Traveling system, traveling method, and traveling program

Abstract

To provide a traveling system, a traveling method, and a traveling program capable of improving the traveling efficiency of an automatic traveling device capable of transporting a transport target.SOLUTION: A first acquisition processing unit 112 acquires tag status information D1 including information indicating whether a transport target is present at a position corresponding to a tag and information indicating whether an automatic traveling device 2 is present at the position corresponding to the tag. A second acquisition processing unit 113 acquires AGV status information D2 indicating whether the automatic traveling device 2 is transporting the transport target. A determination processing unit 114 determines whether the automatic traveling device 2 is capable of traveling through the position corresponding to the tag, on the basis of the tag status information D1 and the AGV status information D2. A generation processing unit 115 generates a travel route for the automatic traveling device 2 on the basis of a determination result of the determination processing unit 114.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a driving system, a driving method, and a driving program for driving an automatic driving device. [Background technology]

[0002] Conventionally, there is known a traveling system that makes an automatic traveling device (AGV, traveling vehicle, etc.) travel to a destination position along a preset traveling route. For example, a traveling system is known in which a plurality of shelves for storing items are stored at a predetermined storage position, and an automatic traveling device crawls under the shelves stored at the storage position, lifts up the shelves, and transports them to the destination position (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-222465 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in conventional traveling systems, areas where multiple shelves are arranged are set as no-entry areas except when the automatic traveling device enters to pick up (lift up and transport) the shelf to be transported. For this reason, the area where multiple shelves are arranged cannot be effectively used as a traveling route for the automatic traveling device, resulting in a problem of reduced traveling efficiency.

[0005] An object of the present disclosure is to provide a driving system, a driving method, and a driving program that can improve the driving efficiency of an automatic driving device capable of transporting an object to be transported. [Means for solving the problem]

[0006] A traveling system according to one aspect of the present disclosure is a traveling system that controls the traveling of an automatic traveling device that detects a plurality of tags arranged on a floor surface in sequence, travels, and is capable of transporting a transport target stored at a position corresponding to a storage location designation tag that is a part of the plurality of tags to a designated position. The traveling system includes a first acquisition processing unit, a second acquisition processing unit, a determination processing unit, and a generation processing unit. The first acquisition processing unit acquires storage location designation tag status information including information indicating whether the transport target is present at a position corresponding to the storage location designation tag, and information indicating whether the automatic traveling device is present at a position corresponding to the storage location designation tag. The second acquisition processing unit acquires automatic traveling device status information indicating whether the automatic traveling device is transporting the transport target. The determination processing unit determines whether the automatic traveling device is capable of traveling through a position corresponding to the storage location designation tag based on the storage location designation tag status information and the automatic traveling device status information. The generation processing unit generates a travel route for the automatic traveling device based on a determination result of the determination processing unit.

[0007] A travel method according to another aspect of the present disclosure is a method for controlling travel of an automatic traveling device that detects a plurality of tags arranged on a floor surface in sequence, travels, and is capable of transporting an object stored at a position corresponding to a storage location tag that is a part of the plurality of tags to a designated position. The travel method is a method in which one or more processors execute the following: acquiring storage location tag status information including information indicating whether the object is present at the position corresponding to the storage location tag and information indicating whether the automatic traveling device is present at the position corresponding to the storage location tag; acquiring automatic traveling device status information indicating whether the automatic traveling device is transporting the object; determining whether the automatic traveling device can travel to the position corresponding to the storage location tag based on the storage location tag status information and the automatic traveling device status information; and generating a travel route for the automatic traveling device based on the determination result.

[0008] A travel program according to another aspect of the present disclosure is a program for controlling the travel of an automatic traveling device that detects a plurality of tags arranged on a floor surface in sequence, travels, and is capable of transporting an object stored at a position corresponding to a storage location tag that is a part of the plurality of tags to a designated position. The travel program is a program for causing one or more processors to execute the following: acquiring storage location tag status information including information indicating whether the object is present at a position corresponding to the storage location tag and information indicating whether the automatic traveling device is present at a position corresponding to the storage location tag; acquiring automatic traveling device status information indicating whether the automatic traveling device is transporting the object; determining whether the automatic traveling device can travel to the position corresponding to the storage location tag based on the storage location tag status information and the automatic traveling device status information; and generating a travel route for the automatic traveling device based on the determination result. Effect of the Invention

[0009] According to the present disclosure, it is possible to provide a driving system, a driving method, and a driving program that can improve the driving efficiency of an automatic driving device capable of transporting an object to be transported. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing a configuration of a traveling system according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a diagram illustrating a schematic configuration of a facility to which the traveling system according to the embodiment of the present disclosure is applied. [Diagram 3] FIG. 3 is a diagram showing an example of the arrangement of storage shelves arranged in a facility to which a traveling system according to an embodiment of the present disclosure is applied. [Figure 4] FIG. 4 is a diagram illustrating a state in which the automatic driving device according to the embodiment of the present disclosure transports a storage shelf. [Diagram 5] FIG. 5 is a diagram illustrating an example of a traveling state of an AGV in a facility to which a traveling system according to an embodiment of the present disclosure is applied. [Figure 6] FIG. 6 is a diagram illustrating an example of tag status information used in the traveling system according to the embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram illustrating an example of AGV status information used in the traveling system according to the embodiment of the present disclosure. [Figure 8] FIG. 8 is a diagram illustrating an example of a traveling state of an AGV in a facility to which a traveling system according to an embodiment of the present disclosure is applied. [Figure 9] FIG. 9 is a correspondence table showing whether route generation and driving instructions for an AGV according to an embodiment of the present disclosure are possible. [Figure 10] FIG. 10 is a flowchart illustrating an example of a procedure of a driving process executed in the driving system according to the embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings to facilitate understanding of the present disclosure. Note that the following embodiments are examples of the present disclosure and do not limit the technical scope of the present disclosure.

