50 exceeds a predetermined threshold (for example, when an AGV 3 breaks down and blocks an aisle in the transport area 50), the transport robot management device 1 re-plans the travel route, thereby enabling the AGV 3 to operate efficiently.

[0137] [Modification of the embodiment] Next, in a modification of the embodiment, a method will be described in which, when the travel route determination unit 104 determines a travel route, cost information of the travel route is used in addition to the congestion degree and priority to plan the route.

[0138] (composition) The configuration of the modified example of the embodiment is the same as that of the embodiment, so a duplicated description will be omitted here.

[0139] (operation) FIG. 21 is a flowchart for explaining an example of a travel route determination operation of the AGV 3 according to the modified example of the embodiment. The operation of this flowchart is realized by the processor 11 of the transport robot management apparatus 1 reading and executing a program stored in the internal memory of the processor 11, the RAM 12, or the ROM 13.

[0140] The operation shown in Fig. 21 is the operation of step ST204 described with reference to Fig. 14. Therefore, the other operations are similar to the operations described with reference to Fig. 14. In addition, the operation shown in Fig. 21 is also applicable to re-planning the travel route of the AGV 3 described with reference to Fig. 20.

[0141] In step ST401, the travel route determination unit 104 calculates the cost of the travel route from the destination and the current position of the AGV3. Here, the cost of the travel route is, for example, the time required for the AGV3 to travel to the destination, or the total travel distance. The total travel distance can be calculated because the map information stored in the map information database 132 contains the position information of the AGV3. In addition, the time required for travel can also be calculated by dividing the total travel distance by the speed of the AGV3 because the AGV information contained in the AGV information database 134 contains information on the speed of the AGV3.

[0142] In step ST402, the travel route determination unit 104 calculates the total cost based on the congestion degree and the cost of the travel route. The total cost is calculated, for example, by multiplying the sum of the congestion degrees when traveling along the travel route by the travel time. For example, in the example shown in FIG. 18, the total cost of route 1 is 4960, and the total cost of route 2 is 3640. Here, the travel route determination unit 104 may calculate the total cost for values ​​obtained by multiplying the sum of the congestion degrees and the travel time by different coefficients. By multiplying each value by a coefficient, it is possible to change whether to prioritize the congestion degree information or the approximate travel time information.

[0143] In step ST403, the driving route determination unit 104 judges whether the search is terminated. Here, the route search termination condition may be, for example, when all routes connecting the destination and the current position have been searched, when the calculation time exceeds a threshold, or when a route with a total cost equal to or less than a predetermined threshold is found. These conditions can be set arbitrarily. When it is judged that the search termination condition is not satisfied, the driving route determination unit 104 judges that there is no search condition. In this case, the process returns to step ST401. On the other hand, when the search termination condition is satisfied, the process proceeds to step ST404.

[0144] In step ST404, the travel route determination unit 104 judges whether the priority of the AGV3 is equal to or higher than a threshold. The travel route determination unit 104 operating as a judgment unit judges whether the priority exceeds a predetermined threshold. If the priority exceeds the predetermined threshold, the process proceeds to step ST405. On the other hand, if the priority is less than the predetermined threshold, the process proceeds to step ST406.

[0145] In step ST405, the travel route determination unit 104 selects the route with the lowest total cost. For example, the travel route determination unit 104 determines to adopt the route with the lowest total cost among the planned routes as the travel route of the AGV3. In the example of FIG. 18, route 1 with the lowest total cost is adopted. In addition, if the total congestion degree of the route to be adopted exceeds a predetermined threshold, the travel route determination unit 104 may change the route to select the route with the next lowest total cost. The travel route determination unit 104 outputs travel route information including information of the determined travel route to the transmission control unit 106.

[0146] In step ST406, the travel route determination unit 104 selects a detour other than the route with the lowest total cost among the planned routes. This allows the AGV 3 with a low priority to proceed to the destination via a route that is not congested. The travel route determination unit 104 outputs the travel route information to the transmission control unit 106.

[0147] The above control makes it possible to generate a travel route that reflects the cost of the route while taking into account the risk of delaying the AGV 3 by considering the congestion level according to the priority of the AGV 3. This allows the transport robot management device 1 to operate the AGV 3 efficiently even when there are many AGVs 3 in operation and the overall transport area 50 is highly congested.