[0012] [Running System 10] 1, a traveling system 10 according to an embodiment of the present disclosure includes a management server 1 and an automatic traveling device 2 (AGV, also called an unmanned transport vehicle). The management server 1 and the automatic traveling device 2 can communicate with each other via a communication network N1 such as a wireless LAN.

[0013] The traveling system 10 is a traveling system capable of detecting a plurality of tags arranged on a floor surface and guiding the automatic traveling device 2. For example, the automatic traveling device 2 travels along a preset traveling route while detecting a two-dimensional code (or a marker, etc.) arranged (attached) on the floor surface. The traveling system 10 includes one or a plurality of automatic traveling devices 2.

[0014] Also, for example, in a travel area in which a plurality of paths on which the automatic driving device 2 can travel are set, the travel system 10 designates a path to be traveled among the plurality of paths as a travel route for the automatic driving device 2, and transports the transport target from a storage position to a destination position. The travel system 10 is applied to facilities such as factories and warehouses that store goods. For example, when the travel system 10 receives an order for a product from a customer (customer terminal), it outputs a travel instruction (transport request) to the automatic driving device 2. When the automatic driving device 2 acquires the travel instruction, it moves to a storage position (storage shelf) of the product, connects the storage shelf, and transports the storage shelf to a picking area. In the picking area, a worker takes out the target product (ordered product) from the storage shelf and transports it to a shipping area. A customer can use an information processing device (customer terminal) such as a personal computer or a smartphone to access a WEB site (order page) operated by an order server (not shown) to place an order for a product.

[0015] The order server can receive orders for the product from each of a plurality of customer terminals, and aggregates the received order information and outputs it to the management server 1. The management server 1 manages the operation of each of a plurality of automatic driving devices 2, and outputs driving instructions to each automatic driving device 2 based on the order information. Based on the driving instructions, the automatic driving device 2 autonomously drives along a preset driving route, and moves the storage shelf that stores the product included in the order information to a picking area.

[0016] FIG. 2 shows an example of a facility W1 to which the traveling system 10 is applied. In the facility W1 shown in FIG. 2, a plurality of storage shelves T (transportation targets) for storing goods are arranged. FIG. 2 shows an example of 25 storage shelves T. Furthermore, waiting locations for the automatic traveling device 2 are set in the facility W1. For example, in the facility W1, waiting location A1 where AGV1 (automatic traveling device 2) waits, waiting location A2 where AGV2 (automatic traveling device 2) waits, and waiting location A3 where AGV3 (automatic traveling device 2) waits are set. Each automatic traveling device 2 waits in a predetermined waiting location when it has not received a traveling instruction from the management server 1.

[0017] Furthermore, in the facility W1, tags tg are placed on the floor surface of the travelable area of ​​the automatic traveling device 2. The tags tg are composed of a two-dimensional code, a marker, an RFID, etc. The area in which the tags tg are placed becomes the travelable area of ​​the automatic traveling device 2. As shown in FIG. 2, the tags tg are placed at equal intervals at the positions where the storage shelves T are placed and in the aisles between the storage shelves T. Furthermore, multiple tags tg are placed at equal intervals in areas (passage areas) where storage shelves T are not placed. The tags tg placed in the areas (storage areas) where the storage shelves T are placed correspond to the storage position designation tags of the present disclosure.

[0018] For example, as shown in FIG. 3, the tag tg is arranged at the center of the storage shelf T and at the center between the storage shelves T. The storage shelf T includes a plurality of storage shelves (three storage shelves in FIG. 3) on which products are placed, and a space is formed at the bottom shelf into which the automatic traveling device 2 can enter. As shown in FIG. 4, when the automatic traveling device 2 arrives at the storage shelf T storing the target product, it can slip under the storage shelf T and connect (lift) the storage shelf T by a connecting part, and move together with the storage shelf T. The automatic traveling device 2 in this embodiment has a configuration for lifting up the storage shelf T and moving, but in another embodiment, when the storage shelf T is equipped with wheels, the automatic traveling device 2 may be configured to tow the storage shelf T.

[0019] In addition, since the space is formed in the lowest level of the storage shelf T, the automatic traveling device 2 can pass under the storage shelf T. That is, in this embodiment, not only the area where the storage shelves T are not arranged (the area between the storage shelves T) but also the area where the storage shelves T are arranged can be used as a passageway along which the automatic traveling device 2 can travel.

[0020] When each automatic driving device 2 receives a driving instruction from the management server 1, it moves from a waiting location to a storage shelf T where the ordered items are stored. For example, when the AGV1 receives a driving instruction from the management server 1 that includes the item on the storage shelf T in the order information, it moves to the position of the storage shelf T1 according to a preset driving route, connects (loads) the storage shelf T1, and moves (transports) it to the picking area. When the worker picks up the ordered item from the storage shelf T1, the automatic driving device 2 moves to a predetermined position (storage area) according to the preset driving route.

[0021] That is, the traveling system 10 controls the traveling of the automatic traveling device 2 that can sequentially detect and travel through a plurality of tags tg arranged on the floor surface, and transport a storage shelf T stored at a position corresponding to a portion of the tags tg (storage position designation tags) of the plurality of tags tg to a designated position (picking area). Each storage shelf T moves back and forth between the storage area and the picking area by the automatic traveling device 2. The position of each storage shelf T in the storage area is not fixed, and is managed so that it can be moved to any position. Note that the position of each storage shelf T in the storage area may be fixed.

[0022] In this embodiment, the driving system 10 corresponds to the driving system according to the present disclosure, but the driving system according to the present disclosure may be composed of the management server 1 alone, or may include one or more components of the management server 1 and the automatic driving device 2.

[0023] [Management Server 1] 1, the management server 1 is a server including a control unit 11, a storage unit 12, an operation display unit 13, and a communication unit 14. The management server 1 is not limited to a single computer, and may be a computer system in which multiple computers work in cooperation. Various processes executed by the management server 1 may be executed in a distributed manner by one or multiple processors.

[0024] The communication unit 14 is a communication interface that connects the management server 1 to the communication network N1 via a wired or wireless connection, and performs data communication with one or more automatic driving devices 2 via the communication network N1 in accordance with a specified communication protocol.

[0025] The operation display unit 13 is a user interface that includes a display unit, such as a liquid crystal display or an organic EL display, that displays various information, and an operation unit, such as a mouse, a keyboard, or a touch panel, that accepts operations.

[0026] The storage unit 12 is a non-volatile storage unit such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) that stores various information. Specifically, data such as tag status information D1 (see FIG. 6) and AGV status information D2 (see FIG. 7) are stored in the storage unit 12. Current status information indicating whether or not a storage shelf T exists at the position of each tag tg and whether or not an automatic traveling device 2 (AGV) exists is registered in the tag status information D1. Current status information indicating the current position of each AGV and whether or not it is moving on the storage shelf T (see FIG. 4) is registered in the AGV status information D2.

[0027] 5 shows the current travel status of each AGV in the storage area of ​​facility W1. Here, as an example, 20 tags tg1 to tg20 (storage location designation tags), 10 storage shelves T1 to T10, and three AGV1 to AGV3 are shown.

[0028] As shown in FIG. 6, the tag status information D1 includes information such as "tag ID", "presence or absence of AGV", "presence or absence of shelf", and "shelf ID" corresponding to each tag tg. The tag ID is identification information of the tag tg, and the tag IDs "001" to "020" correspond to the tags tg1 to tg20, respectively. The presence or absence of AGV is information indicating whether or not an AGV is present at the position of the tag tg, with "0" indicating that an AGV is not present at the position of the tag tg, and "1" indicating that an AGV is present at the position of the tag tg. As shown in FIG. 5, since an AGV1 is present at the position of the tag tg6, an AGV2 is present at the position of the tag tg10, and an AGV3 is present at the position of the tag tg13, the presence or absence of AGV: "1" is registered for each of the tag IDs "006", "010", and "013", and the presence or absence of AGV: "0" is registered for the other tag IDs.

[0029] The presence or absence of a shelf is information indicating whether or not a storage shelf T exists at the position of tag tg, with "0" indicating that a storage shelf T does not exist at the position of tag tg and "1" indicating that a storage shelf T exists at the position of tag tg. As shown in FIG. 5, a storage shelf T1 exists at the position of tag tg1, a storage shelf T2 exists at the position of tag tg2, a storage shelf T3 exists at the position of tag tg4, a storage shelf T4 exists at the position of tag tg5, a storage shelf T5 exists at the position of tag tg6, a storage shelf T6 exists at the position of tag tg13, a storage shelf T7 exists at the position of tag tg16, a storage shelf T8 exists at the position of tag tg17, a storage shelf T9 exists at the position of tag tg19, and a storage shelf T10 exists at the position of tag tg20, so that the presence or absence of a shelf: "1" is registered for each of the tag IDs "001", "002", "004", "005", "006", "013", "016", "017", "019", and "020", and the presence or absence of a shelf: "0" is registered for the other tag IDs.

[0030] The shelf ID is identification information of the storage shelf T, and the shelf IDs "T001" to "T010" correspond to the storage shelves T1 to T10, respectively.

[0031] The control unit 11 acquires information from each AGV, such as the travel position and the presence or absence of a storage shelf T (whether or not the AGV is being transported), and updates the tag status information D1 in real time.

[0032] As shown in FIG. 7, the AGV status information D2 includes information such as "AGV_ID", "location information", "presence or absence of shelf", and "shelf ID" for each AGV. The AGV_ID is identification information of the AGV (automatic traveling device 2), and AGV_IDs "01" to "03" correspond to AGV1 to AGV3, respectively. The location information is information indicating the current location of the AGV, for example, coordinate information (X coordinate and Y coordinate) on the coordinate plane of the map corresponding to the facility W1. For example, location information "P1" indicates the current location of AGV1 and corresponds to the location (coordinate) of tag tg6. Furthermore, location information "P2" indicates the current location of AGV2 and corresponds to the location (coordinate) of tag tg10, and location information "P3" indicates the current location of AGV3 and corresponds to the location (coordinate) of tag tg13.

[0033] The presence or absence of a shelf is information indicating whether the AGV is transporting a storage shelf T (see FIG. 4), with "0" indicating that the AGV is not transporting a storage shelf T (AGV is not carrying or towing storage shelf T), and "1" indicating that the AGV is transporting a storage shelf T (AGV is carrying or towing storage shelf T). As shown in FIG. 5, AGV1 is transporting storage shelf T5, and AGV3 is transporting storage shelf T6, so "1" is registered as the presence or absence of a shelf for each of AGV_IDs "01" and "03". In contrast, AGV2 is not transporting storage shelf T and is traveling alone, so "0" is registered as the presence or absence of a shelf for AGV_ID.