[0148] When the modified example of the embodiment is applied, the priority of the AGV 3 may be reset when an instruction to re-plan the travel route is given.

[0149] FIG. 22 is a diagram showing an example of a case where the modified example of the embodiment is applied. As shown in Figure 22, if the priority of AGV3(a) is set lower than the other AGVs 3(b) and 3(c), it is possible to increase the possibility of AGV3(a) stopping temporarily or moving backward, which would be more costly than continuing to move forward. This allows AGV3(b) and AGV3(c) to pass from behind with priority over AGV3(a), enabling AGV3 to move smoothly.

[0150] (Effects of the Modification of the Embodiment) According to the modified example of the embodiment described above, the transport robot management device 1 determines the priority of the AGVs 3 and calculates the total cost of the travel routes. Then, the travel route with the lowest total cost is assigned to the AGVs 3 with high priority. As a result, the AGVs 3 with high priority travel along the travel route with the lowest total cost, and the AGVs 3 with low priority take a detour. This makes it possible for the AGVs 3 with high priority to select a route that reduces the risk of contact with other AGVs 3 and shortens the arrival time.

[0151] [Other embodiments] The congestion degree may be increased according to the residence time of the AGV3. If the residence time of the AGV3 becomes long, the AGV3 may be crowded together, making it difficult to resolve the congestion situation, or the shelves may tip over, making it impossible to pass. Therefore, the congestion degree is increased according to the residence time of the AGV3. Then, by combining the processing for the threshold value of the congestion degree with this processing, it becomes possible to generate a route that avoids the route where congestion occurs, and smooth traffic can be realized.

[0152] The program according to this embodiment may be transferred in a state where it is stored in an electronic device (computer) serving as the transport robot management device 1, or in a state where it is not stored in an electronic device. In the latter case, the program may be transferred via a network, or in a state where it is stored in a storage medium. The storage medium is a non-transient tangible medium. The storage medium is a medium that can be read by the computer serving as the transport robot management device 1 (computer-readable medium). The storage medium may be any medium, such as an optical disk (e.g., CD-ROM), a magnetic disk, or a semiconductor memory (e.g., a memory card), that can store a program and can be read by a computer, and the form of the storage medium is not important.

[0153] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0154] 100...Transport robot system 1...Transport robot management device 11…Processor 101... Reception control unit 102…Operation Planning Department 103...AGV priority determination unit 104...Route determination unit 105…Congestion Situation Estimation Section 106...Transmission control unit 12…RAM 13...ROM 131…Order information database 132…Map information database 133…Priority Information Database 134…AGV information database 135…Shelf information database 136...Product information database 137…Station information database 14. Auxiliary storage device 15...Communication interface 2…Warehouse management device 21…Processor 22…RAM 23...ROM 24...Auxiliary storage device 25...Communication interface 30…Shelf 3. AGV 31…Processor 32…RAM 33...ROM 34…Auxiliary storage device 35…Communication interface 36…Drive unit 37…Sensor 38…Battery 39…Charging mechanism 301…Tire 40…Shelf storage area 50...Transportation area 60…Picking station

Claims

1. an AGV information database that stores AGV information including a current position of the AGV; a map information database that stores map information including a congestion degree estimated based on a current position of the AGV and a transport area in which the AGV can travel; an operation planning unit that determines an AGV to be used for transportation based on order information based on an order list acquired from an external system, the AGV information, and the map information, and determines a destination to which the determined AGV should travel; a priority determination unit that determines a priority of the determined AGV based on at least one of the AGV information, the order information, station information including a work status at a station, and product information including a weight, a size, and a handling importance of a product; a travel route determination unit that determines a travel route of the determined AGV to the destination based on the priority and the congestion degree; A transmission unit that transmits the travel route to the determined AGV; A transport robot management device comprising:

2. The system further includes a congestion state estimation unit that acquires position information from each of a plurality of AGVs in operation and estimates the congestion degree based on the position information. The transport robot management device according to claim 1 .

3. The congestion state estimation unit estimates the congestion degree further based on information of other moving objects detected by the plurality of AGVs. The transport robot management device according to claim 2 .