[0034] The shelf ID is identification information for the storage shelf T, and the shelf IDs "T005" and "T006" correspond to the storage shelves T5 and T6, respectively.

[0035] The control unit 11 acquires information from each AGV, such as the travel position, the presence or absence of a storage shelf T (whether or not the AGV is being transported), and updates the AGV status information D2 in real time.

[0036] The memory unit 12 may store data such as product information, order information, transport information, and map data. The product information includes information about products stored in the facility W1. The order information includes information about customer orders. The transport information includes information about storage locations of products for customer orders. The map data includes placement information (coordinate information) of tags tg placed on the floor of the facility W1.

[0037] In another embodiment, some or all of the tag status information D1, AGV status information D2, product information, order information, transport information, and map data may be stored in another server accessible from the management server 1 via the communication network N1. In this case, the control unit 11 of the management server 1 may acquire the information from the other server and execute various processes such as the travel process (see FIG. 10) described below.

[0038] The storage unit 12 also stores control programs such as a driving program for causing the control unit 11 to execute a driving process described below. For example, the driving program is non-temporarily recorded on a computer-readable recording medium such as a CD or DVD, and is read by a reading device (not shown) such as a CD drive or DVD drive provided in the management server 1 and stored in the storage unit 12.

[0039] The control unit 11 has control devices such as a CPU, a ROM, and a RAM. The CPU is a processor that executes various arithmetic processes. The ROM is a non-volatile storage unit in which control programs such as a BIOS and an OS for causing the CPU to execute various arithmetic processes are stored in advance. The RAM is a volatile or non-volatile storage unit that stores various information, and is used as a temporary storage memory (work area) for various processes executed by the CPU. The control unit 11 controls the management server 1 by executing, with the CPU, various control programs that are stored in advance in the ROM or the storage unit 12.

[0040] Specifically, as shown in Fig. 1, the control unit 11 includes various processing units such as a registration processing unit 111, a first acquisition processing unit 112, a second acquisition processing unit 113, a determination processing unit 114, a generation processing unit 115, and an output processing unit 116. The control unit 11 functions as the various processing units by executing various processes according to the driving program with the CPU. Also, some or all of the processing units may be configured with electronic circuits. The driving program may be a program for causing a plurality of processors to function as the processing units.

[0041] The control unit 11 receives a shipping request for a product corresponding to the automatic driving device 2. Specifically, the control unit 11 receives order information corresponding to a customer's order. When the control unit 11 receives the order information, it generates transport information.

[0042] The registration processing unit 111 registers tag status information D1 (see FIG. 6) in which information on the presence or absence of an AGV and the presence or absence of a storage shelf T is associated with a tag ID for each of a plurality of tags tg. In addition, the registration processing unit 111 registers AGV status information D2 (see FIG. 7) in which information on the current position (position information) of the AGV and the presence or absence of a storage shelf T is associated with an AGV_ID for each AGV.

[0043] The registration processing unit 111 determines, for each tag tg, whether or not an AGV exists at the position of the tag tg and whether or not a storage shelf T1 exists, based on previously registered arrangement information (coordinate information) of the tag tg and arrangement information (coordinate information) of the storage shelf T, and based on the current position (position information) and information on the presence or absence of the storage shelf T acquired in real time from each AGV, and registers this in the tag status information D1, and also determines, for each AGV, the current position of the AGV and whether or not the storage shelf T1 is being transported, and registers this in the AGV status information D2. The registration processing unit 111 updates the tag status information D1 and AGV status information D2 in real time while each AGV is traveling.

[0044] The first acquisition processing unit 112 acquires information (tag status information D1) indicating the presence or absence of an AGV and the presence or absence of a storage shelf T for each tag tg. In this embodiment, since a plurality of tags tg are arranged for each storage position of the storage shelf T, the first acquisition processing unit 112 acquires tag status information D1 corresponding to each of the plurality of tags tg. For example, in the example shown in Figs. 5 to 7, the first acquisition processing unit 112 acquires the presence or absence of an AGV and the presence or absence of a storage shelf T for each of the tags tg1 to tg20.

[0045] The second acquisition processing unit 113 acquires information (AGV status information D2) indicating the current position of each AGV and the presence or absence of a storage shelf T (whether or not the AGV is being transported). For example, in the example shown in Fig. 5 to Fig. 7, the second acquisition processing unit 113 acquires the current position of each of the AGVs 1 to 3 and the presence or absence of a storage shelf T.

[0046] The determination processing unit 114 determines whether the AGV is allowed to travel through the position corresponding to the tag tg based on the tag status information D1 and the AGV status information D2. The determination processing unit 114 executes the determination processing for each AGV.

[0047] For example, AGV1 is currently at the position of tag tg6 (position information P1 in FIG. 7) and is transporting (carrying) storage shelf T5. In this case, since AGV1 is carrying storage shelf T5, it cannot move to the position of tag tg where another storage shelf T is located. For example, AGV1 cannot move to the position of tag tg1 where storage shelf T1 is located, the position of tag tg2 where storage shelf T2 is located, or the position of tag tg16 where storage shelf T7 is located. On the other hand, since there are no storage shelves T or AGVs at tags tg7 to tg9, tg11, tg12, etc., AGV1 can move to these positions.

[0048] In addition, since AGV2 is present at the position of tag tg10, AGV1 cannot currently move to the position of tag tg10, but if AGV2 moves, AGV1 will be able to move to the position of tag tg10. Similarly, since AGV3 transporting storage shelf T6 is present at the position of tag tg13, AGV1 cannot currently move to the position of tag tg13, but if AGV3 moves with storage shelf T6 loaded, AGV1 will be able to move to the position of tag tg13.

[0049] Also, for example, AGV2 is currently at the position of tag tg10 (position information P2 in FIG. 7) and is not transporting (loading) storage shelf T5. In this case, AGV2 cannot currently move to the position of tag tg where another AGV is present. For example, AGV2 cannot currently move to the position of tag tg6 where AGV1 is present, or the position of tag tg13 where AGV3 is present. However, if AGV1 moves, AGV2 will be able to move to the position of tag tg6, and if AGV3 moves, AGV2 will be able to move to the position of tag tg13.

[0050] On the other hand, at tags tg4, tg5, tg19, tg20, etc., there are storage shelves T, but no other AGVs are present and the AGV1 can currently move to these positions because it is possible to pass under the storage shelves T. Also, at tags tg3, tg7 to tg9, tg14, tg15, etc., there are no storage shelves T or other AGVs present and the AGV1 can currently move to these positions.

[0051] AGV13 is currently located at the position of tag tg13 (position information P3 in FIG. 7) and is transporting (loading) storage shelf T6, so it is in the same situation as AGV1.

[0052] The determination processing unit 114 determines whether each AGV can travel through the position corresponding to the tag tg based on the current status of these AGV1, AGV2, and AGV3. Specifically, the determination processing unit 114 sets the tag tg of the storage area to a passable tag through which the AGV can pass, or to an unpassable tag through which the AGV cannot pass, based on the tag status information D1 and the AGV status information D2. In addition, the determination processing unit 114 sets each tag tg to a passable tag or an unpassable tag for each AGV.

[0053] For example, for each of an AGV transporting storage shelf T and an AGV not transporting storage shelf T, if the storage shelf T is not located at a position corresponding to the tag tg and the AGV is not present at a position corresponding to the tag tg, the determination processing unit 114 sets the tag tg as a drivable tag. In the example shown in Fig. 5, the determination processing unit 114 sets tags tg3, tg7 to tg9, tg11, tg12, tg14, tg15, and tg18 as drivable tags for each of AGV1, AGV2, and AGV3.

[0054] Also, for example, for each of an AGV transporting a storage shelf T and an AGV not transporting a storage shelf T, if the storage shelf T is not located at a position corresponding to the tag tg and the AGV is present at a position corresponding to the tag tg, the determination processing unit 114 sets the tag tg as a drivable tag. In the example shown in Fig. 5, the determination processing unit 114 sets the tag tg10 as a drivable tag for each of AGV1, AGV2, and AGV3.

[0055] Also, for example, for an AGV that is not transporting storage shelf T, if storage shelf T is located at a position corresponding to tag tg, the AGV is not at the position corresponding to tag tg, and the AGV is not transporting storage shelf T, the determination processing unit 114 sets tag tg as a drivable tag. In the example shown in Fig. 5, the determination processing unit 114 sets tags tg1, tg2, tg4, tg5, tg16, tg17, tg19, and tg20 as drivable tags for AGV2.

[0056] Furthermore, for example, for an AGV transporting storage shelf T, if storage shelf T is located at a position corresponding to tag tg, the AGV is not at the position corresponding to tag tg, and the AGV is transporting storage shelf T, the determination processing unit 114 sets tag tg as an untravelable tag. In the example shown in Fig. 5, the determination processing unit 114 sets tags tg1, tg2, tg4, tg5, tg16, tg17, tg19, and tg20 as untravelable tags for AGV1 and AGV3, respectively.

[0057] Furthermore, for example, for an AGV transporting storage shelf T and an AGV not transporting storage shelf T, when the storage shelf T is placed at a position corresponding to the tag tg and the AGV is in a position corresponding to the tag tg, the determination processing unit 114 sets the tag tg as a drivable tag. In the example shown in Fig. 5, the determination processing unit 114 sets tags tg6 and tg13 as drivable tags for AGV1, AGV2, and AGV3, respectively.

[0058] In this way, the determination processing unit 114 executes a process (classification process) of classifying each of the multiple tags tg arranged in the storage area into tags tg through which the AGV can travel and tags tg through which the AGV cannot travel, based on whether the AGV being determined is transporting a storage shelf T. The determination processing unit 114 executes the classification process for each AGV while updating the status of each tag tg (tag status information D1) and the status of each AGV (AGV status information D2).

[0059] The generation processing unit 115 generates a driving route for the automatic driving device 2 based on the determination result of the determination processing unit 114. In the above example, the generation processing unit 115 generates a driving route for each AGV based on the determination results (classification results) corresponding to each of AGV1, AGV2, and AGV3. Specifically, the generation processing unit 115 generates a driving route for each AGV that includes the travelable tag and does not include the non-travelable tag.

[0060] 8, for example, the generation processing unit 115 generates a travel route for the AGV2 that moves from tag g10 to tag tg5. The generation processing unit 115 also generates a travel route for the AGV1 that moves from tag tg6 to tag tg10. Here, the AGV2 that was located at tag tg10 moves to tag tg5 where storage shelf T4 is located, so the determination processing unit 114 sets tag tg10 as a travelable tag for the AGV1. This makes it possible for the generation processing unit 115 to generate a travel route to tag tg10 for the AGV1.

[0061] Furthermore, the generation processing unit 115 generates a travel route for moving from tag tg13 to tag tg18 and a travel route for moving from tag tg18 to tag tg16 for the AGV 3. Here, the AGV 3 transports the storage shelf T6 to the position of tag tg18 (see FIGS. 5 and 8), and then moves to the tags tg13, tg12, tg11, and tg16 in that order, to connect the storage shelf T7 arranged at the position of tag tg16.