4. The congestion state estimation unit estimates the congestion degree further based on past performance data. The transport robot management device according to claim 2 .

5. the congestion state estimation unit increases the congestion degree in accordance with a residence time of each of the plurality of AGVs based on the AGV information. The transport robot management device according to claim 2 .

6. the priority determination unit assigns points to the presence or absence of the priority order, the shelf information, the product information, and the station information, and determines the sum of the points as the priority. The transport robot management device according to claim 1 .

7. The priority determination unit determines the priority based on information included in the AGV information indicating whether the AGV has a shelf. The transport robot management device according to claim 1 .

8. the priority determination unit determines the priority based on a priority order included in the order information. The transport robot management device according to claim 1 .

9. the priority determination unit determines the priority based on the handling importance and estimated processing time included in the product information; The transport robot management device according to claim 1 .

10. the priority determination unit determines the priority further based on the number of AGVs waiting at the picking station included in the station information and the progress of the work means at the picking station; The transport robot management device according to claim 1 .

11. the travel route determination unit determines a plurality of travel routes from the current position of the determined AGV to the destination, and when the priority of the determined AGV is higher than a predetermined threshold, the shortest route among the plurality of travel routes is set as the determined travel route of the AGV; The transport robot management device according to claim 1 .

12. When the congestion degree of the shortest route exceeds a predetermined threshold, the travel route determination unit determines the next shortest route after the shortest route as the determined travel route of the AGV. The transport robot management device according to claim 11.

13. the travel route determination unit calculates a difference between a congestion degree of the shortest route and a congestion degree of a route different from the shortest route, and when the difference is less than a predetermined threshold, the shortest route is set as the travel route of the determined AGV even if the priority of the determined AGV is less than a predetermined threshold. The transport robot management device according to claim 11.

14. The congestion state estimation unit updates the congestion degree at a predetermined cycle, and when the updated congestion degree exceeds a predetermined threshold, replans a travel route of the AGV that is traveling. The transport robot management device according to claim 1 .

15. The replanning includes slowing down or temporarily stopping the traveling AGV. The transport robot management device according to claim 14.

16. the travel route determination unit determines a plurality of travel routes from the destination and the current position of the determined AGV to the destination, calculates a total cost for each of the plurality of travel routes, and when a priority of the determined AGV is higher than a predetermined threshold, sets the travel route with the smallest total cost as the determined AGV travel route; The transport robot management device according to claim 1 .

17. the travel route determination unit determines the total cost based on a time required to travel from the determined current position of the AGV to the destination and the congestion degree; The transport robot management device according to claim 16.

18. the travel route determination unit determines the total cost based on a time required to travel from the determined current position of the AGV to the destination and a congestion degree of each of the plurality of travel routes; The transport robot management device according to claim 16.

19. A transport robot management method executed by a processor of a transport robot management device, comprising: storing automated guided vehicle (AGV) information including a current location of the AGV; storing map information including a congestion degree estimated based on a current position of the AGV and a transport area in which the AGV can travel; determining an AGV to be used for transportation based on the order list, the AGV information, and the map information obtained from the external system; determining a destination to which the determined AGV should travel; determining a priority of the determined AGV based on at least one of the AGV information, the order information, station information including a work status at a station, and product information including a weight, a size, and a handling importance of the product; determining a travel route for the determined AGV to the destination based on the priority and the congestion degree; Transmitting travel route information including the travel route to the determined AGV; A transport robot management method comprising:

20. A transport robot management program having instructions to be executed by a processor of a transport robot management device, storing automated guided vehicle (AGV) information including a current location of the AGV; storing map information including a congestion degree estimated based on a current position of the AGV and a transport area in which the AGV can travel; determining an AGV to be used for transportation based on the order list, the AGV information, and the map information obtained from the external system; determining a destination to which the determined AGV should travel; determining a priority of the determined AGV based on at least one of the AGV information, the order information, station information including a work status at a station, and product information including a weight, a size, and a handling importance of the product; determining a travel route for the determined AGV to the destination based on the priority and the congestion degree; Transmitting travel route information including the travel route to the determined AGV; A transport robot management program comprising:

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