[0062] In this way, the generation processing unit 115 generates a travel route for each AGV. The generation processing unit 115 also generates the travel route for each AGV while updating the status of each tag tg (tag status information D1) and the status of each AGV (AGV status information D2).

[0063] The output processing unit 116 outputs driving instructions including driving route information to each automatic driving device 2. Specifically, the output processing unit 116 outputs identification information of a plurality of tags tg corresponding to the driving route and map data to each AGV.

[0064] When each AGV acquires the identification information of the tag tg corresponding to the travel route and the map data, it travels along the travel route based on the position coordinates corresponding to the tag tg included in the map data. Each AGV transmits its current position (position information) and information on the presence or absence of a storage shelf T to the management server 1 in real time.

[0065] The control unit 11 generates a travel route for each AGV based on the set travel-enabled tag and non-travel-enabled tag, and outputs travel instructions based on the positions of other AGVs. Therefore, for example, when another AGV exists on the travel route generated for the AGV to be subjected to travel control, the control unit 11 outputs travel instructions to the AGV to be subjected to travel control after the other AGV moves.

[0066] 9 shows a correspondence table in which whether or not a route can be generated and whether or not a travel instruction can be given to an AGV is classified according to whether or not the AGV is transporting a storage shelf T (shelf presence / absence), whether or not a storage shelf T exists in a tag tg (shelf presence / absence), and whether or not an AGV exists in a tag tg (AGV presence / absence). For example, an AGV that is not transporting a storage shelf T (shelf "no") can generate a travel route that includes a tag tg where a storage shelf T does not exist and another AGV exists (shelf "no", AGV "present"), but cannot give a travel instruction (x). Also, an AGV that is not transporting a storage shelf T (shelf "no") can generate a travel route that includes a tag tg where another AGV transporting a storage shelf T exists (shelf "present", AGV "present"), but cannot give a travel instruction (x).

[0067] Also, an AGV transporting a storage shelf T (shelf "present") can generate a travel route that includes a tag tg (shelf "not present", AGV "present") where there is no storage shelf T and other AGVs are present ("O"), but cannot give travel instructions ("X"). Also, an AGV transporting a storage shelf T (shelf "present") cannot generate a travel route that includes a tag tg (shelf "present", AGV "not present") where there is a storage shelf T and no other AGVs are present ("X"), and cannot give travel instructions ("X"). Also, an AGV transporting a storage shelf T (shelf "present") can generate a travel route that includes a tag tg (shelf "present", AGV "present") where there is another AGV transporting a storage shelf T ("O"), but cannot give travel instructions ("X").

[0068] [Driving processing] Hereinafter, the traveling process executed in the traveling system 10 according to this embodiment will be described with reference to Fig. 10. Specifically, in this embodiment, the traveling process is executed by the control unit 11 of the management server 1. Furthermore, the control unit 11 can execute multiple traveling processes in parallel in response to multiple shipping requests to multiple automatic traveling devices 2. When the control unit 11 causes the automatic traveling device 2 to start a transport operation in response to a shipping request, it starts execution of the traveling process shown in Fig. 10.

[0069] The present disclosure can be understood as a disclosure of a driving method that executes one or more steps included in the driving process. One or more steps included in the driving process described here may be omitted as appropriate. The steps in the driving process may be executed in a different order as long as the same action and effect is achieved. Furthermore, although an example is described here in which the control unit 11 executes each step in the driving process, another embodiment can be a driving method in which one or more processors execute each step in the driving process in a distributed manner.

[0070] First, in step S1, the control unit 11 acquires information (tag status information D1) indicating the presence or absence of an AGV and the presence or absence of a storage shelf T for each tag tg. For example, in the example shown in Figs. 5 to 7, the control unit 11 acquires the presence or absence of an AGV and the presence or absence of a storage shelf T for each of the tags tg1 to tg20.

[0071] Next, in step S2, the control unit 11 acquires information (AGV status information D2) indicating the current position of each AGV and the presence or absence of a storage shelf T (whether or not the AGV is being transported). For example, in the example shown in Figs. 5 to 7, the control unit 11 acquires the current position of each of the AGVs 1 to 3 and the presence or absence of a storage shelf T.

[0072] Next, in step S3, the control unit 11 determines whether the AGV can travel through the position corresponding to the tag tg based on the tag status information D1 and the AGV status information D2. Specifically, the control unit 11 sets the tag tg of the storage area to a passable tag through which the AGV can pass, or to an unpassable tag through which the AGV cannot pass, based on the tag status information D1 and the AGV status information D2. The control unit 11 sets each tag tg to a passable tag or an unpassable tag for each AGV.

[0073] That is, the control unit 11 executes a process (classification process) of classifying each of the multiple tags tg arranged in the storage area into tags tg through which the AGV can travel and tags tg through which the AGV cannot travel, based on whether the AGV to be judged is transporting a storage shelf T. The control unit 11 executes the classification process for each AGV while updating the status of each tag tg (tag status information D1) and the status of each AGV (AGV status information D2).

[0074] Next, in step S4, the control unit 11 generates a driving route for the automatic driving device 2 based on the judgment result (classification result) of the judgment processing unit 114. For example, the control unit 11 generates a driving route that includes the travelable tag and does not include the non-travelable tag for each AGV based on the judgment results (classification results) corresponding to each of AGV1, AGV2, and AGV3. The control unit 11 generates the driving route for each AGV while updating the status of each tag tg (tag status information D1) and the status of each AGV (AGV status information D2).

[0075] Next, in step S5, the control unit 11 outputs driving instructions including driving route information to each automatic driving device 2. Specifically, the control unit 11 outputs identification information of multiple tags tg corresponding to the driving route and map data to each AGV.

[0076] When each AGV acquires the identification information of the tag tg corresponding to the travel route and the map data, it travels along the travel route based on the position coordinates corresponding to the tag tg included in the map data. Each AGV transmits its current position (position information) and information on the presence or absence of a storage shelf T to the management server 1 in real time.

[0077] Next, in step S6, the control unit 11 determines whether each automatic driving device 2 has finished traveling along the travel route. For example, the control unit 11 determines that each AGV has finished traveling when the traveling process corresponding to the shipping request is completed. When each AGV has finished traveling along the travel route, the control unit 11 ends the traveling process (S6: Yes).

[0078] The control unit 11 repeats the processes of steps S1 to S5 until each AGV finishes traveling along the travel route (S6: No). For example, while the AGV1 is traveling along the travel route, the control unit 11 repeatedly executes a process of generating a next travel route by setting the end position of the travel route as the start position of the next travel route, while the AGV2 is traveling along the travel route, the control unit 11 repeatedly executes a process of generating a next travel route by setting the end position of the travel route as the start position of the next travel route, while the AGV3 is traveling along the travel route, the control unit 11 repeatedly executes the process of generating a next travel route by setting the end position of the travel route as the start position of the next travel route. The control unit 11 repeatedly executes the above process for each AGV until each AGV reaches the destination position. Each AGV generates a travel route every time it receives the identification information of the tag tg and the map data from the management server 1.

[0079] As described above, the traveling system 10 according to the present embodiment is a system that controls the traveling of the automatic traveling device 2 that can sequentially detect and travel through a plurality of tags tg arranged on the floor surface, and transport a transport target (storage shelf T) stored at a position corresponding to a portion of the plurality of tags (storage position designation tag) to a designated position (picking area). The traveling system 10 acquires tag status information D1 (see FIG. 6) including information indicating whether the storage shelf T exists at a position corresponding to the tag tg and information indicating whether the automatic traveling device 2 exists at a position corresponding to the tag tg, and acquires AGV status information D2 indicating whether the automatic traveling device 2 is transporting the storage shelf T. The traveling system 10 determines whether the automatic traveling device 2 can travel through a position corresponding to the tag tg based on the tag status information D1 and the AGV status information D2, and generates a traveling route for the automatic traveling device 2 based on the determination result.

[0080] According to the above configuration, an area (storage area) where multiple storage shelves T are arranged can be effectively used as a travel route for the automatic traveling device 2. For example, in the example shown in Fig. 5, an AGV 2 that is not transporting a storage shelf T can move to a position of a storage shelf T where no other AGVs are present, or pass under the storage shelf T. Also, when an AGV is present at the position of a storage shelf T, each AGV can move to the position of the storage shelf T when the AGV moves together with the storage shelf T. As a result, it is possible to improve the travel efficiency of the automatic traveling device 2 capable of transporting a transport target (storage shelf T).

[0081] [Disclosure Note] The following will provide an overview of the disclosure extracted from the above-described embodiment. Note that the configurations and processing functions described in the following supplementary notes can be selected and combined as desired.

[0082] <Appendix 1> A traveling system for controlling the traveling of an automatic traveling device that detects a plurality of tags arranged on a floor surface in sequence, travels, and is capable of transporting a transport target stored at a position corresponding to a storage position designation tag that is a part of the plurality of tags, to a designated position, a first acquisition processing unit that acquires storage location designation tag state information including information indicating whether the transport target is present at a position corresponding to the storage location designation tag and information indicating whether the automatic traveling device is present at a position corresponding to the storage location designation tag; a second acquisition processing unit that acquires automatic driving device state information indicating whether the automatic driving device is transporting the transport target; a determination processing unit that determines whether the automatic traveling device is capable of traveling to a position corresponding to the storage location designation tag based on the storage location designation tag state information and the automatic traveling device state information; a generation processing unit that generates a driving route for the automated driving device based on a determination result of the determination processing unit; A driving system comprising:

[0083] <Appendix 2> a registration processing unit that registers the storage location designation tag state information in association with identification information of the tag, and registers the automatic driving device state information in association with identification information of the automatic driving device, 2. A driving system according to claim 1.

[0084] <Appendix 3> The storage location designation tag is arranged in plurality for each storage location of the transport object, The first acquisition processing unit acquires the storage location designation tag state information corresponding to each of the plurality of storage location designation tags. 3. A driving system according to claim 1 or 2.

[0085] <Appendix 4> The determination processing unit sets the storage location designation tag to a travelable tag through which the automatic traveling device can pass, or to a non-travelable tag through which the automatic traveling device cannot pass, based on the automatic traveling device state information and the storage location designation tag state information, The generation processing unit generates the travel route including the travelable tag and not including the non-travelable tag. A traveling system according to any one of appendix 1 to 3.

[0086] <Appendix 5> When the transport object is not placed at a position corresponding to the storage position designation tag and the automatic traveling device is not present at a position corresponding to the storage position designation tag, the determination processing unit sets the storage position designation tag to the travelable tag. 5. A running system as described in appended claim 4.

[0087] <Appendix 6> When the transport object is not located at a position corresponding to the storage position designation tag and the automatic traveling device is present at a position corresponding to the storage position designation tag, the determination processing unit sets the storage position designation tag to the travelable tag. 6. A driving system according to claim 4 or 5.

[0088] <Appendix 7> When the transport object is placed at a position corresponding to the storage position designation tag, and the automatic traveling device is not present at the position corresponding to the storage position designation tag, and further, when the automatic traveling device is not transporting the transport object, the determination processing unit sets the storage position designation tag to the travelable tag. A traveling system according to any one of appendix 4 to 6.

[0089] <Appendix 8> When the transport object is placed at a position corresponding to the storage position designation tag, and the automatic traveling device is not present at the position corresponding to the storage position designation tag, and further, when the automatic traveling device is transporting the transport object, the determination processing unit sets the storage position designation tag to the non-traveling tag. A traveling system according to any one of appendix 4 to 7.

[0090] <Appendix 9> When the transport object is placed at a position corresponding to the storage position designation tag and the automatic traveling device is present at a position corresponding to the storage position designation tag, the determination processing unit sets the storage position designation tag to the traveling tag. A traveling system according to any one of appendix 4 to 8. [Explanation of symbols]

[0091] 1: Management Server 2: Automated guided vehicle (AGV) 10: Driving system 11: Control section 12: Storage section 13: Operation display section 14: Communications Department 111: Registration processing unit 112: First acquisition processing unit 113: Second acquisition processing unit 114: Judgment processing unit 115: Generation processing unit 116: Output processing section D1: Tag status information D2:AGV status information T: Storage shelf tg :tag

Claims

1. A traveling system for controlling the traveling of an automatic traveling device that detects a plurality of tags arranged on a floor surface in sequence, travels, and is capable of transporting a transport target stored at a position corresponding to a storage position designation tag that is a part of the plurality of tags, to a designated position, a first acquisition processing unit that acquires storage location designation tag status information including information indicating whether the transport target is present at a position corresponding to the storage location designation tag and information indicating whether the automated driving device is present at a position corresponding to the storage location designation tag; a second acquisition processing unit that acquires automatic driving device state information indicating whether the automatic driving device is transporting the transport target; a determination processing unit that determines whether or not the automatic traveling device is capable of traveling to a position corresponding to the storage location designation tag based on the storage location designation tag state information and the automatic traveling device state information; a generation processing unit that generates a driving route for the automated driving device based on a determination result of the determination processing unit; A driving system comprising:

2. a registration processing unit that registers the storage location designation tag state information in association with identification information of the tag, and registers the automatic driving device state information in association with identification information of the automatic driving device, A running system according to claim 1.

3. The storage location designation tag is arranged in plurality for each storage location of the transport object, The first acquisition processing unit acquires the storage location designation tag state information corresponding to each of the plurality of storage location designation tags. A running system according to claim 1.

4. The determination processing unit sets the storage location designation tag to a travelable tag through which the automatic traveling device can pass, or to a non-travelable tag through which the automatic traveling device cannot pass, based on the automatic traveling device state information and the storage location designation tag state information, The generation processing unit generates the travel route including the travelable tag and not including the non-travelable tag. A running system according to claim 1.

5. When the transport object is not located at a position corresponding to the storage position designation tag and the automatic traveling device is not present at a position corresponding to the storage position designation tag, the determination processing unit sets the storage position designation tag to the travelable tag. A running system according to claim 4.

6. When the transport object is not located at a position corresponding to the storage position designation tag and the automatic traveling device is present at a position corresponding to the storage position designation tag, the determination processing unit sets the storage position designation tag to the travelable tag. A running system according to claim 4.

7. When the transport object is placed at a position corresponding to the storage position designation tag, and the automatic traveling device is not present at the position corresponding to the storage position designation tag, and further, when the automatic traveling device is not transporting the transport object, the determination processing unit sets the storage position designation tag to the travelable tag. A running system according to claim 4.

8. When the transport object is placed at a position corresponding to the storage position designation tag, and the automatic traveling device is not present at the position corresponding to the storage position designation tag, and further, when the automatic traveling device is transporting the transport object, the determination processing unit sets the storage position designation tag to the non-traveling tag. A running system according to claim 4.

9. When the transport object is placed at a position corresponding to the storage position designation tag and the automatic traveling device is present at a position corresponding to the storage position designation tag, the determination processing unit sets the storage position designation tag to the travelable tag. A running system according to claim 4.

10. A method for controlling the travel of an automatic traveling device that detects a plurality of tags arranged on a floor surface in sequence, travels, and is capable of transporting an object to be transported stored at a position corresponding to a storage position designation tag that is a part of the plurality of tags, to a designated position, comprising: Acquiring storage location tag status information including information indicating whether the transport target is present at a position corresponding to the storage location tag and information indicating whether the automatic traveling device is present at a position corresponding to the storage location tag; Acquiring automatic driving device status information indicating whether the automatic driving device is transporting the transport object; determining whether or not the automatic traveling device is capable of traveling to a location corresponding to the storage location tag based on the storage location designation tag status information and the automatic traveling device status information; generating a driving route for the automated driving device based on a result of the determination; The method is executed by one or more processors.

11. A travel program for controlling travel of an automatic travel device that sequentially detects and travels through a plurality of tags arranged on a floor surface, and is capable of transporting a transport target stored at a position corresponding to a storage position designation tag that is a part of the plurality of tags, to a designated position, Acquiring storage location tag status information including information indicating whether the transport target is present at a position corresponding to the storage location tag and information indicating whether the automatic traveling device is present at a position corresponding to the storage location tag; Acquiring automatic driving device status information indicating whether the automatic driving device is transporting the transport object; determining whether or not the automatic traveling device is capable of traveling to a location corresponding to the storage location tag based on the storage location designation tag status information and the automatic traveling device status information; generating a driving route for the automated driving device based on a result of the determination; A running program for causing one or more processors to execute the above.

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